CN115511018A

CN115511018A - Communication method and cargo access system

Info

Publication number: CN115511018A
Application number: CN202211073780.3A
Authority: CN
Inventors: 姚继红
Original assignee: Beijing Decheng Technology Co ltd
Current assignee: Beijing Tianxia Xianzhichuang Robot Technology Co ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-12-23

Abstract

The invention discloses a communication method and a cargo access system, which are used for communication between a computing device and a mobile robot, wherein the method comprises the following steps: the computing equipment generates and displays a first two-dimensional code according to the task to be executed by the mobile robot; the mobile robot collects the first two-dimensional code image, determines and executes the operation task by analyzing the first two-dimensional code, and generates and displays a second two-dimensional code according to the operation state; and the computing equipment acquires a second two-dimension code image and determines the running state of the mobile robot by analyzing the second two-dimension code. According to the technical scheme, the mobile robot can issue the operation tasks to the mobile robot by the computing equipment under the environment that the electromagnetic wave communication such as WIFI and FM cannot be used under special working conditions, the mobile robot feeds back the running state information to the computing equipment, and the mobile robot is low in investment cost, easy to install and high in deployment speed.

Description

Communication method and cargo access system

Technical Field

The invention relates to the technical field of automation and communication, in particular to a communication method and a cargo access system.

Background

At present, logistics automation and industrial automation are more and more widely applied in the link of transferring and transporting, and the automation system is high in operation precision and unattended, and greatly liberates labor force in the links of material storage, material conveying and carrying. The mobile robot is mainly characterized in that various mobile devices mostly adopt wireless communication modes such as WIFI or FM to realize communication between the mobile robot and an upper computer control console, in the interactive communication process, the upper computer control console issues a task instruction to the mobile robot to be operated, and the mobile robot uploads the running state of the device body and the completion condition of an operation task to the upper computer control console.

In the prior art, common mobile robot communication modes include WIFI, FM and a communication mode using electromagnetic waves as a communication medium, but some working conditions and environments are sensitive to electromagnetic waves, for example, working conditions and environments such as special industries and communication industries require prevention of electromagnetic wave leakage or electromagnetic wave pollution, so that a mobile robot using WIFI or FM communication cannot be deployed and operated in such a special environment.

For this reason, a communication method for a computing device to communicate with a mobile robot is required to solve the problems in the above technical solutions.

Disclosure of Invention

To this end, the present invention provides a communication method and a cargo access system to solve or at least alleviate the above-mentioned problems.

According to an aspect of the present invention, there is provided a communication method for a computing device to communicate with a mobile robot, the method comprising: the computing equipment generates and displays a first two-dimensional code according to the task to be executed by the mobile robot; the mobile robot collects a first two-dimensional code image, determines and executes a job task by analyzing the first two-dimensional code, and generates and displays a second two-dimensional code according to the running state; and the computing equipment acquires a second two-dimension code image and determines the running state of the mobile robot by analyzing the second two-dimension code.

Optionally, in the communication method according to the present invention, the computing device is connected to a first display in communication, and is adapted to send the first two-dimensional code to the first display for displaying; the mobile robot is in communication connection with a second display and is suitable for sending the second two-dimensional code to the second display for displaying.

Optionally, in a communication method according to the present invention, the generating and displaying, by a computing device, a first two-dimensional code according to a job task to be executed by the mobile robot includes: the computing equipment determines a job task to be executed by the mobile robot and generates a first command substring corresponding to the job task; generating a first two-dimensional code according to the first command substring; and sending the first two-dimension code to the first display for displaying.

Optionally, in a communication method according to the present invention, the mobile robot acquires a first two-dimensional code image, determines a job task by parsing the first two-dimensional code, and executes the job task, including: the mobile robot collects a first two-dimensional code image on the first display, and analyzes the first two-dimensional code image to obtain a corresponding first command sub-string; and the mobile robot determines the job task issued by the computing equipment according to the first command substring and executes the job task.

Optionally, in the communication method according to the present invention, generating and displaying the second two-dimensional code according to the operation state includes: the mobile robot determines the running state of the mobile robot and generates a second command substring corresponding to the running state; generating a second two-dimensional code according to the second command substring; and sending the second two-dimensional code to the second display for displaying.

Optionally, in the communication method according to the present invention, the acquiring, by the computing device, a second two-dimensional code image, and determining the operating state of the mobile robot by parsing the second two-dimensional code includes: the computing equipment collects a second two-dimensional code image on the second display, and analyzes the second two-dimensional code to obtain a corresponding second command sub-string; and the computing equipment determines the running state of the mobile robot according to the second command substring.

Optionally, in the communication method according to the present invention, the computing device is communicatively connected to the first photographing device; the computing device acquires a second two-dimensional code image on the second display, comprising: and the computing equipment controls the first shooting equipment to acquire a second two-dimensional code image on the second display, and acquires the second two-dimensional code image from the first shooting equipment.

Optionally, in the communication method according to the present invention, the mobile robot is in communication connection with a second shooting device; the mobile robot collects a first two-dimensional code image on the first display, and the method comprises the following steps: and the mobile robot controls the second shooting equipment to collect a first two-dimensional code image on the first display, and acquires the first two-dimensional code image from the second shooting equipment.

Optionally, in the communication method according to the present invention, generating a first command sub-string corresponding to the job task includes: and generating a first command substring corresponding to the job task according to a first communication protocol.

Optionally, in the communication method according to the present invention, generating a second command substring corresponding to the operation state includes: and generating a second command substring corresponding to the running state according to a second communication protocol.

Optionally, in the communication method according to the present invention, the cargo access system includes a communication fixed end; the communication stiff end is equipped with first display, first shooting equipment, first display, first shooting equipment respectively with computing equipment communication connection.

Optionally, in the communication method according to the present invention, a second display and a second shooting device are provided on the mobile robot, and the second display and the second shooting device are respectively in communication connection with the mobile robot.

According to one aspect of the present invention, there is provided a cargo access system comprising: a computing device and a mobile robot; wherein the computing device and the mobile robot are adapted to communicate according to the method as described above.

Optionally, in the cargo access system according to the present invention, further comprising: the communication fixed end is provided with a first display and first shooting equipment, and the first display and the first shooting equipment are in communication connection with the computing equipment respectively; the mobile robot is provided with a second display and a second shooting device, and the second display and the second shooting device are in communication connection with the mobile robot respectively.

According to an aspect of the invention, there is provided a computing device comprising: at least one processor; a memory storing program instructions configured to be adapted to be executed by the at least one processor, the program instructions comprising instructions for performing the communication method as described above.

According to an aspect of the present invention, there is provided a readable storage medium storing program instructions that, when read and executed by a computing device, cause the computing device to perform the communication method as described above.

According to the technical scheme of the invention, the communication method is provided, wherein the communication between the mobile robot and the computing equipment is realized based on the combination of the two-dimensional code and the vision, and the communication method can be particularly applied to a goods access system in the field of automation. The computing equipment can generate and display a first two-dimensional code according to a task to be executed by the mobile robot; the mobile robot can determine a job task by acquiring the first two-dimensional code image and analyzing the first two-dimensional code, execute the job task, and can generate and display the second two-dimensional code according to the current running state of the mobile robot. The computing equipment can determine the running state of the mobile robot by acquiring the second two-dimensional code image and analyzing the second two-dimensional code. Therefore, the mobile robot and the computing equipment are communicated based on the combination of the two-dimension code and the vision, and the mobile robot can issue operation tasks to the mobile robot by the computing equipment and feed back running state information to the computing equipment under the environment that electromagnetic wave communication such as WIFI and FM cannot be used under special working conditions. Moreover, the communication method provided by the invention has the advantages of low investment cost, simplicity in installation and high deployment speed, solves the problem that the mobile robot cannot communicate with an upper computer under the special working condition of electromagnetic wave media such as WIFI and FM, and has more ideal plane deviation and corner deviation fault tolerance compared with an optical communication mode.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

To the accomplishment of the foregoing and related ends, certain illustrative aspects are described herein in connection with the following description and the annexed drawings, which are indicative of various ways in which the principles disclosed herein may be practiced, and all aspects and equivalents thereof are intended to be within the scope of the claimed subject matter. The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description read in conjunction with the accompanying drawings. Throughout this disclosure, like reference numerals generally refer to like parts or elements.

FIG. 1 shows a schematic diagram of a computing device 100, according to one embodiment of the invention;

FIG. 2 illustrates a schematic diagram of a cargo access system 200 according to one embodiment of the present invention;

FIG. 3 shows a partial schematic of the structure at A in FIG. 2;

fig. 4 shows a flow diagram of a communication method 400 according to an embodiment of the invention.

Detailed Description

Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

The communication method can be used for communication between the computing equipment and the mobile robot, and can be particularly applied to a goods access system (comprising the computing equipment and the mobile robot) so that the computing equipment in the goods access system can communicate with the mobile robot.

FIG. 1 shows a schematic diagram of a computing device 100, according to one embodiment of the invention. As shown in FIG. 1, in a basic configuration, computing device 100 includes at least one processing unit 102 and system memory 104. According to one aspect, the processing unit 102 may be implemented as a processor depending on the configuration and type of computing device. The system memory 104 includes, but is not limited to, volatile storage (e.g., random access memory), non-volatile storage (e.g., read-only memory), flash memory, or any combination of such memories. In accordance with one aspect, an operating system 105 is included in system memory 104.

According to one aspect, the operating system 105 is, for example, adapted to control the operation of the computing device 100. Further, the examples are practiced in conjunction with a graphics library, other operating systems, or any other application program, and are not limited to any particular application or system. This basic configuration is illustrated in fig. 1 by those components within the dashed line. According to one aspect, the computing device 100 has additional features or functionality. For example, according to one aspect, computing device 100 includes additional data storage devices (removable and/or non-removable) such as, for example, magnetic disks, optical disks, or tape. Such additional storage is illustrated in FIG. 1 by removable storage device 109 and non-removable storage device 110.

As stated hereinabove, according to one aspect, a program module 103 is stored in the system memory 104. According to one aspect, the program modules 103 may include one or more applications, the invention not being limited to the type of application, for example, the applications may include: email and contacts applications, word processing applications, spreadsheet applications, database applications, slide show applications, drawing or computer-aided applications, web browser applications, and the like.

According to one aspect, examples may be practiced in a circuit comprising discrete electronic elements, a packaged or integrated electronic chip containing logic gates, a circuit utilizing a microprocessor, or on a single chip containing electronic elements or microprocessors. For example, an example may be practiced via a system on a chip (SOC) in which each or many of the components shown in fig. 1 may be integrated on a single integrated circuit. According to one aspect, such SOC devices may include one or more processing units, graphics units, communication units, system virtualization units, and various application functions, all integrated (or "burned") onto a chip substrate as a single integrated circuit. When operating via an SOC, the functions described herein may be operated via application-specific logic integrated with other components of the computing device 100 on a single integrated circuit (chip). Embodiments of the invention may also be practiced using other technologies capable of performing logical operations (e.g., AND, OR, AND NOT), including but NOT limited to mechanical, optical, fluidic, AND quantum technologies. In addition, embodiments of the invention may be practiced within a general purpose computer or in any other circuits or systems.

According to one aspect, computing device 100 may also have one or more input devices 112, such as a keyboard, mouse, pen, voice input device, touch input device, or the like. Output device(s) 114 such as a display, speakers, printer, etc. may also be included. The foregoing devices are examples and other devices may also be used. Computing device 100 may include one or more communication connections 116 that allow communication with other computing devices 118. Examples of suitable communication connections 116 include, but are not limited to: RF transmitter, receiver and/or transceiver circuitry; universal Serial Bus (USB), parallel, and/or serial ports.

The term computer readable media as used herein includes computer storage media. Computer storage media may include volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as computer readable instructions, data structures, or program modules 103. System memory 104, removable storage 109, and non-removable storage 110 are all examples of computer storage media (i.e., memory storage). Computer storage media may include Random Access Memory (RAM), read-only memory (ROM), electrically erasable read-only memory (EEPROM), flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other article of manufacture that may be used to store information and that may be accessed by computing device 100. According to one aspect, any such computer storage media may be part of computing device 100. Computer storage media does not include a carrier wave or other propagated data signal.

In accordance with one aspect, communication media is embodied by computer readable instructions, data structures, program modules 103, or other data in a modulated data signal (e.g., a carrier wave or other transport mechanism) and includes any information delivery media. According to one aspect, the term "modulated data signal" describes a signal that has one or more feature sets or that has been altered in such a manner as to encode information in the signal. By way of example, and not limitation, communication media includes wired media such as a wired network or direct-wired connection, and wireless media such as acoustic, radio Frequency (RF), infrared, and other wireless media.

Fig. 2 illustrates a schematic diagram of a cargo access system 200 according to one embodiment of the present invention. Fig. 3 shows a partial structural schematic at a in fig. 2.

As shown in fig. 2 and 3, the cargo access system 200 includes at least a mobile robot, a computing device (not shown). The computing device may be implemented as the computing device 100 shown in FIG. 1 and may be implemented as a host computer console. The mobile robot may be implemented, for example, as a truss robot. However, the invention does not limit the concrete implementation and structure of the computing equipment and the mobile robot.

In one embodiment, as shown in FIG. 3, the cargo access system 200 further includes a first display 211, a second display 222. The first display 211 is communicatively coupled to the computing device and the second display 222 is communicatively coupled to the mobile robot 220.

Wherein, the computing device may send the first two-dimensional code it generates to the first display 211 to display the first two-dimensional code through the first display 211. The mobile robot 220 may transmit the second two-dimensional code generated by it to the second display 222 to display the second two-dimensional code through the second display 222.

In one embodiment, as shown in fig. 3, the cargo access system 200 further includes a first camera 213 and a second camera 224. The first photographing apparatus 213 is communicatively connected to the computing apparatus, and the second photographing apparatus 224 is communicatively connected to the mobile robot 220.

The computing device may control the first photographing device 213 to acquire the second two-dimensional code image on the second display 222 by sending the first acquisition instruction to the first photographing device 213, and acquire the acquired second two-dimensional code image on the second display 222 from the first photographing device 213.

The mobile robot 220 may control the second photographing device 224 to acquire the first two-dimensional code image on the first display 211 by transmitting the second acquisition instruction to the second photographing device 224, and acquire the first two-dimensional code image on the first display 211 acquired by the second photographing device 224 from the second photographing device 224.

In one implementation, the first photographing apparatus 213 and the second photographing apparatus 224 may be implemented as cameras.

In one embodiment, as shown in FIG. 3, the cargo access system 200 further includes a communication anchor 215. The first display 211 and the first photographing device 213 are disposed at the communication fixing end 215, and the first display 211 and the first photographing device 213 are respectively in communication connection with the computing device.

The second display 222 and the second camera 224 are both disposed on the mobile robot 220, and the second display 222 and the second camera 224 are respectively in communication connection with the mobile robot 220.

It should be noted that, during the operation of the mobile robot 220, the moving route of the mobile robot 220 passes through the communication fixing end 215, so that the second photographing device 224 disposed on the mobile robot 220 acquires the first two-dimensional code image on the first display 211. In other words, the communication fixed terminal 215 is disposed on the moving route of the mobile robot 220.

In one implementation, as shown in fig. 2, the cargo access system 200 includes a travel track 250 of the mobile robot 220. The communication fixing end 215 is disposed at one end of the travel rail 250.

Fig. 4 shows a flow diagram of a communication method 400 according to an embodiment of the invention. The communication method 400 according to the present invention may be used for communication of a computing device with a mobile robot 220. In other words, the computing device and the mobile robot 220 may communicate in accordance with the communication method 400 of the present invention to enable data interaction of the computing device and the mobile robot 220.

The method 400 is adapted to be performed in the cargo access system 200 such that a computing device in the cargo access system 200 communicates with the mobile robot 220, according to one embodiment of the present invention.

As shown in FIG. 4, method 400 includes steps 410-430.

First, in step 410, the computing device determines a job task to be executed that needs to be issued to the mobile robot 220, generates a first two-dimensional code corresponding to the job task according to the job task to be executed by the mobile robot 220, and displays the first two-dimensional code.

Subsequently, in step 420, the mobile robot 220 determines a job task issued by the computing device by acquiring the first two-dimensional code image, analyzing the first two-dimensional code in the first two-dimensional code image, and executing the job task. Then, a second two-dimensional code corresponding to the operation state is generated according to the current operation state of the mobile robot 220, and the second two-dimensional code is displayed.

Finally, in step 430, the computing device acquires a second two-dimensional code image, and determines the operating state of the mobile robot 220 by analyzing the second two-dimensional code in the second two-dimensional code image.

According to one embodiment of the present invention, the computing device is communicatively coupled to a first display 211 and the mobile robot 220 is communicatively coupled to a second display 222, as described above in the cargo access system 200. Thus, the computing device may send the first two-dimensional code it generates to the first display 211 to display the first two-dimensional code through the first display 211. The mobile robot 220 may transmit the second two-dimensional code it generates to the second display 222 to display the second two-dimensional code through the second display 222.

In one embodiment, in step 410, the computing device may specifically implement the following method to generate and display the first two-dimensional code according to the job task to be executed by the mobile robot 220.

In step 410, first, the computing device determines the job task to be performed by mobile robot 220, generating a first command sub-string corresponding to the job task. Here, the computing device may generate a first command substring corresponding to the job task according to the first communication protocol.

And then, the computing equipment generates a corresponding first two-dimensional code according to the first command substring.

Finally, the computing device sends the first two-dimensional code to a first display 211 communicatively coupled thereto, so that the first two-dimensional code is displayed on the first display 211.

It should be noted that the two-dimensional code is also called a two-dimensional barcode, which is an ultra-popular encoding mode on mobile devices in recent years, and the encoding mode includes a data matrix code, a graphic code, a QR code, and the like; it can store more information than the traditional Bar Code Bar Code, and can represent more data types.

In one embodiment, in step 420, the mobile robot 220 may specifically acquire the first two-dimensional code image, determine the job task by analyzing the first two-dimensional code, and execute the job task according to the following method.

In step 420, first, the mobile robot 220 analyzes the first two-dimensional code in the first two-dimensional code image by collecting the first two-dimensional code image on the first display 211, so as to obtain a corresponding first command sub-string.

Further, the mobile robot 220 may determine a job task (task instruction) issued by the computing device according to the first command sub-string, and execute the job task.

In step 420, the mobile robot 220 may specifically generate and display the second two-dimensional code according to the operation status according to the following method:

the mobile robot 220 first determines the operating state of the mobile robot 220 and generates a second command sub-string corresponding to the operating state. Here, the mobile robot 220 may generate a second command sub-string corresponding to the operation state according to the second communication protocol.

Subsequently, the mobile robot 220 generates a corresponding second two-dimensional code according to the second command sub-string.

Finally, the mobile robot 220 transmits the second two-dimensional code to the second display 222 so as to display the second two-dimensional code on the second display 222.

In one embodiment, in step 430, the computing device may specifically acquire the second two-dimensional code image according to the following method, and determine the operation state of the mobile robot 220 by parsing the second two-dimensional code.

In step 430, the computing device acquires a second two-dimensional code image on the second display 222, and parses a second two-dimensional code in the second two-dimensional code image to obtain a corresponding second command sub-string.

Further, the computing device determines the operational state of mobile robot 220 from the second command sub-string. In this way, the computing device can issue the next job task to be executed to the mobile robot 220 according to the running state of the mobile robot 220.

According to an embodiment of the present invention, as described in the cargo access system 200, the computing device is communicatively connected to the first photographing device 213, so that the computing device can control the first photographing device 213 to acquire the second two-dimensional code image on the second display 222 and acquire the acquired second two-dimensional code image from the first photographing device 213 by sending the first acquisition instruction to the first photographing device 213. Further, the second two-dimensional code in the second two-dimensional code image may be parsed.

The mobile robot 220 is communicatively connected to the second photographing apparatus 224, so that the mobile robot 220 may control the second photographing apparatus 224 to acquire the first two-dimensional code image on the first display 211 by sending a second acquisition instruction to the second photographing apparatus 224 and acquire the acquired first two-dimensional code image from the second photographing apparatus 224. Furthermore, the first two-dimensional code in the first two-dimensional code image can be analyzed.

It is further noted that the communication protocol between the computing device and the mobile robot 220 may be pre-designed before the communication method 400 of the present invention is performed. The communication protocols include a first communication protocol for the computing device to transmit data to the mobile robot 220, a second communication protocol for the mobile robot 220 to transmit data to the computing device.

Specifically, the computing device may generate a first command substring corresponding to the job task according to a first communication protocol; the mobile robot 220 may parse the first command sub-string according to the first communication protocol to determine the job task issued by the computing device. The mobile robot 220 may generate a second command sub-string corresponding to the running state of the mobile robot 220 according to the second communication protocol; the computing device may parse the second command substring according to the second communication protocol to determine an operational state of the mobile robot 220.

In one embodiment of the invention, the first communication protocol and the second communication protocol respectively comprise a command word, a command substring position and a command word meaning. Specifically, the first communication protocol is shown in table 1 below, and the second communication protocol is shown in table 2 below.

TABLE 1 first communication protocol

Command word	Command substring position	Meaning of command word
			65535	1	Command substring start
01	2	Straight going
			02	2	Spin of spin
03	2	Turning corner
			04	2	Top-loading elevator
05	2	Upper-part lower-part
			65534	3	Command substring ending

TABLE 2 second communication protocol

According to the first communication protocol shown in table 1, for example, if the first command substring issued by the computing device to the mobile robot 220 through the first two-dimensional code is "65535,01,65534", it represents that the computing device requests the mobile robot 220 to perform a direct job, and the first command string can be parsed into job information of "command string start, direct, and command string end" according to the first communication protocol, so that the mobile robot 220 determines that the job task issued by the computing device is a direct job task according to the first command substring.

For another example, if the second command substring uploaded by the mobile robot 220 to the computing device through the second two-dimensional code is "65533,97,01,03,65532", it represents that the current operating state of the mobile robot 220 is: the power is 97%, the straight job task is being performed, and the current task is suspended. Accordingly, the computing device may parse the second command string into running state information of "command string start, power 97%, current job task straight, current job pause, command string end" according to the second communication protocol.

According to the communication method 400, the communication between the mobile robot and the computing device is realized based on the combination of the two-dimensional code and the vision, and the method can be particularly applied to a cargo access system in the field of automation. The computing equipment can generate and display a first two-dimensional code according to a task to be executed by the mobile robot; the mobile robot can determine a job task by acquiring the first two-dimensional code image and analyzing the first two-dimensional code, execute the job task, and can generate and display the second two-dimensional code according to the current running state of the mobile robot. The computing equipment can determine the running state of the mobile robot by acquiring the second two-dimensional code image and analyzing the second two-dimensional code. Therefore, the mobile robot and the computing equipment are communicated based on the combination of the two-dimension code and the vision, and the mobile robot can issue operation tasks to the mobile robot by the computing equipment and feed back running state information to the computing equipment under the environment that electromagnetic wave communication such as WIFI and FM cannot be used under special working conditions. Moreover, the communication method provided by the invention has the advantages of low investment cost, simplicity in installation and high deployment speed, solves the problem that the mobile robot cannot communicate with an upper computer under the special working condition of electromagnetic wave media such as WIFI and FM, and has more ideal plane deviation and corner deviation fault tolerance compared with an optical communication mode.

The method as in A3, wherein generating a first command substring corresponding to the job task comprises: and generating a first command substring corresponding to the job task according to a first communication protocol.

The method of A10, as claimed in A5, wherein generating a second command sub-string corresponding to the operating state comprises: and generating a second command substring corresponding to the running state according to a second communication protocol.

A11, the method as in any of A1-a10, wherein the cargo access system comprises a communications anchor; the communication stiff end is equipped with first display, first shooting equipment, first display, first shooting equipment respectively with computing equipment communication connection.

The method A12 is as set forth in any one of the methods A1-A11, wherein a second display and a second shooting device are arranged on the mobile robot, and the second display and the second shooting device are respectively in communication connection with the mobile robot.

The various techniques described herein may be implemented in connection with hardware or software or, alternatively, with a combination of both. Thus, the methods and apparatus of the present invention, or certain aspects or portions thereof, may take the form of program code (i.e., instructions) embodied in tangible media, such as removable hard drives, U.S. disks, floppy disks, CD-ROMs, or any other machine-readable storage medium, wherein, when the program is loaded into and executed by a machine, such as a computer, the machine becomes an apparatus for practicing the invention.

In the case of program code execution on programmable computers, the mobile terminal generally includes a processor, a storage medium readable by the processor (including volatile and non-volatile memory and/or storage elements), at least one input device, and at least one output device. Wherein the memory is configured to store program code; the processor is configured to perform the communication method of the present invention according to instructions in said program code stored in the memory.

By way of example, and not limitation, readable media may comprise readable storage media and communication media. Readable storage media store information such as computer readable instructions, data structures, program modules or other data. Communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media. Combinations of any of the above are also included within the scope of readable media.

In the description provided herein, algorithms and displays are not inherently related to any particular computer, virtual system, or other apparatus. Various general purpose systems may also be used with examples of this invention. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects.

Those skilled in the art will appreciate that the modules or units or components of the devices in the examples disclosed herein may be arranged in a device as described in this embodiment or alternatively may be located in one or more devices different from the devices in this example. The modules in the foregoing examples may be combined into one module or may be further divided into multiple sub-modules.

Those skilled in the art will appreciate that the modules in the devices in an embodiment may be adaptively changed and arranged in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments.

Furthermore, some of the described embodiments are described herein as a method or combination of method elements that can be performed by a processor of a computer system or by other means of performing the described functions. A processor having the necessary instructions for carrying out the method or method elements thus forms a means for carrying out the method or method elements. Further, the elements of the apparatus embodiments described herein are examples of the following apparatus: the apparatus is used to implement the functions performed by the elements for the purpose of carrying out the invention.

As used herein, unless otherwise specified the use of the ordinal adjectives "first", "second", "third", etc., to describe a common object, merely indicate that different instances of like objects are being referred to, and are not intended to imply that the objects so described must be in a given sequence, either temporally, spatially, in ranking, or in any other manner.

While the invention has been described with respect to a limited number of embodiments, those skilled in the art, having benefit of this description, will appreciate that other embodiments can be devised which do not depart from the scope of the invention as disclosed herein. Furthermore, it should be noted that the language used in the specification has been principally selected for readability and instructional purposes, and may not have been selected to delineate or circumscribe the inventive subject matter.

Claims

1. A communication method for a computing device to communicate with a mobile robot, the method comprising:

the computing equipment generates and displays a first two-dimensional code according to the operation task to be executed by the mobile robot;

the mobile robot collects the first two-dimensional code image, determines and executes the operation task by analyzing the first two-dimensional code, and generates and displays a second two-dimensional code according to the operation state;

and the computing equipment acquires a second two-dimensional code image and determines the running state of the mobile robot by analyzing the second two-dimensional code.

2. The method of claim 1, wherein,

the computing equipment is in communication connection with a first display and is suitable for sending the first two-dimensional code to the first display for displaying;

the mobile robot is in communication connection with a second display and is suitable for sending the second two-dimensional code to the second display for displaying.

3. The method of claim 2, wherein the computing device generating and displaying a first two-dimensional code from a job task to be performed by the mobile robot comprises:

the computing equipment determines a job task to be executed by the mobile robot and generates a first command substring corresponding to the job task;

generating a first two-dimensional code according to the first command substring;

and sending the first two-dimension code to the first display for displaying.

4. The method of claim 2 or 3, wherein the mobile robot acquires an image of the first two-dimensional code, determines the job task by parsing the first two-dimensional code, and performs the job task, comprising:

the mobile robot collects a first two-dimensional code image on the first display, and analyzes the first two-dimensional code image to obtain a corresponding first command substring;

and the mobile robot determines the job task issued by the computing equipment according to the first command substring and executes the job task.

5. The method of any one of claims 2-4, wherein generating and displaying the second two-dimensional code according to the operating state comprises:

the mobile robot determines the running state of the mobile robot and generates a second command substring corresponding to the running state;

generating a second two-dimensional code according to the second command substring;

and sending the second two-dimensional code to the second display for displaying.

6. The method of any one of claims 2-5, wherein the computing device acquiring a second two-dimensional code image, determining the operational state of the mobile robot by parsing the second two-dimensional code, comprises:

the computing equipment collects a second two-dimensional code image on the second display, and analyzes the second two-dimensional code to obtain a corresponding second command sub-string;

and the computing equipment determines the running state of the mobile robot according to the second command substring.

7. The method of any of claims 1-6, wherein the computing device is communicatively connected to a first capture device; the computing device acquires a second two-dimensional code image on the second display, comprising:

and the computing equipment controls the first shooting equipment to acquire a second two-dimensional code image on the second display, and acquires the second two-dimensional code image from the first shooting equipment.

8. The method of any one of claims 1-7, wherein the mobile robot is communicatively connected to a second camera device; the mobile robot gathers the first two-dimensional code image on the first display, includes:

and the mobile robot controls the second shooting equipment to collect a first two-dimensional code image on the first display, and acquires the first two-dimensional code image from the second shooting equipment.

9. A cargo access system comprising: a computing device and a mobile robot;

wherein the computing device and the mobile robot are adapted to communicate according to the method of any of claims 1-8.

10. The system of claim 9, further comprising:

the communication fixed end is provided with a first display and first shooting equipment, and the first display and the first shooting equipment are in communication connection with the computing equipment respectively;

the mobile robot is provided with a second display and a second shooting device, and the second display and the second shooting device are in communication connection with the mobile robot respectively.