A robot cruising method and device, a robot, and a storage medium

Abstract

The application discloses a kind of robot cruise method, device, robot and storage medium.The method comprises: in the process that robot executes cruise task, if robot detects that preset trigger operation is generated to the display device of robot within first preset time, then pause cruise task, and cruise task includes multiple indoor cruise stops;According to whether preset input operation is detected to the display device within second preset time, determine whether robot maintains cruise task pause state.Through running the technical solutions provided in the embodiments of the application, the problem that the robot is touched when executing the cruise task, which leads to the task pause or even the termination of the robot, can be solved, and the human cost is increased, and the working efficiency of the robot is reduced.The beneficial effects of reducing labor costs and improving robot cruise efficiency are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the computer technology field, and in particular, to a robot cruising method and device, a robot, and a storage medium. BACKGROUND

[0002] With the rapid development of robot technology, intelligent robots have been widely applied. In order to save costs and provide more efficient services, robots are used to replace human beings to perform part of the tasks, such as cruising tasks. For example, a merchant can set a robot in a shopping mall or a store to give out snacks, broadcast promotional speeches, and the like through a cruising task to play a role in promoting and attracting customers.

[0003] In the prior art, when a robot performs a cruising task, people passing by often touch the display device of the robot out of curiosity or the like, which causes the task of the robot to be paused or even terminated, affects the autonomous work of the robot, and may need to be manually assisted by relevant personnel. On the one hand, the relevant personnel may not be able to find the abnormality in time. On the other hand, even if the relevant personnel find the abnormality, they need to be near the robot to start the task again. This results in an increase in labor costs and a decrease in the working efficiency of the robot. SUMMARY

[0004] The present application provides a robot cruising method, device, robot, and storage medium to reduce labor costs and improve the cruising efficiency of the robot.

[0005] According to an aspect of the present application, a robot cruising method is provided, which comprises:

[0006] In the process of performing a cruising task by a robot, if the robot detects a preset triggering operation on the display device of the robot within a first preset time, the cruising task is paused, and the cruising task comprises a plurality of indoor cruising stops.

[0007] According to whether a preset input operation on the display device is detected within a second preset time, it is determined whether the robot maintains a cruising task pause state.

[0008] According to another aspect of the present application, a robot cruising device is provided, which comprises:

[0009] A cruising task pause module is configured to, in the process of performing a cruising task by a robot, if the robot detects a preset triggering operation on the display device of the robot within a first preset time, pause the cruising task, and the cruising task comprises a plurality of indoor cruising stops.

[0010] The pause state maintaining confirmation module is configured to determine whether the robot maintains the pause state of the cruise task according to whether a preset input operation on the display device is detected within a second preset time.

[0011] According to another aspect of the present application, a robot is provided, the robot comprising:

[0012] at least one processor; and

[0013] a memory connected to the at least one processor in communication; wherein,

[0014] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the robot cruise method according to any one of the embodiments of the present application.

[0015] According to another aspect of the present application, a computer readable storage medium is provided, the computer readable storage medium stores computer instructions for enabling a processor to implement the robot cruise method according to any one of the embodiments of the present application when executed by the processor.

[0016] The technical solution of the embodiments of the present application, in the process of executing a cruise task by a robot, if the robot detects a preset triggering operation on a display device of the robot within a first preset time, the cruise task is paused, and the cruise task includes a plurality of indoor cruise stops; according to whether a preset input operation on the display device is detected within a second preset time, it is determined whether the robot maintains the pause state of the cruise task. The problem that the robot is touched on the display device when executing the cruise task, resulting in the task of the robot being paused or even interrupted and requiring human assistance to recover, increasing the labor cost and reducing the working efficiency of the robot, is solved, and the beneficial effects of reducing the labor cost and improving the cruise efficiency of the robot are achieved.

[0017] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 A flowchart of a robot cruise method provided for the first embodiment of the present application is shown in FIG. 1;

[0019] Figure 2 A flowchart of a robot cruise method provided for the second embodiment of the present application is shown in FIG. 2;

[0020] Figure 3 A flowchart of a robot cruise method provided for the third embodiment of the present application is shown in FIG. 3;

[0021] Figure 4 A structural schematic diagram of a robot cruising device provided for the fourth embodiment of the present application is shown in the figure.

[0022] Figure 5 A structural schematic diagram of a robot provided for implementing the embodiments of the present application is shown in the figure. DETAILED DESCRIPTION

[0023] In order to make the personnel in the technical field better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely in combination with the figures of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all the other embodiments obtained by the personnel in the field without making creative efforts should belong to the protection scope of the present application.

[0024] It should be noted that the terms “first”, “second”, “target” and the like in the specification and claims of the present application and the above-mentioned figures are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that the data used in this way can be exchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms “include” and “have” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] Embodiment one

[0026] Figure 1 A flowchart of a robot cruising method provided for the first embodiment of the present application is shown in the figure. The present embodiment can be applied to the case where a robot performs a cruising task. The method can be performed by the robot cruising device provided by the embodiments of the present application, which can be implemented in the form of software and / or hardware. Referring to Figure 1 , the robot cruising method provided by the present embodiment includes:

[0027] Step 110, in the process of the robot performing a cruising task, if the robot detects a preset triggering operation on the display device of the robot generated within a first preset time, the cruising task is paused, and the cruising task includes a plurality of indoor cruising stops.

[0028] The cruise task of the robot is to move according to a preset cruise route, and the robot can stop at an indoor cruise stop point corresponding to the cruise task. The indoor cruise stop point is located in a scene where the cruise task is performed, such as a restaurant scene, a shopping mall scene, a hotel scene, an exhibition scene, etc. The robot stays at each indoor cruise stop point for a preset time. The stay time at each indoor cruise stop point can be uniformly set or determined according to factors such as the location of the indoor cruise stop point. The present embodiment does not limit this. Optionally, the stay time of the robot at each indoor cruise stop point can be determined according to the interaction during the stay, for example, if the historical interaction times of a certain stop point are significantly more than those of other stop points, the robot can stay longer at this point. The cruise stop point is used for the robot to stay at the location for publicity, etc.

[0029] For example, in a restaurant scene or a shopping mall scene, the robot performs a cruise task, which can be to place items such as snacks in the storage area of the robot in advance, and then move according to a preset cruise route and stop at an indoor cruise stop point, so as to facilitate people to take snacks or snacks.

[0030] The display device can be a display screen, and the present embodiment does not limit this. The preset trigger operation can be a preset number of click operations on the screen, such as three click operations; the first preset time can be 3 seconds. If the robot detects a preset trigger operation generated by the display device of the robot within the first preset time, the cruise task is suspended. For example, if the display device of the robot is detected to be clicked three times within 3 seconds, the cruise task is suspended. Because in this application, the robot cruise is to give out snacks, publicity, and other interactions with pedestrians, the first preset trigger operation is set to avoid the robot being arbitrarily touched and then suspended during the interaction process, which affects the subsequent task execution. Unlike the leading task which provides long-time service for a specific user, the cruise task mainly interacts with multiple user groups for publicity, so the first preset trigger operation is set to reduce the impact of the robot's subsequent cruise progress caused by accidental touch by a user.

[0031] Step 120: determining whether the robot maintains the cruise task suspended state according to whether a preset input operation on the display device is detected within a second preset time.

[0032] The second preset time can be 60 seconds, and the preset input operation on the display device can be a password input operation or a click operation on the screen to provide information, etc. The present embodiment does not limit this.

[0033] If a preset input operation on the display device is detected within a second preset time after the cruise task is paused, it can be determined that the robot maintains the cruise task paused state. If a preset input operation on the display device is not detected within the second preset time after the cruise task is paused, the robot can release the cruise task paused state and continue to perform the cruise task. By setting the preset input operation within the second preset time, the robot can timely resume performing the task even if it is mistakenly paused, and avoid long-term ineffective stay at a certain location and failure to reach subsequent cruise stops.

[0034] In the embodiment, the method further includes:

[0035] The display device displays at least one predetermined candidate fixed task path and at least one predetermined candidate path driving mode in a path configuration interface.

[0036] If a trigger operation on the candidate fixed task path and the candidate path driving mode is detected, a target fixed task path and a target path driving mode are obtained.

[0037] The cruise path corresponding to the cruise task is determined according to the target fixed task path and the target path driving mode.

[0038] The display device displays at least one predetermined candidate fixed task path and at least one predetermined candidate path driving mode in a path configuration interface. In the display interface, a plurality of selection controls that can be selected by an operator are displayed. The trigger operation on the candidate fixed task path obtains the target fixed task path. The operator can determine the target fixed task path by selecting the selection control of the candidate fixed task path. For example, the candidate fixed task path includes route 1-route 6. The operator selects the controls corresponding to path 1 and path 2. Then, path 1 and path 2 are the target fixed task path. The trigger operation on the candidate path driving mode obtains the target path driving mode. The operator can determine the target path driving mode by selecting the selection control of the candidate path driving mode. For example, the candidate path driving mode includes a cycle mode and a single mode. The operator selects the control corresponding to the cycle mode. Then, the cycle mode is the target path driving mode.

[0039] The cruise path corresponding to the cruise task is determined through the combination of the target fixed task path and the target path driving mode. Exemplarily, the cruise path can include a single target fixed task path, can include multiple target fixed task paths composed in the order selected by the operator, or can include a single or multiple target fixed task paths that are cycled within a preset time. The present embodiment does not limit this. If the cruise task includes multiple paths, it can be determined whether there is a coincident cruise stop point in the multiple paths. If there is, the coincident cruise stop point can be used as a connection point to determine the cruise path. For example, the path 1 cruise stop point includes ABCDE, and the path 2 cruise stop point includes BMN. The cruise path can be AEDCBMN, thereby improving the cruise efficiency.

[0040] By pre-setting the candidate fixed task path and the candidate path driving mode for selection, there is no need for manual input of the locations to be passed through by the cruise path, thereby improving the efficiency of determining the cruise path. In addition, the cruise task is determined through the combination of the target fixed task path and the target path driving mode, thereby improving the richness of determining the cruise path and making it more suitable for diversified needs.

[0041] The technical solution provided in the present embodiment avoids the problem of frequent suspension of the cruise task caused by the display device of the robot being mistakenly touched during the execution of the cruise task by the robot, thereby reducing the execution efficiency of the cruise task. According to whether the preset input operation on the display device is detected within a second preset time, it is determined whether the robot maintains the suspended state of the cruise task, thereby preventing the cruise task from being suspended without the preset operation after being suspended, further preventing the task from being suspended due to being mistakenly touched, and thereby improving the execution efficiency of the cruise task. In addition, there is no need for manual recovery of the robot whose task is suspended due to being mistakenly touched, thereby reducing the labor cost.

[0042] Embodiment Two

[0043] Figure 2 The flowchart of the robot cruise method provided in the present embodiment is a supplementary description of the process of determining whether the robot maintains the suspended state of the cruise task according to whether the preset input operation on the display device is detected within a second preset time. Compared with the above-mentioned solution, the present solution is specifically optimized as follows: according to whether the preset input operation on the display device is detected within a second preset time, it is determined whether the robot maintains the suspended state of the cruise task, including:

[0044] It is determined whether the first password input operation on the first password input interface in the display device is detected within the second preset time.

[0045] If yes, an input password is acquired, and it is determined whether the input password is consistent with a first preset password;

[0046] If yes, the cruise task suspension state is maintained. Specifically, a flowchart of a robot cruise method is as shown in Figure 2

[0047] In step 210, during execution of a cruise task by the robot, if the robot detects a preset trigger operation on the display device of the robot within a first preset time, the cruise task is suspended, and the cruise task includes a plurality of indoor cruise stops.

[0048] In step 220, it is determined whether a first password input operation on a first password input interface in the display device is detected within a second preset time.

[0049] The first password input interface in the display device can be automatically displayed in the display device after the preset trigger operation on the display device of the robot within the first preset time, or can be displayed after the operator triggers the control at the specified position of the screen. This embodiment is not limited in this regard.

[0050] Within the second preset time after the cruise task is suspended, it is determined whether the first password input operation on the first password input interface is detected, that is, whether the operator inputs the password in the first password input interface.

[0051] In this embodiment, optionally, the method further includes:

[0052] It is determined whether the first preset password exists;

[0053] If no, the password configuration interface is entered in response to a second preset password input operation on a second password input interface in the display device;

[0054] The first preset password is generated in response to a password configuration operation of the password configuration interface.

[0055] If the first preset password does not exist, it indicates that the first preset password is not set. The password configuration interface can be entered in response to a second preset password input operation on a second password input interface in the display device, wherein the content of the first preset password is different from that of the second preset password. The second password input interface can be displayed after the operator triggers the control at the specified position of the screen. This embodiment is not limited in this regard.

[0056] The first preset password is generated in response to a password configuration operation of the password configuration interface, for example, the input password is configured in the first preset password configuration sub-interface in the second password input interface, so as to determine the input password as the first preset password.

[0057] ​Optionally, if the first preset password needs to be changed after the first preset password is generated, the old first preset password input by the operator can be acquired in response to the selection operation of the first preset password modification control on the designated setting page, and if the input is correct, the new first preset password is set according to the password input by the operator.

[0058] When the first preset password does not exist, the password configuration interface is entered through the second preset password input operation on the second password input interface, the first preset password is generated in response to the password configuration operation of the password configuration interface, irrelevant personnel is prevented from setting the first preset password, and the security of the first preset password setting is improved.

[0059] In step 230, if yes, the input password is acquired, and it is determined whether the input password is consistent with the first preset password.

[0060] If the first password input operation on the first password input interface is detected, the password input by the first password input operation is acquired, and it is determined whether the input password is consistent with the first preset password. The first preset password is the password corresponding to the first password input interface.

[0061] In step 240, if yes, the cruise task suspension state is maintained.

[0062] If the input password is consistent with the first preset password, the input password is the correct password, and the cruise task suspension state can be maintained, so that the operator can enter the corresponding operation interface for subsequent operation after inputting the password, for example, selecting the robot to continue to execute the cruise task.

[0063] Optionally, if the input password is consistent with the first preset password, the display device can display the state information of the cruise task, for example, the movement progress of the cruise path, the remaining amount of the pre-placed articles in the article placement area of the robot, the estimated completion time of the current cruise task, and the like. The operator can quickly understand the state information of the robot and the current task, and the operator can efficiently perform the next operation.

[0064] In this embodiment, optionally, after the cruise task suspension state is maintained, the following steps are further included:

[0065] It is determined whether there is a task change request for the cruise task.

[0066] If yes, a confirmation pop-up window is displayed, and the cruise task is changed in response to the confirmation operation on the confirmation pop-up window.

[0067] The task change request of the cruise task can be an adjustment to the current cruise task or an adjustment to the cruise task to be completed, and the embodiment does not limit this. For example, the robot returns to the home, the robot ends the current cruise task, the return point of the robot after the cruise task is changed, a new task to be completed by the robot after the current cruise task is added, and the like.

[0068] If there is a task change request for the cruise task, a confirmation pop-up window is displayed, and the cruise task is changed in response to a confirmation operation of the operator on the confirmation pop-up window.

[0069] Only when the input password is consistent with the first preset password, the cruise task can be changed, and the security of the task change is improved. The confirmation pop-up window is displayed when the task is changed for the operator to perform secondary confirmation, so as to avoid task change errors and improve the accuracy of task change.

[0070] The embodiment of the application maintains the cruise task suspension state if the input password consistent with the first preset password is obtained within the second preset time. The robot is prevented from being suspended due to accidental touch, and the execution efficiency of the cruise task is improved. At the same time, only the operator who correctly inputs the password can maintain the cruise task suspension state of the robot, and the effectiveness of maintaining the cruise task suspension state is improved.

[0071] Embodiment three

[0072] Figure 3 A flowchart of a robot cruise method provided by the third embodiment of the application, and the technical solution is a supplementary description of the process of completing the cruise task. Compared with the above solution, the specific optimization of the solution is that if the cruise task is completed and there is no new task, it is determined that the robot returns to the preset home position from the current position.

[0073] According to whether there is a to-be-taken object associated with the cruise task in the object placement area of the robot, a return path from the current position to the preset home position is planned. Specifically, the flowchart of the robot cruise method is as shown in Figure 3

[0074] Step 310, during the execution of the cruise task by the robot, if the robot detects a preset trigger operation on the display device of the robot within a first preset time, the cruise task is suspended, and the cruise task includes a plurality of indoor cruise stops.

[0075] Step 320, according to whether a preset input operation on the display device is detected within a second preset time, it is determined whether the robot maintains the cruise task suspension state.

[0076] ​In step 330, if the cruising task is completed and there is no new task, it is determined to return to the preset return position from the current position.

[0077] If the cruising task is completed and there is a new task, the new task can be executed. If the cruising task is completed and there is no new task, it indicates that the robot is currently in an idle state, and it can be determined to return to the preset return position from the current position of the robot. The preset return position is a position to which the robot returns after completing a task, for example, the entrance of a restaurant in a restaurant scenario. The embodiment is not limited in this regard.

[0078] In step 340, a return path from the current position to the preset return position is planned according to whether there is a to-be-taken object associated with the cruising task in the object placement area of the robot.

[0079] The object placement area of the robot can be a storage area of the robot, such as a storage tray. If the cruising task is to provide a to-be-taken object to a preset object, such as a passerby, on the cruising path, the to-be-taken object is associated with the cruising task. The to-be-taken object can be a snack or the like that can be taken. The embodiment is not limited in this regard.

[0080] Whether the object placement area has a to-be-taken object associated with the cruising task can be determined by the weight carried in the object placement area or by image recognition of the object placement area. The embodiment is not limited in this regard.

[0081] According to whether there is a to-be-taken object in the object placement area, a return path from the current position to the preset return position can be planned. If there is no to-be-taken object in the object placement area, the shortest return path from the current position to the preset return position can be planned. If there is a to-be-taken object in the object placement area, a return path from the current position to the preset return position is planned, and a stop point is added to the return path so that the to-be-taken object can be taken continuously.

[0082] In the embodiment, optionally, according to whether there is a to-be-taken object associated with the cruising task in the object placement area of the robot, a return path from the current position to the preset return position is planned, comprising:

[0083] If the to-be-taken object exists and the preset return position is a task starting position corresponding to the cruising task, a target stop position is determined from the indoor cruising stop points according to the reduction amount of the to-be-taken object at the indoor cruising stop points.

[0084] The return path is planned according to the current position, the target stop position, and the preset return position.

[0085] If the to-be-taken article exists and the preset return position is the task starting position corresponding to the cruising task, it indicates that the robot can pass through the indoor cruising stop point when returning.

[0086] The reduction amount of the to-be-taken article at each indoor cruising stop point is the amount of reduction of the to-be-taken article when the robot stays at the indoor cruising stop point. The reduction amount can be obtained by subtracting the weight of the to-be-taken article at the start of the stay from the weight of the to-be-taken article at the end of the stay. This embodiment does not limit this.

[0087] According to the reduction amount of the to-be-taken article at each indoor cruising stop point in the current cruising task, the target stay position is determined from the indoor cruising stop points. The indoor cruising stop point corresponding to the reduction amount less than the preset threshold can be determined as the target stay position.

[0088] According to the current position, the target stay position, and the preset return position, the return path is planned. The path from the current position to each target stay position can be planned according to the current position and the target stay position. The robot can stay at each target stay position for a preset time. Then, the return path from the last target stay position to the preset return position is planned according to the target stay position and the preset return position.

[0089] By determining the target stay position from the indoor cruising stop points according to the reduction amount of the to-be-taken article at each indoor cruising stop point, the indoor cruising stop point with a smaller reduction amount can be returned to provide the to-be-taken article again. This avoids the to-be-taken article not being taken in time due to a small amount of people, etc. The possibility of taking the to-be-taken article is improved. The promotion effect of the robot at the corresponding stop point is enhanced. Thus, the effectiveness of the return path planning is improved.

[0090] In the embodiment of the present application, when the cruising task is completed and there is no new task, the return path from the current position to the preset return position is planned according to whether there is a to-be-taken article associated with the cruising task in the article placement area of the robot. This avoids the robot returning directly to the preset return position when the to-be-taken article is not taken completely, which causes the remaining to-be-taken article. Thus, the effectiveness of the return path planning is improved.

[0091] Embodiment Four

[0092] Figure 4 A structural schematic diagram of a robot cruising device provided by the fourth embodiment of the present application is shown. The device can be realized by hardware and / or software, and can execute the robot cruising method provided by any embodiment of the present application. The device has the corresponding function modules and beneficial effects of the execution method. As shown in the figure, the device includes: Figure 4

[0093] ​The cruise task suspension module 410 is configured to, during execution of a cruise task by the robot, suspend the cruise task if the robot detects a preset triggering operation on a display device of the robot within a first preset time, the cruise task including a plurality of indoor cruise stops;

[0094] The suspension state maintenance confirmation module 420 is configured to determine whether the robot maintains a cruise task suspension state according to whether a preset input operation on the display device is detected within a second preset time.

[0095] In the above technical solutions, the suspension state maintenance confirmation module 420 can further include:

[0096] The input operation detection judgment unit is configured to determine whether a first password input operation on a first password input interface of the display device is detected within the second preset time.

[0097] The input password judgment unit is configured to, if the input operation detection judgment unit determines that the first password input operation is detected, acquire an input password and determine whether the input password is consistent with a first preset password.

[0098] The suspension state maintenance unit is configured to, if the input password judgment unit determines that the input password is consistent with the first preset password, maintain the cruise task suspension state.

[0099] In the above technical solutions, the device can further include:

[0100] The password existence judgment unit is configured to determine whether the first preset password exists.

[0101] The interface entering unit is configured to, if the password existence judgment unit determines that the first preset password does not exist, enter a password configuration interface in response to a second preset password input operation on a second password input interface of the display device.

[0102] The password generation unit is configured to generate the first preset password in response to a password configuration operation on the password configuration interface.

[0103] In the above technical solutions, the device can further include:

[0104] The request existence judgment unit is configured to, after the suspension state maintenance unit, determine whether a task change request for the cruise task exists.

[0105] The task change unit is configured to, if the request existence judgment unit determines that the task change request exists, display a confirmation pop-up window and change the cruise task in response to a confirmation operation on the confirmation pop-up window.

[0106] In the above technical solutions, the device can further include:

[0107] The return determining module is configured to determine to return to a preset return position from the current position if the cruise task is completed and no new task exists.

[0108] The return path planning module is configured to plan a return path from the current position to the preset return position according to whether there is a to-be-picked item associated with the cruise task in an item placement area of the robot.

[0109] On the basis of each of the above technical solutions, the return path planning module can comprise:

[0110] The target stay position determining unit is configured to determine a target stay position from the indoor cruise stop points according to a reduction amount of the to-be-picked item at each indoor cruise stop point if the to-be-picked item exists and the preset return position is a task start position corresponding to the cruise task.

[0111] The return path planning unit is configured to plan the return path according to the current position, the target stay position, and the preset return position.

[0112] On the basis of each of the above technical solutions, the device can further comprise:

[0113] The path mode display module is configured to display at least one predetermined candidate fixed task path and at least one predetermined candidate path driving mode in a path configuration interface of the display device.

[0114] The path mode acquisition module is configured to acquire a target fixed task path and a target path driving mode if a triggering operation on the candidate fixed task path and on the candidate path driving mode is detected.

[0115] The cruise path determining module is configured to determine a cruise path corresponding to the cruise task according to the target fixed task path and the target path driving mode.

[0116] Embodiment Five

[0117] Figure 5A schematic diagram of a robot 10 that can be used to implement embodiments of the present invention is shown. The robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The robot can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0118] like Figure 5 As shown, robot 10 includes at least one processor 11 and a memory, such as read-only memory (ROM) 12, random access memory (RAM) 13, etc., communicatively connected to at least one processor 11. The memory stores computer programs executable by at least one processor. Processor 11 can perform various appropriate actions and processes based on the computer program stored in ROM 12 or loaded from storage unit 18 into RAM 13. RAM 13 can also store various programs and data required for the operation of robot 10. Processor 11, ROM 12, and RAM 13 are interconnected via bus 14. Input / output (I / O) interface 15 is also connected to bus 14.

[0119] Multiple components in robot 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows robot 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0120] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as the robot cruise method.

[0121] In some embodiments, the robot cruising method can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto robot 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the robot cruising method described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the robot cruising method by other means, e.g., with the aid of firmware.

[0122] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0123] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor of the machine, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0124] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide for interaction with a user, the systems and techniques described here can be implemented on a robot having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the robot. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0126] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0127] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0128] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0129] The above detailed description does not constitute a limitation on the scope of protection of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the scope of protection of the present application.

Claims

1. A robot cruise method, characterized in that, include: During the robot's patrol mission, if the robot detects a preset trigger operation on the robot's display device within a first preset time, the patrol mission is paused. The patrol mission includes multiple indoor patrol stops, and the robot stays at each indoor patrol stop for a preset time. The preset trigger operation is a preset number of clicks on the screen. Whether the robot maintains the cruise mission paused state is determined based on whether a preset input operation to the display device is detected within a second preset time period. If a preset input operation to the display device is detected within a second preset time period after the cruise mission is paused, it is determined that the robot maintains the cruise mission paused state. If the cruise mission is completed and there are no new missions, then the system will return to the preset return position from the current position. Based on whether there are any items to be retrieved in the robot's item placement area that are associated with the cruise mission, a return path is planned from the current position to the preset return position; The step of planning a return path from the current location to the preset return location based on whether there are any items to be retrieved related to the patrol mission in the robot's item placement area includes: If the item to be picked up exists, and the preset return location is the starting point location of the cruise mission, then the target stopping location is determined from the indoor cruise stopping points based on the amount of the item to be picked up at each of the indoor cruise stopping points. The return route is planned based on the current location, the target stopping location, and the preset return location.

2. The method according to claim 1, characterized in that, Determining whether the robot maintains its cruise mission pause state based on whether a preset input operation to the display device is detected within a second preset time period includes: Determine whether a first password input operation on the first password input interface of the display device is detected within the second preset time period; If so, obtain the input password and determine whether the input password matches the first preset password; If they match, the cruise mission remains suspended.

3. The method according to claim 2, characterized in that, The method further includes: Determine whether the first preset password exists; If not, the password configuration interface is entered in response to the second preset password input operation on the second password input interface of the display device; The first preset password is generated in response to the password configuration operation of the password configuration interface.

4. The method according to claim 2, characterized in that, After maintaining the cruise mission paused state, the following is also included: Determine if there is a mission change request for the cruise mission; If so, a confirmation pop-up is displayed, and the cruise mission is modified in response to the confirmation operation on the confirmation pop-up.

5. The method according to claim 1, characterized in that, The method further includes: The path configuration interface in the display device displays at least one pre-determined candidate fixed task path and at least one pre-determined candidate path driving mode. If a trigger operation on the candidate fixed task path and the candidate path driving mode is detected, the target fixed task path and the target path driving mode are obtained. The cruise route corresponding to the cruise mission is determined based on the target fixed mission path and the target path driving mode.

6. A robotic cruise device, characterized in that, include: The cruise mission pause module is used to pause the cruise mission if the robot detects a preset trigger operation on the robot's display device within a first preset time period during the execution of the cruise mission. The cruise mission includes multiple indoor cruise docking points, and the robot stays at each indoor cruise docking point for a preset time. The preset trigger operation is a preset number of clicks on the screen. The pause state maintenance confirmation module is used to determine whether the robot maintains the cruise mission pause state based on whether a preset input operation to the display device is detected within a second preset time. If a preset input operation to the display device is detected within a second preset time after the cruise mission is paused, it is determined that the robot maintains the cruise mission pause state. The return confirmation module is used to determine whether to return to the preset return position from the current position if the cruise mission has been completed and there are no new missions. The return path planning module is used to plan a return path from the current position to the preset return position based on whether there are any items to be picked up in the robot's item placement area that are related to the cruise mission. The return route planning module includes: The target stopping location determination unit is used to determine the target stopping location from the indoor cruise stopping points based on the amount of reduction of the items to be picked up at each of the indoor cruise stopping points if there are items to be picked up and the preset return location is the starting point location of the cruise mission. The return route planning unit is used to plan the return route based on the current position, the target stopping position, and the preset return position.

7. A robot, characterized in that, The robot includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the robot navigation method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the robot navigation method according to any one of claims 1-5.

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