WO2020135365A1 - Robot, navigation mode switching method, and medium - Google Patents

Abstract

Provided are a robot having switchable navigation modes, a navigation mode switching method, and a medium, wherein the robot comprises a motion mechanism (101) and a control mechanism (102) connected to the motion mechanism (101). The control mechanism (102) comprises an information acquisition module (103) and a monitoring module (104). The information acquisition module (103) is configured to acquire state information of the robot. The monitoring module (104) is configured to monitor the state information of the robot. In a time period, if a change to the state information of the robot is detected, the robot is controlled to switch to another navigation mode to match the navigation mode being switched to with the changed state information. The motion mechanism (101) of the robot is configured to adopt a different advancing manner under a different navigation mode of the control mechanism (102). The problems in the prior art that robot scheduling is crowded and the utilization rate of robots is low are solved, thereby increasing the robot utilization rate.

Description

Robot, navigation mode switching method and medium

This application requires the priority of the Chinese patent application with the application number 201811593969.9 filed by the China Patent Office on December 25, 2018. The entire contents of this application are incorporated by reference in this application.

Technical field

The embodiments of the present application relate to the technical field of logistics, for example, to a robot, a navigation mode switching method, and a medium.

Background technique

In the field of logistics, whether it is a storage area or a picking area, robots can greatly reduce labor costs and improve work efficiency. For example, the transport robot used to perform the task of carrying shelves is used to perform the task of sorting. Sorting robots, etc.

Considering that different work area environments correspond to different operational requirements, the navigation requirements for robots are often different. In response to this phenomenon, special robots are configured in different work areas in the related art, which results in a large number of robots in the warehouse, which is prone to cause crowded scheduling and low robot utilization.

Summary of the invention

Embodiments of the present application provide a robot, a navigation mode switching method, and a medium to solve the problems of robot scheduling crowding and low robot utilization rate in a warehouse.

An embodiment of the present application provides a robot, which includes a motion mechanism and a control mechanism connected to the motion mechanism. The control mechanism includes:

The information acquisition module is set to acquire the status information of the robot;

The monitoring module is configured to monitor the status information of the robot, and when the status information of the robot is detected to change within a period of time, control the robot to switch the navigation mode so that the switched navigation mode and the changed Adapt state information;

The movement mechanism of the robot adopts different travel modes in different navigation modes of the control mechanism.

An embodiment of the present application also provides a method for switching a navigation mode. The method includes:

Get the status information of the robot;

Monitoring the state information of the robot, and when the state information of the robot is detected to change within a period of time, controlling the robot to switch the navigation mode so that the switched navigation mode is adapted to the changed state information .

An embodiment of the present application also provides a navigation mode switching device, which includes:

The information acquisition module is set to acquire the status information of the robot;

The monitoring module is configured to monitor the status information of the robot, and when the status information of the robot is detected to change within a period of time, control the robot to switch the navigation mode so that the switched navigation mode and the changed The state information is adapted.

An embodiment of the present application also provides a computer-readable storage medium that stores a computer program, and when the program is executed by a processor, the navigation mode switching method described in any of the embodiments of the present application is implemented.

BRIEF DESCRIPTION

FIG. 1 is a schematic diagram of a scenario where different robots are configured for different areas of a warehouse in the related art;

2 is a schematic structural diagram of a robot provided in Example 1 of the present application;

3 is a schematic structural diagram of a robot provided in Example 2 of the present application;

4 is a flowchart of a navigation mode switching method provided in Embodiment 3 of the present application;

5 is a schematic structural diagram of a navigation mode switching device provided in Embodiment 4 of the present application.

detailed description

In the logistics warehouse, in order to facilitate orderly management, the entire warehouse area is divided into different functional areas. For the operation needs in different areas, the warehouse system configures a special robot for each area to perform the operation tasks in the area.

FIG. 1 is a schematic diagram of a scenario where different robots are configured for different areas of a warehouse in the related art. As shown in FIG. 1, the warehouse is divided into a storage area 12, a charging area 13 and a workstation 14. According to the work requirements of each area, the server 11 separately schedules different robots to perform work tasks in the designated area. For example, the article handling robot 18 is arranged in the storage area 12 where the articles are stored, and the article handling robot 18 is configured to carry the articles 15 in the storage area according to the schedule of the server 11; the equipment handling robot 17 and the equipment handling robot 17 are arranged in the charging area 13 Set to carry the charging device or the power supply device 16 according to the scheduling of the server 11 to realize charging of the charging device; configure the picking robot 19 in the workstation 14, and the picking robot 19 is set to transport the items 15 in the workstation 14 according to the scheduling of the server 11 and the order task Or shelves etc.

According to the above configuration, at least two types of robots need to be configured for the items 15 in the warehouse from storage to storage, and the number of each robot needs to be determined according to the amount of transportation tasks. Exemplarily, when the article A is put into the warehouse, the article handling robot 18 needs to be dispatched to carry the article A to the location designated by the storage area 12; according to the received order task, when it is determined that the article A needs to be out of the warehouse, first, dispatch 18 persons to the article handling machine Carry the item A from the storage area 12 to the transfer area of the storage area 12 and the workstation 14, and then, the picking robot 19 of the dispatch workstation 14 transfers the item A from the transfer area to the picking position of the workstation 14, when the picking and order packing are completed , And then move the article A to the next position of the workstation 14 and wait for out of the warehouse. From the storage of goods A to the storage of goods A, the warehouse system dispatched a total of three robots to carry out transportation tasks.

When there are a large number of order tasks to be executed in the warehouse, facing a large number of items 15, at the same time, the handling robot 18 and the picking robot 19 are required to participate, that is, the warehouse system needs to dispatch a large number of handling robots 18 and picking robots simultaneously in a limited warehouse space 19 Carrying out their respective handling tasks separately can easily cause scheduling congestion, and because each type of robot can only perform specific handling tasks in the area to which it belongs, the utilization rate of the robot in the warehouse is not high, which in turn leads to the robot’s Work efficiency is low. Therefore, the embodiments of the present application provide a robot, a navigation mode switching method, and a medium to at least partially solve the above problems.

The application will be described below with reference to the drawings and embodiments. The embodiments described here are only used to explain the present application, not to limit the present application. In addition, it should be noted that, in order to facilitate description, the drawings only show parts, but not all structures related to the present application.

Example one

FIG. 2 is a schematic structural diagram of a robot provided in Embodiment 1 of the present application. This embodiment can be applied to a case where the navigation mode is switched during the movement of the robot. The robot can be implemented in software and/or hardware.

For other components in the robot structure, such as storage devices, sensors, processors, network adapters, and internal connection lines, etc., can be implemented using related technologies, and details are not described in this embodiment.

As shown in FIG. 2, the robot with switchable navigation modes provided in this embodiment may include a motion mechanism 101 and a control mechanism 102 connected to the motion mechanism 101. The control mechanism 102 includes an information acquisition module 103 and a monitoring module 104, where: information acquisition The module 103 is set to obtain the status information of the robot; the monitoring module 104 is set to monitor the status information of the robot, and when the status information of the robot is detected to change within a period of time, the robot is controlled to switch the navigation mode so that the switched The navigation mode is adapted to the changed state information; the movement mechanism 101 of the robot is set to adopt different travel modes under different navigation modes of the control mechanism 102, and the travel mode includes information such as the moving path and the moving speed. When the robot is enabled, the server will deliver the planned movement path to the robot according to the work tasks performed. The moving speed of the robot can be maintained at a preset speed, or can be automatically adjusted according to the actual situation during the moving process.

In different navigation modes, the robot can perform different tasks. The state information of the robot corresponds to the navigation mode during the movement of the robot. When the state information of the robot changes, the navigation mode of the robot also changes, and the tasks performed can also change accordingly. In an embodiment, the status information is used to describe the environment in which the robot is located, such as work area and time information.

During the movement of the robot, sensors configured by the robot, such as infrared detectors and cameras, can be used to collect current environmental information in real time, identify and determine the current status information through the processor, and then send it to the information acquisition module 103. At the same time, the monitoring module 104 can monitor the status information of the robot according to a preset monitoring method, and when the status information of the robot is detected to change, control the robot to switch the navigation mode, so that the same robot can have multiple The navigation mode is applicable to multiple working states, that is, to perform the work tasks corresponding to each navigation mode. In one embodiment, the monitoring method may be real-time monitoring or periodic monitoring, or it may be detected based on the change of the robot's position. When the robot enters a set area, such as the adjacent area of two different warehouse areas, the status information is turned on Monitoring, this embodiment does not limit this.

In an embodiment, the information acquisition module 103 is configured to: acquire the area identification and/or current time information at the robot position, where the area identification is used to distinguish different areas; and identify the area identification and/or current time information; According to the recognition result, determine the target area where the robot is located and/or the time period where the current time information is located; and the monitoring module 104 is set to change in the time period where the target area and/or current time information is monitored In this case, the robot is switched to the navigation mode corresponding to the changed target area and/or the changed time period.

The state information of the robot may include at least one of area identification and time information at the position of the robot. The area identification can generally be set in the adjacent area near the area boundary in different areas of the warehouse. In one embodiment, when the area mark is set on the floor of the warehouse, the robot moves to the mark position, and the sensor at the bottom of the robot can be called to detect the area mark; when the area mark is set on a stand with a certain height, the robot can call the robot Sensors on the side or above detect area identification. When the area identification is detected, the area identification at the robot position is acquired, and then the area identification is identified based on the image recognition technology.

The target area where the robot is located can be determined according to the recognition result of the area identification. The target area can be any area where the robot works in the warehouse. Based on the correspondence between the preset area and the navigation mode, the navigation that the robot should perform can be determined. Mode; based on the time information, the time period corresponding to the time information can be determined, and based on the correspondence between the preset time period and the navigation mode, the navigation mode that the robot should perform can also be determined. In an embodiment, if the current target area and time period of the robot change at the same time, the navigation mode may be selected according to the information with a higher priority according to the preset area identifier and the priority of the time information, for example, in advance The priority of setting time information is higher than the area identification. If the target area and time period of the robot currently change at the same time, the robot is controlled to switch the navigation mode corresponding to the changed time period according to the changed time period. In one embodiment, the robot may be controlled to switch to a navigation mode corresponding to the target area and time zone where the robot is currently located after changing simultaneously according to the navigation mode corresponding to the preset area identifier and time information.

In one embodiment, the monitoring module 104 is set to switch the robot to the navigation mode corresponding to the changed target area by: when recognizing that the changed target area is the storage area or the charging area, the The robot switches to the line navigation mode. The line navigation mode refers to the navigation mode that moves according to the prescribed navigation path. When the changed target area is recognized as the workstation area, the robot is switched to the free navigation mode. The free navigation mode refers to A navigation mode that follows irregular navigation paths.

Consider that the storage area is mainly used for storing items, and the charging area is mainly used for device charging. The planning in these two types of areas is relatively organized, and a fixed robot movement path area is set. Therefore, the robot follows the prescribed navigation path in the line patrol mode Just move. In the workstation area, because the staff participates in picking, they need to move back and forth, and there are many devices or items placed in the workstation area. It is not suitable to set a fixed robot movement path area. At this time, the robot is suitable for the free navigation mode. The path of the regional environment is flexible.

In an embodiment, when it is recognized that the changed target area is a storage area or a charging area, the robot may be switched to a navigation mode other than the line navigation mode.

In one embodiment, the free navigation mode includes, but is not limited to, Simultaneous Localization And Mapping (SLAM) navigation mode.

Compared with the related art, it is necessary to set up dedicated robots in the storage area, charging area and workstation area respectively. In this embodiment, the robot only needs to flexibly switch the navigation mode according to the change of the area, which can realize the switching of working roles and perform different For work tasks, there is no need to set up special robots in each area, which improves the utilization rate of robots. That is, the same robot can support different navigation modes. As long as the navigation mode is switched according to the area, it can be applied to more work occasions.

In an embodiment, the monitoring module 104 is configured to switch the robot to a navigation mode corresponding to the changed time period by switching the robot to the navigation mode according to the correspondence between the changed time period and the navigation mode The navigation mode corresponding to the changed time period and move to the area that supports the navigation mode.

For example, between 20 o'clock and 24 o'clock in the evening, corresponding to the patrol navigation mode; between 8 o'clock and 18 o'clock in the day, corresponding to the free navigation mode. A robot is in the free navigation mode in the workstation area during the day. When the monitoring device 104 detects that the current time of the robot is between 20 and 24 at night time, it controls the robot to switch to the line patrol navigation mode corresponding to the storage area, and the workstation area Entering the storage area and performing shelf handling tasks, the robots that perform sorting tasks during the day can perform container handling tasks in the storage area at night, increasing the utilization rate of the robots, thereby improving the work efficiency of the entire warehouse.

The technical solution of this embodiment obtains the status information of the robot by using the information acquisition module; monitors the status information of the robot by using the monitoring module, and controls the robot to switch the navigation mode to switch when the status information of the robot changes during a period of time The later navigation mode is adapted to the changed state information, that is, the robot is used to switch between different navigation modes and change its own working role, so as to flexibly perform the work task corresponding to each navigation mode without increasing the number of robots in the warehouse. Solve the problems of robot scheduling congestion and low robot utilization in related technologies, improve the utilization rate of robots, reduce the total number of robots in the warehouse, thereby alleviating the phenomenon of robot scheduling congestion and improving the work efficiency of robots .

Example 2

FIG. 3 is a schematic structural diagram of a robot provided in Embodiment 2 of the present application. This embodiment is described based on the foregoing embodiments.

As shown in FIG. 3, the robot provided in this embodiment may include a motion mechanism 101 and a control mechanism 102 connected to the motion mechanism 101. The control mechanism 102 includes an information acquisition module 103 and a monitoring module 104, where: the information acquisition module 103 is set to Obtain the status information of the robot; the monitoring module 104 is set to monitor the status information of the robot. When the status information of the robot is detected to change within a period of time, the robot is controlled to switch the navigation mode so that the switched navigation mode and the changed The state information of the robot is adapted; the motion mechanism 101 of the robot is set to adopt different travel modes in different navigation modes of the control mechanism 102.

In one embodiment, the status information includes an area identifier containing readable information, and/or an area identifier containing non-readable information. In an embodiment, the area identifier containing readable information includes at least one of the following identifiers: magnetic stripe, bar code, two-dimensional code, and radio frequency identification tag; the area identifier containing non-readable information includes at least a preset graphic.

In an embodiment, the information acquisition module 103 is configured to determine the target area where the robot is located based on the recognition result in the following manner: in the case where the area identifier is an area identifier containing readable information, according to the The corresponding relationship between the recognition result of the area identifier and the area determines the target area where the robot is currently located; in the case where the area identifier is an area identifier containing non-readable information, based on the recognition of the area identifier containing non-readable information The corresponding relationship between the result and the area determines the target area where the robot is located.

Each area of the warehouse can be set to any one of all available area identifications such as magnetic stripe, bar code, two-dimensional code, preset graphics and radio frequency identification (Radio Frequency Identification, RFID) tags, or multiple types. Even if multiple zone IDs are set in the same zone, the multiple zone IDs still contain the same zone information.

Exemplarily, if the area identification is a magnetic stripe, the area identification can be detected using a magnetic stripe detector; if the area identification is a barcode or a two-dimensional code, the area identification can be detected using a camera; if the area identification is a preset graphic, The lidar can be used to detect the contour or shape of the area label; if the area label is a radio frequency identification tag, the radio frequency identification tag detector can be used to detect the area label. When the area identification is detected, the area identification at the position of the robot is acquired, and the target area where the robot is located can be identified. In an embodiment, according to different area identifiers, different sensors can be flexibly selected for detection. The above is an exemplary description and should not be taken as a limitation of this embodiment.

For an area identifier that contains readable information, the readable information in the area identifier includes but is not limited to the area name, position label, position coordinates, and type of identification. If the area name is recognized, the information acquisition module 103 can directly determine the target area where the robot is located; if the position label is recognized, the information acquisition module 103 can determine the target area where the robot is located based on the matching of the position label and the area list, In one embodiment, the area list is used to record the correspondence between different areas and position labels; if position coordinates are identified, the information acquisition module 103 can determine the target area where the robot is located by matching the position coordinates on the map.

Exemplary one, a position label corresponds to an area, and the position label may be represented by characters such as numbers and/or letters. When the location label is recognized, the location label can be sent to the server, and the server will match in the area list, and the matching result will be sent to the information acquisition module 103; or the area list may be saved in the robot in advance, and the information The acquisition module 103 performs matching in the area list by itself to confirm the target area.

When multiple location labels are recognized at the same time near the same location, the region can be determined as the target region based on the consistency of the regions matched by the multiple location labels; if the regions matched by the multiple location labels are inconsistent, an area recognition abnormality is issued Warning message, so that the staff can manually confirm the area, and promptly find the phenomenon of information error in the area identification.

Example two, the area identifier containing readable information includes the coordinates (x, y) of the current position in the ground coordinate system, and the identified position coordinates (x, y) and a plurality of area coordinate sets Ci on the map (x, y) match, you can confirm the target area to which the position coordinates belong.

In an embodiment, before determining the target area based on the area identifier containing the position coordinates, the method further includes: obtaining a map issued by the server, where the map includes different areas divided in advance according to job requirements. The staff divides the entire warehouse area according to the operation requirements of the warehouse, and saves the drawn warehouse map to the server. When the robot is enabled, it can send a map request instruction to the server, and the server sends the map to the robot in response to the map request instruction. In an embodiment, the method further includes: receiving an update instruction issued by the server, and updating the map. By updating the map obtained by the robot in real time, it is consistent with the actual division of the warehouse area, which can ensure the accuracy of the recognition of the area where the robot is located, and thus ensure the consistency of the navigation mode switched by the robot and the current area.

Exemplary three, if the recognition result of the region identifier containing readable information is the identifier type, the target region can be confirmed according to the correspondence between the identifier type and the region. In an embodiment, the classification conditions of the identification type include the shape of the identification and the encoding format of the identification. For example, if a barcode is set in the area A of the warehouse, a two-dimensional code is set in the area B, and a magnetic stripe is set in the area C, and the currently recognized identification type is a two-dimensional code, it is determined that the target area where the robot is located is the area B .

For an area identifier that contains non-readable information, such as a magnetic stripe or a preset graphic that contains non-readable information, the target area where the robot is located can be determined according to whether the area identifier is detected in the area. In this case, the magnetic stripe containing non-readable information can be set only in the designated warehouse area. As long as the magnetic stripe containing non-readable information is detected, the corresponding relationship between the magnetic stripe and the warehouse area can be determined. Determine the target area; similarly, you can also set different preset graphics in only part of the warehouse area. When the robot detects the preset graphics, the shape or contour of the recognized preset graphics is used, based on the shape or contour of the preset graphics and the warehouse Correspondence of the area, determine the target area. In one embodiment, the preset graphics can be set adaptively.

In an embodiment, the control mechanism 102 may further include: an obstacle avoidance strategy execution module 105 configured to execute an obstacle avoidance strategy corresponding to the current navigation mode when an obstacle is detected during navigation. In an embodiment, the obstacle avoidance strategy includes an obstacle avoidance range and an obstacle avoidance method, and the obstacle avoidance method includes stopping or bypassing.

In different navigation modes, according to the working environment of the area, different obstacle avoidance strategies can be set to ensure the safe movement of the robot. In an embodiment, the obstacle avoidance range refers to the distance that the robot keeps from the obstacle when it detects the obstacle based on infrared detection technology or ultrasonic distance detection technology. According to the current working environment and the size of obstacles, the obstacle avoidance range can be set adaptively. Exemplarily, in the line-of-sight navigation mode corresponding to the storage area or charging area, the obstacle avoidance strategy includes: stopping movement when encountering obstacles, and the obstacle avoidance range is respectively the front, rear, left, or right of the obstacle Keep the first preset distance on the side; in the free navigation mode corresponding to the workstation area, the obstacle avoidance strategy includes: circumventing obstacles, and the obstacle avoidance range is the front, rear, left, or right of the obstacle, respectively The second preset distance. In an embodiment, the first preset distance may be greater than, less than, or equal to the second preset distance, which is not specifically limited in this embodiment.

In an embodiment, the control mechanism 102 may further include: a moving speed adjustment module 106 configured to adjust the moving speed of the robot to a speed corresponding to the current navigation mode during the navigation process.

Exemplarily, in the line navigation mode, the robot encounters fewer obstacles during the movement, and the robot moves at the first speed; in the free navigation mode, the robot encounters more obstacles during the movement, the robot Move at a second speed, where the first speed is greater than the second speed.

The technical solution of this embodiment monitors the change of the state information of the robot, controls the robot to switch between different navigation modes, executes work tasks in the area supporting the navigation mode, and executes different obstacle avoidance strategies in different navigation modes to match the current The speed corresponding to the navigation mode moves, which solves the problems of robot scheduling congestion and low robot utilization in the warehouse, improves the utilization rate of robots, reduces the total number of robots in the warehouse, and thus alleviates the phenomenon of robot scheduling congestion To improve the working efficiency of the robot.

Example Three

FIG. 4 is a flowchart of a navigation mode switching method provided in Embodiment 3 of the present application. This embodiment can be applied to the case where the navigation mode is switched during robot movement. The method can be performed by a navigation mode switching device. It can be implemented in software and/or hardware and can be integrated on the robot.

The technical solution of this embodiment and the execution principle of the robot in the above embodiment belong to one concept, and the content not described in this embodiment can be explained with reference to the content in the above robot embodiment.

As shown in FIG. 4, the navigation mode switching method provided in this embodiment may include:

S310. Acquire the state information of the robot.

S320. Monitor the state information of the robot. When the state information of the robot is detected to change within a period of time, control the robot to switch the navigation mode to adapt the switched navigation mode to the changed state information.

In an embodiment, acquiring the status information of the robot includes: acquiring the area identifier and/or current time information at the robot position; and identifying the area identifier and/or current time information; determining the target area where the robot is located based on the recognition result And/or the time period in which the current time information is located; and if the state information of the robot is detected to change within a time period, the robot is controlled to switch the navigation mode so that the switched navigation mode is adapted to the changed state information The configuration includes: switching the robot to the navigation mode corresponding to the changed target area and/or the changed time period when the target area and/or the time period where the current time information is detected changes.

In an embodiment, switching the robot to the navigation mode corresponding to the changed time period includes: according to the correspondence between the changed time period and the navigation mode, switching the robot to correspond to the changed time period Navigation mode and move to the area that supports the navigation mode.

In one embodiment, switching the robot to the navigation mode corresponding to the changed target area includes: switching the robot to the line navigation mode when it is recognized that the changed target area is a storage area or a charging area , Line-tracking navigation mode refers to the navigation mode that moves according to the prescribed navigation path; when the changed target area is identified as the workstation area, the robot is switched to the free navigation mode, which refers to the navigation with irregularities Navigation mode for path movement.

In one embodiment, the area identifier is used to distinguish different areas, including an area identifier containing readable information, and/or an area identifier containing non-readable information.

In an embodiment, determining the target area where the robot is located according to the recognition result includes: in the case where the area identifier is an area identifier containing readable information, according to the recognition result of the area identifier containing the readable information and The corresponding relationship between the areas determines the current target area of the robot; in the case where the area identification is an area identification containing non-readable information, according to the correspondence between the identification result of the area identification containing non-readable information and the area, Determine the target area where the robot is located.

In an embodiment, the area identifier containing readable information includes at least one of the following identifiers: magnetic stripe, bar code, two-dimensional code, and radio frequency identification tag; and the area identifier containing non-readable information includes at least a preset graphic.

The technical solution of this embodiment controls the robot to switch the navigation mode by acquiring the state information of the robot and monitoring the change of the state information of the robot within a period of time, so that the switched navigation mode is consistent with the changed state information Adaptation, for example, the robot used to perform the first task during the day can be scheduled to perform another task at night, which solves the problems of robot scheduling crowding and low robot utilization in the warehouse, and improves the utilization of the robot , Reducing the total number of robots in the warehouse, thereby alleviating the phenomenon of robot scheduling congestion, and improving the efficiency of robots.

Example 4

FIG. 5 is a schematic structural diagram of a navigation mode switching device provided in Embodiment 4 of the present application. This embodiment can be applied to a case where the navigation mode is switched during robot movement. The device can be implemented in software and/or hardware. , And can be integrated on the robot.

As shown in FIG. 5, the navigation mode switching device provided in this embodiment may include an information acquisition module 410 and a monitoring module 420, where: the information acquisition module 410 is configured to acquire the status information of the robot; the monitoring module 420 is configured to monitor the robot’s State information, when it is detected that the state information of the robot changes within a period of time, the robot is controlled to switch the navigation mode so that the changed navigation mode is adapted to the changed state information.

In an embodiment, the information acquisition module 410 is configured to: acquire the area identifier and/or current time information at the position of the robot; and identify the area identifier and/or current time information; and determine the target area where the robot is located based on the recognition result And/or the time period in which the current time information is located; and the monitoring module 420 is set to switch the robot to the changed target when the target area and/or the time period in which the current time information is located changes The navigation mode corresponding to the area and/or the changed time period.

In an embodiment, the monitoring module 420 is set to switch the robot to the navigation mode corresponding to the changed time period by: according to the correspondence between the changed time period and the navigation mode, the robot Switch to the navigation mode corresponding to the changed time period, and move to an area that supports the navigation mode.

In an embodiment, the monitoring module 420 is set to switch the robot to a navigation mode corresponding to the changed target area by: when it is recognized that the changed target area is a storage area or a charging area , Switch the robot to the line navigation mode, the line navigation mode refers to the navigation mode that moves according to the prescribed navigation path; when the changed target area is recognized as the workstation area, the robot is switched to the free navigation mode, free navigation The mode refers to a navigation mode that moves along a navigation path with irregularities.

In one embodiment, the area identifier is used to distinguish different areas, including an area identifier containing readable information, and/or an area identifier containing non-readable information.

In an embodiment, the information acquisition module 410 is configured to determine the target area where the robot is located based on the recognition result in the following manner: in the case where the area identifier is an area identifier containing readable information, according to Correspondence between the recognition result of the area identifier for reading information and the area to determine the target area where the robot is currently located; in the case where the area identifier is an area identifier containing non-readable information, according to the area identifier containing the non-readable information The corresponding relationship between the recognition result and the area determines the target area where the robot is located.

In an embodiment, the area identifier containing readable information includes at least one of the following identifiers: magnetic stripe, bar code, two-dimensional code, and radio frequency identification tag; and the area identifier containing non-readable information includes at least a preset graphic.

The navigation mode switching device provided by the embodiment of the present application can execute the navigation mode switching method provided by any embodiment of the present application, and has a function module corresponding to the execution method and beneficial effects. For technical details not described in this embodiment, reference may be made to the content of the above-mentioned embodiment for explanation.

Example 5

Embodiment 5 of the present application also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium. When the program is executed by a processor, the navigation mode switching method as provided in any embodiment of the present application is implemented. The method may include: acquiring the status information of the robot; monitoring the status information of the robot, and controlling the robot to switch the navigation mode when the status information of the robot changes within a certain period of time, so that the switched navigation mode and the changed The state information is adapted.

The computer storage media in the embodiments of the present application may use any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. Examples of computer-readable storage media (non-exhaustive list) include: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (Random Access Memory, RAM), read-only memory (Read- Only Memory (ROM), Erasable Programmable Read Only Memory (EPROM) or flash memory, optical fiber, portable compact disk read only memory (Compact Disc Read-Only Memory, CD-ROM), optical storage device , Magnetic storage device, or any suitable combination of the above. In this application, the computer-readable storage medium may be any tangible medium that contains or stores a program, and the program may be used by or in combination with an instruction execution system, apparatus, or device.

The computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, in which computer-readable program code is carried. This propagated data signal can take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the foregoing. The computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, and the computer-readable medium may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. .

The program code contained on the computer-readable medium may be transmitted on any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

The computer program code for performing the operations of the present application may be written in one or more programming languages or a combination thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and conventional Procedural programming language-such as "C" language or similar programming language. The program code may be executed entirely on the user's computer, partly on the user's computer, as an independent software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or terminal. In situations involving remote computers, the remote computer can be connected to the user's computer through any kind of network, including a local area network (Local Area Network, LAN) or a wide area network (Wide Area Network, WAN), or it can be connected to an external computer ( For example, using an Internet service provider to connect through the Internet).

Claims (15)

1. A robot includes a motion mechanism and a control mechanism connected to the motion mechanism. The control mechanism includes:

   The information acquisition module is set to acquire the status information of the robot;

   The monitoring module is configured to monitor the status information of the robot, and when the status information of the robot is detected to change within a period of time, control the robot to switch the navigation mode so that the switched navigation mode and the changed Adapt state information;

   The movement mechanism of the robot is set to adopt different travel modes in different navigation modes of the control mechanism.
2. The robot according to claim 1, wherein the information acquisition module is configured to: acquire an area identification at the position of the robot; and identify the area identification; and determine a target area where the robot is located based on the identification result And the monitoring module is set to switch the robot to the navigation mode corresponding to the changed target area when the target area is monitored to change;

   Alternatively, the information acquisition module is set to: acquire current time information; and identify the current time information; determine the time period in which the current time information is located based on the identification result; and the monitoring module is set to When it is detected that the time period during which the current time information is changed, switch the robot to a navigation mode corresponding to the changed time period;

   Alternatively, the information acquisition module is configured to: acquire the area identifier and current time information at the position of the robot; and identify the area identifier and current time information; and determine the target of the robot based on the recognition result An area and a time period in which the current time information is located; and the monitoring module is configured to change the robot when the target area and the time period in which the current time information is located changes Switch to the navigation mode corresponding to the changed target area and the changed time period.
3. The robot according to claim 2, wherein the monitoring module is configured to switch the robot to a navigation mode corresponding to the changed time period in the following manner:

   According to the correspondence between the changed time period and the navigation mode, the robot is switched to the navigation mode corresponding to the changed time period, and moved to an area that supports the navigation mode.
4. The robot according to claim 2, wherein the monitoring module is configured to switch the robot to a navigation mode corresponding to the changed target area in the following manner:

   Set to switch the robot to a line navigation mode when the changed target area is a storage area or a charging area, the line navigation mode refers to a navigation mode that moves according to a prescribed navigation path;

   When it is recognized that the changed target area is a workstation area, the robot is switched to a free navigation mode, and the free navigation mode refers to a navigation mode that moves according to an irregular navigation path.
5. The robot according to claim 2, wherein the area identification is used to distinguish different areas, including at least one of an area identification containing readable information and an area identification containing non-readable information.
6. The robot according to claim 5, wherein the information acquisition module is configured to determine the target area where the robot is located based on the recognition result in the following manner:

   In the case where the area identifier is an area identifier containing readable information, the target area where the robot is currently located is determined according to the correspondence between the recognition result of the area identifier containing readable information and the area;

   In the case where the area identifier is an area identifier containing non-readable information, the target area where the robot is located is determined according to the correspondence between the recognition result of the area identifier containing non-readable information and the area.
7. The robot according to claim 5 or 6, wherein the area identifier containing readable information includes at least one of the following identifiers:

   Magnetic stripe, bar code, QR code and radio frequency identification tag; and

   The area identifier containing non-readable information includes a preset graphic.
8. A navigation mode switching method, including:

   Get the status information of the robot;

   Monitoring the state information of the robot, and when the state information of the robot is detected to change within a period of time, controlling the robot to switch the navigation mode so that the switched navigation mode is adapted to the changed state information .
9. The method according to claim 8, wherein the acquiring the state information of the robot comprises: acquiring an area identifier at the position of the robot; and identifying the area identifier; and determining the target of the robot based on the recognition result Area; and when the state information of the robot is detected to change within a period of time, controlling the robot to switch the navigation mode to adapt the switched navigation mode to the changed state information, including: When it is detected that the target area changes, switch the robot to a navigation mode corresponding to the changed target area;

   Alternatively, the acquiring the status information of the robot includes: acquiring the current time information; and identifying the current time information; determining the time period in which the current time information is located based on the recognition result; and the monitoring within a time period When the state information of the robot changes, the robot is controlled to switch the navigation mode to adapt the switched navigation mode to the changed state information, including: when the current time information is detected When the time period changes, switch the robot to the navigation mode corresponding to the changed time period;

   Or, the acquiring the status information of the robot includes: acquiring the area identifier and the current time information at the position of the robot; and identifying the area identifier and the current time information; determining the location of the robot based on the recognition result The target area and the time period in which the current time information is located; and when the state information of the robot is detected to be changed within a time period, the robot is controlled to switch the navigation mode to make the switched navigation mode Adapted to the changed state information, including: when the target area where the robot is located and the time period where the current time information is changed are changed, switching the robot to the changed The navigation mode corresponding to the target area and the changed time period.
10. The method of claim 9, wherein switching the robot to a navigation mode corresponding to the changed time period includes:

    According to the correspondence between the changed time period and the navigation mode, the robot is switched to the navigation mode corresponding to the changed time period, and moved to an area that supports the navigation mode.
11. The method of claim 9, wherein switching the robot to a navigation mode corresponding to the changed target area includes:

    When recognizing that the changed target area is a storage area or a charging area, the robot is switched to a line navigation mode, and the line navigation mode refers to a navigation mode that moves according to a prescribed navigation path;

    When it is recognized that the changed target area is a workstation area, the robot is switched to a free navigation mode, and the free navigation mode refers to a navigation mode that moves according to an irregular navigation path.
12. The method according to claim 9, wherein the area identification is used to distinguish different areas, including at least one of an area identification containing readable information and an area identification containing non-readable information.
13. The method according to claim 12, wherein, according to the recognition result, determining the target area where the robot is located includes:

    In the case where the area identifier is an area identifier containing readable information, the target area where the robot is currently located is determined according to the correspondence between the recognition result of the area identifier containing readable information and the area;

    In the case where the area identifier is an area identifier containing non-readable information, the target area where the robot is located is determined according to the correspondence between the recognition result of the area identifier containing non-readable information and the area.
14. The method according to claim 12 or 13, wherein the area identifier containing readable information includes at least one of the following identifiers:

    Magnetic stripe, bar code, QR code and radio frequency identification tag; and

    The area identifier containing non-readable information includes a preset graphic.
15. A computer-readable storage medium storing a computer program, which when executed by a processor implements the navigation mode switching method according to any one of claims 8-14.

Images