Return method for robot, delivery system and robot

Abstract

The present invention provides a return method for a robot, comprising: obtaining a return path of a first robot; determining whether the return path is located within an area having a single entrance and exit; if the return path is located within the area, determining the number and / or task status of other robots on the return path; and controlling the first robot to execute a corresponding return strategy according to the number and / or task status of the other robots. By adopting the technical solution of the present invention, by controlling the first robot to execute a corresponding return strategy according to the number and / or task status of other robots, multiple robots can execute the return task more efficiently and orderly in an area having a single entrance and exit and a limited passable width, which is beneficial to reducing the mutual influence of multiple robots, thereby reducing the occurrence of jams and collisions to ensure the safety of robot devices. In addition, it also saves labor costs and is beneficial to improving the customer experience.

Description

Technical Field

[0001] The present invention generally relates to the field of robotics, and more particularly to a return method for a robot, a delivery system for a robot, and a robot. Background Art

[0002] With the rapid development of robotics, robots have been widely used in various fields, providing convenience for people's work and life.

[0003] The working environment of robots is complex. For an area with only one entrance and exit and a narrow passable width, if multiple robots simultaneously execute return tasks in this area, it is easy for the multiple robots to affect each other, causing blockages or even collisions, making it difficult for the robots to return smoothly, endangering the safety of the robots, and at the same time reducing the customer experience. Facing this situation, human intervention is often required to dredge currently, but this method reduces the usability and efficiency of the robots and increases the labor cost.

[0004] The content in the background art section is only the technology known to the inventor and does not necessarily represent the prior art in this field. Summary of the Invention

[0005] In view of one or more of the problems existing in the prior art, the present invention provides a return method for a robot, including:

[0006] Obtaining a return path of a first robot;

[0007] Determining whether the return path is located in an area with a single entrance and exit;

[0008] If the return path is located in the area, determining the number and / or task status of other robots on the return path; and

[0009] Controlling the first robot to execute a corresponding return strategy according to the number and / or task status of the other robots.

[0010] According to one aspect of the present invention, the step of obtaining the return path of the first robot includes: determining the current position and the target position of the first robot, and obtaining the return path based on the current position and the target position.

[0011] According to one aspect of the present invention, the area with a single entrance and exit includes a closed end and an entrance and exit end, where there is a first characteristic path point near the closed end, a second characteristic path point and a scheduling point near the entrance and exit end, and the passable width of the area with a single entrance and exit only allows one robot to pass.

[0012] According to one aspect of the present invention, the step of determining whether the return path is located within an area with a single entrance and exit includes: determining whether the return path includes the first characteristic path point and the second characteristic path point, and if the return path includes the first characteristic path point and the second characteristic path point, determining that the return path is located within the area with the single entrance and exit.

[0013] According to one aspect of the present invention, the step of determining the number and / or task status of other robots on the return path includes: determining the number and / or task status of other robots on the return path through a scheduling unit.

[0014] According to one aspect of the present invention, the task status includes a delivery status and a return status; when the task status of the other robot is the delivery status, the other robot moves in the direction of the closed end; when the task status of the other robot is the return status, the other robot moves in the direction of the entrance and exit end.

[0015] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding return strategy according to the number and / or task status of other robots includes: when the number of other robots is zero, controlling the first robot to return along the return path.

[0016] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding scheduling strategy according to the number and / or task status of other robots further includes: when the number of other robots is greater than zero and the task status is the return status, controlling the first robot to return along the return path.

[0017] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding scheduling strategy according to the number and / or task status of other robots further includes: when the number of other robots is greater than zero and the task status is the delivery status, determining the relative position relationship between the delivery target of the other robot and the current position of the first robot, and controlling the first robot to execute a corresponding return strategy according to the relative position relationship.

[0018] According to one aspect of the present invention, the step of controlling the first robot to execute a corresponding return strategy according to the relative position relationship includes: when the delivery target of the other robot is closer to the entrance and exit end relative to the current position of the first robot, controlling the first robot to dock at the current position, and when the other robot finishes the delivery task and returns, controlling the first robot to line up behind the other robot and return along the return path.

[0019] The present invention also relates to a delivery system for robots, comprising:

[0020] a plurality of robots; and

[0021] a scheduling unit, communicating with each robot and configured to execute the return method as described above.

[0022] The present invention also relates to a robot, comprising:

[0023] a mobile chassis having a traveling mechanism;

[0024] a housing;

[0025] a sensor system disposed on the housing and configured to detect the surrounding environment of the robot; and

[0026] a controller, coupled to the sensor system and the traveling mechanism and configured to control the robot to execute the return method as described above.

[0027] According to one aspect of the present invention, the sensor system includes one or more of a lidar, a camera, a binocular vision sensor, an ultrasonic sensor, and an infrared sensor.

[0028] The present invention also relates to a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions, when executed by a processor, implement the return method as described above.

[0029] By adopting the technical solution of the present invention, by controlling the first robot to execute corresponding return strategies according to the number and / or task status of other robots, multiple robots can execute return tasks more efficiently and orderly in an area with a single entrance / exit and limited passable width, which is beneficial to reducing the mutual influence of multiple robots, thereby reducing the occurrence of jams and collisions, ensuring the safety of robot equipment, saving labor costs, and being beneficial to improving the customer experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The drawings are used to provide a further understanding of the present invention, and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention, and do not constitute a limitation to the present invention. In the drawings:

[0031] Figure 1 shows a flowchart of a return method for a robot according to an embodiment of the present invention;

[0032] Figure 2 shows a schematic diagram of a robot according to an embodiment of the present invention;

[0033] Figure 3Shows a schematic diagram of an area with a single entrance and exit according to a preferred embodiment of the present invention;

[0034] Figure 4 Shows a schematic diagram of a delivery system for a robot according to an embodiment of the present invention;

[0035] Figure 5 Shows a schematic diagram of controlling a first robot to execute a corresponding return strategy according to the number of other robots according to a preferred embodiment of the present invention;

[0036] Figure 6 Shows a schematic diagram of controlling a first robot to execute a corresponding scheduling strategy according to the number of other robots and the task status according to a preferred embodiment of the present invention;

[0037] Figure 7 Shows a schematic diagram of controlling a first robot to execute a corresponding return strategy according to the relative position relationship between the delivery target of other robots and the current position of the first robot according to a preferred embodiment of the present invention;

[0038] Figure 8 Shows a schematic diagram of controlling a first robot to execute a corresponding return strategy according to the relative position relationship between the delivery target of other robots and the delivery target of the first robot according to a preferred embodiment of the present invention; and

[0039] Figure 9 Shows a schematic diagram after the first robot returns and leaves the area with a single entrance and exit according to a preferred embodiment of the present invention. Detailed implementation mode

[0040] In the following, only some exemplary embodiments are simply described. As those skilled in the art can recognize, the described embodiments can be modified in various different ways without departing from the spirit or scope of the present invention. Therefore, the drawings and the description are considered to be exemplary rather than restrictive in nature.

[0041] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality of" means two or more unless otherwise specifically defined.

[0042] In the description of the present invention, it should be noted that unless otherwise clearly specified and defined, the terms "mounted", "connected", and "coupled" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or a connection capable of mutual communication; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0043] In the present invention, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over", and "on top of" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "beneath", and "underneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0044] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or reference letters in different examples. This repetition is for the purpose of simplicity and clarity, and does not itself indicate the relationship between various embodiments and / or settings discussed. In addition, the present invention provides examples of various specific processes and materials, but those of ordinary skill in the art can be aware of the application of other processes and / or the use of other materials.

[0045] The preferred embodiments of the present invention will be described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only for the purpose of illustrating and explaining the present invention, and are not used to limit the present invention.

[0046] The present invention provides a return method for a robot. For an area with only one entrance and exit and a relatively narrow passable width, multiple robots can return smoothly in an orderly manner, which will be described in detail below in conjunction with the accompanying drawings.

[0047] Figure 1 FIG. shows a flowchart of a return method 100 for a robot according to an embodiment of the present invention, as Figure 1 shown, the method 100 includes steps S101 - S104. Before specifically describing each step of the return method 100, the basic situation of the robot will be introduced first.

[0048] Figure 2 FIG. shows a schematic diagram of a robot 200 according to an embodiment of the present invention, as Figure 2 shown, the robot 200 includes: a mobile chassis 10, a housing 20, a sensor system, and a controller (not shown in the figure). The mobile chassis 10 has a traveling mechanism. The housing 20 has a plurality of trays for carrying items. The sensor system is disposed on the housing 20 or the mobile chassis 10 and is configured to detect the surrounding environment of the robot 200. The controller is coupled to the sensor system and the traveling mechanism and is configured to control the robot 200 to execute the return method 100.

[0049] According to a preferred embodiment of the present invention, the sensor system includes one or more of a lidar 30, a camera, a binocular vision sensor, an ultrasonic sensor, and an infrared sensor.

[0050] Continue to refer to Figure 2, the lidar 30 can be disposed at the slit of the robot housing, so that it is easy to emit laser signals to detect the surrounding environment. According to a preferred embodiment of the present invention, the lidar 30 includes a photoelectric receiving array and a laser emitting unit array. When the lidar 30 rotates along a set plane, the photoelectric receiving array can form a scanning cylinder to increase the scanning area, facilitate obtaining detailed object shapes, and thus reduce the occurrence of the robot bumping into objects. According to another preferred embodiment of the present invention, the lidar 30 only includes a single photoelectric receiving unit and a single laser emitting unit. After the lidar 30 rotates along the set plane, it can measure the object shapes of a circumference, with small calculation amount and low cost. Optionally, the above set plane can be a horizontal plane, which is convenient for the robot to detect objects during movement. In addition, other set planes such as a vertical plane can also be selected according to requirements, and the present invention does not limit this.

[0051] Continue to refer to Figure 2 , according to a preferred embodiment of the present invention, the traveling mechanism is provided with at least two sets of driving wheels 120, and each set of driving wheels 120 is respectively located on one side of the mobile chassis 10. The robot 200 further includes a function controller for providing user operations, a bottom layer controller for map generation and path planning, and an element controller for controlling the mobile unit and the environment detection unit, wherein the element controller is used to control the traveling speed of the driving wheels 120. Among the driving wheels 120, at least one set of driving wheels 120 serves as the left driving wheels, and at the same time, at least one set of driving wheels 120 serves as the right driving wheels. The left driving wheels and the right driving wheels are located on opposite sides of the mobile chassis 10. Optionally, the traveling mechanism may further include at least two sets of driven wheels, and one set of driving wheels corresponds to one set of driven wheels. Among them, at least one set of driven wheels serves as the left driven wheels, and at the same time, at least one set of driven wheels serves as the right driven wheels. The left driven wheels and the right driven wheels are used to assist the left driving wheels and the right driving wheels to drive the housing 20 and the mobile chassis 10 to move, so as to reduce the load pressure on the driving wheels 120.

[0052] Continue to refer to Figure 2 , according to a preferred embodiment of the present invention, the mobile chassis 10 is provided with at least one turn signal unit 110 ( Figure 2 exemplarily shows two), and each turn signal unit 110 includes at least one turn signal 111 ( Figure 2 exemplarily shows four). Optionally, when the speed difference between the driving wheels 120 on both sides of the mobile chassis 10 is greater than a preset value, the element controller is configured to control the turn signals 111 in the turn signal unit 110 to be lit in a preset manner to remind pedestrians or other robots to pay attention. Optionally, the robot 200 further includes a voice module (not shown in the figure), and the voice module is electrically connected to the element controller; when the robot turns, the element controller controls the voice module to emit a voice prompt message to remind pedestrians or other robots to pay attention.

[0053] The basic situation of the robot has been introduced above. Next, each step of the return method 100 will be specifically described.

[0054] In step S101, obtain the return path of the first robot.

[0055] The first robot is, for example, a robot in a restaurant, or a delivery robot in a hotel, etc.

[0056] According to a preferred embodiment of the present invention, when the first robot receives a return mission, the current position and the target position of the first robot can be determined according to the positioning map. Based on the current position and the target position, the return path of the first robot can be obtained. The return path has multiple path points, and each path point has a corresponding path point attribute (which will be described later). Among them, the positioning map is a map formed by the first robot mapping its working environment (such as a restaurant, etc.). Specifically, the first robot is configured with a collection sensor and a modeling processor. The collection sensor is configured to collect data of the working environment where the first robot is located. The modeling processor is configured to model based on the environmental data collected by the collection sensor to construct an environmental map. The collection sensor includes, but is not limited to, a lidar, a binocular vision camera, an ultrasonic sensor, and an infrared sensor. During the process of creating the map, different environmental data collected by different sensors can generate different map layers, such as a static layer, a dynamic obstacle layer, an ultrasonic layer map, a vision layer, etc. Fusing these layers can obtain a positioning map for the first robot to perform positioning and navigation. The positioning map can be maintained in real time by a scheduling unit (which will be described later).

[0057] In step S102, determine whether the return path is located in an area with a single entrance and exit.

[0058] In an actual working scenario, the working area of the first robot may have various types. For example, it can be an area with a single entrance and exit, or a one-way street area with one entrance and one exit, or an area with multiple entrances and exits. Based on the different types of working areas, the return path of the first robot may be located in the above various types of areas. In the present invention, in step S102, it is judged whether the area where the return path of the first robot is located is an area with a single entrance and exit type. First, the area with a single entrance and exit type will be introduced below.

[0059] Figure 3 Shows a schematic diagram of an area with a single entrance and exit according to a preferred embodiment of the present invention. As Figure 3As shown, the area with a single entrance and exit (excluding the shaded part) includes a closed end R1 and an entrance and exit end R2. Near the closed end R1, there is a first characteristic path point P1, and near the entrance and exit end R2, there is a second characteristic path point P2. The first characteristic path point P1 has a first characteristic path point attribute, and the second characteristic path point P2 has a second characteristic path point attribute. It should be noted that the first characteristic path point P1 refers to a unilateral path point (i.e., at this point, there is only one passing direction, which is to the left in the figure), and the second characteristic path point P2 refers to a fork path point.

[0060] Continue to refer to Figure 3 , and the area also includes a passable area, which is shown as the part enclosed by the dashed rectangular frame. The passable area allows the robot to pass when performing delivery or return tasks in the area. That is to say, the movement path of the robot when performing tasks in the area is located within the passable area. It should be noted that the passable width of the passable area is limited (for example, less than 1.4 meters), and the passable width only allows one robot to pass. In other words, the passable area cannot accommodate two or more robots moving side by side. It should be understood that the passable width is not exactly equal to the width of the robot, but is slightly larger than the width of the robot, so that a robot can smoothly pass through the passable area without colliding with the adjacent dining table (refer to Figure 3 the small rectangle with a numerical label) to ensure the safety of the robot device.

[0061] The above embodiments introduce the area with a single entrance and exit. Regarding how to determine whether the area where the return path of the first robot is located is an area with a single entrance and exit type, the following will be specifically introduced.

[0062] According to a preferred embodiment of the present invention, it is possible to determine whether the return path is located within the area with a single entrance and exit based on the path point attributes of the return path. The path point attributes include the first characteristic path point attribute, the second characteristic path point attribute, and the ordinary path point attribute, and each path point and its attribute can be pre-stored in a storage medium or a scheduling unit. When the robot receives a return task and determines the return path, it can temporarily dock at the current position and traverse and search for the path point attributes of each path point of the return path to determine whether the area includes the first characteristic path point P1 and the second characteristic path point P2. Specifically, for example, the robot can first search for the first characteristic path point P1, and then continue to search from the first characteristic path point P1 until the second characteristic path point P2 is found, thereby determining that the return path is located within the area with a single entrance and exit. It should be noted that when traversing and searching for path points, the current position of the robot is not included.

[0063] Alternatively, the types of each area can be pre-stored in the positioning map. The type of each area can be represented by a corresponding type value. For example, an area with a single entrance and exit can be represented by "0", a one-way road area with one entrance and one exit can be represented by "1", and an area with multiple entrances and exits can be represented by "2". Therefore, after obtaining the return path of the first robot, by querying the type value of the area where the return path is located, it can be known whether the return path is located in an area with a single entrance and exit. Specifically, for example, when the type value of the area where the return path is located is queried as "0", it is determined that the return path is located in an area with a single entrance and exit.

[0064] The above embodiments describe the situation where it is determined that the return path is located in an area with a single entrance. It should be understood that the return path being located in the area with a single entrance is actually located in the passable area within the area with a single entrance (refer to Figure 3 the part outlined by the dashed rectangle).

[0065] In addition, Figure 3 also shows dispatching points W1 and W2. The areas where dispatching points W1 and W2 are located (which can be referred to Figure 3 the shaded part shown) are located outside the area with a single entrance and within the preset range of the entrance and exit end R2, and can be used for the robot to dock temporarily or when waiting for tasks assigned by the dispatching unit. It should be understood that dispatching points W1 and W2 can be any point near the entrance or the entrance and exit of this area, and can be set as needed. Regarding the number of dispatching points, the present invention does not limit it, and it can be adjusted according to the actual situation. In addition, the present invention also does not limit the size of the area where the dispatching point is located and the specific position of the dispatching point relative to the area where it is located, which depends on the actual situation, but at least the robot located at the dispatching point should not block other robots from normally entering and exiting the area with a single entrance. When the robot approaches or leaves this area, it can first dock briefly at the dispatching point.

[0066] In step S103, if the return path is located within the area, determine the number and / or task status of other robots on the return path.

[0067] According to a preferred embodiment of the present invention, the dispatching unit can be used to determine the number and / or task status of other robots on the return path.

[0068] Figure 4 shows a schematic diagram of a distribution system 300 for robots according to an embodiment of the present invention. As Figure 4As shown, the delivery system 300 includes a scheduling unit 301 and a plurality of robots 200. Among them, the scheduling unit 301 serves as the control center of the entire delivery system 300, controlling the task scheduling, path planning, and operating status of the robots in the entire area, so as to achieve real-time supervision of each robot, enabling each robot to operate safely and stably. According to a preferred embodiment of the present invention, the scheduling unit 301 can maintain the positioning map in the area in real time. The positioning map can display the distribution of each robot. According to the positioning map, the number of robots in the area can be known, including the number of other robots on the return path of the first robot. In addition, the scheduling unit 301 can communicate with each robot in the area in real time, thereby obtaining information such as the task status, current position, target position, moving path, and moving speed direction of each robot, and thus determining the task status of other robots on the return path.

[0069] According to a preferred embodiment of the present invention, the task status includes a delivery status S1 and a return status S2. When a robot is assigned a delivery task, its task status is updated to "delivery status S1"; when the robot reaches the target table and the user removes the plate, its task status is updated to "return status S2". When the task status of the other robot is the delivery status S1, the other robot moves towards the closed end R1 carrying the delivery item; when the task status of the other robot is the return status S2, the other robot moves towards the entrance and exit end R2.

[0070] It should be understood that the robots in this area can also communicate with each other (for example, through Bluetooth, etc.) to obtain the above information of each other, thereby reducing the occurrence of rear-end collisions.

[0071] In step S104, according to the number and / or task status of the other robots, control the first robot to execute the corresponding return strategy.

[0072] Figure 5 Shows a schematic diagram of controlling the first robot to execute the corresponding return strategy according to the number of other robots according to a preferred embodiment of the present invention. As Figure 5 shown, where circle A represents the first robot and line L represents the return path. According to Figure 5 the shown situation, there are no other robots on the return path L of the first robot (refer to circle A), so it can be considered that the return path L is unobstructed. Therefore, when the number of other robots on the return path is zero, the scheduling unit can control the first robot to return along the return path.

[0073] The above embodiments describe the situation where the first robot is controlled to execute a corresponding return strategy according to the number of other robots. Next, the situation where the first robot is controlled to execute a corresponding return strategy according to the number and task status of other robots will be described.

[0074] Figure 6 FIG. shows a schematic diagram of controlling the first robot to execute a corresponding scheduling strategy according to the number of other robots and the task status according to a preferred embodiment of the present invention. As Figure 6 shown, where circle A can be used to represent the first robot, and circle B can be used to represent the other robot(s). According to Figure 6 the situation shown, on the return path (not shown in the figure) of the first robot (refer to circle A), there are other robots (refer to circle B), and when the task status of the other robots is the same as the task status of the first robot, which is the return state S2. Therefore, the scheduling unit can control the first robot to return along the return path.

[0075] The above embodiments describe the situation where the first robot is controlled to return when the task status of the other robots is the same as the task status of the first robot, which is the return state S2. Next, the situation where the first robot is controlled to execute a corresponding return strategy when the task status of the other robots is different from the task status of the first robot will be described.

[0076] According to a preferred embodiment of the present invention, when the number of the other robots is greater than zero and the task status of the other robots is the delivery state S1, determine the relative position relationship between the delivery target of the other robots and the current position of the first robot, and control the first robot to execute a corresponding return strategy according to the relative position relationship. The following is a specific description.

[0077] Figure 7 FIG. shows a schematic diagram of controlling the first robot to execute a corresponding return strategy according to the relative position relationship between the delivery target of the other robots and the current position of the first robot according to a preferred embodiment of the present invention. As Figure 7 shown, where circle A can be used to represent the first robot, and circle B can be used to represent the other robot(s). According to Figure 7In the shown scenario, on the return path (not shown in the figure) of the first robot (reference circle A), the number of other robots (reference circle B) is greater than zero, and the task status of the other robots (reference circle B) is the delivery status S1. The delivery targets of the other robots (such as Table 2, Table 9, Table 3, or Table 8) are closer to the entrance / exit end R2 relative to the current position of the first robot (reference circle A) (such as Table 4 or Table 7). At this time, the scheduling unit can control the first robot (reference circle A) to temporarily dock at the current position (such as between Table 4 and Table 7). When the other robots complete their delivery tasks and return, the first robot is controlled to line up behind the other robots and return along the return path (reference Figure 6 ). Additionally, when the first robot is docked at the current position waiting, it can query and update the number and / or task status of the other robots at regular time intervals. When the factor preventing the first robot from returning disappears, the scheduling unit can control the first robot to execute the corresponding return strategy.

[0078] Figure 8 shows a schematic diagram of controlling a first robot to execute a corresponding return strategy according to the relative position relationship between the delivery targets of other robots and the delivery target of the first robot according to a preferred embodiment of the present invention. As Figure 8 shown, where circle A represents the first robot, circle B1 represents the first other robot, and circle B2 represents the second other robot. Currently, the task status of all three is the delivery status S1. Among them, the delivery target of the first robot (reference circle A) (such as Table 5 or Table 6) is closer to the closed end R1 than the delivery target of the first other robot (reference circle B1) (such as Table 3, Table 8, Table 4, or Table 7), and the delivery target of the first other robot (reference circle B1) is closer to the closed end R1 than the delivery target of the second other robot (reference circle B2) (such as Table 2 or Table 9). At this time, the scheduling unit can control the first robot (reference circle A) to continue to execute the delivery task. After the first other robot (circle B1) and the second other robot (B2) both complete their delivery tasks, the first robot (reference circle A) is controlled to follow behind the first other robot (circle B1) and the second other robot (B2) and return along the return path.

[0079] In some preferred embodiments, when the robot moves to the target dining table, it can rotate a certain angle (such as 45 degrees) counterclockwise or clockwise with the center of the chassis as the center to deliver meals to the target dining table, facilitating customers to pick up.

[0080] Figure 9 shows a schematic diagram after the first robot returns and leaves the area with a single entrance / exit according to a preferred embodiment of the present invention. As Figure 8As shown, after the first robot returns along the return path and leaves the area, it can temporarily dock at a dispatching point (refer to W1) to wait for the dispatching unit to assign the next task. It should be understood that the first robot can also dock at other dispatching points (refer to W2), and the present invention does not limit this.

[0081] The above specifically introduced the method 100 by taking the usage scenario of a restaurant as an example. It should be noted that the present invention does not limit the specific number of dining tables, and in practical applications, it can be adjusted according to the actual situation. In addition, the present invention does not limit the usage scenarios of the robot. That is to say, in addition to working in restaurants, the robot can also work in other various scenarios such as hotels and libraries.

[0082] In addition, the method operation steps provided in this specification, such as those described in the above embodiments or flowcharts, may include more or fewer operation steps in practical applications. Moreover, the step order listed in the above embodiments is only one way among the execution orders of numerous steps and does not represent the only execution order, and can be appropriately adjusted in practical applications.

[0083] By adopting the technical solution of the present invention, by controlling the first robot to execute the corresponding return strategy according to the number and / or task status of other robots, multiple robots can more efficiently and orderly execute the return task in an area with a single entrance and exit and limited passable width, which is beneficial to reducing the mutual influence of multiple robots, thereby reducing the occurrence of jams and collisions, ensuring the safety of the robot equipment. In addition, it also saves labor costs and is beneficial to improving the customer experience.

[0084] The present invention also relates to a delivery system 300 for robots, refer to Figure 4 , which includes multiple robots 200 and a dispatching unit 301. The dispatching unit 301 communicates with each robot 200 and is configured to execute the return method 100 as described above.

[0085] The present invention also relates to a robot 200, refer to Figure 2 , which includes a mobile chassis 10, a housing 20, a sensor system, and a controller. The mobile chassis 10 has a traveling mechanism. The sensor system includes one or more of a lidar 30, a camera, a binocular vision sensor, an ultrasonic sensor, an odometer, and an infrared sensor, which are arranged on the housing 20 or the mobile chassis 10 and are configured to detect the surrounding environment of the robot 200. The controller is coupled to the sensor system and the traveling mechanism and is configured to control the robot 200 to execute the return method 100 as described above.

[0086] The present invention also relates to a computer-readable storage medium, including computer-executable instructions stored thereon, and the executable instructions, when executed by a processor, implement the return method 100 as described above. The computer-readable storage medium may be, for example, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, etc. The present invention does not specify the specific type of the computer-readable storage medium.

[0087] Finally, it should be noted that the above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or perform equivalent replacements for some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A return method for a robot, comprising: Obtain the return path of the first robot; Determine whether the return path is located within an area with a single access point. The area with a single access point includes a closed end and an access point end. There is a first characteristic path point near the closed end, a second characteristic path point and a scheduling point near the access point end. The passable width of the area with a single access point only allows one robot to pass through; Determine whether the return path includes the first characteristic path point and the second characteristic path point. The robot traverses and searches the path point attributes of each path point on the return path, first searches the first characteristic path point, and then continues to search from the first characteristic path point until the second characteristic path point is found. Determine that the return path is located within the area with a single access point. The first characteristic path point is a single-sided path point, and the second characteristic path point is a fork path point; If the return path is located within the area, determine the number and / or task status of other robots on the return path; The task status includes a delivery status and a return status; When the task status of the other robots is the delivery status, the other robots move in the direction of the closed end; When the task status of the other robots is the return status, the other robots move in the direction of the access point end; And According to the number and / or task status of the other robots, control the first robot to execute the corresponding return strategy, including: When the number of the other robots is zero, control the first robot to return along the return path; When the number of the other robots is greater than zero and the task status is the return status, control the first robot to return along the return path.

2. The return method according to claim 1, wherein the step of obtaining the return path of the first robot comprises: Determine the current position and target position of the first robot, and obtain the return path based on the current position and target position.

3. The return method according to claim 1, wherein the area where the scheduling point is located is outside the area of the single entrance and exit, and within a preset range at the entrance and exit end, and can be used for the robot to temporarily dock, or dock when waiting for tasks to be assigned by the scheduling unit.

4. The return method according to any one of claims 1-3, wherein the step of determining the number and / or task status of other robots on the return path comprises: Determine the number and / or task status of other robots on the return path through the scheduling unit.

5. The return method according to any one of claims 1-3, wherein the step of controlling the first robot to execute corresponding scheduling strategies according to the number and / or task status of other robots further comprises: When the number of the other robots is greater than zero and the task status is the delivery status, determine the relative position relationship between the delivery target of the other robots and the current position of the first robot, and control the first robot to execute the corresponding return strategy according to the relative position relationship.

6. The return method according to claim 5, wherein the step of controlling the first robot to execute corresponding return strategies according to the relative position relationship comprises: When the delivery target of the other robots is closer to the access point end relative to the current position of the first robot, control the first robot to dock at the current position. When the other robots complete the delivery task and return, control the first robot to line up behind the other robots and return along the return path.

7. A delivery system for a robot, comprising: Multiple robots; And A scheduling unit, communicating with each robot and configured to execute the return method according to any one of claims 1-6.

8. A robot, comprising: A mobile chassis having a walking mechanism; A housing; A sensor system provided on the housing and configured to detect the surrounding environment of the robot; And A controller coupled to the sensor system and the walking mechanism and configured to control the robot to execute the return method according to any one of claims 1-6.

9. The robot according to claim 8, wherein the sensor system comprises one or more of a lidar, a camera, a binocular vision sensor, an ultrasonic sensor, and an infrared sensor.

10. A computer-readable storage medium, comprising computer-executable instructions stored thereon, wherein the executable instructions, when executed by a processor, implement the return method according to any one of claims 1-6.

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