WO2023202169A1 - 一种机器人及使用其的方法 - Google Patents

一种机器人及使用其的方法 Download PDF

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Publication number
WO2023202169A1
WO2023202169A1 PCT/CN2023/071289 CN2023071289W WO2023202169A1 WO 2023202169 A1 WO2023202169 A1 WO 2023202169A1 CN 2023071289 W CN2023071289 W CN 2023071289W WO 2023202169 A1 WO2023202169 A1 WO 2023202169A1
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Prior art keywords
robot
preset
route
recognition device
shape
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PCT/CN2023/071289
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English (en)
French (fr)
Inventor
黄荣伟
李绍斌
宋德超
杨丰玮
张巧玲
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珠海格力电器股份有限公司
珠海联云科技有限公司
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Publication of WO2023202169A1 publication Critical patent/WO2023202169A1/zh

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    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/24—Floor-sweeping machines, motor-driven
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
    • A—HUMAN NECESSITIES
    • A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
    • A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
    • A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
    • A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
    • A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated

Definitions

  • the present disclosure relates to the field of robotic technology, and in particular, to a robot and a method of using the same.
  • the present disclosure proposes a robot and a method for using the same.
  • the robot of the present disclosure can improve the degree of intelligence.
  • the present disclosure provides a robot, wherein the robot includes:
  • the robot body is electrically connected to the memory
  • An identification device installed on the robot body
  • the robot body travels along the cleaning route, and in response to the shape of the object recognized by the recognition device being consistent with the shape of the preset object stored in the memory, alarm information is sent to the preset object.
  • the robot body and the mobile terminal are electrically connected, and in response to the shape of the object recognized by the recognition device being consistent with the shape of the preset object stored in the memory, the robot body is electrically connected to the mobile terminal.
  • the photo of the object recognized by the recognition device is sent to the mobile terminal.
  • the shape of the object recognized by the recognition device is different from the shape of the preset object stored in the memory, and a photo of the object recognized by the recognition device is sent to the The mobile terminal enables the user to determine whether the category of the object recognized by the recognition device is the preset object.
  • the robot in response to determining that the category of the object recognized by the recognition device is not the preset object, the robot continues to move around the object.
  • the robot after sending the alarm information to the preset object, the robot continues to move around the object.
  • the formulation of the cleaning route includes:
  • the robot travels on a preset route from the starting position. After encountering the object, it goes around the object, crosses the object and continues to travel on the preset route until the entire preset area is scanned. The route that the robot walks is marked as a cleaning route.
  • the user switches the robot into patrol mode, the robot scans the cleaning route as a patrol route throughout the house, and sends the patrol results to all of the user's devices. on the mobile terminal.
  • the robot is a sweeping robot.
  • the present disclosure also proposes a method of using the robot as described in the first aspect, wherein the method includes:
  • the robot electrically connected to the memory is started, the robot travels along the cleaning route, and in response to the shape of the object recognized by the recognition device installed on the robot being consistent with the shape of the preset object stored in the memory, the robot is directed to Default objects send alert messages.
  • it further includes: electrically connecting the robot to a mobile terminal, and the robot receives a patrol instruction sent by the mobile terminal to perform patrol.
  • Figure 1 shows a flow chart of a method of using a robot according to a specific embodiment of the present disclosure.
  • the present disclosure proposes a robot.
  • the robot of the present disclosure includes: a robot body and an identification device.
  • the robot body is electrically connected to a memory.
  • the identification device is installed on the robot body.
  • the robot body cleans along the The route travels, and in response to the shape of the object recognized by the recognition device being consistent with the shape of the preset object stored in the memory, alarm information is sent to the preset object.
  • the robot can be a sweeping robot, and of course it can also be a robot for other purposes, which is not specifically limited here.
  • the robot body and the mobile terminal are electrically connected, and the shape of the object recognized in response to the recognition device (such as a camera, of course, it can also be other types of recognition devices, which is not specifically limited here) is stored in the memory.
  • the recognition device such as a camera, of course, it can also be other types of recognition devices, which is not specifically limited here
  • the shapes of the preset objects in the object are consistent, and the photo of the object recognized by the recognition device is sent to the mobile terminal. After receiving the photo, the user of the mobile terminal will determine who fell to the ground and dial 120 to call the police to rescue the elderly.
  • information such as the outline, height or size of family members is stored in the memory.
  • the recognition device of the sweeping robot takes a picture of the obstacle, and the picture contains the outline, height or size of the obstacle. size and other information, and compare the information contained in the picture with the information of the preset object stored in the memory.
  • the information such as the outline, height or size of the preset object is, for example, the outline, height or size of each person in the family, etc.
  • Information when it is determined that the outline, height, or size of an obstacle is consistent with the outline, height, or size of someone in the family (such as an elderly person), the obstacle is determined to be an elderly person, and an alarm message is sent to other people in the family. .
  • the sweeping robot continues to perform cleaning tasks or continues patrol mode, and the user will perform operations such as dialing 120.
  • the shape of the object recognized by the recognition device is different from the shape of the preset object stored in the memory, and the photo of the object recognized by the recognition device is sent to the mobile terminal, so that the user can determine the type of the object recognized by the recognition device. Whether it is a preset object or not, when the user determines that the obstacle is an elderly person, and after the user receives the information confirmation, the sweeping robot will bypass the obstacle and continue to perform cleaning tasks or continue patrol mode, and the user will perform operations such as dialing 120.
  • the robot when it is determined that the type of object recognized by the recognition device is not a preset object, the robot continues to move around the object.
  • the scanning robot will ignore the obstacle and continue to move around the obstacle.
  • formulating the cleaning route includes: the robot travels on a preset route from the starting position. After encountering an object, it circles the object, crosses the object and continues to travel on the preset route until the entire room is scanned. The route traveled is marked as a cleaning route.
  • the preset route can be, for example, a U-shaped route, that is, the sweeping robot moves forward along a straight line from its actual position. If it encounters an obstacle during the forward movement, it will be judged through the built-in algorithm: it will scan around the obstacle for a week and judge. The size and outline of the object are compared with the data in the remote database.
  • the sweeping robot continues to perform the cleaning task. When the sweeping robot encounters a wall, it will make a turn and continue moving forward, and then continue to move forward in a straight line similar to the above method. , so that the sweeping robot travels along this U-shaped route.
  • the robot will scan the cleaning route as a patrol route throughout the house and send the patrol results to the user's mobile terminal.
  • the sweeping robot of the present disclosure has the function of scanning indoor objects and image recognition, as well as the feature of remote control. Therefore, the usage scenarios of the sweeping robot can be expanded. During the cleaning process, the sweeping robot can identify the elderly or children who have fallen to the ground and then send notifications. to the emergency contact person to provide an extra guarantee for the life safety of the elderly. In addition, the sweeping robot of the present disclosure has a patrol mode. When started remotely, it will quickly check the status of each room according to a preset route.
  • the sweeping robot of the present disclosure can be connected to the Internet. After connecting to the network, the sweeping robot can accept remote instructions after connecting to the server; the sweeping robot has a scanning identification device.
  • the robot has two built-in scanning algorithms. One is used in the automatic mode. After startup, it mainly cleans the ground. When encountering obstacles, it determines the nature of the obstacles. If it is detected that a human body has fallen, it will take pictures and report it; the other is One application is human-controlled patrol mode. After receiving instructions, the sweeping robot scans the entire house at different locations according to the patrol route, and reports the scanning situation in a timely manner.
  • Initialize the sweeping robot When it is started for the first time, it will automatically scan the entire house, formulate a cleaning route, and calculate the patrol route based on the cleaning route.
  • a cleaning route Place the sweeping robot at the charging base. After starting the sweeping robot, it will automatically travel in a U-shaped route. After encountering an obstacle, it will circle around the obstacle, cross the obstacle, and continue in the U-shaped route until Scan the entire room and the route is recorded as a cleaning route.
  • Patrol route The cleaning route can complete the outline scanning of the whole house.
  • the patrol route is the outline of each room. It goes around the room.
  • the identification device points to the center of the room to check the conditions in the room.
  • Cleaning is started at a scheduled time every day. During the cleaning process, if an obstacle is encountered, it will be judged through the built-in algorithm: it will scan around the obstacle for a week, determine the size and outline of the object, and compare it with the data in the remote database in the memory. If it is indeed a human body falling Instead, send an alarm to the emergency contact, and take a photo and send it to the user's mobile terminal device; when the attribute of the obstacle cannot be determined, take a photo and send it to the user's mobile terminal device, requesting the user to identify it. After the user receives the information and confirms it, sweep the floor. The robot continues to perform cleaning tasks or continues patrol mode, and the user performs operations such as dialing 120. If the user is not a human body, what instructions does the sweeping robot receive and what actions does it take? The sweeping robot continues to perform cleaning tasks or continues patrol mode. If there are no irrelevant obstacles such as pets, toys, etc., ignore them.
  • the patrol mode When receiving the user's remote start command, the patrol mode is activated, the entire house is quickly scanned according to the route set by the algorithm, and the results are sent to the user's mobile terminal device. Return to perform the scheduled tasks after scanning without any abnormality.
  • a method of using the robot as described above includes: starting the robot electrically connected to the memory, the robot traveling along the cleaning route, and responding to the shape of the object recognized by the recognition device installed on the robot and the shape stored in the memory.
  • the shapes of the preset objects are consistent and an alarm message is sent to the preset object.
  • the invention of the present disclosure also includes electrically connecting the robot to the mobile terminal, and the robot receives the patrol instruction sent by the mobile terminal to perform patrol.
  • This disclosure uses the sweeping robot to identify fallen elderly people or children during cleaning, trigger the alarm system of the sweeping robot, and notify emergency contacts; the user remotely controls the sweeping robot, starts the patrol mode of the sweeping robot, and checks the room status.
  • the sweeping robot of the present disclosure improves the intelligence of the sweeping robot and effectively prevents the elderly or children from not being noticed after they fall.

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  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Vacuum Cleaner (AREA)

Abstract

一种机器人及使用其的方法被提供。机器人包括：机器人本体，其与存储器相电接；识别装置，其安装在机器人本体上；其中，机器人本体沿清扫路线行进，响应于识别装置识别的物体的形状与存储在存储器中的预设物的形状一致，向预设对象发送警报信息。

Description

一种机器人及使用其的方法
本公开要求于2022年04月19日提交中国专利局、申请号为202210410745.X、发明名称为“一种机器人及使用其的方法”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及机器人技术领域，尤其涉及一种机器人及使用其的方法。
背景技术
现如今扫地机器人已很普遍，主要功能是清洁地面，其应用场景受限。
目前独居老人越来越多，其在发生疾病时家属很难及时发现，给老人的健康带来风险，越来越需要提高老人的安全性，如果能够实现通过机器人来检测老人的安全问题，不仅能够提升用户安全保障，还能扩宽机器人的应用场景。
为解决相关技术的缺陷，有必要提出一种机器人及使用其的方法。
发明内容
针对上述相关技术中的问题，本公开提出了一种机器人及使用其的方法，本公开的机器人能够提高智能化程度。
第一方面，本公开提供了一种机器人，其中，所述机器人包括：
机器人本体，其与存储器相电接；
识别装置，其安装在所述机器人本体上；
其中，所述机器人本体沿清扫路线行进，响应于所述识别装置识别的物体的形状与存储在所述存储器中的预设物的形状一致，向预设对象发送警报信息。
在第一方面的一个可能的实施方式中，所述机器人本体和移动终端相电接，响应于所述识别装置识别的物体的形状与存储在所述存储器中的预设物的形状一致，将所述识别装置识别的物体的照片发送至所述移动终端。
在第一方面的一个可能的实施方式中，所述识别装置识别的物体的形状与存储在所述存储器中的预设物的形状不同，将所述识别装置识别的物体的照片发送至所述移动终端，使得用户判定所述识别装置识别的物体的类别是否为所述预设物。
在第一方面的一个可能的实施方式中，响应于判定所述识别装置识别的物体的类别不是所述预设物，所述机器人绕过所述物体继续行进。
在第一方面的一个可能的实施方式中，向预设对象发送警报信息后，所述机器人绕过所述物体继续行进。
在第一方面的一个可能的实施方式中，所述清扫路线的制定包括：
所述机器人从起始位置以预设路线行进，遇到所述物体后，绕所述物体一周，跨过所述物体继续以所述预设路线行进，直至扫描完整个预设区域，所述机器人行走的路线标记为清扫路线。
在第一方面的一个可能的实施方式中，所述用户将所述机器人切 换成巡逻模式，所述机器人将所述清扫路线作为巡逻路线扫描全屋，并将巡逻结果发送至所述用户的所述移动终端上。
在第一方面的一个可能的实施方式中，所述机器人为扫地机器人。
第二方面，本公开还提出了一种使用如第一方面所述的机器人的方法，其中，所述方法包括：
启动与存储器相电接的所述机器人，所述机器人沿清扫路线行进，响应于安装在所述机器人的识别装置识别的物体的形状与存储在所述存储器中的预设物的形状一致，向预设对象发送警报信息。
在第二方面的一个可能的实施方式中，还包括：将所述机器人与移动终端相电接，所述机器人接收所述移动终端发送的巡逻指令，以进行巡逻。
上述技术特征可以各种适合的方式组合或由等效的技术特征来替代，只要能够达到本公开的目的。
附图说明
在下文中将基于实施例并参考附图来对本公开进行更详细的描述，其中：
图1显示了本公开的一具体实施例的机器人的使用方法的流程图。
在附图中，相同的部件使用相同的附图标记。附图并未按照实际的比例绘制。
具体实施方式
下面将结合附图对本公开作进一步说明。
如图1所示，本公开提出了一种机器人，其中，本公开的机器人包括：机器人本体和识别装置，其中，机器人本体与存储器相电接，识别装置安装在机器人本体上，机器人本体沿清扫路线行进，响应于识别装置识别的物体的形状与存储在存储器中的预设物的形状一致，向预设对象发送警报信息。
具体地，机器人可以为扫地机器人，当然也可以为其他用途的机器人，在此不做具体限定。
现以扫地机器人为例对本公开的机器人进行详细说明，以使本公开清楚，其并非旨于对本公开的限制。
在一具体实施例中，机器人本体和移动终端相电接，响应于识别装置(例如摄像头，当然也可以为其他类型的识别装置，在此不做具体限定)识别的物体的形状与存储在存储器中的预设物的形状一致，将识别装置识别的物体的照片发送至移动终端。移动终端的用户在接收到照片后，会判定是谁倒地，并拨打120等操作进行报警，以对老人实施救助。
具体地，存储器中存储有家庭人员的轮廓、身高或大小等信息，扫地机器人在清扫过程中遇到障碍物，扫地机器人的识别装置拍摄障碍物的图片，图片中包含障碍物的轮廓、身高或大小等信息，并将图片中所包含的信息与存储器中所存储的预设物的信息进行对比，预设物的轮廓、身高或大小等信息例如为家庭中各个人的轮廓、身高或大小等信息，当判定障碍物的轮廓、身高或大小等信息与家庭中某人(例如老人)的轮廓、身高或大小等信息一致，则判定该障碍物为老人，向家庭中的其他人员发送警报信息。用户接收到信息确认后，扫地机器人继续执行清扫任务或继续巡逻模式，用户会进行诸如拨打120等操作。
在一具体实施例中，识别装置识别的物体的形状与存储在存储器中的预设物的形状不同，将识别装置识别的物体的照片发送至移动终端，使得用户判定识别装置识别的物体的类别是否为预设物，当用户判定该障碍物为老人，用户接收到信息确认后，扫地机器人绕过障碍物继续执行清扫任务或继续巡逻模式，用户会进行诸如拨打120等操作。
在一些实施方式中，当判定识别装置识别的物体的类别不是预设物，机器人绕过物体继续行进。
具体地，当判定该物体不是人时，例如判定该物体为无关障碍物如宠物、玩具等，扫描机器人自行忽视并会绕过该障碍物继续行进。
在一具体实施例中，清扫路线的制定包括：机器人从起始位置以预设路线行进，遇到物体后，绕物体一周，跨过物体继续以预设路线行进，直至扫描完整个房间，机器人行走的路线标记为清扫路线。具体地，预设路线可以例如为U型路线，即扫地机器人从其实位置沿直线路线前行，在前行的过程中如遇到障碍物，通过内置算法进行判断：围绕障碍物扫描一周，判断物体大小及轮廓，与远程数据库的数据进行对比，如果确实是人体摔倒，发送报警到紧急联系人，并拍摄照片发送至用户的移动终端设备上；当无法确定障碍物属性时，拍摄照片发送至用户移动终端设备，请求用户识别，用户接收到信息确认后，扫地机器人继续执行清扫任务，扫地机器人遇到遇到墙壁时，会进行转弯继续前行，再类似于上述方式继续沿直线前行，从而使扫地机器人沿这类似于U型路线的方式行进。
此外，用户将机器人切换成巡逻模式时，机器人将清扫路线作为巡逻路线扫描全屋，并将巡逻结果发送至用户的移动终端上。
本公开的扫地机器人具有扫描室内物体和图像识别的功能以及 可远程操控的特性，因此可以扩展扫地机器人的使用场景，通过扫地机器人在清扫过程中，识别摔倒在地的老人或者孩子进而发送通知到紧急联系人，为老人的生命安全多提供一份保障。此外，本公开的扫地机器人具有巡逻模式，远程启动时，会按照预设路线快速查看各个房间的状况。
现结合图1对本公开的机器人的一具体实施例进行详细描述，以使本公开清楚，其并非旨于对本公开的限制。
具体地，如图1所示，本公开的执行可以联网的扫地机器人，扫地机器人可以连接网络，连接服务器后，可接受远程指令；该扫地机器人有扫描识别装置。
在一些实施方式中，机器人内置两种扫描算法，一种是应用于自动模式，启动后以清理地面为主，遇到障碍时判定障碍属性，若检测为人体摔倒，则进行拍照上报；另一种应用于是人为控制的巡逻模式，扫地机器人接收到指令后，按照巡逻路线，在不同的地点扫描全屋情况，并及时上报扫描情况。
初始化扫地机器人，首次启动时，自动扫描全屋情况，并制定清扫路线，基于清扫路线计算出巡逻的路线。
具体地，制定清扫路线：将扫地机器人放置充电底座位置，启动扫地机器人后，自动以U型路线行进，遇到障碍物后，绕障碍物一周，跨过障碍物继续以U型路线进行，直至扫描完整个房间，该路线记为清扫路线。
巡逻路线：清扫路线可完成全屋轮廓扫描，巡逻路线即为各个房间轮廓，绕房间四周，识别装置指向房间中央，查看房间中的状况。
每日定时启动清扫，清扫过程中，如果遇到障碍物，通过内置算法进行判断：围绕障碍物扫描一周，判断物体大小及轮廓，与存储器 中的远程数据库的数据进行对比，如果确实是人体摔倒，发送报警到紧急联系人，并拍摄照片发送至用户的移动终端设备上；当无法确定障碍物属性时，拍摄照片发送至用户移动终端设备，请求用户识别，用户接收到信息确认后，扫地机器人继续执行清扫任务或继续巡逻模式，用户来进行诸如拨打120等的操作。若用户设别不是人体时，扫地机器人接收到何种指令并采取何种动作。扫地机器人继续执行清扫任务或继续巡逻模式。若没有无关障碍物如宠物、玩具等自行忽视。
当接受到用户远程启动指令时，启动巡逻模式，按照算法设定好的路线，快速扫描全屋，并将结果发送至用户移动终端设备上。扫描无异常情况后返回执行既定任务。
一种使用如上所述的机器人的方法，其中，该方法包括：启动与存储器相电接的机器人，机器人沿清扫路线行进，响应于安装在机器人的识别装置识别的物体的形状与存储在存储器中的预设物的形状一致，向预设对象发送警报信息。
此外，本公开的发明还包括将机器人与移动终端相电接，机器人接收所述移动终端发送的巡逻指令，以进行巡逻。
本公开通过扫地机器人在清扫过程中识别摔倒的老人或者孩子，触发扫地机器人的报警系统，通知紧急联系人；用户远程控制扫地机器人，启动扫地机器人巡逻模式，查看房间状况。
本公开的扫地机器人提高扫地机器人的智能化程度；有效防止老年人或孩子跌倒后无人发现的情况出现。
在本公开的描述中，需要理解的是，术语“上”、“下”、“底”、“顶”、“前”、“后”、“内”、“外”、“左”、“右”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具 有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
虽然在本文中参照了特定的实施方式来描述本公开，但是应该理解的是，这些实施例仅仅是本公开的原理和应用的示例。因此应该理解的是，可以对示例性的实施例进行许多修改，并且可以设计出其他的布置，只要不偏离所附权利要求所限定的本公开的精神和范围。应该理解的是，可以通过不同于原始权利要求所描述的方式来结合不同的从属权利要求和本文中所述的特征。还可以理解的是，结合单独实施例所描述的特征可以使用在其他所述实施例中。

Claims (10)

  1. 一种机器人，所述机器人包括：
    机器人本体，其与存储器相电接；
    识别装置，其安装在所述机器人本体上；
    其中，所述机器人本体沿清扫路线行进，响应于所述识别装置识别的物体的形状与存储在所述存储器中的预设物的形状一致，向预设对象发送警报信息。
  2. 根据权利要求1所述的机器人，其中，所述机器人本体和移动终端相电接，响应于所述识别装置识别的物体的形状与存储在所述存储器中的预设物的形状一致，将所述识别装置识别的物体的照片发送至所述移动终端。
  3. 根据权利要求2所述的机器人，其中，所述识别装置识别的物体的形状与存储在所述存储器中的预设物的形状不同，将所述识别装置识别的物体的照片发送至所述移动终端，使得用户判定所述识别装置识别的物体的类别是否为所述预设物。
  4. 根据权利要求3所述的机器人，其中，响应于判定所述识别装置识别的物体的类别不是所述预设物，所述机器人绕过所述物体继续行进。
  5. 根据权利要求3所述的机器人，其中，向所述预设对象发送警报信息后，所述机器人绕过所述物体继续行进。
  6. 根据权利要求3所述的机器人，其中，所述清扫路线的制定包括：
    所述机器人从起始位置以预设路线行进，遇到所述物体后，绕所 述物体一周，跨过所述物体继续以所述预设路线行进，直至扫描完整个预设区域，所述机器人行走的路线标记为清扫路线。
  7. 根据权利要求6所述的机器人，其中，所述用户将所述机器人切换成巡逻模式，所述机器人将所述清扫路线作为巡逻路线扫描全屋，并将巡逻结果发送至所述用户的所述移动终端上。
  8. 根据权利要求1所述的机器人，其中，所述机器人为扫地机器人。
  9. 一种使用根据权利要求1至8中任一项所述的机器人的方法，所述方法包括：
    启动与存储器相电接的所述机器人，所述机器人沿清扫路线行进，响应于安装在所述机器人的识别装置识别的物体的形状与存储在所述存储器中的预设物的形状一致，向预设对象发送警报信息。
  10. 根据权利要求9所述的方法，其中，还包括：将所述机器人与移动终端相电接，所述机器人接收所述移动终端发送的巡逻指令，以进行巡逻。
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