Route planning method, system, electronic device and computer readable storage medium

Abstract

The embodiment of the application relates to the technical field of robots, and discloses a route planning method, a route planning system, an electronic device and a computer readable storage medium, the method comprising: acquiring a service to be provided for a target user and a position of the target user; determining whether a supplementary service needs to be provided for the target user according to the service to be provided; in the case of determining that the supplementary service needs to be provided for the target user, generating a target route according to a position of a target robot and the position of the target user; and instructing the target robot to reach the position of the target user along the target route to provide the supplementary service for the target user. The route planning method provided by the embodiment of the application can predict problems occurring in the process of a user enjoying a service, and accurately plan a route for a robot in advance, so that the user can be provided with help in time, and the experience of the user is improved.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robots, and in particular, to a route planning method and system, an electronic device, and a computer readable storage medium. BACKGROUND

[0002] In recent years, with the rapid development of mechanical and communication technologies, intelligent robots have been widely applied in various service scenarios such as smart home, exhibition guide, hospital medicine taking, express sorting, bank calling, restaurant meal delivery, etc. Intelligent robots can patrol and shuttle according to a certain travel route in these service scenarios to assist service staff to provide corresponding services for users.

[0003] However, the inventors of the present application have found that most service intelligent robots in the industry provide fixed and routine services according to a set program, but when users actually enjoy services in a service place, they may have various problems with the services, and the intelligent robots cannot discover these problems in time, even if they discover the problems, they cannot solve the problems, and the users can only seek help from service staff to solve the problems. At the same time, the service staff in the service place is limited, and if multiple users seek help from the service staff at the same time, some users will not be able to get timely help, which brings a very bad experience to the users. SUMMARY

[0004] The purpose of embodiments of the present application is to provide a route planning method, system, electronic device, and computer readable storage medium, which can predict problems that may occur in the process of a user enjoying services, and plan an accurate route for a robot in advance, so as to provide timely help for the user and improve the user's experience.

[0005] To solve the above technical problems, embodiments of the present application provide a route planning method, including the following steps: obtaining a service to be performed by a target user and a position of the target user; determining whether a supplementary service needs to be provided to the target user according to the service to be performed; in a case where it is determined that the supplementary service needs to be provided to the target user, generating a target route according to a position of a target robot and the position of the target user; and instructing the target robot to reach the position of the target user along the target route to provide the supplementary service to the target user.

[0006] Embodiments of the present application also provide a path planning system, comprising: a master device and a target robot, the master device comprising an acquisition module, a triggering module, a planning module and a sending module; the acquisition module is configured to acquire a service to be performed by a target user and a position of the target user; the triggering module is configured to determine whether a supplementary service needs to be provided to the target user according to the service to be performed; the planning module is configured to plan a target route according to a position of the target robot and the position of the target user when it is determined that the supplementary service needs to be provided to the target user; the sending module is configured to send a travel instruction and the target route to the target robot, the travel instruction being used to instruct the target robot to reach the position of the target user along the target route; and the target robot is configured to reach the position of the target user along the target route and provide the supplementary service to the target user after receiving the travel instruction and the target route.

[0007] Embodiments of the present application also provide an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the path planning method.

[0008] Embodiments of the present application also provide a computer-readable storage medium storing a computer program, and the computer program is executed by a processor to implement the path planning method.

[0009] The route planning method, system, electronic device and computer readable storage medium provided by the embodiments of the present application first acquire a service to be performed by a target user and a location of the target user, then determine whether a supplementary service needs to be provided to the target user according to the service to be performed by the target user, in the case where it is determined that the supplementary service needs to be provided to the target user, generate a target route for a target robot according to the location of the target robot and the location of the target user, and finally instruct the target robot to reach the location of the target user along the target route to provide the supplementary service to the target user. Considering that most service intelligent robots in the industry provide fixed and regular services according to a set program, and users often have various questions about the service to be performed, service attendants or workers need to be provided to provide the supplementary service that the intelligent robot cannot provide, so that part of the users cannot get timely help and the service experience of the users is poor. However, the embodiments of the present application start to predict the problems that may occur in the process of the user enjoying the service after determining the service to be performed by the user, and if it is determined that the supplementary service needs to be provided to the user, the target route that can reach the user is generated in advance for the intelligent robot to provide the supplementary service to the user, so that the user is provided with timely help, and the service experience of the user is effectively improved.

[0010] In addition, the service to be performed by the target user is a dining service, and the supplementary service is a floss delivery service. The determining whether the supplementary service needs to be provided to the target user according to the service to be performed includes: determining each meal selected by the target user according to the dining service; accumulating a flossing base value corresponding to each meal to obtain a flossing expected value corresponding to the target user; each meal is preconfigured with a corresponding flossing base value; determining whether the flossing expected value is greater than a preset flossing threshold value; and in the case where the flossing expected value is greater than the flossing threshold value, determining whether the floss delivery service needs to be provided to the target user. In the process of dining, the target user is likely to floss, and the probability of flossing of the user is different for different meals ordered by the user, such as the user ordering white rice porridge is not easy to floss, and the user ordering cold and spicy golden needle mushrooms is easy to floss. The present application preconfigures a flossing base value for each meal, and when the flossing expected value obtained by accumulating the flossing base value is greater than the preset flossing threshold value, it is determined that the target user will floss, and the floss delivery service needs to be provided to the target user, which not only accurately and reasonably predicts the flossing condition of the target user, but also avoids floss waste.

[0011] In addition, the target robot at least includes a meal delivery robot, and the target route is planned according to the position of the target robot and the position of the target user, including: detecting whether floss is put into the tray of the meal delivery robot when the meal is put into the tray; if it is determined that floss is put into the tray of the meal delivery robot when the meal is put into the tray, the target route is planned according to the position of the meal delivery robot and the position of the target user; and the indication of the target robot to reach the position of the target user along the target route to provide the target user with the supplementary service includes: the indication of the meal delivery robot to reach the position of the target user along the target route to provide the target user with the meal service and the floss delivery service. In order to minimize the disturbance to the target user during the meal, the meal delivery robot is used to provide the target user with the meal service and the floss delivery service, the problem of floss jamming encountered by the target user is solved in advance, and the meal experience of the target user is better improved.

[0012] In addition, the target robot further includes a delivery robot, and the delivery robot is used to provide the floss delivery service along a preset patrol route; after the detection of whether floss is put into the tray of the meal delivery robot when the meal is put into the tray, if it is determined that floss is not put into the tray of the meal delivery robot when the meal is put into the tray, the target route is planned according to the position of the delivery robot and the position of the target user; and the indication of the target robot to reach the position of the target user along the target route to provide the target user with the supplementary service includes: the indication of the delivery robot to reach the position of the target user along the target route to provide the target user with the floss delivery service. The meal delivery robot and the delivery robot are arranged in the restaurant to provide the meal service and the floss delivery service respectively, and when it is determined that floss is not put into the tray of the meal delivery robot, the meal delivery robot cannot provide the floss delivery service, and the delivery robot can be notified to provide the target user with the floss delivery service, so that the problem of floss jamming encountered by the target user can be solved.

[0013] In addition, after the meal service is determined according to the meal selected by the target user, the method further comprises: determining the meal time of the target user according to the meal selected by the target user; and planning the target route according to the position of the delivery robot and the position of the target user, which comprises: after the meal is delivered to the target user by the delivery robot, waiting for the meal time, and then planning the target route according to the position of the delivery robot and the position of the target user. In actual conditions, the floss and the meal are delivered to the target user at the same time, and the target user is likely to forget the floss delivered before or cannot find the floss delivered before after the meal is finished. Therefore, the meal time of the target user can be estimated according to the meal selected by the target user after the meal is selected by the target user, so that the delivery robot can deliver the floss to the target user after the meal is finished, thereby improving the meal experience of the target user.

[0014] In addition, the planning of the target route according to the position of the delivery robot and the position of the target user comprises: adding a priority delivery node in the delivery route of the delivery robot, the priority delivery node being the position of the target user; obtaining a candidate route between the delivery robot and the priority delivery node in the delivery route, and removing other delivery nodes in the candidate route except the priority delivery node; and taking the removed candidate route as the target route. The delivery route of the delivery robot is a safe route with few obstacles, and the delivery robot is familiar with the delivery route. Therefore, the position of the target user is selected as the priority delivery node, and the delivery robot reaches the priority delivery node in a direct mode, thereby improving the efficiency of the delivery process under the premise of safety.

[0015] In addition, the determination of whether the supplementary service needs to be provided to the target user according to the service to be performed further comprises: detecting whether the request information sent by the target user is received; wherein the request information is the request information corresponding to the service to be performed; and if it is determined that the request information sent by the target user is received, it is determined that the supplementary service needs to be provided to the target user. The application also allows the user to actively initiate the request information for the service to be performed, and provides the supplementary service to the target user after the request information is received, thereby improving the service experience of the user. BRIEF DESCRIPTION OF DRAWINGS

[0016] One or more embodiments are illustrated by way of example in the figures that are part of this document, and which illustrate principles of embodiments.

[0017] Figure 1is a flow of a route planning method provided by an embodiment of the present application Figure One ;

[0018] Figure 2 In an embodiment of the present application, a flowchart for determining whether a supplementary service needs to be provided to a target user according to a service to be performed is shown in

[0019] Figure 3 is a flow of a route planning method provided by another embodiment of the present application Figure Two ;

[0020] Figure 4 is a flow of a route planning method provided by another embodiment of the present application Figure Three ;

[0021] Figure 5 is a flow of a route planning method provided by another embodiment of the present application Figure Four ;

[0022] Figure 6 is a schematic diagram of a route planning system provided by another embodiment of the present application

[0023] Figure 7 is a structural schematic diagram of an electronic device provided by another embodiment of the present application DETAILED DESCRIPTION

[0024] To make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below with reference to the drawings. However, those skilled in the art can understand that, in the embodiments of the present application, many technical details are proposed to make the readers better understand the present application. However, the technical solutions claimed by the present application can be implemented even without these technical details and based on various changes and modifications of the following embodiments. The division of the following embodiments is for the convenience of description, and should not constitute any limitation on the specific implementation of the present application, and the embodiments can be combined and referenced with each other without contradiction.

[0025] An embodiment of the present application relates to a route planning method applied to an electronic device, wherein the electronic device can be a terminal or a server, and the electronic device is taken as an example of a server in the embodiment and the following embodiments. The implementation details of the route planning method of the embodiment will be described in detail below, and the following content is only provided for the implementation details for the convenience of understanding, and is not necessary for implementing the present solution.

[0026] The specific flow of the route planning method of the embodiment can be as shown in Figure 1 , and includes

[0027] Step 101: Obtain the service to be performed by the target user and the location of the target user.

[0028] Specifically, when the server performs path planning, it first needs to obtain the service that the target user is to perform and the target user's location. The service that the target user is to perform is a service that can be provided in the scenario in which the server is applied, and the target user's location can be a table number, seat number, bed number, room number, etc.

[0029] In practical implementation, the route planning method proposed in this application can be applied to scenarios such as restaurants, barbershops, massage parlors, banks, hospitals, and internet cafes: when applied to a restaurant scenario, the service to be performed by the target user can be dining; when applied to a barbershop scenario, the service to be performed by the target user can be hairdressing; when applied to a massage parlor scenario, the service to be performed by the target user can be massage; when applied to a bank scenario, the service to be performed by the target user can be depositing; when applied to a hospital scenario, the service to be performed by the target user can be medical treatment; and when applied to an internet cafe scenario, the service to be performed by the target user can be internet access.

[0030] In one example, the server can pre-build a 3D map based on the application scenario, and when obtaining the location of the target user, it can directly obtain the target user's 3D coordinates in the 3D map.

[0031] Step 102: Based on the service to be performed, determine whether supplementary services need to be provided to the target user.

[0032] Specifically, after obtaining the service to be performed by the target user and the target user's location, the server can determine whether to provide supplementary services to the target user based on the service to be performed. The supplementary services are supplementary services based on the service to be performed and are used to solve problems that occur when the user enjoys the service to be performed.

[0033] In one example, the server internally stores preset supplementary service trigger conditions. When the server detects that the service to be performed meets the supplementary service trigger conditions, it determines that supplementary services need to be provided to the target user.

[0034] In a specific implementation, if the service to be performed by the target user is a dining service, the supplementary service to be provided to the target user can be a toothbrush delivery service, a paper towel delivery service, etc.; if the service to be performed by the target user is a haircut service, the supplementary service to be provided to the target user can be a towel delivery service, a hair dryer delivery service, etc.; if the service to be performed by the target user is a massage service, the supplementary service to be provided to the target user can be a towel delivery service; if the service to be performed by the target user is a deposit service, the supplementary service to be provided to the target user can be a number calling reminding service; if the service to be performed by the target user is a medical service, the supplementary service to be provided to the target user can be a number calling reminding service, a medicine delivery service, etc.; if the service to be performed by the target user is an Internet service, the supplementary service to be provided to the target user can be a meal delivery service, etc.

[0035] In step 103, in a case where it is determined that the supplementary service needs to be provided to the target user, a target route is planned and generated according to the position of the target robot and the position of the target user.

[0036] Specifically, in a case where it is determined that the supplementary service needs to be provided to the target user, the server can obtain the position of the target robot in the application scenario, and plan and generate a target route according to the position of the target robot and the position of the target user.

[0037] In one example, the server can construct a three-dimensional map based on the application scenario in advance, the three-dimensional map being marked with a passable route and the positions of various obstacles, and in a case where it is determined that the supplementary service needs to be provided to the target user, the server can obtain the coordinates of the target robot in the three-dimensional map, find the shortest route in the passable route according to the coordinates of the target robot in the three-dimensional map and the coordinates of the target user in the three-dimensional map, and take the shortest route as the target route planned and generated.

[0038] In step 104, the target robot is instructed to reach the position of the target user along the target route to provide the target user with the supplementary service.

[0039] In a specific implementation, after planning and generating the target route, the server can send the target route planned and generated to the target robot, and simultaneously send a travel instruction to the target robot, the travel instruction being used to instruct the target robot to reach the position of the target user along the target route to provide the target user with the supplementary service.

[0040] In one example, the service to be performed by the target user is a deposit service, the supplementary service to be provided to the target user is a call number service, the server determines that the call number reminder service needs to be provided to the target user after determining that the target user's turn has come, and generates a target route together with travel instructions for the target robot, and the target robot sets off immediately and reaches the target user's location along the target route generated by the server to play a call number reminder voice for the target user, and the voice content is "Your appointment has come. Please go to counter No. 3 to handle the deposit business".

[0041] In one example, the service to be performed by the target user is a haircut service, the supplementary service to be provided to the target user is a towel delivery service, the server determines that the towel delivery service needs to be provided to the target user after determining that the target user has finished washing his head, and generates a target route together with travel instructions for the target robot, and the target robot sets off immediately and reaches the target user's location along the target route generated by the server to deliver a towel to the target user.

[0042] In this embodiment, the server first acquires the service to be performed by the target user and the location of the target user, and then determines whether the supplementary service needs to be provided to the target user according to the service to be performed by the target user, generates a target route for the target robot according to the location of the target robot and the location of the target user in the case of determining that the supplementary service needs to be provided to the target user, and finally instructs the target robot to reach the location of the target user along the target route to provide the supplementary service to the target user. Considering that most service intelligent robots in the industry provide fixed and primary services according to the set program, and users often have various questions about the service to be performed, service personnel or workers need to provide the supplementary service that the intelligent robot cannot provide for the user at this time, so that part of the users cannot get timely help and the service experience of the users is poor. The embodiment of the present application starts to predict the problems that may occur in the process of enjoying the service by the user after determining the service to be performed by the user, generates a target route that can reach the user in advance for the intelligent robot if it is determined that the supplementary service needs to be provided for the user, and provides the supplementary service for the user by the intelligent robot, thereby providing timely help for the user and effectively improving the service experience of the user.

[0043] In one embodiment, the service to be performed by the target user is a dining service, and the supplementary service to be provided to the target user is a dental floss delivery service. The server can determine whether the supplementary service needs to be provided to the target user according to the service to be performed by the target user through steps as shown in FIG. 8, and the steps specifically include: Figure 2

[0044] Step 201: Determine the target user's selected meal according to the dining service.

[0045] ​Specifically, the server can determine the meal selected by the target user according to the meal service of the target user.

[0046] In a specific implementation, the meal selected by the user can be a set meal, and a set meal usually contains multiple basic meals. After determining the set meal selected by the target user, the server can further analyze the set meal to determine which basic meals are contained in the set meal selected by the user.

[0047] In an example, the meal service to be performed by the target user corresponds to a Sanjin set meal, and the server analyzes the Sanjin set meal to determine that the basic meals contained in the Sanjin set meal are Roujiamo, Liangpi, and orange-flavored soda.

[0048] Step 202: Accumulate the respective tooth-poking basic values of the meals to obtain a tooth-poking expected value corresponding to the target user.

[0049] In a specific implementation, each meal sold by the restaurant is pre-configured with a corresponding tooth-poking basic value. After determining the meals selected by the target user, the server can accumulate the respective tooth-poking basic values of the meals selected by the target user to obtain a tooth-poking expected value corresponding to the target user.

[0050] In an example, the meals selected by the target user A are Liangbanjinengmushu, Roujiamo, and Doujiang, the tooth-poking basic value of Liangbanjinengmushu is 10, the tooth-poking basic value of Roujiamo is 7, and the tooth-poking basic value of Doujiang is 0. The server accumulates the tooth-poking basic value of Liangbanjinengmushu, the tooth-poking basic value of Roujiamo, and the tooth-poking basic value of Doujiang to obtain a tooth-poking expected value corresponding to the target user A, which is 10+7+0=17.

[0051] In an example, the meals selected by the target user B are bacon sandwiches and coffee, the tooth-poking basic value of bacon sandwiches is 5, and the tooth-poking basic value of coffee is 0. The server accumulates the tooth-poking basic value of bacon sandwiches and the tooth-poking basic value of coffee to obtain a tooth-poking expected value corresponding to the target user B, which is 5+0=5.

[0052] Step 203: Determine whether the tooth-poking expected value is greater than a preset tooth-poking threshold value. If yes, perform step 205, otherwise, perform step 204.

[0053] Step 204: Determine that the tooth-floss delivery service does not need to be provided to the target user.

[0054] Step 205: Determine that the tooth-floss delivery service needs to be provided to the target user.

[0055] In a specific implementation, after determining the toothpick expectation value corresponding to the target user, the server can determine whether the toothpick expectation value is greater than a preset toothpick threshold value. If it is determined that the toothpick expectation value is greater than the preset toothpick threshold value, it means that the target user is very likely to have toothpicks, and the toothpick delivery service needs to be provided to the target user. If it is determined that the toothpick expectation value is less than or equal to the preset toothpick threshold value, it means that the target user is less likely to have toothpicks, and the toothpick delivery service does not need to be provided to the target user. The preset toothpick threshold value can be set by a person skilled in the art according to actual needs, and the embodiments of the present application do not make specific limitations thereto.

[0056] In one example, the preset toothpick threshold value is 10, the toothpick expectation value corresponding to the target user A is 17, and the toothpick expectation value corresponding to the target user B is 5. The server can determine that the toothpick delivery service needs to be provided to the target user A and does not need to be provided to the target user B.

[0057] In this embodiment, it is considered that the target user is likely to have toothpicks during the meal, and the probability of the user having toothpicks is different for different meals ordered by the user. For example, the user is less likely to have toothpicks when ordering white rice porridge, but is more likely to have toothpicks when ordering cold and spicy golden needle mushrooms. The present application pre-sets a toothpick basic value for each meal, and when the toothpick expectation value obtained based on the toothpick basic value is greater than the preset toothpick threshold value, it is determined that the target user will have toothpicks, and the toothpick delivery service needs to be provided to the target user. Not only is the toothpick situation of the target user accurately and reasonably predicted, but toothpick waste is also avoided.

[0058] In one embodiment, the service to be performed by the target user is a meal service, and the supplementary service to be provided to the target user is a paper towel delivery service. The server can determine the meal selected by the target user according to the meal service, accumulate the sweat basic values corresponding to the meals respectively to obtain a sweat expectation value corresponding to the target user, wherein each meal is pre-set with a corresponding sweat basic value. After obtaining the sweat expectation value corresponding to the target user, it can be determined whether the sweat expectation value corresponding to the target user is greater than a preset sweat threshold value. In the case where the sweat expectation value corresponding to the target user is greater than the preset sweat threshold value, it is determined that the paper towel delivery service needs to be provided to the target user.

[0059] Another embodiment of the present application relates to a route planning method. The implementation details of the route planning method of this embodiment will be specifically described below. The following implementation details are provided for the convenience of understanding and are not essential for implementing this solution. In this embodiment, the service to be performed by the target user is a meal service, and the supplementary service to be provided to the target user is a toothpick delivery service. The robot in the application scenario at least includes a meal delivery robot. The specific process of the route planning method of this embodiment can be as follows Figure 3As shown, comprising:

[0060] Step 301, obtaining a dining service to be performed by a target user and a location of the target user.

[0061] Wherein, step 301 is substantially the same as step 101, which will not be repeated here.

[0062] Step 302, determining each meal selected by the target user according to the dining service.

[0063] Step 303, accumulating the flossing base value corresponding to each meal to obtain the flossing expected value corresponding to the target user.

[0064] Step 304, determining whether the flossing expected value is greater than a preset flossing threshold value, if yes, executing step 306, otherwise, executing step 305.

[0065] Step 305, determining that the flossing service does not need to be provided to the target user.

[0066] Step 306, determining that the flossing service needs to be provided to the target user.

[0067] Wherein, steps 302 to 306 are substantially the same as steps 201 to 205, which will not be repeated here.

[0068] Step 307, detecting whether floss is put into the tray when each meal is put into the tray of the meal delivery robot.

[0069] Specifically, after the server determines that the flossing service needs to be provided to the target user, it can detect whether floss is put into the tray when each meal is put into the tray of the meal delivery robot.

[0070] In a specific implementation, the server can detect whether floss is put into the tray when each meal is put into the tray of the meal delivery robot through the camera arranged above the meal outlet. This detection can also be completed by the meal delivery robot, which detects whether floss is put into the tray when each meal is put into the tray of the meal delivery robot through the camera arranged on the head, and sends the detection result to the server.

[0071] Step 308, if it is determined that floss is put into the tray when each meal is put into the tray of the meal delivery robot, generating a target route according to the location of the meal delivery robot and the location of the target user.

[0072] Step 309, instructing the meal delivery robot to reach the location of the target user along the target route to provide the dining service and the flossing service to the target user.

[0073] In a specific implementation, if it is determined that the tooth floss is placed into the tray of the meal delivery robot when the meal items are placed into the tray, it indicates that the meal delivery robot can complete the task of delivering tooth floss in addition to the task of delivering meals. The server then plans a target route according to the position of the meal delivery robot and the position of the target user, and sends the planned target route and travel instructions to the meal delivery robot, instructing the meal delivery robot to reach the position of the target user along the target route to provide meal service and tooth floss delivery service to the target user.

[0074] In this embodiment, in order to minimize the disturbance to the target user during meal time, the meal delivery robot is allowed to provide meal service and tooth floss delivery service to the target user at the same time, and the problem of tooth jam that the target user may encounter is solved in advance, thereby better improving the meal experience of the target user.

[0075] Another embodiment of the present application relates to a route planning method. The implementation details of the route planning method of this embodiment are described below. The following details are provided for the convenience of understanding and are not essential for implementing this solution. In this embodiment, the service to be provided to the target user is meal service, and the supplementary service to be provided to the target user is tooth floss delivery service. The robots in the application scenario include meal delivery robots and delivery robots. The delivery robots are used to provide tooth floss delivery service along a preset patrol route. The specific process of the route planning method of this embodiment can be as shown in Figure 4

[0076] Step 401: Obtain meal service to be provided to a target user and a position of the target user.

[0077] Step 402: Determine meal items selected by the target user according to the meal service.

[0078] Step 403: Accumulate tooth jam base values corresponding to the meal items respectively to obtain a tooth jam expected value corresponding to the target user.

[0079] Step 404: Determine whether the tooth jam expected value is greater than a preset tooth jam threshold. If yes, perform step 406; otherwise, perform step 405.

[0080] Step 405: Determine that tooth floss delivery service does not need to be provided to the target user.

[0081] Step 406: Determine that tooth floss delivery service needs to be provided to the target user.

[0082] Step 407: Detect whether tooth floss is placed into a tray of a meal delivery robot when meal items are placed into the tray. If yes, perform step 408; otherwise, perform step 410.

[0083] ​At step 408, a target route is planned according to the position of the delivery robot and the position of the target user.

[0084] At step 409, the delivery robot is instructed to reach the target user's position along the target route to provide the target user with the meal service and the floss delivery service.

[0085] Steps 401 to 409 are substantially the same as steps 301 to 309, and will not be described again here.

[0086] At step 410, a target route is planned according to the position of the delivery robot and the position of the target user.

[0087] At step 411, the delivery robot is instructed to reach the target user's position along the target route to provide the target user with the floss delivery service.

[0088] In a specific implementation, a delivery robot that provides meal service and a delivery robot that provides floss delivery service are provided in the restaurant at the same time. When the server determines that no floss is placed in the tray of the delivery robot, the delivery robot cannot serve as a floss delivery robot. At this time, the delivery robot can be called to provide the target user with the floss delivery service, i.e., a target route is planned according to the position of the delivery robot and the position of the target user, the target route is sent to the delivery robot along with the travel instruction, and the delivery robot is instructed to reach the target user's position along the target route to provide the target user with the floss delivery service, so as to ensure that the target user can solve the problem of flossing.

[0089] In one example, after the server determines the meal items selected by the target user according to the meal service, the server can also determine the meal duration of the target user according to the meal items selected by the target user. After the delivery robot delivers the meal items to the target user's position, the server waits for the meal duration, and then plans a target route according to the position of the delivery robot and the position of the target user. In actual situations, if floss and meal items are delivered to the target user at the same time, the target user is likely to forget the floss or cannot find the floss after the meal is finished. Therefore, in this embodiment, the server can estimate the meal duration of the target user according to the meal items selected by the target user after the target user selects the meal items. In this way, the delivery robot can deliver floss to the target user after the target user finishes the meal, so as to better improve the meal experience of the target user.

[0090] In one example, when planning to generate a target route according to the position of the delivery robot and the position of the target user, the server can add a priority delivery node, i.e., the position of the target user, in the patrol delivery route of the delivery robot, then obtain a route between the delivery robot and the priority delivery node in the patrol delivery route as a candidate route, and eliminate all delivery nodes in the candidate route except the priority delivery node, and finally take the eliminated candidate route as the target route. Considering that the patrol delivery route of the delivery robot is a safe route with few obstacles, and the delivery robot is familiar with the patrol delivery route, it is not easy to cause collision, dumping, etc. when the delivery robot travels on the patrol delivery route, therefore, in this embodiment, the server selects the position of the target user as the priority delivery node, and the delivery robot reaches the priority delivery node in a direct way, which effectively improves the efficiency of the delivery process under the premise of safety.

[0091] Another embodiment of the present application relates to a route planning method, and the implementation details of the route planning method of the present embodiment will be specifically described below. The following implementation details are provided for the convenience of understanding, and are not essential for implementing the present embodiment. The specific process of the route planning method of the present embodiment can be as shown in Figure 5

[0092] Step 501: obtaining a service to be performed by a target user and a position of the target user.

[0093] In this embodiment, step 501 is substantially the same as step 101, and will not be described herein again.

[0094] Step 502: detecting whether a request information sent by the target user is received, the request information being corresponding to the service to be performed.

[0095] Step 503: if it is determined that the request information sent by the target user is received, it is determined that a supplementary service needs to be provided to the target user.

[0096] In a specific implementation, the server allows a user to actively initiate the request information for the service to be performed, and the server detects in real time whether the request information sent by the target user is received, the request information being corresponding to the service to be performed. If it is determined that the request information sent by the target user is received, it is determined that the supplementary service needs to be provided to the target user, so as to better improve the service experience of the user.

[0097] Step 504: planning to generate a target route according to the position of the target robot and the position of the target user.

[0098] Step 505: instructing the target robot to reach the position of the target user along the target route to provide the supplementary service to the target user.

[0099] ​The steps 504 to 505 are substantially the same as the steps 103 to 104, and thus are not described herein.

[0100] The step division of the above methods is only for the purpose of clear description. In actual implementation, one step can be combined or some steps can be split and decomposed into multiple steps, as long as the same logical relationship is included, which is within the protection scope of the patent. Irrelevant modifications or irrelevant designs can be added to the algorithm or the process, but the core design of the algorithm and the process is within the protection scope of the patent.

[0101] Another embodiment of the present application relates to a route planning system. The implementation details of the route planning system of the embodiment are specifically described as follows. The following implementation details are provided for the convenience of understanding, and are not essential for implementing the present solution. A schematic diagram of the route planning system of the embodiment can be as shown in Figure 6 The route planning system includes a master device 601 and a target robot 602. The master device 601 includes an acquisition module 6011, a triggering module 6012, a planning module 6013, and a sending module 6014.

[0102] The acquisition module 6011 is configured to acquire a service to be performed by a target user and a location of the target user.

[0103] The triggering module 6012 is configured to determine whether a supplementary service needs to be provided to the target user according to the service to be performed.

[0104] The planning module 6013 is configured to plan and generate a target route according to the location of the target robot 602 and the location of the target user when it is determined that the supplementary service needs to be provided to the target user.

[0105] The sending module 6014 is configured to send a marching instruction and the target route to the target robot 602. The marching instruction is used to instruct the target robot 602 to reach the location of the target user along the target route.

[0106] The target robot 602 is configured to reach the location of the target user along the target route to provide the supplementary service to the target user after receiving the marching instruction and the target route.

[0107] It is worth mentioning that each module involved in the embodiment is a logical module. In actual application, one logical unit can be one physical unit, or a part of one physical unit, or a combination of multiple physical units. In addition, in order to highlight the innovative part of the present application, some units that are not closely related to solving the technical problems proposed in the present application are not introduced in the embodiment, but this does not mean that there are no other units in the embodiment.

[0108] Another embodiment of the present application relates to an electronic device, as shown inFigure 7 As shown, the device includes at least one processor 701, and a memory 702 connected with the at least one processor 701; wherein the memory 702 stores instructions executable by the at least one processor 701, and the instructions are executed by the at least one processor 701 to enable the at least one processor 701 to perform the path planning method in any of the above embodiments.

[0109] The memory and the processor are connected in a bus manner, the bus can include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors and memories together. The bus can also connect various other circuits such as peripheral devices, voltage stabilizers, and power management circuits together, which are well known in the art, and thus, further description thereof will not be given herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements such as multiple receivers and transmitters, which provide a unit for communicating with various other devices on the transmission medium. The data processed by the processor is transmitted on the wireless medium through the antenna, and further, the antenna also receives data and transmits the data to the processor.

[0110] The processor is responsible for managing the bus and general processing, and can also provide various functions including timing, peripheral interface, voltage regulation, power management, and other control functions. And the memory can be used to store the data used by the processor in the execution operation.

[0111] Another embodiment of the present application relates to a computer readable storage medium, which stores a computer program. The computer program is executed by the processor to implement the method embodiments.

[0112] That is, those skilled in the art can understand that all or part of the steps of the above-mentioned method embodiments can be completed by programs instructing related hardware, the programs are stored in a storage medium, and include a plurality of instructions for enabling a device (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (Read-Only Memory, ROM for short), a random access memory (Random Access Memory, RAM for short), a magnetic disk or an optical disk, and various storage program codes.

[0113] Those skilled in the art can understand that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes can be made in form and details without departing from the spirit and scope of the present application.

Claims

1. A route planning method characterized by, The method comprises the following steps: acquiring a service to be performed by a target user and a location of the target user; determining whether a supplementary service needs to be provided to the target user according to the service to be performed; planning a target route according to a location of a target robot and the location of the target user, in a case where it is determined that the supplementary service needs to be provided to the target user; instructing the target robot to reach the location of the target user along the target route to provide the supplementary service to the target user; wherein the service to be performed by the target user is a dining service, and the supplementary service is a floss delivery service; wherein the step of determining whether the supplementary service needs to be provided to the target user according to the service to be performed comprises the following steps: determining each meal selected by the target user according to the dining service; accumulating a flossing base value corresponding to each meal to obtain a flossing expected value corresponding to the target user; wherein each meal is pre-configured with a corresponding flossing base value; determining whether the flossing expected value is greater than a preset flossing threshold value; in a case where the flossing expected value is greater than the flossing threshold value, it is determined that the floss delivery service needs to be provided to the target user.

2. The route planning method according to claim 1, characterized in that, The target robot at least comprises a meal delivery robot, and the step of planning a target route according to a location of a target robot and the location of the target user comprises the following steps: detecting whether floss is placed into a tray of the meal delivery robot when each meal is placed into the tray; if it is determined that floss is placed into the tray of the meal delivery robot when each meal is placed into the tray, planning a target route according to the location of the meal delivery robot and the location of the target user; the step of instructing the target robot to reach the location of the target user along the target route to provide the supplementary service to the target user comprises the following step: instructing the meal delivery robot to reach the location of the target user along the target route to provide the dining service and the floss delivery service to the target user.

3. The route planning method according to claim 2, characterized in that, The target robot further comprises a floss delivery robot, and the floss delivery robot is used to provide the floss delivery service along a preset patrol route; after the step of detecting whether floss is placed into a tray of the meal delivery robot when each meal is placed into the tray, the method further comprises the following step: if it is determined that floss is not placed into the tray of the meal delivery robot when each meal is placed into the tray, planning a target route according to the location of the floss delivery robot and the location of the target user; the step of instructing the target robot to reach the location of the target user along the target route to provide the supplementary service to the target user comprises the following step: instructing the floss delivery robot to reach the location of the target user along the target route to provide the floss delivery service to the target user.

4. The route planning method according to claim 3, characterized in that, after the step of determining each meal selected by the target user according to the dining service, the method further comprises the following step: determining a dining duration corresponding to the target user according to each meal selected by the target user; the step of planning a target route according to a location of a target robot and the location of the target user comprises the following steps: After the food delivery robot delivers each meal to the target user's location, it waits for the meal time, and then plans and generates a target route based on the location of the delivery robot and the location of the target user.

5. The route planning method according to claim 3, characterized in that, The step of planning and generating a target route based on the location of the delivery robot and the location of the target user includes: Add priority delivery nodes to the delivery robot's roving delivery route, where the priority delivery nodes are the locations of the target users; The route between the delivery robot and the priority delivery node in the roving delivery route is obtained as a candidate route, and other delivery nodes other than the priority delivery node in the candidate route are eliminated; The candidate routes that have been eliminated are taken as the target routes.

6. The route planning method according to any one of claims 1 to 5, characterized in that, The step of determining whether supplementary services need to be provided to the target user based on the service to be performed further includes: Detect whether a request message has been received from the target user; wherein the request message is a request message corresponding to the service to be performed; If it is determined that a request message has been received from the target user, then it is determined that supplementary services need to be provided to the target user.

7. A path planning system characterized by, It includes a main control device and a target robot, wherein the main control device includes an acquisition module, a triggering module, a planning module and a sending module; The acquisition module is used to acquire the service that the target user is about to perform, and the location of the target user, wherein the service that the target user is about to perform is a dining service; The triggering module is used to determine whether supplementary services need to be provided to the target user based on the service to be performed, wherein the supplementary service is dental floss delivery service; The triggering module is further configured to determine the selected dishes by the target user based on the dining service; accumulate the basic value of food getting stuck in teeth corresponding to each dish to obtain the expected value of food getting stuck in teeth corresponding to the target user; wherein, each dish has a corresponding basic value of food getting stuck in teeth preset; determine whether the expected value of food getting stuck in teeth is greater than a preset threshold for food getting stuck in teeth; if the expected value of food getting stuck in teeth is greater than the threshold for food getting stuck in teeth, determine that dental floss delivery service needs to be provided to the target user; The planning module is used to plan and generate a target route based on the location of the target robot and the location of the target user when it is determined that supplementary services need to be provided to the target user. The sending module is used to send a travel command and the target route to the target robot, and the travel command is used to instruct the target robot to arrive at the location of the target user along the target route; The target robot is used to arrive at the location of the target user along the target route after receiving the travel instruction and the target route, and to provide the supplementary service to the target user.

8. An electronic device, comprising: include: At least one processor; as well as, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the route planning method as described in any one of claims 1 to 6.

9. A computer readable storage medium storing a computer program, characterized in that, The computer program, when executed by the processor, implements the route planning method of any one of claims 1 to 6.

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