Control method of a reminding system, device, delivery robot, and storage medium

Abstract

The application discloses a control method of a reminding system, a room reminding control device, a delivery robot and a computer readable storage medium, wherein the control method of the reminding system comprises the following steps: when a knocking signal is detected, determining a knocking condition according to the knocking signal; when the knocking condition meets a delivery prompt condition, acquiring human body detection information collected by a room user checking device, and determining a user position; determining a target reminding device according to the user position, and controlling the target reminding device to output a delivery arrival reminding signal. When the delivery robot arrives outside a room door, the target reminding device closest to a room user outputs the delivery arrival reminding signal, so that the effect of timely reminding is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a control method of a reminding system, an in-room reminding control device, a delivery robot and a computer readable storage medium. BACKGROUND

[0002] Nowadays, hotels, inns and the like provide robot delivery services in order to improve service quality and enhance user experience. In the related art, when a robot delivers goods to outside a room door, the robot sends an arrival signal to a service personnel. After receiving the arrival signal, the service personnel dials a telephone configured in the room to notify a client that the goods have been delivered, or the robot dials the telephone configured in the room to notify the client that the goods have been delivered, so as to let the client come out to take away the corresponding goods, thereby completing the delivery service. However, the service personnel does not always pay attention to the reception of the arrival signal, which results in that the service personnel needs to spend a certain amount of time from receiving the arrival signal to dialing the telephone to notify the client, and the reminding is not flexible due to the fixed position of the telephone configured in the room, thereby causing the problem of untimely reminding.

[0003] The above content is only used to assist in understanding the technical solutions of the present application and does not represent the acknowledgement of the above content as prior art. SUMMARY

[0004] The embodiments of the present application provide a control method of a reminding system, an in-room reminding control device, a delivery robot and a computer readable storage medium, aiming at solving the technical problem of untimely reminding when a delivery robot arrives at a destination

[0005] To achieve the above object, the first aspect of the embodiments of the present application provides a control method of a reminding system, applied to an in-room reminding subsystem of a robot delivery reminding system, and the control method of the reminding system comprises the following steps:

[0006] When a knocking signal is detected, a knocking condition is determined according to the knocking signal;

[0007] When the knocking condition meets a delivery prompt condition, human body detection information collected by an in-room user checking device is acquired to determine a user position;

[0008] A target reminding device is determined according to the user position, and the target reminding device is controlled to output a delivery arrival reminding signal.

[0009] Optionally, the in-room reminding subsystem further comprises a knocking signal receiving module, which is set as a radio frequency signal receiving module or an air fluctuation detecting module;

[0010] Before the step of determining the knocking condition according to the knocking signal, the following steps are further included:

[0011] The door knock signal is generated according to the radio frequency signal detected by the radio frequency signal receiving module or the air fluctuation detection result collected by the air fluctuation detection module.

[0012] Optionally, the air fluctuation detection module comprises a wind speed detection component, or the air fluctuation detection module comprises a tympanic membrane and an acceleration sensor arranged on the tympanic membrane, and the acceleration sensor is configured to detect an acceleration signal when the tympanic membrane is excited.

[0013] The door knock signal is generated according to the radio frequency signal detected by the radio frequency signal receiving module or the air fluctuation detection result collected by the air fluctuation detection module.

[0014] The air fluctuation detection result is determined according to a change in the wind speed detected by the wind speed detection component; or

[0015] The air fluctuation detection result is determined according to an acceleration signal detected by the acceleration sensor.

[0016] The door knock signal is generated according to the air fluctuation detection result.

[0017] Optionally, the knocking condition comprises a knocking strength and / or a knocking frequency.

[0018] After detecting the door knock signal, the knocking condition is determined according to the door knock signal, and the method further comprises:

[0019] It is determined whether the knocking condition meets a delivery prompt condition.

[0020] When the knocking strength and / or the knocking frequency is within a preset range, it is determined that the knocking condition meets the delivery prompt condition.

[0021] Optionally, the method further comprises:

[0022] A target reminding device is determined according to the user position.

[0023] A reminding level is determined according to the knocking strength and / or the knocking frequency.

[0024] The target reminding device is controlled to output a delivery arrival reminding signal according to the reminding level.

[0025] Based on the same inventive concept, a second aspect of the embodiments of the present application provides a control method of a reminding system applied to a delivery robot, and the delivery robot applied to a robot delivery reminding system, and the control method of the reminding system comprises the following steps:

[0026] The control method of the reminding system comprises:

[0027] Upon receiving a delivery task, determining a delivery destination according to the delivery task;

[0028] Controlling the delivery robot to move to the delivery destination;

[0029] When detecting that the current position is at the delivery destination, controlling the door-knocking signal emitting module to perform a door-knocking action.

[0030] Optionally, the door-knocking signal emitting module is set as a radio frequency emitting module or a fan, and the step of controlling the door-knocking signal emitting module to perform a door-knocking action when detecting that the current position is at the delivery destination comprises:

[0031] Controlling the radio frequency emitting module to be placed on a radio frequency receiving module of an in-house reminding subsystem, or controlling the fan to pump air to a corresponding position of the in-house reminding subsystem according to a preset frequency.

[0032] In addition, to achieve the above-mentioned purposes, the present application further provides an in-house reminding control device, characterized in that the in-house reminding control device comprises a memory, a processor, and a reminding system control program stored in the memory and executable on the processor, and the reminding system control program, when executed by the processor, implements the steps of the reminding system control method according to the first aspect.

[0033] In addition, to achieve the above-mentioned purposes, the present application further provides a delivery robot, characterized in that the delivery robot comprises a memory, a processor, and a reminding system control program stored in the memory and executable on the processor, and the reminding system control program, when executed by the processor, implements the steps of the reminding system control method according to the second aspect.

[0034] In addition, to achieve the above-mentioned purposes, the present application further provides a computer readable storage medium, characterized in that the computer readable storage medium stores a reminding system control program, and the reminding system control program, when executed by a processor, implements the steps of the reminding system control method.

[0035] The embodiment of the present application provides a reminding system control method, a room reminding control device, a delivery robot and a computer readable storage medium, the delivery robot is used for performing a delivery task, when the delivery robot reaches a door, the delivery robot performs a knocking action through a door knocking signal emission module, and when the room reminding subsystem detects the door knocking signal, the room reminding subsystem determines a knocking condition according to the door knocking signal, so as to determine whether the knocking condition meets a delivery prompting condition, when it is determined that the delivery prompting condition is met, the room reminding subsystem determines a user position by acquiring human body detection information collected by a room user checking device, and then determines a target reminding device closest to the user according to the user position, so as to control the target reminding device to output a delivery arrival reminding signal, without the need of sending an arrival signal to a customer service personnel, and the customer service personnel notifies the indoor user by dialing a telephone arranged in the room, so that the effect of timely reminding is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0036] Figure 1 A flowchart of an embodiment of the reminding system control method of the present application;

[0037] Figure 2 A detailed flowchart of step S10 in the first embodiment of the reminding system control method of the present application;

[0038] Figure 3 A working schematic view of the wind speed detection assembly involved in the embodiment of the present application;

[0039] Figure 4 A working schematic view of the acceleration sensor involved in the embodiment of the present application;

[0040] Figure 5 A detailed flowchart of step S30 in the first embodiment of the reminding system control method of the present application;

[0041] Figure 6 A flowchart of the second embodiment of the reminding system control method of the present application;

[0042] Figure 7 A flowchart of the third embodiment of the reminding system control method of the present application;

[0043] Figure 8 A structural schematic view of any one of the room reminding control device and the delivery robot involved in the embodiment of the present application.

[0044] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are merely exemplary and do not limit the present application. In order to better understand the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0046] Referring to Figure 1 In an embodiment of the control method of the reminding system according to the first aspect of the present application, the control method of the reminding system comprises the following steps:

[0047] Step S10: When the knocking signal is detected, determine the knocking condition according to the knocking signal;

[0048] In this embodiment, the reminding system comprises an indoor reminding subsystem and a delivery robot, and a control method of the reminding system is applied to the indoor reminding subsystem. The delivery robot is used to perform a delivery task and performs a knocking action through a knocking signal emitting module when it reaches a destination. The indoor reminding subsystem comprises a knocking signal receiving module, which is used to detect the situation outside the door in real time and generate a corresponding knocking signal according to the detection result, so that the indoor reminding subsystem can determine the knocking condition according to the knocking signal when the knocking signal is detected, thereby judging whether the knocking condition meets the delivery prompt condition. The knocking signal receiving module can be set as a radio frequency receiving module or an air fluctuation detection module. The knocking signal can be a number used to identify the detection result, which is associated with the detection result. The knocking condition can be the identity information and / or delivery information of the delivery robot, or the knocking force and / or the number of knocks.

[0049] Optionally, referring to Figure 2Before the step S10 is executed, a knocking signal needs to be generated according to the radio frequency signal detected by the radio frequency signal receiving module or the air fluctuation detection result collected by the air fluctuation detection module. The radio frequency signal receiving module can be a radio frequency card reader. When the radio frequency signal is detected by the radio frequency card reader, the identity information and / or the delivery information of the delivery robot are read by decoding the radio frequency signal, and a unique number is generated according to the read identity information and / or delivery information. The identity information and / or the delivery information are associated with the unique number and saved. When the unique number is detected by the indoor reminding subsystem, the corresponding identity information and / or delivery information can be obtained through the unique number. Whether the identity information obtained is the delivery robot for serving the room is judged, and the identity information obtained is verified. When it is determined that the delivery robot serves the room, it is judged that the delivery prompt condition is met. Alternatively, in some embodiments, when the identity information obtained is determined to be the delivery robot and the user identity information of the indoor user in the delivery information is determined, it is judged that the delivery prompt condition is met.

[0050] It should be noted that the indoor reminding subsystem can pre-store the user identity information of the indoor user. Alternatively, the user identity information of the indoor user can be obtained through the server when the knocking signal is detected, so that the obtained delivery information can be compared with the user identity information of the indoor user to determine whether the delivery task currently performed by the delivery robot is for the indoor user of the room, thereby avoiding the situation that the indoor user is disturbed when the delivery robot makes a mistake.

[0051] Alternatively, in yet another embodiment, the knocking signal receiving module can be set as the air fluctuation detection module. The indoor reminding subsystem generates the knocking signal according to the air fluctuation detection result collected by the air fluctuation detection module, so that the indoor reminding subsystem determines the knocking condition according to the knocking signal when the knocking signal is detected, and judges whether the knocking condition meets the delivery prompt condition.

[0052] In the present embodiment, the air fluctuation detection module includes a wind speed detection component, or includes a tympanic membrane and an acceleration sensor arranged on the tympanic membrane. The acceleration sensor is used to detect the acceleration signal when the tympanic membrane is excited. The knocking signal can be a number used to identify the detection result, which is associated with the air fluctuation detection result. The knocking condition includes the knocking strength and / or the knocking times. When the knocking strength and / or the knocking times are in a preset range, it is judged that the delivery prompt condition is met. The preset range can be a specific value or a value interval, which is not limited in the present embodiment.

[0053] Alternatively, with reference to Figure 3When the air fluctuation detection module comprises the wind speed detection assembly, a groove can be arranged at a corresponding position of the indoor reminding subsystem, and the wind speed detection assembly is arranged in the groove. The wind speed detection assembly detects the change of the wind speed in the groove in real time. When the wind speed detection assembly detects wind, the air fluctuation detection result is determined according to the detected change of the wind speed, and then the knocking signal is generated according to the air fluctuation detection result. At this time, the knocking strength can correspond to the wind speed detected by the wind speed detection assembly, and the knocking frequency can correspond to the wind blowing frequency detected by the wind speed detection assembly when the wind speed reaches the preset wind speed. When the wind speed detected by the wind speed detection assembly and the wind blowing frequency are within the preset range, it is determined that the delivery prompting condition is met. It can be understood that the interval time between each detection of wind can be different, such as 1 second, 3 seconds, 5 seconds and 9 seconds, and the wind speed can be different.

[0054] In some embodiments, the wind speed detection assembly can be directly arranged on the door panel of the indoor reminding subsystem, and this embodiment is not limited in this regard.

[0055] For example, when the wind speed detection assembly detects wind, the change of the wind speed is detected to determine that the wind speed is 1 m / s and the wind blowing frequency is 3 times per second, so that a unique number is generated according to the detected wind speed and wind blowing frequency, and the number is associated with the detected wind speed and wind blowing frequency. When the indoor reminding subsystem detects a new number generation, the corresponding wind speed and wind blowing frequency are obtained as 1 m / s and 3 times per second respectively, and the wind speed and wind blowing frequency are compared with the preset value stored in advance to determine whether they are equal. If they are equal, it indicates that the knocking action is performed by the delivery robot, and the delivery robot has arrived outside the door, so that it is determined that the delivery prompting condition is met.

[0056] Optionally, referring to Figure 4 When the air fluctuation detection module comprises the eardrum and the acceleration sensor arranged on the eardrum, the knocking strength can correspond to the acceleration, and the knocking frequency can correspond to the frequency of the eardrum fluctuation. When the eardrum is blown by the wind, it will be excited to generate acceleration, and when the acceleration sensor detects acceleration, an acceleration signal is generated to determine the acceleration and the frequency of the eardrum fluctuation. When the acceleration and the frequency of the eardrum fluctuation are within the preset range, it is determined that the delivery prompting condition is met.

[0057] For example, when the eardrum set in the indoor reminding subsystem is blown by the wind, the eardrum generates a drumming, at this time the acceleration sensor set on the eardrum detects the acceleration, so as to determine the frequency and acceleration size of the eardrum drumming according to the acceleration, and generate a unique number according to the determined frequency and acceleration size, save the number in association with the determined frequency and acceleration size, when the indoor reminding subsystem detects the generation of a new number, obtain the corresponding frequency and acceleration size through the number, and compare the obtained frequency and acceleration size with the preset value range, judge whether it is in the preset value range, if it is in the preset value range, it indicates that it is the knocking action of the delivery robot, and the delivery robot has reached the outside of the door, so as to judge that the delivery prompt condition is met.

[0058] Step S20: When the knocking condition meets the delivery prompt condition, the human body detection information collected by the indoor user detection device is obtained, and the user position is determined.

[0059] In this embodiment, the human body detection information can be human body movement information, or other information that can determine the user position. The indoor detection device can be an infrared sensor, which is used to detect and collect human body movement information, and the indoor reminding subsystem determines the user position in the room through the positioning algorithm by obtaining the human body movement information collected by the infrared sensor.

[0060] Step S30: Determine the target reminding device according to the user position, and control the target reminding device to output the reminding signal of the delivery arrival.

[0061] In the application scenarios such as hotels, when the delivery robot arrives at the destination, the arrival signal is sent to the customer service personnel, and after receiving the arrival signal, the customer service personnel calls the user in the room to inform that the goods have been delivered, or the robot calls the telephone in the room to inform the customer that the goods have been delivered. However, the customer service personnel does not always pay attention to the reception of the arrival signal, which leads to the fact that the customer service personnel needs to spend a certain amount of time from receiving the arrival signal to calling the telephone to inform the customer, and because the position of the telephone in the room is fixed, the reminding is not flexible, which leads to the problem of not timely reminding.

[0062] In the embodiment, the target reminding device can be an Internet of Things device or terminal in the room, and the Internet of Things devices are connected to each other through Internet of Things technology to share information. The reminding signal can be voice information or text reminding information reminding the arrival of the delivery robot or the arrival of the goods. A plurality of Internet of Things devices or terminals are configured in the room, and after the user position is determined, an Internet of Things device or terminal closest to the user is selected to control the closest Internet of Things device or terminal to output the reminding signal of the arrival of the delivery, so that the reminding signal output can be received by the user, and the user does not need to be notified through the customer service personnel and the telephone configured in the room, thereby achieving the effect of timely notifying the user in the room.

[0063] Optionally, with reference to Figure 5 , the step of determining the target reminding device according to the user position and controlling the target reminding device to output the reminding signal of the arrival of the delivery includes: after the target reminding device is determined according to the user position, determining the reminding level according to the knocking strength and / or the number of knocks, so as to control the target reminding device to output the reminding signal of the arrival of the delivery according to the reminding level.

[0064] In the embodiment, different reminding levels are set according to the knocking strength and / or the knocking situation, so that the corresponding reminding signal is output according to the reminding level, so that the user can determine whether to handle according to the received reminding signal, thereby achieving the effect of improving the user experience. For example, when the reminding level is low and the user is completing a relatively urgent matter, the user can ignore it first, and then handle it after completing the relatively urgent matter. The stronger the knocking strength and / or the more the number of knocks, the more important the matter. The reminding level can be divided into a light reminding level, a medium reminding level, and a heavy reminding level. When the light reminding level is determined, the target reminding device can be controlled to output the corresponding text reminding information through the display screen. When the medium reminding level is determined, the target reminding device is controlled to output the corresponding text reminding information through the display screen and play the text reminding information through voice. When the heavy reminding level is determined, the target reminding device is controlled to output the corresponding text reminding information through the display screen and play the text reminding information through voice, and the light on the target reminding device is controlled to flash. In some embodiments, different text reminding information or voice information can be set according to different reminding levels, so that the user can determine the importance of the matter according to the output text reminding information or voice information. The embodiment does not make specific limitations in this regard.

[0065] It can be understood that when the air fluctuation detection module is set as the wind speed detection component, the indoor reminding subsystem can determine the reminding level according to the detected wind speed and / or the frequency of wind blowing, and the higher the wind speed and / or the faster the frequency of wind blowing, the higher the corresponding reminding level. Similarly, when the air fluctuation detection module is set as the eardrum and the acceleration sensor placed on the eardrum, the indoor reminding subsystem can determine the reminding level according to the detected acceleration and / or the frequency of eardrum vibration, and the higher the acceleration and / or the faster the frequency of eardrum vibration, the higher the corresponding reminding level.

[0066] For example, when the wind speed detection component detects wind, the change of the wind speed is detected to determine that the wind speed is 1 m / s, and the frequency of wind blowing above the preset wind speed is 3 times per second, so as to generate a unique number according to the detected wind speed and the frequency of wind blowing, and save the number in association with the detected wind speed and the frequency of wind blowing. After the indoor reminding subsystem detects a new number generation, the corresponding wind speed and the frequency of wind blowing are obtained as 1 m / s and 3 times per second, respectively, and the wind speed and the frequency of wind blowing are compared with the preset values stored in advance to determine whether they are equal. If they are equal, it indicates that the knocking action of the delivery robot is executed, and the delivery robot has arrived outside the door, so that it is determined that the delivery prompt condition is met. Then, the human movement information collected by the infrared sensor set in the room is obtained, the position of the indoor user is determined according to the human movement information, and the nearest Internet of Things device or terminal to the user is selected according to the user position. At this time, the indoor reminding subsystem obtains the corresponding reminding level as the moderate reminding level according to the detected wind speed and the frequency of wind blowing, so as to control the nearest Internet of Things device or terminal to the user to output the text reminding information "The delivery robot has delivered your goods to the door, please open the door to pick up" through the display screen, and play the text reminding information through voice, so that the user can know the degree of the matter, and can decide whether to handle it according to the user's own situation.

[0067] Optionally, when the knocking signal is detected, the indoor reminding subsystem can obtain the feedback information of the user, so as to determine the knocking situation according to the knocking signal, and when the knocking situation is determined to meet the delivery prompt condition, it is determined whether to automatically open the door based on the feedback information, and sends the reminding signal of the delivery arrival to the user after the door is automatically opened.

[0068] Optionally, in the embodiment, before the delivery robot performs the delivery task, the delivery information is sent to the user to inform the user of the delivery time and obtain the feedback information of the user. The delivery information can be sent to the terminal program or the short message, and the user can know the delivery time and return the corresponding feedback information through the terminal program or the short message. The feedback information can be whether to allow the automatic opening of the door or the corresponding number of whether to allow the automatic opening of the door. The feedback information of the user can be obtained when the knocking signal is detected, or can be obtained before the knocking signal is detected, and the embodiment does not make specific limitation.

[0069] For example, when the in-room reminding subsystem detects the knocking signal, the feedback information of the user is obtained as allowing the automatic opening of the door, the knocking condition is determined according to the knocking signal, whether the knocking condition meets the delivery prompt condition is judged, when it is judged that the delivery prompt condition is met, the in-room reminding subsystem automatically opens the door, and sends the delivery arrival reminding signal to the user through the terminal program or the short message, so that the user knows that the delivery robot has arrived and the delivery robot is about to enter the room to complete the delivery task.

[0070] In the technical scheme provided in the embodiment, the air fluctuation detection result collected by the radio frequency receiving module or the air fluctuation detection module generates the knocking signal, the in-room reminding subsystem detects the knocking signal, determines the knocking condition according to the knocking signal, judges whether the knocking condition meets the delivery prompt condition, when the delivery prompt condition is met, the human body detection information collected by the in-room user checking device is obtained to determine the user position, then the Internet of Things device or terminal closest to the user is selected according to the user position, and the corresponding reminding level is determined according to the knocking force and / or the knocking times, so that the Internet of Things device or terminal outputs the corresponding delivery arrival reminding signal according to the reminding level, ensures that the output reminding signal can be received by the user, and the user can know the severity of the matter according to the output reminding signal, so as to determine whether to handle according to the user's own situation, achieves the effect of improving the user experience, and does not need to be notified by the customer personnel, so as to achieve the effect of timely reminding.

[0071] Reference Figure 6 The second aspect of the present application provides a control method of a reminding system, comprising the following steps:

[0072] Step S101: when receiving the delivery task, determining the delivery destination according to the delivery task;

[0073] In the embodiment, the reminding system comprises an in-room reminding subsystem and a delivery robot, and a control method of the reminding system is applied to the delivery robot. The in-room reminding subsystem is configured to generate a knocking signal when detecting a knocking action performed by the delivery robot, to determine a knocking condition according to the knocking signal, and to control a target reminding device to output a reminding signal of delivery arrival when the knocking condition meets a delivery prompting condition, so as to achieve the effect of timely reminding. The delivery robot can determine the delivery destination according to a room door number or a delivery address in a delivery task.

[0074] Step S201: controlling the delivery robot to move to the delivery destination.

[0075] In the embodiment, after the delivery robot determines the delivery destination, the delivery robot can plan a path according to a preset algorithm, and move to the delivery destination according to the planned path. In the application scenarios such as hotels or inns, the delivery robot can pre-store paths to reach each room or pre-store the paths in a server, so as to move to the delivery destination according to the preset path or the path obtained from the server after determining the delivery destination according to the room door number in the delivery task. The embodiment does not make specific limitation on this.

[0076] Step S301: when detecting that the current position is at the delivery destination, controlling the knocking signal emitting module to perform a knocking action.

[0077] In the embodiment, the delivery robot comprises a knocking signal emitting module, which is configured to perform a knocking action on a corresponding position of the in-room reminding subsystem when the delivery robot reaches the destination, so as to notify the in-room user to come out and take away the goods. The knocking signal emitting module can be a radio frequency emitting module or a fan. When detecting that the current position is at the delivery destination, the radio frequency emitting module is controlled to be placed on a radio frequency receiving module of the in-room reminding subsystem, or the fan is controlled to pump air to the corresponding position of the in-room reminding subsystem according to a preset frequency, so as to complete the execution of the knocking action. It can be understood that the radio frequency emitting module can be a radio frequency card or a radio frequency tag.

[0078] For example, when the delivery robot receives a delivery task, it determines the delivery destination according to the room door number in the delivery task. After determining the delivery destination, the delivery robot moves to the delivery destination according to the pre-stored path. When it is detected that the current position is the delivery destination, the radio frequency card on the delivery robot is placed on the radio frequency receiving module of the in-room reminding subsystem, or the fan on the delivery robot pumps air flow to the air fluctuation detection module of the in-room reminding subsystem at a predetermined frequency to complete the execution of the knocking action. When the knocking signal receiving module on the in-room reminding subsystem detects the radio frequency signal or the air flow, a knocking signal is generated, so that the target reminding device in the room outputs a reminder signal of the arrival of the delivery, thereby achieving the effect of timely notifying the indoor user.

[0079] Optionally, the delivery robot is provided with a storage cabinet. After the delivery robot performs the knocking action, it detects that the door is opened. If no one is detected within a predetermined time, the delivery robot further moves to a predetermined location in the room. After reaching the predetermined location, the delivery robot opens the storage cabinet on its body and places the corresponding goods at the corresponding position, thereby completing the execution of the delivery task.

[0080] In the technical scheme provided in this embodiment, when a delivery task is received, the delivery destination is determined according to the delivery task. After determining the delivery destination, the delivery robot moves to the delivery destination according to the preset path. When it is detected that the current position is the delivery destination, the radio frequency card on the delivery robot is placed on the radio frequency receiving module of the in-room reminding subsystem, or the fan on the delivery robot pumps air flow to the corresponding position of the in-room reminding subsystem at a predetermined frequency, thereby emitting a knocking signal to the in-room reminding subsystem to achieve the effect of timely reminding.

[0081] Based on the in-room reminding subsystem and the delivery robot of the above embodiments, the control method of the reminding system of the present application is proposed.

[0082] Reference Figure 7 Based on all the above embodiments, a third embodiment of a control method of a reminding system is provided.

[0083] Step S1: When a delivery task is received, determining a delivery destination according to the delivery task;

[0084] Step S2: Control the delivery robot to move to the delivery destination;

[0085] Step S3: When it is detected that the current position is the delivery destination, control the knocking signal emitting module to perform a knocking action;

[0086] Step S4: When the knocking signal is detected, determine the knocking situation according to the knocking signal;

[0087] Step S5: When the knocking condition meets the delivery prompt condition, acquiring human detection information collected by the in-room user inspection device to determine the user position;

[0088] Step S6: Determining the target reminding device according to the user position, and controlling the target reminding device to output a reminder signal of the arrival of the delivery.

[0089] In the embodiment, when the delivery robot receives a delivery task, it determines the delivery destination according to the room door number in the delivery task, and controls the delivery robot to move to the delivery destination according to the pre-stored path. When it is detected that the current position of the delivery robot is at the delivery destination, it means that the delivery robot has arrived outside the user's room door. Therefore, the delivery robot is controlled to place the radio frequency card on the radio frequency card reader of the in-room reminding subsystem, or to pump air to the air detection module of the in-room reminding subsystem according to the preset frequency through the air blower to complete the execution of the knocking action. When the radio frequency card reader of the in-room reminding subsystem recognizes the radio frequency signal, or the air fluctuation detection module detects data, a unique number is generated according to the detected data, and the number is associated with the detected data and saved. When the in-room reminding subsystem detects the generation of the number, it acquires the delivery robot identity information or delivery information read by the radio frequency card reader according to the number, or acquires the corresponding knocking force and / or knocking times according to the number. When the acquired identity information is the delivery robot, and the delivery information of the delivery recipient is the indoor user, it is judged that the delivery prompt condition is met. When the knocking force and / or knocking times are in the preset range, it is judged that the delivery prompt condition is met. Then, the human detection information collected by the in-room user inspection device is acquired to determine the user position, so as to select the target reminding device closest to the user according to the user position, and control the target reminding device to output the voice that the delivery robot has arrived outside the door and please take away the goods in time. Therefore, it is not necessary to notify the user by dialing the telephone configured in the room through the customer service personnel, so as to achieve the effect of timely reminding. The specific details of each step can be referred to the above embodiment, which will not be described here.

[0090] In the technical scheme provided in the embodiment, when the delivery task is received, the delivery robot is controlled to move to the delivery destination by determining the delivery destination according to the delivery task, when it is detected that the current position is at the delivery destination, the door knocking signal emitting module is controlled to perform the door knocking action, when the door knocking signal is detected, the in-room reminding subsystem determines the knocking condition according to the door knocking signal, when the knocking condition meets the delivery prompt condition, the human body detection information collected by the in-room user checking device is acquired, the user position is determined, the target reminding device closest to the user is determined according to the user position, and the target reminding device is controlled to output the reminding signal of the delivery arrival, without the help of the customer service personnel to make a call to the telephone configured in the room to make a notification, so that the effect of timely reminding is achieved.

[0091] Referring to Figure 8 , Figure 8 The structural schematic diagram of a hardware running environment involved in the embodiment of the present application.

[0092] It should be noted that Figure 8 , which is a structural schematic diagram of any one of the in-room reminding control device and the delivery robot. The in-room reminding control device and the delivery robot both include a processor, a memory, and a control program of a reminding system stored in the memory and executable on the processor. In the in-room reminding control device, the processor 1001 is a first processor, and the memory 1003 is a first memory. In the delivery robot, the processor 1001 is a second processor, and the memory 1003 is a second memory.

[0093] As Figure 8 shown, it includes a processor 1001, such as a CPU, a network interface 1002, a memory 1003, and a communication bus 1004. The communication bus 1004 is used to realize the connection and communication between these components. The network interface 1002 can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface). The memory 1003 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a magnetic disk memory. The memory 1003 can optionally be a storage device independent of the aforementioned processor 1001.

[0094] Those skilled in the art can understand Figure 8 that the structure of any one of the in-room reminding control device and the delivery robot shown in the above does not constitute a limitation, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements.

[0095] As Figure 8 shown, the memory 1003 as a computer storage medium can include an operating system, a network communication module, and a control program of a reminding system.

[0096] In Figure 8 The network interface 1002 is mainly used for connecting the background server and communicating data with the background server. The processor 1001 can be used to call the control program of the reminding system stored in the memory 1003.

[0097] In the in-house reminding control device, the memory 1003, the processor 1001 and the control program of the reminding system stored in the memory and executable on the processor are included.

[0098] When the processor 1001 calls the control program of the reminding system stored in the memory 1003, the following operations are performed:

[0099] When the knocking signal is detected, the knocking condition is determined according to the knocking signal.

[0100] When the knocking condition meets the delivery prompt condition, the human body detection information collected by the in-house user checking device is obtained, and the user position is determined.

[0101] The target reminding device is determined according to the user position, and the target reminding device is controlled to output the reminding signal of the arrival of the delivery.

[0102] Further, the processor 1001 can call the control program of the reminding system stored in the memory 1003, and further perform the following operations:

[0103] The knocking signal is generated according to the radio frequency signal detected by the radio frequency signal receiving module or the air fluctuation detection result collected by the air fluctuation detection module.

[0104] Further, the processor 1001 can call the control program of the reminding system stored in the memory 1003, and further perform the following operations:

[0105] The air fluctuation detection result is determined according to the change of the wind speed detected by the wind speed detection component; or

[0106] The air fluctuation detection result is determined according to the acceleration signal detected by the acceleration sensor.

[0107] The knocking signal is generated according to the air fluctuation detection result.

[0108] Further, the processor 1001 can call the control program of the reminding system stored in the memory 1003, and further perform the following operations:

[0109] It is judged whether the knocking condition meets the delivery prompt condition.

[0110] When the knocking strength and / or the number of knocks are within the preset range, it is determined that the knocking condition meets the delivery prompt condition.

[0111] Further, the processor 1001 can invoke the control program of the reminding system stored in the memory 1003, and further perform the following operations:

[0112] determining a target reminding device according to the user position;

[0113] determining a reminding level according to the knocking strength and / or the number of knocks;

[0114] controlling the target reminding device to output a reminding signal of the delivery arrival according to the reminding level.

[0115] In the delivery robot, there are a memory 1003, a processor 1001, and a control program of a reminding system stored in the memory and executable on the processor, wherein:

[0116] When the processor 1001 invokes the control program of the reminding system stored in the memory 1003, the following operations are performed:

[0117] Upon receiving a delivery task, determining a delivery destination according to the delivery task;

[0118] controlling the delivery robot to move to the delivery destination;

[0119] When detecting that the current position is at the delivery destination, controlling the door knocking signal emitting module to perform a door knocking action.

[0120] Further, the processor 1001 can invoke the control program of the reminding system stored in the memory 1003, and further perform the following operations:

[0121] controlling the radio frequency emitting module to be placed on a radio frequency receiving module of a house reminding subsystem, or controlling the air blower to pump air to a corresponding position of the house reminding subsystem according to a preset frequency.

[0122] In addition, to achieve the above-mentioned purposes, the present application further provides a house reminding control device, characterized in that the house reminding control device comprises a memory, a processor, and a control program of a reminding system stored in the memory and executable on the processor, and the control program of the reminding system realizes the steps of the control method of the reminding system according to the first aspect of the present application when executed by the processor.

[0123] In addition, the present application also provides a delivery robot, which comprises a memory, a processor and a control program of a reminding system stored in the memory and executable on the processor, wherein the control program of the reminding system, when executed by the processor, implements the steps of the control method of the reminding system according to the second aspect of the present application.

[0124] In addition, the present application also provides a computer readable storage medium, which stores a control program of a reminding system, wherein the control program of the reminding system, when executed by a processor, implements the steps of the control method of the reminding system.

[0125] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or system including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or further includes elements inherent to such a process, method, article or system. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of another identical element in the process, method, article or system including the element.

[0126] The above-mentioned embodiment numbers of the present application are only for description, and do not represent the advantages or disadvantages of the embodiments.

[0127] From the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be realized by means of software and necessary general hardware platforms, of course, they can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes a plurality of instructions for enabling the above-mentioned device (in-house reminding control device, delivery robot) to execute the method described in each embodiment of the present application.

[0128] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation made by using the content of the present application specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control method for an alert system, characterized in that, The reminder system includes an in-room reminder subsystem and a delivery robot, wherein the delivery robot includes a knock signal transmitting module; The delivery robot is used to: determine the delivery destination based on the delivery task when it receives a delivery task; control the delivery robot to move to the delivery destination; and control the door knocking signal transmitting module to perform a door knocking action when it detects that the current location is at the delivery destination. The knocking signal transmitting module is configured as a radio frequency transmitting module or as a fan. The step of controlling the knocking signal transmitting module to perform a knocking action when the current location is detected to be at the delivery destination includes: controlling the radio frequency transmitting module to be placed on the radio frequency receiving module of the room reminder subsystem, or controlling the fan to pump airflow to the corresponding position of the room reminder subsystem at a preset frequency. The in-room reminder subsystem is used to: when a knocking signal is detected, determine the knocking situation based on the knocking signal; when the knocking situation meets the delivery reminder conditions, obtain human body detection information collected by the in-room user inspection device to determine the user's location; determine the target reminder device based on the user's location, and control the target reminder device to output a delivery arrival reminder signal; The room reminder subsystem further includes a knock signal receiving module, which is configured as a radio frequency signal receiving module or an air fluctuation detection module. Before the step of determining the knocking situation based on the knock signal, the system further includes generating the knock signal based on the radio frequency signal detected by the radio frequency signal receiving module or the air fluctuation detection result collected by the air fluctuation detection module.

2. The method as described in claim 1, characterized in that, The air wave detection module includes a wind speed detection component, or the air wave detection module includes a diaphragm and an acceleration sensor disposed on the diaphragm, wherein the acceleration sensor is used to detect the acceleration signal when the diaphragm bulges. The step of generating the knocking signal based on the air fluctuation detection results collected by the radio frequency signal receiving module or the air fluctuation detection module includes: The air fluctuation detection result is determined based on the wind speed changes detected by the wind speed detection component; or The air wave detection result is determined based on the acceleration signal detected by the acceleration sensor; The knocking signal is generated based on the air fluctuation detection results.

3. The method as described in claim 1 or 2, characterized in that, The striking conditions include striking force and / or number of strikes; After determining the knocking situation based on the knocking signal upon detection, the method further includes: Determine whether the tapping conditions meet the delivery notification criteria; When the tapping force and / or number of taps are within a preset range, it is determined that the tapping situation meets the delivery prompt conditions.

4. The method as described in claim 3, characterized in that, The step of determining the target reminder device based on the user's location and controlling the target reminder device to output a delivery arrival reminder signal includes: The target alert device is determined based on the user's location; The alert level is determined based on the tapping force and / or the number of taps; Control the target reminder device to output a reminder signal indicating that the delivery has arrived, based on the reminder level.

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