Robot, robot-assisted mapping method, and computer-readable storage medium

Abstract

An embodiment of the present application discloses a robot, a robot-assisted mapping method, and a computer-readable storage medium. Among them, when the processor of the robot calls and executes a computer program, it realizes: performing a first operation, which is used to show how to select a positioning method and output a positioning result corresponding to the positioning method; performing a second operation, which is used to show how to push the robot for mapping based on the positioning result and output an initial map. It can be seen that after the embodiment of the present application enters the installation-free process, corresponding guiding operations are performed in stages such as positioning and pushing the map, so that users can understand the meaning of each step and how to operate each step, reducing the threshold of the installation-free mapping process, enabling non-professionals to quickly complete the entire mapping process, with higher mapping efficiency and better user experience.

Description

Technical Field

[0001] This application belongs to the field of robot mapping, and particularly relates to a robot, a robot-assisted mapping method, and a computer-readable storage medium. Background Art

[0002] In some cases, the robot mapping process includes the following steps: obtaining a static map by the robot through a map pushing process; exporting the map from the robot; setting business points, walking paths, etc. on the exported map to obtain a set map; and importing the set map into the robot for installation. In this way, the robot can work according to the imported map.

[0003] Compared with the above mapping process that requires installation and import, the mapping process without installation and import does not require steps such as exporting and importing the map, and generally includes steps such as map pushing and setting business points.

[0004] However, the threshold of the mapping process without installation and import is relatively high, and users need to have certain professional knowledge, such as the relevant principles of robot operation. Only in this way can users well understand the mapping process without installation and import, understand the meaning of each step and how to operate each step to complete the entire mapping process. For non-professional users, due to the lack of relevant knowledge, they often do not know how to operate the mapping process without installation and import, resulting in low mapping efficiency and poor user experience. Summary of the Invention

[0005] Embodiments of this application provide a robot, a robot-assisted mapping method, and a computer-readable storage medium, which can solve the problems of low mapping efficiency and poor user experience in the existing mapping process without installation and import.

[0006] In a first aspect, embodiments of this application provide a robot, including a memory and a processor. The memory stores a computer program, and the processor is configured to call and execute the computer program to implement the following steps:

[0007] Perform a first operation, where the first operation is used to show how to select a positioning method and output a positioning result corresponding to the positioning method;

[0008] Perform a second operation, where the second operation is used to show how to push the robot for mapping based on the positioning result and output an initial map.

[0009] As can be seen from the above, after entering the installation-free process, in stages such as positioning and map pushing, corresponding guiding operations are performed to enable users to understand the meaning of each step and how to operate each step, reducing the threshold of the installation-free mapping process, allowing non-professional users to quickly complete the entire mapping process, with higher mapping efficiency and better user experience.

[0010] In some possible implementations of the first aspect, when the processor is used to call and execute a computer program, the following steps are also implemented:

[0011] Execute a third operation, which is used to show how to perform function selection and business point setting on the initial map and output a business map.

[0012] Optionally, if the user needs to perform business point setting and function selection, the robot can also perform corresponding guiding operations to enable the user to understand the meaning of this step and how to operate, further reducing the threshold of the map building process without installation and improving the map building efficiency.

[0013] In some possible implementations of the first aspect, when the processor is used to call and execute a computer program, the following steps are also implemented:

[0014] Execute a fourth operation, which is used to show how to set virtual walls and / or two-way roads on the business map and output a target map.

[0015] Optionally, if the user needs to set virtual walls and / or two-way roads, the robot can also perform corresponding guiding operations to enable the user to understand the meaning of this step and how to operate, further reducing the threshold of the map building process without installation and improving the map building efficiency.

[0016] In some possible implementations of the first aspect, when the processor is used to call and execute a computer program to implement the execution of the first operation, the following steps are specifically implemented:

[0017] Obtain and play a guiding file, which is used to show how to select a positioning method;

[0018] Obtain a positioning method selection instruction, which is an instruction generated after the user selects a positioning method;

[0019] Respond to the positioning method selection instruction and perform positioning in the positioning method corresponding to the positioning method selection instruction to obtain a positioning result;

[0020] Output the positioning result;

[0021] And / or

[0022] In some possible implementations of the first aspect, when the processor is used to call and execute a computer program to implement the execution of the second operation, the following steps are specifically implemented:

[0023] Obtain and play a first guiding voice file, which is used to show the map pushing standard and the map pushing posture;

[0024] Detect whether the map pushing posture conforms to a preset standard and / or whether the map pushing speed meets a preset requirement;

[0025] If the user's map-pushing posture does not meet the preset standards and / or the map-pushing speed does not meet the preset requirements, obtain and play a second guiding voice file, which is used to show whether the map-pushing posture is standard and / or whether the map-pushing speed meets the preset requirements;

[0026] If it is detected that the walking distance of the robot within the second preset time period is less than the preset distance threshold, obtain and play a first guiding video file, which is used to show how to push the robot for map building.

[0027] In some possible implementation manners of the first aspect, the guiding file includes a third guiding voice file and a second guiding video file;

[0028] When the processor is used to call and execute the computer program, the following steps are specifically implemented:

[0029] Obtain and play a third guiding voice file, which is used to prompt how to select a positioning method;

[0030] If within the first preset time period after playing the third guiding voice file, no user operation is detected or it is detected that the user has not completed the first preset operation, obtain and play a second guiding video file, which is used to show how to select a positioning method.

[0031] In some possible implementation manners of the first aspect, when the processor is used to call and execute the computer program, the following steps are specifically implemented:

[0032] Obtain and play a fourth guiding voice file, which is used to show how to perform function selection and business point setting on the initial map;

[0033] If within the third preset time period after playing the fourth guiding voice file, a first function selection and business point setting instruction is obtained, in response to the first function selection and business point setting instruction, perform function selection and business point setting on the initial map to obtain a business map, and the first function selection and business point setting instruction is an instruction generated by the user after performing function selection and business point setting based on the fourth guiding voice file;

[0034] Output the business map.

[0035] In some possible implementation manners of the first aspect, when the processor is used to call and execute the computer program, the following steps are specifically further implemented:

[0036] If within the third preset time period after playing the fourth guiding voice file, no user operation is detected or it is detected that the user has not completed the second preset operation, obtain and play a third guiding video file, which is used to show how to perform function selection and business point setting on the initial map;

[0037] Obtain the second function selection and service point setting instructions, and in response to the second function selection and service point setting instructions, perform function selection and service point setting on the initial map to obtain a service map. The second function selection and service point setting instructions are instructions generated by the user after performing function selection and service point setting based on the third guidance video file;

[0038] Output the service map.

[0039] In some possible implementation manners of the first aspect, the fourth operation includes playing a fifth guidance voice file and / or playing a fourth guidance video file.

[0040] In a second aspect, an embodiment of the present application provides a robot-assisted mapping method, which is applied to a robot as described in any item of the first aspect above. The method includes:

[0041] Execute a first operation, where the first operation is used to demonstrate how to select a positioning method and output a positioning result corresponding to the positioning method;

[0042] Execute a second operation, where the second operation is used to demonstrate how to push the robot for mapping based on the positioning result and output an initial map.

[0043] In a third aspect, an embodiment of the present application provides a computer-readable storage medium, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the method described in any item of the second aspect above is implemented.

[0044] In a fourth aspect, an embodiment of the present application provides a computer program product. When the computer program product runs on an electronic device, the electronic device is caused to execute the method described in any item of the second aspect above.

[0045] It can be understood that the beneficial effects of the second aspect to the fourth aspect above can refer to the relevant descriptions in the first aspect above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0047] Figure 1 It is a schematic flowchart of a robot-assisted mapping method provided by an embodiment of the present application;

[0048] Figure 2 It is a structural block diagram of a robot-assisted mapping device provided by an embodiment of the present application;

[0049] Figure 3 This is a schematic block diagram of the electronic device provided by the embodiment of the present application. Detailed implementation manners

[0050] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0051] It should be understood that when used in the specification and appended claims of the present application, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0052] It should also be understood that the term "and / or" as used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0053] As used in the specification and appended claims of the present application, the term "if" can be interpreted as "when", "once", "in response to determining", or "in response to detecting" depending on the context. Similarly, the phrase "if determined" or "if detecting [the described condition or event]" can be interpreted as meaning "once determined", "in response to determining", "once detecting [the described condition or event]", or "in response to detecting [the described condition or event]" depending on the context.

[0054] In addition, in the description of the specification and appended claims of the present application, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0055] References to "one embodiment" or "some embodiments" or the like described in the specification of this application mean that a specific feature, structure, or characteristic described in connection with that embodiment is included in one or more embodiments of this application. Thus, statements such as "in one embodiment", "in some embodiments", "in other some embodiments", "in still other embodiments", etc., which appear in different places in this specification, do not necessarily all refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "comprising", "including", "having" and their variants mean "including but not limited to", unless otherwise specifically emphasized.

[0056] The robot-assisted mapping method provided by the embodiments of this application can be applied to robots, such as floor-sweeping robots, restaurant service robots, and restaurant food delivery robots, etc. The embodiments of this application do not impose any restrictions on the specific type of the robot.

[0057] Generally, a robot includes a memory and a processor, and a computer program is stored on the memory. When the processor calls and executes the computer program, corresponding steps are implemented. The following will introduce the process of implementing corresponding steps when the processor of the robot calls and executes the computer program.

[0058] Please refer to Figure 1 , which is a schematic flowchart of a robot-assisted mapping method provided by the embodiments of this application. When applied to a robot, the following steps are implemented when the processor of the robot is used to call and execute the computer program:

[0059] Step S101: Perform a first operation, and the first operation is used to show how to select a positioning method and output a positioning result corresponding to the positioning method.

[0060] The above first operation is an operation performed after the robot enters the installation-free process. Generally, after the robot is powered on, it will enter a self-check process; after the robot's self-check, it will enter the installation-free import mapping process.

[0061] Among them, the installation-free import mapping process may include at least one stage such as positioning, map pushing, business point setting, and virtual wall and / or two-way road setting, etc. If virtual wall and / or two-way road are not required, the virtual wall and / or two-way road setting stage does not need to be carried out. If business point setting and function selection are not required, the business point setting stage does not need to be carried out. Among them, the "map pushing" mentioned in the text can be understood as the process of pushing the robot to perform mapping.

[0062] It is understandable that before a robot works in a new environment, it needs to build a map of the new environment first. For example, before a restaurant food delivery robot performs food delivery tasks in a certain restaurant, it needs to build a static map of the restaurant through a map building process of installation-free import.

[0063] In the embodiments of the present application, in order to enable non-professional personnel to well understand the meaning of each stage and how to operate in each stage, guiding operations can be performed in the corresponding stages of the installation-free import map building process to guide users to quickly and accurately complete the entire map building process.

[0064] In the positioning stage, generally, the robot needs the user to perform corresponding operations before it can locate its current position. For example, after the user installs a positioning code in the real physical environment, the robot takes a picture of the positioning code image through a camera and then locates its own current position based on the positioning code image. For non-professional personnel, they do not know the meaning of the positioning stage and do not know how to operate in the current stage. Based on this, in the embodiments of the present application, a first operation is performed in the positioning stage to prompt the user how to operate in the current stage.

[0065] There may be multiple positioning methods supported by the robot. The robot needs to prompt the user how to select the corresponding positioning method through the first operation and prompt the user how to operate. Then, the robot executes the corresponding positioning process according to the positioning method selected by the user to obtain a positioning result.

[0066] In some embodiments, the above-mentioned first operation may include operations such as obtaining and playing a guiding file, obtaining a positioning method selection instruction, and performing positioning in response to the positioning method selection instruction and outputting a positioning result.

[0067] Among them, the positioning method selection instruction is an instruction input by the user to the robot according to the guiding file played by the robot.

[0068] In specific applications, the robot first obtains and plays a guiding file, which is used to show how to select a positioning method; then, the user selects a positioning method through corresponding operations (such as clicking on the touch screen of the robot) according to the guiding file played by the robot, and the robot generates a positioning method selection instruction according to the user's positioning method selection operation; finally, the robot responds to the positioning method selection instruction, performs positioning according to the positioning method corresponding to the positioning method selection instruction, obtains a positioning result, and outputs the positioning result.

[0069] Optionally, the guiding file may include at least one of a third guiding voice file and a second guiding video file. At this time, the robot can first obtain and play the third guiding voice file, which is used to prompt how to select a positioning method. Usually, after the robot enters the positioning stage, it automatically plays the third guiding voice file, which can be stored in the robot's memory or on a memory outside the robot.

[0070] After playing the third guiding voice file, the user can select a positioning method according to the prompt of the third guiding voice file, and the robot generates a positioning method selection instruction according to the user's positioning method selection operation.

[0071] However, after the robot plays the third guiding voice file, some users may still not understand well how to operate. At this time, in order to better let the user understand the meaning of the positioning stage and how to operate, the second guiding video file is automatically obtained and played.

[0072] At this time, for the robot, if within the first preset time period after playing the third guiding voice file, no user operation is detected or it is detected that the user has not completed the first preset operation, it is considered that the user does not understand how to operate after the third guiding voice file is played, and then the second guiding video file is played, which is used to show how to select a positioning method.

[0073] Among them, the first preset time period can be set according to actual needs, and it generally starts timing after the third guiding voice file is played.

[0074] After the robot plays the third guiding voice file, if no user operation is detected within the first preset time period, it is considered that the user has not understood how to operate, and then the second guiding video file is automatically played to guide the user in a visual way; if user operation is detected within the first preset time period, but the first preset operation is not completed within the first preset time period, it is also considered that the user has not understood how to operate, and then the second guiding video file is automatically played. The first preset operation may include, for example, setting a positioning code operation, etc.

[0075] In some other embodiments, the above first operation may also only include playing the third guiding voice file or playing the second guiding video file.

[0076] It should be noted that the user can also manually play the guiding video, rather than being automatically played by the robot when it detects that the user does not understand the voice guidance.

[0077] Step S102, perform a second operation, which is used to show how to push the robot to build a map based on the positioning result and output an initial map.

[0078] During the map-pushing process, the user manually pushes the robot to move. While the robot is moving, it scans the surrounding environment through sensors (such as lidar sensors, etc.) to obtain a map of the surrounding environment. During the process of pushing the robot to move, there are certain requirements for the user's map-pushing posture and map-pushing criteria. For example, regarding the map-pushing posture, the user can only push the robot behind the robot's display screen and cannot push the robot in front of the robot's display screen, because this will affect the robot's sensors from collecting information about the surrounding environment; for example, regarding the map-pushing criteria, the user's pushing speed cannot be too fast, because a too fast pushing speed will cause the map established by the robot not to meet the standards.

[0079] If the user's map-pushing posture and map-pushing criteria do not meet certain requirements, it will lead to map-building failure or the established map not meeting the standards.

[0080] However, for non-professionals, they may not understand the relevant requirements of the map-pushing stage, nor do they know how to operate during the map-pushing stage to enable the robot to build a high-quality map. In this regard, the embodiments of the present application perform a second operation during the map-pushing stage to enable the user to understand the meaning of the map-pushing stage and how the user should operate during the map-pushing stage. For example, display map-pushing-related information such as map-pushing posture standards, map-pushing speed requirements, and introductions to the map-pushing process. Based on the map-pushing-related information, the user can know how to perform map-pushing.

[0081] In some embodiments, after entering the map-pushing stage, the robot first obtains and plays a first guiding voice file, which is used to display map-pushing standards and map-pushing postures. That is, the user can understand information such as map-pushing standards and map-pushing postures through the first guiding voice file. The first guiding voice file can be pre-stored in the memory of the robot locally. In a specific application, after entering the map-pushing stage, the robot can automatically play the first guiding voice file in a loop.

[0082] Under the guidance of the first guiding voice file, the user can push the robot to perform map-pushing. At this time, the robot can detect whether the user's map-pushing posture meets the preset standards and / or whether the map-pushing speed meets the preset requirements.

[0083] In a specific application, the robot can detect the user's map-pushing posture through sensors and judge according to the preset standards. For example, the robot detects through sensors (such as image sensors, infrared sensors, and lidar, etc.) that the user is pushing the robot to move in front of the display screen. Since the preset standard is to push the robot to move behind the display screen, it is judged that the user's map-pushing posture does not meet the preset standards.

[0084] When the user pushes the robot to move, the robot can detect the moving distance and time, and calculate the moving speed accordingly. When the moving speed of the robot is greater than a certain threshold, it is considered that the map-pushing speed is too fast, and it is determined that the map-pushing speed does not meet the preset requirements.

[0085] If the user's map-pushing posture does not meet the preset standard and / or the map-pushing speed does not meet the preset requirements, the second guiding voice file is obtained and played. The second guiding voice file is used to show whether the map-pushing posture is standard and / or whether the map-pushing speed meets the preset requirements. That is to say, when the map-pushing posture is not standard, the user is prompted by the guiding voice that the current map-pushing posture is not standard, and the user is prompted to use a standard map-pushing posture for map-pushing; when the map-pushing speed does not meet the requirements, the user is prompted by the guiding voice that the current map-pushing speed does not meet the requirements, and the user is prompted how to operate to make the map-pushing speed meet the requirements.

[0086] In practical applications, after the robot plays the first guiding voice file or the second guiding voice file, the user may still not understand the guiding voice, and thus do not understand how to operate in the map-pushing stage. At this time, when the robot detects that the user does not understand the mapping intention, it can automatically pop up a guiding video to guide and assist the user to complete the map-pushing process.

[0087] Specifically, if the robot detects that the moving distance of the robot within the second preset time period is less than the preset distance threshold, the first guiding video file is obtained and played. The first guiding video file is used to show how to push the robot for mapping. That is, when the map-pushing speed is too slow, the robot believes that the user has not well understood the map-pushing process, and by playing the first guiding video file, the user can further understand the map-pushing process and thus understand how to operate.

[0088] The above-mentioned second preset time period and preset distance threshold can be set according to actual needs. For example, the above-mentioned preset distance threshold is 2.5m, that is, within a certain period of time, when the moving distance of the robot is less than 2.5m, the robot automatically plays the first guiding video file.

[0089] In some other embodiments, the above-mentioned second operation may also only include playing guiding voice or playing guiding video. Of course, the guiding video is also played manually by the user.

[0090] After completing the map-pushing process, the robot can establish a static map based on the positioning result and the surrounding environment information collected by the sensor during the map-pushing process, and output the initial map.

[0091] It can be seen that after the embodiment of the present application enters the installation-free process, corresponding guiding operations are performed in stages such as positioning and map pushing, so that users can understand the meaning of each step and how to operate each step, reducing the threshold of the installation-free mapping process and enabling non-professionals to quickly complete the entire mapping process with higher mapping efficiency and better user experience.

[0092] Optionally, it may further include step S103 of performing a third operation, where the third operation is used to show how to perform function selection and business point setting on the initial map and output a business map.

[0093] After a complete static map, i.e., the initial map, is established through the map pushing stage, if the user needs to perform function selection and business point setting on the initial map, the user needs to set the business points corresponding to each function on the initial map to guide the subsequent work of the robot.

[0094] Exemplarily, the business points may include but are not limited to the greeting points of greeting robots, charging pile positions, and temporary docking points; the meal points of meal delivery robots, etc.

[0095] In the business point setting stage, the user needs to manually move the robot to a certain point and then click the add button to let the robot use the current positioning point as a business point. However, non-professionals do not know where the business points of each function are and how to set the business points. In view of this, the embodiment of the present application performs a third operation in the business point setting stage to enable users to understand the services corresponding to each function and how to set each business point.

[0096] In some embodiments, the robot may first automatically play a fourth guiding voice file, which is used to show how to perform function selection and business point setting on the initial map. And after playing the fourth guiding voice file, it is detected whether the user understands how to operate.

[0097] If within the third preset time period after playing the fourth guiding file, a first function selection and business point setting instruction is obtained, it is considered that the user has understood how to operate under the guidance of the fourth guiding voice file. At this time, the robot responds to the first function selection and business point setting instruction, performs function selection and business point setting on the initial map, and obtains a business map. The first function selection and business point setting instruction is an instruction generated by the user after performing function selection and business point setting based on the fourth guiding voice file.

[0098] If no user operation is detected or it is detected that the user has not completed the second preset operation within the third preset time period after playing the fourth guiding voice file, it is considered that the user has not yet understood how to operate. In order to enable the user to better understand how to operate during the business point setting phase, the third guiding video file is obtained and played. The third guiding video file is used to show how to perform function selection and business point setting on the initial map.

[0099] Among them, the third preset time period can be set according to actual needs. The second preset operation can include, for example, the operation of the user clicking the add button.

[0100] In some other embodiments, the third operation can also only include playing the guiding voice or playing the guiding video. Of course, the guiding video can also be played manually by the user.

[0101] The business map refers to a map on which business points are set.

[0102] It is worth pointing out that if the user needs to perform business point setting and function selection, the robot can also perform corresponding guiding operations to enable the user to understand the meaning of this step and how to operate, further reducing the threshold of the map building process without installation and improving the map building efficiency.

[0103] Optionally, it can also include step S104 of performing a fourth operation, where the fourth operation is used to show how to set virtual walls and / or two-way roads on the business map and output the target map.

[0104] After setting the business points, the user may need to set virtual walls or two-way roads on the map. Among them, after the robot obtains the static map, that is, the initial map, through the map pushing process, it can obtain the width of each road in the map. When the width of a certain road meets the preset two-way road width standard, that road is used as a candidate two-way road. When the user needs to set a two-way road, the robot shows the candidate two-way roads to the user, and the user selects the corresponding candidate two-way road as the two-way road according to needs.

[0105] In specific applications, the user can set virtual walls in the corresponding area on the map as needed. Specifically, the user can draw a line on the map area displayed on the display screen to specify information such as the setting position and width of the virtual wall.

[0106] A virtual wall refers to a virtual wall that actually does not exist. During the actual operation of the robot, it usually works based on its own sensors (infrared, radar, etc.). When the sensor detects an obstacle or a wall, it will turn around or turn. This wall includes the virtual wall set by the user and the walls existing in the actual physical space. That is to say, after the user sets a virtual wall at a certain location on the map, the robot will consider that there is a wall in that area.

[0107] A two-way road refers to a road with two-way traffic.

[0108] In some embodiments, the fourth operation includes playing a fifth guiding voice file and / or playing a fourth guiding video file. That is, after entering this stage, the robot can automatically play the guiding voice and / or guiding video to enable the user to quickly understand how to operate and complete the relevant settings.

[0109] In other embodiments, the fourth operation includes playing a guiding voice or playing a guiding video. Of course, the guiding video can also be played manually by the user.

[0110] It should be noted that if the user needs to set up a virtual wall and / or a two-way road, the robot can also perform corresponding guiding operations to enable the user to understand the meaning and operation method of this step, further reducing the threshold of the map building process without installation and improving the map building efficiency.

[0111] As can be seen from the above, after stages such as positioning, map pushing, business point setting, and virtual wall and / or two-way road setting, the robot has established a target map. Based on this target map, the robot can operate normally.

[0112] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not imply the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0113] Corresponding to the robot-assisted map building method described in the above embodiments, Figure 2 The structural block diagram of the robot-assisted map building device provided by the embodiments of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0114] Referring to Figure 2 , the device includes:

[0115] A positioning guiding module 21, configured to perform a first operation, and the first operation is used to show how to select a positioning method and output a positioning result corresponding to the positioning method.

[0116] A map pushing guiding module 22, configured to perform a second operation, and the second operation is used to show how to push the robot for map building based on the positioning result and output an initial map.

[0117] Optionally, the device further includes: a business point setting guiding module 23, configured to perform a third operation, and the third operation is used to show how to perform function selection and business point setting on the initial map and output a business map.

[0118] Optionally, the device further includes: a virtual wall and / or a two-way road setting guidance module 24, configured to perform a fourth operation, where the fourth operation is used to show how to set a virtual wall and / or a two-way road on a business map and output a target map.

[0119] In some possible implementation manners, the positioning guidance module is specifically configured to:

[0120] Obtain and play a guidance file, where the guidance file is used to show how to select a positioning method;

[0121] Obtain a positioning method selection instruction, where the positioning method selection instruction is an instruction generated after the user selects a positioning method;

[0122] Respond to the positioning method selection instruction, and perform positioning in the positioning method corresponding to the positioning method selection instruction to obtain a positioning result;

[0123] Output the positioning result.

[0124] In some possible implementation manners, the guidance file includes a third guidance voice file and a second guidance video file; the positioning guidance module is specifically configured to:

[0125] Obtain and play the third guidance voice file, where the third guidance voice file is used to prompt how to select a positioning method;

[0126] If no user operation is detected or it is detected that the user has not completed a first preset operation within a first preset time period after playing the third guidance voice file, then obtain and play the second guidance video file, where the second guidance video file is used to show how to select a positioning method.

[0127] In some possible implementation manners, the map pushing guidance module is specifically configured to:

[0128] Obtain and play a first guidance voice file, where the first guidance voice file is used to show the map pushing standard and the map pushing posture;

[0129] Detect whether the map pushing posture conforms to a preset standard and / or whether the map pushing speed meets a preset requirement;

[0130] If the user's map pushing posture does not conform to the preset standard and / or the map pushing speed does not meet the preset requirement, then obtain and play a second guidance voice file, where the second guidance voice file is used to show whether the map pushing posture is standard and / or whether the map pushing speed meets the preset requirement;

[0131] If it is detected that the walking distance of the robot within a first preset time period is less than a preset distance threshold, then obtain and play a first guidance video file, where the first guidance video file is used to show how to push the robot to perform mapping.

[0132] In some possible implementation manners, the service point setting guidance module is specifically configured to:

[0133] Obtain and play a fourth guidance voice file, where the fourth guidance voice file is used to show how to perform function selection and service point setting on the initial map;

[0134] If within a third preset time period after playing the fourth guidance voice file, a first function selection and service point setting instruction is obtained, then in response to the first function selection and service point setting instruction, perform function selection and service point setting on the initial map to obtain a service map, where the first function selection and service point setting instruction is an instruction generated by the user after performing function selection and service point setting based on the fourth guidance voice file;

[0135] Output the service map.

[0136] In some possible implementation manners, the service point setting guidance module is further specifically configured to:

[0137] If within a third preset time period after playing the fourth guidance voice file, no user operation is detected or it is detected that the user has not completed a second preset operation, then obtain and play a third guidance video file, where the third guidance video file is used to show how to perform function selection and service point setting on the initial map;

[0138] Obtain a second function selection and service point setting instruction, and in response to the second function selection and service point setting instruction, perform function selection and service point setting on the initial map to obtain a service map, where the second function selection and service point setting instruction is an instruction generated by the user after performing function selection and service point setting based on the third guidance video file;

[0139] Output the service map.

[0140] In some possible implementation manners, the fourth operation includes playing a fifth guidance voice file and / or playing a fourth guidance video file.

[0141] It should be noted that for the information interaction, execution process, etc. among the above-mentioned devices / units, since they are based on the same concept as the method embodiment of the present application, for their specific functions and the technical effects brought, reference can be specifically made to the method embodiment part, and details are not described herein again.

[0142] Figure 3 This is a schematic structural diagram of a robot provided in an embodiment of the present application. As Figure 3 shown, the robot 3 in this embodiment includes: at least one processor 30 ( Figure 3Only one is shown in the figure), a memory 31, and a computer program 32 stored in the memory 31 and executable on the at least one processor 30. When the processor 30 executes the computer program 32, the steps in any of the above-described target tracking method embodiments are implemented.

[0143] The robot 3 can be a device such as a reception robot, a food delivery robot, etc. The robot may include, but is not limited to, a processor 30 and a memory 31. Those skilled in the art can understand that Figure 3 This is only an example of the robot 3 and does not constitute a limitation on the robot 3. It may include more or fewer components than shown in the figure, or combine certain components, or different components. For example, it may also include input / output devices, network access devices, etc.

[0144] The so-called processor 30 may be a central processing unit (CPU). The processor 30 may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), off-the-shelf programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0145] In some embodiments, the memory 31 may be an internal storage unit of the robot 3, such as the hard disk or memory of the robot 3. In other embodiments, the memory 31 may also be an external storage device of the robot 3, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 3. Optionally, the memory 31 may also include both the internal storage unit and the external storage device of the robot 3. The memory 31 is used to store an operating system, application programs, a boot loader, data, and other programs, such as the program code of the computer program, etc. The memory 31 may also be used to temporarily store data that has been output or will be output.

[0146] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In practical applications, the above functions can be assigned to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0147] An embodiment of this application also provides a robot, which includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor. When the processor executes the computer program, the steps in any of the foregoing method embodiments are implemented. The specific implementation steps can be referred to the introduction of the process steps above Figure 1 and will not be elaborated here.

[0148] An embodiment of this application also provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in each of the foregoing method embodiments can be implemented.

[0149] An embodiment of this application provides a computer program product. When the computer program product runs on an electronic device, the electronic device is enabled to execute the steps in each of the foregoing method embodiments.

[0150] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiment methods of this application, a computer program can be used to instruct relevant hardware to complete. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The computer-readable medium can at least include: any entity or device that can carry the computer program code to the photographing device / terminal device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium. For example, a USB flash drive, a mobile hard disk, a magnetic disk, or an optical disc, etc. In some jurisdictions, according to legislation and patent practice, the computer-readable medium cannot be an electrical carrier signal and a telecommunication signal.

[0151] In the above embodiments, the descriptions of the various embodiments have their own focuses. For the parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0152] Those of ordinary skill in the art can realize that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of this application.

[0153] In the embodiments provided in this application, it should be understood that the disclosed devices, electronic devices, and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are only illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some interfaces. The indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0154] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0155] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor is used to call and execute the computer program, the following steps are implemented: Perform a first operation, where the first operation is used to show how to select a positioning method and output a positioning result corresponding to the positioning method; Perform a second operation, where the second operation is used to show how to push the robot to build a map based on the positioning result and output an initial map; Among them, performing the first operation includes: obtaining and playing a guidance file, where the guidance file is used to show how to select a positioning method; in response to a positioning method selection instruction, perform positioning in a positioning method corresponding to the positioning method selection instruction to obtain a positioning result, where the positioning method selection instruction is an instruction generated after the user selects a positioning method; output the positioning result; And / or, performing the second operation includes: obtaining and playing a first guidance voice file, where the first guidance voice file is used to show a map-pushing standard and a map-pushing posture; detecting whether the map-pushing posture conforms to a preset standard and / or whether the map-pushing speed meets a preset requirement; if the user's map-pushing posture does not conform to the preset standard and / or the map-pushing speed does not meet the preset requirement, then obtain and play a second guidance voice file, where the second guidance voice file is used to show whether the map-pushing posture is standard and / or whether the map-pushing speed meets the preset requirement; if it is detected that the walking distance of the robot within a second preset time period is less than a preset distance threshold, then obtain and play a first guidance video file, where the first guidance video file is used to show how to push the robot to build a map.

2. The robot according to claim 1, characterized in that, When the processor is used to call and execute the computer program, the following steps are also implemented: Perform a third operation, where the third operation is used to show how to perform function selection and business point setting on the initial map and output a business map.

3. The robot according to claim 2, characterized in that, When the processor is used to call and execute the computer program, the following steps are also implemented: Perform a fourth operation, where the fourth operation is used to show how to set virtual walls and / or two-way roads on the business map and output a target map.

4. The robot according to claim 1, characterized in that, The guidance file includes a third guidance voice file and a second guidance video file; When the processor is used to call and execute the computer program, the following steps are specifically implemented: Obtain and play the third guidance voice file, where the third guidance voice file is used to prompt how to select a positioning method; If within a first preset time period after playing the third guidance voice file, no user operation is detected or it is detected that the user has not completed a first preset operation, then obtain and play the second guidance video file, where the second guidance video file is used to show how to select a positioning method.

5. The robot according to claim 2, characterized in that, When the processor is used to call and execute the computer program, the following steps are specifically implemented: Obtain and play a fourth guidance voice file, where the fourth guidance voice file is used to show how to perform function selection and business point setting on the initial map. If within a third preset time period after playing the fourth guiding voice file, a first function selection and service point setting instruction is obtained, then in response to the first function selection and service point setting instruction, function selection and service point setting are performed on the initial map to obtain the service map, where the first function selection and service point setting instruction is an instruction generated by the user after performing function selection and service point setting based on the fourth guiding voice file; Output the service map.

6. The robot according to claim 5, characterized in that, When the processor is used to call and execute the computer program, the following steps are further specifically implemented: If within the third preset time period after playing the fourth guiding voice file, no user operation is detected or it is detected that the user has not completed a second preset operation, then obtain and play a third guiding video file, where the third guiding video file is used to show how to perform function selection and service point setting on the initial map; Obtain a second function selection and service point setting instruction, and in response to the second function selection and service point setting instruction, perform function selection and service point setting on the initial map to obtain the service map, where the second function selection and service point setting instruction is an instruction generated by the user after performing function selection and service point setting based on the third guiding video file; Output the service map.

7. The robot according to claim 3, characterized in that, The fourth operation includes playing a fifth guiding voice file and / or playing a fourth guiding video file.

8. A robot-assisted mapping method, characterized in that, Applied to the robot according to any one of claims 1-7, the method includes: Performing a first operation, where the first operation is used to show how to select a positioning method and output a positioning result corresponding to the positioning method; Performing a second operation, where the second operation is used to show how to push the robot to perform mapping based on the positioning result and output an initial map; Among them, performing the first operation includes: obtaining and playing a guiding file, where the guiding file is used to show how to select a positioning method; in response to a positioning method selection instruction, performing positioning in a positioning method corresponding to the positioning method selection instruction to obtain a positioning result, where the positioning method selection instruction is an instruction generated by the user after selecting a positioning method; outputting the positioning result; And / or, performing the second operation includes: obtaining and playing a first guiding voice file, where the first guiding voice file is used to show a map pushing standard and a map pushing posture; detecting whether the map pushing posture conforms to a preset standard and / or whether the map pushing speed meets a preset requirement; if the user's map pushing posture does not conform to the preset standard and / or the map pushing speed does not meet the preset requirement, then obtain and play a second guiding voice file, where the second guiding voice file is used to show whether the map pushing posture is standard and / or whether the map pushing speed meets the preset requirement; if it is detected that the walking distance of the robot within a second preset time period is less than a preset distance threshold, then obtain and play a first guiding video file, where the first guiding video file is used to show how to push the robot to perform mapping.

9. The method according to claim 8, characterized in that, After performing the second operation, the method further includes: Performing a third operation, where the third operation is used to show how to perform function selection and service point setting on the initial map and output a service map.

10. A computer-readable storage medium, the computer-readable storage medium storing a computer program, characterized in that,When the computer program is executed by a processor, it implements the method according to claim 8 or 9.

Images