WO2021027690A1

WO2021027690A1 - Robot control method and apparatus

Info

Publication number: WO2021027690A1
Application number: PCT/CN2020/107557
Authority: WO
Inventors: 王熙
Original assignee: 北京猎户星空科技有限公司
Priority date: 2019-08-14
Filing date: 2020-08-06
Publication date: 2021-02-18
Also published as: CN110465945A; CN110465945B

Abstract

A robot control method, comprising: firstly determining whether an in-place service trigger condition is satisfied; when the in-place service trigger condition is satisfied, controlling a robot (11, 12, 13) to be in an in-place service working state. Compared with the prior art, according to the method, the robot can be controlled to be in the in-place service working state or a motion service working state, and the using experience of users on the robot is improved. The present invention also relates to a robot control apparatus, a control device, a computer readable storage medium, and a computer program product.

Description

Robot control method and device

Cross references to related applications

This application claims the priority of a Chinese patent application filed with the Chinese Patent Office, the application number is 201910748572.0, and the application name is "a robot control method and device" on August 14, 2019, the entire content of which is incorporated into this application by reference .

Technical field

This application relates to the field of artificial intelligence technology, and in particular to a robot control method and device.

Background technique

With the continuous development of science and technology, robots have penetrated into every corner of modern society. A variety of robots are widely used in life, such as household robots for cleaning, working robots for logistics handling, security robots for safety precautions, and guidance robots for guiding directions.

At present, the robot cannot dynamically change the service status of the robot according to the working environment of the application scenario, such as in-situ service or sports service, which brings great inconvenience to users.

Summary of the invention

The embodiments of the application provide a robot control method and device, which solve the above-mentioned problems in the prior art and improve the user's experience of using the robot.

In the first aspect, a robot control method is provided, and the method may include:

Judge whether the trigger condition of in-situ service is met;

When the in-situ service trigger condition is satisfied, the control robot is in an in-situ service working state.

In an optional implementation, judging whether the in-situ service trigger conditions are met, including:

Judging whether a user-triggered in-situ service opening instruction is received, and the parameters carried in the in-situ service opening instruction include a customizable setting duration;

When the in-situ service trigger condition is met, the control robot is in an in-situ service working state, including:

When receiving the in-situ service opening instruction triggered by the user, the control robot is in the in-situ service working state for a set duration.

Determine whether the passenger flow within the preset range of the robot reaches the preset number of people;

When the passenger flow within the preset range of the robot reaches the preset number of people, the control robot is in the in-situ service working state.

In an optional implementation, judging whether the passenger flow within the preset range of the robot reaches the preset number of people, including:

In each judgment period, the passenger flow within the preset range of the robot is calculated every preset time interval;

If the passenger flow calculated every time in a judgment period reaches the preset number of people, it is determined that the passenger flow within the preset range of the robot reaches the preset number of people.

In an optional implementation, in each judgment period, the passenger flow within the preset range of the robot is calculated every preset time interval, including:

In each judging period, the number of people within the preset range of the robot is detected every preset time interval;

For each detection, according to the number of people detected this time and the number of people detected each time in the current judgment period, calculate the passenger flow within the preset range of the robot.

Calculate the passenger flow within the preset range of the robot every preset time interval;

If the passenger flow calculated for the preset number of consecutive times reaches the preset number of people, it is determined that the passenger flow within the preset range of the robot reaches the preset number of people.

In an optional implementation, the passenger flow within the preset range of the robot is calculated every preset time interval, including:

Detect the number of people within the preset range of the robot every preset duration;

For each detection, based on the number of people detected this time and the number of people detected each time after the specified time, the passenger flow within the preset range of the robot is calculated; wherein the passenger flow calculated last time at the specified time has not reached The preset number of people, the passenger flow calculated each time between the specified time and the current detection time reaches the preset number of people.

In an optional implementation, after the control robot is in an in-situ service working state, the method further includes:

Receive task instructions;

If the task corresponding to the task instruction is a task that is forbidden to be executed by the robot in the in-situ service working state, output feedback information, the feedback information including the indication information that the robot prohibits the execution of the task corresponding to the task instruction;

If the task corresponding to the task instruction is a task permitted to be performed by the robot in the in-situ service working state, the robot is controlled to execute the task corresponding to the task instruction.

In an optional implementation, controlling the robot to execute the task corresponding to the task instruction includes:

If the task corresponding to the task instruction is a task that does not require robot movement, control the robot to be in an in-situ service work state, and execute the task corresponding to the task instruction;

If the task corresponding to the task instruction is a task requiring the robot to move, the robot is controlled to end the in-situ service work state and execute the task corresponding to the task instruction.

In a second aspect, a robot control device is provided, which may include: a judgment unit and a control unit;

The judgment unit is used to judge whether the in-situ service trigger condition is satisfied;

The control unit is configured to control the robot to be in an in-situ service working state when the in-situ service trigger condition is satisfied.

In an optional implementation, the determining unit is specifically configured to determine whether a user-triggered in-situ service activation instruction is received, and the parameters carried in the in-situ service activation instruction include a customizable setting duration;

The control unit is specifically configured to control the robot to be in the in-situ service working state for a set time period when the in-situ service activation instruction triggered by the user is received.

In an optional implementation, the judging unit is specifically configured to judge whether the passenger flow within the preset range of the robot reaches the preset number of people;

The control unit is specifically configured to control the robot to be in an in-situ service working state when the passenger flow within the preset range of the robot reaches the preset number of people.

In an optional implementation, the judging unit is specifically configured to calculate the passenger flow within the preset range of the robot once every preset time interval in each judgment period;

In an optional implementation, the judging unit is specifically configured to detect the number of people within the preset range of the robot once every preset time interval in each judgment period;

In an optional implementation, the judgment unit is specifically configured to calculate the passenger flow within the preset range of the robot once every preset time interval;

In an optional implementation, the judging unit is specifically configured to detect the number of people within the preset range of the robot once every preset time interval;

In an optional implementation, the device further includes a receiving unit and an output unit;

The receiving unit is configured to receive task instructions;

The output unit is configured to output feedback information if the task corresponding to the task instruction is a task prohibited by the robot in the in-situ service work state, and the feedback information includes the information corresponding to the robot prohibiting execution of the task instruction Instructions for the task;

The control unit is further configured to control the robot to execute the task corresponding to the task instruction if the task corresponding to the task instruction is a task permitted to be executed by the robot in the in-situ service working state.

In an optional implementation, the control unit is specifically configured to, if the task corresponding to the task instruction is a task that does not require robot movement, control the robot to be in an in-situ service work state, and execute the task instruction Corresponding task

In a third aspect, a robot control device is provided. The robot control device includes at least one processor and a memory communicatively connected with the at least one processor, wherein:

The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method of any one of the foregoing first aspects step.

In a fourth aspect, a computer-readable storage medium is provided, and a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method steps in any one of the above-mentioned first aspects are implemented.

In a fifth aspect, a computer program product is provided. When the computer program product is called for execution by a robot control device, the robot control device can execute any of the method steps described in the first aspect.

The robot control method provided by the embodiment of the present invention first determines whether the in-situ service trigger condition is satisfied; when the in-situ service trigger condition is satisfied, the robot is controlled to be in an in-situ service working state. Compared with the prior art, the method is based on the working environment The change in the number of people in the middle, manually or automatically, control the robot in the in-situ service state or the motion service state, which reduces the labor cost of using the robot and improves the user's experience of using the robot.

Description of the drawings

FIG. 1 is a schematic diagram of a system architecture for applying a robot control method according to an embodiment of the present invention;

2 is a schematic flowchart of a robot control method provided by an embodiment of the present invention;

3A is a schematic diagram of a robot control interface provided by an embodiment of the present invention;

3B is a schematic flowchart of a method for acquiring passenger flow provided by an embodiment of the present invention;

3C is a schematic diagram of another robot control interface provided by an embodiment of the present invention;

4 is a schematic structural diagram of a robot control device provided by an embodiment of the present invention;

Fig. 5 is a schematic structural diagram of a robot control device provided by an embodiment of the present invention.

detailed description

The following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, not all of the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present application.

The robot control method provided by the embodiment of the present invention may be applied in the system architecture shown in FIG. 1, and the system may include a server and at least one robot, such as the robot 11, the robot 12, and the robot 13.

The robot control device can determine whether to control the robot in the in-situ service working state according to the preset in-situ service trigger condition. Specifically, the robot control device can obtain the passenger flow in the current working environment of the robot, and determine whether the robot is controlled to be in the in-situ service working state according to the size of the passenger flow, or the robot control device can be based on the in-situ service activation instruction manually triggered by the user , Directly control the robot in the in-situ service working state. Among them, the robot control device can be a control device inside the robot or a control device outside the robot.

The in-situ service working state in the embodiment of the present invention refers to a working state in which the robot cannot change its displacement, but can rotate in place to change its orientation angle.

The preferred embodiments of the present application will be described below in conjunction with the accompanying drawings of the specification. It should be understood that the preferred embodiments described here are only used to illustrate and explain the present invention.

Fig. 2 is a schematic flowchart of a robot control method provided by an embodiment of the present invention. As shown in Figure 2, the execution subject of the method is a robot control device, and the method may include:

Step S210: Determine whether the in-situ service trigger condition is satisfied.

The robot control device may pre-receive the in-situ service trigger condition set by the user, and the in-situ service trigger condition may include, but is not limited to, receiving a user-triggered in-situ service activation instruction or the number of passengers within a preset range of the robot reaches a preset number of people. Among them, the parameters carried in the in-situ service activation instruction triggered by the user may include a customizable setting duration, such as 4 hours.

Optionally, the way for the user to trigger the in-situ service start instruction can be: the user enters the in-situ service interface in the setting interface on the operation control screen, and sets the duration of the in-situ service according to the actual in-situ service requirements, that is, the in-situ service Service duration, for example, the duration is 4 hours, as shown in Figure 3A, the user manually selects the specific values of hours and minutes, and then the user clicks the "Start in-situ service" button on the operation control screen to make the robot receive the in-situ triggered by the user Service opening instruction.

In order to improve the experience of using the robot, the method for judging whether the passenger flow within the preset range of the robot reaches the preset number of people may include a periodic judgment method and a frequency judgment method.

Cycle judgment method:

Calculate the passenger flow within the preset range of the robot every preset time interval in each judgment period. For example, calculate the passenger flow within the preset range of the robot every preset time interval of 1s in each judgment period of 5s;

Specifically, in each judgment cycle, the number of people within the preset range of the robot is detected every preset time interval; for each detection, based on the number of people detected this time and the number of people detected each time in the current judgment cycle, Calculate the passenger flow within the preset range of the robot once. For each detection, the calculated passenger flow may be the average number of the number of people detected this time and the number of people detected each time in the current judgment period, which is not limited in the embodiment of the present invention.

If the passenger flow calculated each time in a judgment period reaches the preset number of people, it is determined that the passenger flow within the preset range of the robot reaches the preset number of people.

If the passenger flow calculated each time in a judgment period does not reach the preset number of people, it is determined that the passenger flow within the preset range of the robot has not reached the preset number of people, and the calculated passenger flow can be cleared at the end of the current judgment period. Zero, and then start a new judgment cycle, and execute the step of calculating the passenger flow within the preset range of the robot every preset time interval in the judgment cycle.

In actual implementation, the number of people within the preset range of the robot can be detected by machine vision.

In an example, take the calculation of the passenger flow within the preset range of the robot in the first judgment period as an example.

In the first judgment cycle, the following steps are executed in a loop iteration mode until the end of the first detection cycle, as shown in Figure 3B:

Step S301: Control the camera on the robot to collect images within a preset range of each interval for a preset duration;

Step S302, using an image recognition algorithm to recognize the collected images, obtain the number of people in the image, and realize the detection of the number of people within the preset range of the robot once;

In actual implementation, if multiple frames of images are collected within a preset time period, the average number of people in the multiple frames of images can be calculated as the number of people within the preset range of the robot obtained in this detection;

Step S303: Calculate the passenger flow within the preset range of the robot once according to the number of people currently detected and the number of people detected within each preset period of time in the history of the current judgment period.

It should be noted that the foregoing method of calculating the passenger flow based on the period is only an example. In other specific embodiments, the method may also be used to calculate the passenger flow based on the period, which will not be described in detail here.

Judgment method of times:

Calculate the passenger flow within the preset range of the robot every preset time interval, for example, calculate the passenger flow within the preset range of the robot every preset time interval of 1s;

Specifically, the number of people within the preset range of the robot is detected every preset time interval; for each detection, the number of people within the preset range of the robot is calculated based on the number of people detected this time and the number of people detected in the history after the specified time. Passenger flow; among them, the passenger flow calculated last time at the specified time does not reach the preset number of people, and the passenger flow calculated from the specified time to the current detection time reaches the preset number of people; for each detection, the calculated The passenger flow may be the average number of the number of people detected this time and the number of people detected each time in the history after the specified time, which is not limited in the embodiment of the present invention.

It should be noted that for every preset interval to detect the number of people within the preset range of the robot, the robot control device can control the camera installed on the robot to collect images within the preset range of the robot, and obtain the preset range of the robot in the image through the image recognition algorithm The number of people in the robot can also control the infrared human body recognition sensor installed on the robot. The infrared human body recognition sensor can identify the number of people within the preset range of the robot. The robot control device can also use other human body recognition methods to obtain the number of people within the preset range of the robot. The embodiments are not limited here.

Step S220: When the in-situ service trigger condition is satisfied, the control robot is in an in-situ service working state.

The in-situ service trigger condition being met means that the robot control device receives a user-triggered in-situ service activation instruction or detects that the number of passengers within the preset range of the robot reaches the preset number of people.

When the robot control device receives the in-situ service opening instruction triggered by the user, the control robot is in the in-situ service working state for a set duration.

After the user clicks the "Start in-situ service" button on the operation control screen, the robot receives the in-situ service start instruction triggered by the user, the robot is in the in-situ service working state, and starts timing, as shown in Figure 3C, in-situ service The interface can display the remaining time of the in-situ service, such as 2 hours and 50 minutes; during the timing process, the user can click the "stop" button in the in-situ service interface to control the robot to suspend the in-situ service.

When the robot control device detects that the passenger flow within the preset range of the robot reaches the preset number of people, the control robot is in the in-situ service working state. Among them, the duration of the in-situ service working state can be set in advance. After the robot performs the in-situ service for a set time (for example, 30 minutes), the in-situ service working state can be automatically ended, or it can be detected when the robot is within the preset range When the passenger flow does not reach the preset number of people, the in-situ service status is automatically ended.

In order to further improve the user's experience of using the robot and better enable the robot to provide services according to user needs, the user can configure a blacklist and whitelist for tasks that the robot can perform in advance and store them.

The blacklist includes tasks that are prohibited from being performed by robots that are working in situ. The tasks in the blacklist are generally affected by the in-situ service's inability to move freely, and cannot be executed, and the robot cannot be controlled to end the in-situ service.

The blacklist can include, but is not limited to, charging operations other than low-battery charging, automatic relocation services, patrol services, navigation-related services, leading services, active solicitation services, etc., services that involve navigation movement, and third-party development that calls navigation functions Operator’s service operations, etc.

The whitelist includes tasks that are allowed to be performed by the robot in the in-situ service state.

The tasks in the whitelist are generally tasks that can be executed simultaneously with the in-situ service during the execution of the in-situ service, or the execution priority is higher than the execution priority of the in-situ service.

The whitelist may include, but is not limited to, focus following services, low-battery charging operations, remote control, power-on relocation services, charging on charging piles, etc.

Further, the robot control device can receive task instructions;

If the task corresponding to the task instruction is a task prohibited by the robot in the in-situ service working state, feedback information is output, and the feedback information may include the indication information that the robot prohibits the task from executing the task corresponding to the task instruction;

If the task corresponding to the task instruction is a task allowed by the robot in the in-situ service working state, the robot is controlled to execute the task corresponding to the task instruction, where:

If the task corresponding to the task instruction is a task that does not require the robot to move, the robot is controlled to be in the in-situ service work state, and the task corresponding to the task instruction is executed;

If the task corresponding to the task instruction is a task that requires the robot to move, the robot is controlled to end the in-situ service work state and execute the task corresponding to the task instruction, that is, end the in-situ service work state.

That is to say, in addition to the end of the set time countdown and the end of the in-situ service end command triggered by the user, the robot can end the in-situ service working state of the robot. The task command may also end the in-situ service working state of the robot. In addition, the robot can also be shut down or restarted In-situ service working status.

The robot control method provided by the embodiment of the present invention first determines whether the in-situ service trigger condition is satisfied; when the in-situ service trigger condition is satisfied, the control robot is in an in-situ service working state. Compared with the prior art, the method can control the robot Being in an in-situ service working state or a sports service working state improves the user's experience of using the robot.

Corresponding to the above method, an embodiment of the present invention also provides a robot control device. As shown in FIG. 4, the robot control device includes: a judgment unit 410 and a control unit 420;

The judging unit 410 is used to judge whether the in-situ service trigger condition is met;

The control unit 420 is configured to control the robot to be in an in-situ service working state when the in-situ service trigger condition is satisfied.

In an optional implementation, the determining unit 410 is specifically configured to determine whether a user-triggered in-situ service activation instruction is received, and the parameters carried in the in-situ service activation instruction include a customizable setting duration;

The control unit 420 is specifically configured to control the robot to be in the in-situ service working state for a set time period when receiving the in-situ service activation instruction triggered by the user.

In an optional implementation, the judging unit is specifically used to judge whether the passenger flow within the preset range of the robot reaches the preset number of people;

The control unit 420 is specifically configured to control the robot to be in an in-situ service work state when the passenger flow within the preset range of the robot reaches the preset number of people.

In an optional implementation, the judging unit 410 is specifically configured to calculate the passenger flow within the preset range of the robot once every preset time interval in each judgment period;

In an optional implementation, the judging unit 410 is specifically configured to detect the number of people in the preset range of the robot once every preset time interval in each judgment period;

In an optional implementation, the judgment unit 410 is specifically configured to calculate the passenger flow within the preset range of the robot once every preset time interval;

In an optional implementation, the judging unit 410 is specifically configured to detect the number of people within the preset range of the robot once every preset time interval;

In an optional implementation, the device further includes a receiving unit 430 and an output unit 440;

The receiving unit 430 is configured to receive task instructions;

The output unit 440 is configured to output feedback information if the task corresponding to the task instruction is a task prohibited by the robot in the in-situ service work state, the feedback information including the robot prohibiting the task corresponding to the task instruction Instruction information;

The control unit 420 is further configured to control the robot to execute the task corresponding to the task instruction if the task corresponding to the task instruction is a task allowed to be executed by the robot in the in-situ service work state.

In an optional implementation, the control unit 420 is specifically configured to, if the task corresponding to the task instruction is a task that does not require robot movement, control the robot to be in an in-situ service work state, and execute the task instruction corresponding Task

The functions of each functional unit of the robot control device provided in the above embodiment of the present invention can be realized by the above method steps. Therefore, the specific working process and beneficial effects of each unit in the robot control device provided by the embodiment of the present invention are: I won't repeat it here.

Referring to FIG. 5, there is a schematic structural diagram of a robot control device for implementing any robot control method according to an embodiment of this application. The robot control device may be a control device inside the robot or outside the robot. Control equipment. The robot control equipment includes physical devices such as a transceiver 501 and a processor 502. The processor 502 may be a central processing unit (CPU), a microprocessor, an application specific integrated circuit, a programmable logic circuit, a large-scale Integrated circuit, or digital processing unit, etc. The transceiver 501 is used for data transmission and reception between the robot control device and other devices.

The processor 502 is configured to perform the following steps:

Judge whether the trigger condition of in-situ service is met;

In an optional implementation, in each judgment period, the passenger flow within the preset range of the robot is calculated once every preset time interval, including:

Receive task instructions;

The robot control device may also include a memory 503 for storing software instructions executed by the processor 502. Of course, it may also store some other data required by the robot control device, such as identification information of the robot, encrypted information of the robot, user data, etc. The memory 503 may be a volatile memory (volatile memory), such as a random-access memory (random-access memory, RAM); the memory 503 may also be a non-volatile memory (non-volatile memory), such as a read-only memory (read-only memory). only memory, ROM, flash memory, hard disk drive (HDD) or solid-state drive (SSD), or memory 503 can be used to carry or store instructions or data structures The desired program code and any other medium that can be accessed by the computer, but not limited to this. The memory 503 may be a combination of the above-mentioned memories.

The specific connection medium between the processor 502, the memory 503, and the transceiver 501 is not limited in the embodiment of the present application. In the embodiment of the present application, in FIG. 5, only the memory 503, the processor 502, and the transceiver 501 are connected through a bus 504 as an example for description. The bus is represented by a thick line in FIG. 5, and the connection between other components is only It is a schematic description and is not intended to be limiting. The bus can be divided into address bus, data bus, control bus, etc. For ease of presentation, only one thick line is used in FIG. 5 to represent, but it does not mean that there is only one bus or one type of bus.

The processor 502 may be a dedicated hardware or a processor that runs software. When the processor 502 can run software, the processor 502 reads the software instructions stored in the memory 503 and, driven by the software instructions, executes the instructions in the foregoing embodiments Any robot control method involved.

Since the implementation manners and beneficial effects of the various components of the robot control device in the above embodiment to solve the problem can be achieved by referring to the steps in the embodiment shown in FIG. 2, therefore, the specific working process of the robot control device provided by the embodiment of the present invention And the beneficial effects will not be repeated here.

In yet another embodiment provided by the present invention, a computer-readable storage medium is also provided. The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the above-described Steps in the robot control method of various exemplary embodiments.

In some possible implementation manners, various aspects of the robot control method provided in this application can also be implemented as a computer program product, which when called for execution by the robot control device, enables the robot control device to execute the above The steps in the robot control method according to various exemplary embodiments of the present application are described.

The computer program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: electrical connections with one or more wires, portable disks, hard disks, random access memory (RAM), read only memory (ROM), erasable Type programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

The computer program product for robot control in the embodiment of the present application may adopt a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on a computing device. However, the computer program product of the present application is not limited to this. In this document, the readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or combined with an instruction execution system, device, or device.

The readable signal medium may include a data signal propagated in baseband or as a part of a carrier wave, and readable program code is carried therein. 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 readable signal medium may also be any readable medium other than a readable storage medium, and the readable medium may send, propagate, or transmit a program for use by or in combination with the instruction execution system, apparatus, or device.

The program code contained on the readable medium can be transmitted by any suitable medium, including, but not limited to, wireless, wired, optical cable, RF, etc., or any suitable combination of the above.

The program code used to perform the operations of the present application can be written in any combination of one or more programming languages. The programming languages include object-oriented programming languages—such as Java, C++, etc., as well as conventional procedural programming languages. Programming language-such as "C" language or similar programming language. The program code can be executed entirely on the user's computing device, partly on the user's device, executed as an independent software package, partly on the user's computing device and partly executed on the remote computing device, or entirely on the remote computing device or server Executed on. In the case of remote computing devices, the remote computing device can be connected to the user's computing device through any kind of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (for example, using Internet services) Provider to connect via the Internet).

It should be noted that although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of a unit described above can be further divided into multiple units to be embodied.

In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in the specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and/or one step may be decomposed into multiple steps for execution.

Those skilled in the art should understand that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, this application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

This application is described with reference to flowcharts and/or block diagrams of methods, devices (systems), and computer program products according to embodiments of this application. It should be understood that each process and/or block in the flowchart and/or block diagram, and the combination of processes and/or blocks in the flowchart and/or block diagram can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing equipment to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing equipment are generated It is a device that realizes the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be stored in a computer-readable memory that can guide a computer or other programmable data processing equipment to work in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including the instruction device. The device implements the functions specified in one process or multiple processes in the flowchart and/or one block or multiple blocks in the block diagram.

These computer program instructions can also be loaded on a computer or other programmable data processing equipment, so that a series of operation steps are executed on the computer or other programmable equipment to produce computer-implemented processing, so as to execute on the computer or other programmable equipment. The instructions provide steps for implementing functions specified in a flow or multiple flows in the flowchart and/or a block or multiple blocks in the block diagram.

Although the preferred embodiments of the present application have been described, those skilled in the art can make additional changes and modifications to these embodiments once they learn the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

Obviously, those skilled in the art can make various changes and modifications to the application without departing from the spirit and scope of the application. In this way, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application also intends to include these modifications and variations.

Claims

A robot control method, characterized in that the method includes:

Judge whether the trigger condition of in-situ service is met;

When the in-situ service trigger condition is satisfied, the control robot is in an in-situ service working state.
The method of claim 1, wherein determining whether the in-situ service trigger condition is satisfied comprises:

Judging whether a user-triggered in-situ service opening instruction is received, and the parameters carried in the in-situ service opening instruction include a customizable setting duration;

When the in-situ service trigger condition is met, the control robot is in an in-situ service working state, including:

When receiving the in-situ service opening instruction triggered by the user, the control robot is in the in-situ service working state for a set duration.
The method of claim 1, wherein determining whether the in-situ service trigger condition is satisfied comprises:

Determine whether the passenger flow within the preset range of the robot reaches the preset number of people;

When the in-situ service trigger condition is met, the control robot is in an in-situ service working state, including:

When the passenger flow within the preset range of the robot reaches the preset number of people, the control robot is in the in-situ service working state.
The method according to claim 3, wherein determining whether the passenger flow within the preset range of the robot reaches the preset number of people comprises:

In each judgment period, the passenger flow within the preset range of the robot is calculated every preset time interval;

If the passenger flow calculated every time in a judgment period reaches the preset number of people, it is determined that the passenger flow within the preset range of the robot reaches the preset number of people.
The method according to claim 4, characterized in that, in each judging period, calculating the passenger flow within the preset range of the robot once every preset time interval includes:

In each judging period, the number of people within the preset range of the robot is detected every preset time interval;

For each detection, according to the number of people detected this time and the number of people detected each time in the current judgment period, calculate the passenger flow within the preset range of the robot.
The method according to claim 3, wherein determining whether the passenger flow within the preset range of the robot reaches the preset number of people comprises:

Calculate the passenger flow within the preset range of the robot every preset time interval;

If the passenger flow calculated for the preset number of consecutive times reaches the preset number of people, it is determined that the passenger flow within the preset range of the robot reaches the preset number of people.
7. The method of claim 6, wherein calculating the passenger flow within the preset range of the robot once every preset time interval comprises:

Detect the number of people within the preset range of the robot every preset duration;

For each detection, based on the number of people detected this time and the number of people detected each time after the specified time, the passenger flow within the preset range of the robot is calculated; wherein the passenger flow calculated last time at the specified time has not reached The preset number of people, the passenger flow calculated each time between the specified time and the current detection time reaches the preset number of people.
7. The method according to any one of claims 1-7, wherein after controlling the robot to be in an in-situ service working state, the method further comprises:

Receive task instructions;

If the task corresponding to the task instruction is a task that is forbidden to be executed by the robot in the in-situ service working state, output feedback information, the feedback information including the indication information that the robot prohibits the execution of the task corresponding to the task instruction;

If the task corresponding to the task instruction is a task permitted to be performed by the robot in the in-situ service working state, the robot is controlled to execute the task corresponding to the task instruction.
8. The method of claim 8, wherein controlling the robot to execute the task corresponding to the task instruction comprises:

If the task corresponding to the task instruction is a task that does not require robot movement, control the robot to be in an in-situ service work state, and execute the task corresponding to the task instruction;

If the task corresponding to the task instruction is a task requiring the robot to move, the robot is controlled to end the in-situ service work state and execute the task corresponding to the task instruction.
A robot control device, characterized in that the device includes: a judgment unit and a control unit;

The judgment unit is used to judge whether the in-situ service trigger condition is satisfied;

The control unit is configured to control the robot to be in an in-situ service working state when the in-situ service trigger condition is satisfied.
A robot control device, characterized by comprising: at least one processor, and a memory communicatively connected with the at least one processor, wherein:

The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute any one of claims 1 to 9 The method described.
A computer-readable storage medium, wherein a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method steps according to any one of claims 1 to 9 are realized.
A computer program product, characterized in that, when the computer program product is called for execution by a robot control device, the robot control device can execute the method steps of any one of claims 1 to 9.