Robot leading method, device, robot and storage medium

Abstract

The present invention discloses a robot guidance method, device, robot, and storage medium. The method comprises: a welcoming robot receives a guidance request in a welcoming area; determines whether the welcoming robot should execute the corresponding guidance instruction; and if not, calls on other robots other than the welcoming robot within a preset scene area to execute the guidance instruction. Embodiments of the present invention enable automated coordinated guidance between multiple robots, improving the user experience.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to a robot leading method, device, robot and storage medium. Background Art

[0002] With the continuous development of robotics technology, robots have become widely used in various industries. In restaurants, hotels, shopping malls, and other application scenarios, robots are often deployed to attract customers by broadcasting advertising slogans. However, existing robots may not be able to guide customers to their destination, which reduces the user experience. Summary of the Invention

[0003] The present invention provides a robot leading method, device, robot and storage medium to achieve automated coordinated leading among multiple robots and improve user experience.

[0004] According to one aspect of the present invention, a robot leading method is provided, the method comprising:

[0005] The welcoming robot receives a lead request in the welcoming area;

[0006] Determining whether the welcoming robot executes the corresponding leading instruction;

[0007] If not, other robots except itself in the preset scene area are called to execute the leading instruction.

[0008] According to another aspect of the present invention, there is provided a robot leading device, the device comprising:

[0009] The leading request acquisition module is used for the welcoming robot to obtain the leading request in the welcoming area;

[0010] A guiding instruction determination module, used to determine whether the welcoming robot executes the corresponding guiding instruction;

[0011] The leading instruction execution module is used to call other robots other than itself in the preset scene area to execute the leading instruction if the corresponding leading instruction is not executed by the welcoming robot.

[0012] According to another aspect of the present invention, there is provided a robot, comprising:

[0013] at least one processor; and

[0014] a memory communicatively connected to the at least one processor; wherein,

[0015] The memory stores a computer program that can be executed by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the robot leading method described in any embodiment of the present invention.

[0016] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the robot leading method described in any embodiment of the present invention when executed.

[0017] In this embodiment of the present invention, a welcoming robot receives a lead request and determines whether to execute the corresponding lead command. If not, it calls on another robot within a preset scene area to execute the lead command. This solution implements the robot's leading operation through coordinated scheduling between robots. If the welcoming robot itself is unable to execute a lead command, such as when it lacks the leading function or is restricted from executing the corresponding lead command, it can dispatch other robots to execute the corresponding lead command. This enables the automated allocation and execution of lead commands, improves leading efficiency, ensures timely guidance to the target location, and enhances the user experience.

[0018] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present invention, nor is it intended to limit the scope of the present invention. Other features of the present invention will become readily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 This is a flowchart of a robot leading method provided according to the first embodiment of the present invention;

[0021] Figure 2 This is a flowchart of a robot leading method provided according to the second embodiment of the present invention;

[0022] Figure 3 This is a flowchart of a robot leading method provided according to the third embodiment of the present invention;

[0023] Figure 4 This is a schematic structural diagram of a robot leading device provided according to a fourth embodiment of the present invention;

[0024] Figure 5 3 is a schematic structural diagram of a robot for implementing the robot leading method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0027] Example 1

[0028] Figure 1 This is a flow chart of a robot leading method provided in the first embodiment of the present invention. This embodiment is applicable to situations where multiple robots cooperate to lead each other. The method can be executed by a robot leading device, which can be implemented in the form of hardware and / or software. The robot leading device can be configured in the robot or the background server. Figure 1 As shown, the method includes:

[0029] S110: The welcoming robot receives a lead request in the welcoming area.

[0030] The welcome area can be the reception area for the reception robot. At least one reception point can be deployed within the reception area, where the reception robot can conduct reception. The reception area can be pre-defined by relevant technical personnel based on the actual scenario and actual needs. For example, in a restaurant scenario, the reception area can be an area within a preset range outside the restaurant entrance. The preset range can be, for example, within 10 meters of the restaurant entrance.

[0031] A guidance request can be a request initiated by a user within a scenario to be led to a destination. The guidance request can include guidance information, which can include information such as the location coordinates of the destination. For example, in a restaurant scenario, a guidance request might be "Take me to table 3." Based on the guidance request, the guidance information, including the location of table 3, can be obtained, and guidance instructions can be generated to guide the user to the docking location of table 3.

[0032] For example, a radar monitoring module may be deployed in the reception robot, which can monitor the reception area for guidance requests in real time through the radar monitoring module. The guidance request may be a voice request. For example, a user within the reception area can initiate a guidance request to the reception robot by saying a voice command such as "Take me to table xx" to the reception robot. Alternatively, the guidance request may be a text request. For example, a user can initiate a guidance request to the reception robot by entering a text command such as "Take me to table xx" on the reception robot's display screen. Alternatively, a guidance request may be initiated to the reception robot by clicking on the table number on the reception robot's display screen. The reception robot can extract the seating information based on the obtained guidance request.

[0033] Optionally, the welcoming robot can also broadcast voice messages to users within the welcoming area to attract users to the welcoming robot to view relevant activity data of the store. For example, in a restaurant scenario, the welcoming robot at the welcoming point can broadcast a welcome voice message to attract users to the welcoming robot when it detects a moving user within the distance range through the radar monitoring module. When the user says voice commands such as "What are your signature dishes" or "What are your promotions?" to the robot, the welcoming robot can display prompt information related to the voice command on the display screen according to the voice command. For example, when the voice command is "What are your signature dishes?", the welcoming robot can obtain the top ten signature dishes of the store and display them to the user.

[0034] Optionally, if the guidance request received by the welcoming robot does not include the guidance information, the welcoming robot can intelligently reply to prompts through the network intelligent question and answer library, such as "Oh, I will get lost if you don't tell me the table number", etc., to remind the user to specify the corresponding table number.

[0035] S120: Determine whether the welcoming robot executes the corresponding leading instruction.

[0036] The guiding instruction may be an instruction for guiding the relevant user to the destination, and the guiding instruction may be generated based on the leading position information in the guiding request.

[0037] It should be noted that the models of the welcoming robots deployed within the welcoming area can vary. For example, some welcoming robots are larger and unsuitable for guiding guests within the area, and are only suitable for welcoming guests. Meanwhile, there are also smaller welcoming robots that are more suitable for guiding guests.

[0038] Accordingly, after the welcoming robot receives the leading request, it can determine whether its own model is suitable for executing the leading instruction; if so, the welcoming robot can execute the leading instruction corresponding to the leading request.

[0039] S130: If not, call other robots except itself in the preset scene area to execute the leading instruction.

[0040] It should be noted that there may be multiple robots of different types in the preset scene, for example, a welcoming robot that guides customers in the welcoming area, and a food delivery robot that performs food delivery tasks in the preset scene area.

[0041] For example, if the welcoming robot is unable to execute the corresponding guidance command, it may mobilize other robots within the preset scene, other than itself, to execute the guidance command. For example, the welcoming robot may obtain the location information of other robots within the preset scene and, based on this location information, determine the robot closest to itself as the robot to execute the guidance command. Alternatively, the welcoming robot may obtain the status information of other robots within the preset scene and, based on this status information, determine at least one candidate robot that is idle during the current time period. From these at least one candidate robot, the candidate robot closest to itself is selected as the robot to execute the guidance command.

[0042] In the embodiment of the present invention, the welcoming robot obtains a leading request and determines whether to execute the corresponding leading instruction by itself. If not, it calls other robots other than itself in a preset scene area to execute the leading instruction.

[0043] In restaurants and other settings, robots can be used in a variety of types, including open-top delivery robots, closed-top delivery robots, reception robots, and disinfection robots. Each robot may have multiple models of varying sizes, and even different versions of the same model. For example, early reception robots may not have a positioning module and are designed solely for greeting customers at a fixed location. These robots are unable to follow guidance commands. Even with a positioning module, restaurant interiors are highly complex. For reception robots using pure laser positioning, entering these complex interiors for guidance is unsuitable and prone to losing their position. Even a robot of the same size may be able to guide customers in restaurant A but not in restaurant B due to narrow aisles. If, after receiving a guidance request, the current reception robot fails to follow the guidance command for various reasons and fails to respond, the customer's dining experience will be significantly impacted. However, replacing all reception robots with the latest guidance-capable robots significantly increases user costs and wastes resources.

[0044] Therefore, when multiple robots are present in a scene, the above solution enables robot guidance through coordinated scheduling between robots. If the welcoming robot itself is unable to execute guidance commands, other robots can be dispatched to execute the corresponding guidance commands. This not only fully utilizes the welcoming robot and improves its utilization rate, but also realizes the automated allocation and execution of guidance commands, improving guidance efficiency, enabling timely guidance of users to their target locations, and enhancing the user experience.

[0045] It is understood that within the pre-set scene's welcoming area, there may be multiple welcoming locations, allowing multiple welcoming robots to simultaneously perform guiding tasks at each welcoming location. To prevent a welcoming robot from leaving a welcoming location vacant while performing its guiding task, the welcoming robot can automatically fill a new welcoming location after completing its corresponding guiding task.

[0046] In an optional embodiment, if the corresponding leading instruction is executed by the welcoming robot, the welcoming robot completes the leading according to the leading instruction; when the welcoming robot completes the leading, it obtains at least one idle welcoming point in the welcoming area; determines the welcoming position distance between each idle welcoming point; determines the target welcoming point based on the distance between each welcoming position and the distribution density of the idle welcoming points, and generates a corresponding target point driving route; and drives to the target welcoming point according to the target point driving route.

[0047] At least one welcoming location can be deployed within the welcome area. The number of welcoming locations can be pre-set by relevant technical personnel based on actual needs, and the number of welcoming locations can be reduced or increased later. A corresponding welcoming robot can be placed at each welcoming location, and there is only one welcoming robot at each welcoming location.

[0048] Among them, the idle welcoming point may be a welcoming point that is in an idle state and does not have a welcoming robot, that is, the welcoming robot at the welcoming position may be performing a leading task, causing the welcoming position to be in an idle state.

[0049] The distribution density of idle welcoming points may be the distribution of each idle welcoming point relative to all welcoming points. For example, if there are five welcoming points in the welcoming area, and the five welcoming points are, from left to right, welcoming point 1, welcoming point 2, welcoming point 3, welcoming point 4, and welcoming point 5. If, of the five welcoming points, only welcoming point 3 is not idle, and the other welcoming points are all idle, then the welcoming robot that has completed its guiding mission can select an idle welcoming point from idle welcoming point 1 or idle welcoming point 5 to fill its position. This ensures a more even distribution of the welcoming robots in the welcoming area, avoids excessive concentration or dispersion of the welcoming robots, and improves the welcoming effect.

[0050] The target welcoming point may be a welcoming robot that has completed its guiding mission, or a welcoming point selected from among the available welcoming points for replacement. The target point driving route may be a driving route for the welcoming robot to reach the target welcoming point.

[0051] For example, if the current welcoming robot executes the corresponding guidance command, after completing the guidance, it can obtain the status information of each welcoming point in the welcoming area and, based on the status information, determine at least one idle welcoming point in the welcoming area. The welcoming robot obtains the location information of each idle welcoming point and, based on the location information, determines the distance between each idle welcoming point and the welcoming point. The distribution density of each idle welcoming point in the welcoming area is determined, and from the at least one relatively dispersed idle welcoming point, the idle welcoming point with the closest welcoming position is selected as the target welcoming point. Based on the location information of the target welcoming point, a target point driving route is generated to the target welcoming point, and based on the target point driving route, the robot drives to the target welcoming point.

[0052] This optional embodiment determines the available welcome points in the welcome area, allowing the welcome robot to travel to the target welcome point after completing the guidance process. This ensures that the available welcome points are filled, avoiding low guidance efficiency and poor user experience caused by vacant welcome points. By determining the target welcome point based on the distance to the welcome location and the distribution density of available welcome points, the target welcome point is accurately determined, ensuring a more even distribution of the welcome robots within the welcome area and avoiding situations where the welcome robots are too concentrated or too dispersed.

[0053] Example 2

[0054] Figure 2 This is a flow chart of a robot leading method provided in the second embodiment of the present invention. This embodiment is optimized and improved on the basis of the above technical solutions.

[0055] Furthermore, the step of "determining whether the welcoming robot executes the corresponding leading instruction" is refined into "obtaining the basic information of the welcoming robot itself; and determining whether the welcoming robot executes the corresponding leading instruction based on its own basic information." This improves the method of determining whether the welcoming robot executes the corresponding leading instruction.

[0056] like Figure 2 As shown, the method includes the following specific steps:

[0057] S210: The welcoming robot receives a lead request in the welcoming area.

[0058] S220: Obtain basic information of the welcoming robot.

[0059] Among them, the basic information of the welcoming robot itself may include machine model, range of activity and positioning method, etc.

[0060] It is understandable that the welcoming robots in the welcoming area may not be suitable for leading operations because their machine models, ranges of activity, and positioning methods are not exactly the same.

[0061] For example, robot models include Ta, G, Tb, Tc, and Td. Ta robots enable intelligent voice interaction and intelligent voice guidance. In restaurant scenarios, they can introduce signature dishes and promotions, and can perform singing, chatting, and guidance. Each function supports voice switching. G robots are specialized for welcoming guests, capable of displaying each merchant's logo on the navigation mode page and guiding users to the corresponding store within the mall. Tb robots are narrower and more suitable for navigating narrow aisles. Tc robots are larger and more stable, making them suitable for delivering items containing liquids. Td robots are of moderate size, with lights and light panels that can display a variety of interactive expressions and a unique surprise mode.

[0062] Understandably, there may be greeter robots, such as the TC, located within the welcome area. These robots are relatively large, and the relatively small interior space of a delivery store can easily lead to collisions between humans and robots, or between robots. Alternatively, there may be greeter robots with limited ranges, operating only within the welcome area. Therefore, these robots are also unsuitable for guiding customers.

[0063] S230: Determine whether the welcoming robot executes the corresponding leading instruction based on its own basic information.

[0064] For example, the welcoming robot can determine whether its model, range of motion, and positioning method meet preset guidance conditions based on its basic information. If so, the robot can execute the corresponding guidance instructions. The guidance conditions can be pre-set by relevant technical personnel. For example, the guidance conditions may include the robot being a Tb or Td model, having an unlimited range of motion, and having a minimum travel distance less than the narrowest aisle width within the scene.

[0065] Optionally, when the current welcoming robot is not executing the corresponding guidance command, the welcoming robot can dispatch the communication module to call other idle robots in the scene area to execute the guidance command. Furthermore, while waiting for an idle robot to arrive at the welcoming robot's location, the welcoming robot can announce to the user, "You can chat with me / Let me sing a song for you. Wait for my robot partner to come and greet you." This allows the user to enjoy the service of the welcoming robot while waiting, thereby improving the user experience.

[0066] S240: If not, call other robots except itself in the preset scene area to execute the leading instruction.

[0067] This embodiment scheme obtains the basic information of the welcoming robot itself and determines whether the welcoming robot executes the corresponding leading instruction based on its own basic information, thereby achieving accurate determination of whether a welcoming robot executes the corresponding leading instruction, thereby improving the execution efficiency of the leading instruction and further improving the user experience.

[0068] Example 3

[0069] Figure 3 This is a flow chart of a robot leading method provided in Example 3 of the present invention. This embodiment is optimized and improved on the basis of the above technical solutions.

[0070] Furthermore, the step of "determining whether the welcoming robot executes the corresponding leading instruction based on its own basic information" is refined into "if the basic information itself meets the preset information judgment conditions, then obtaining the first human flow data in the welcoming area; if the first human flow data meets the preset first human flow judgment conditions, then determining that the welcoming robot executes the corresponding leading instruction; if the first human flow data does not meet the preset first human flow judgment conditions, then determining that the welcoming robot does not execute the corresponding leading instruction." This further improves the method of determining whether the welcoming robot executes the corresponding leading instruction.

[0071] Furthermore, the step of "calling other robots except itself in the preset scene area to execute the leading instruction" is refined into "obtaining the second human flow data in the leading area; wherein, the preset scene area includes the leading area; according to the second human flow data, determining the target idle robot for executing the leading instruction; controlling the target idle robot to execute the leading instruction." in order to improve the execution method of the leading instruction.

[0072] like Figure 3 As shown, the method includes the following specific steps:

[0073] S310: The welcoming robot receives a lead request in the welcoming area.

[0074] S320: Obtain basic information of the welcoming robot.

[0075] S330: If the basic information of the user satisfies the preset information judgment condition, the first person flow data in the reception area is obtained.

[0076] The information judgment conditions can be pre-set by relevant technical personnel based on actual needs. For example, the information judgment conditions can include that the machine model in the basic information meets the preset model and the activity range in the basic information is not restricted. For example, the preset model can be Ta model.

[0077] The first person flow data may be the number of mobile people in the reception area. The first person flow data may be detected and acquired by a radar monitoring module of the reception robot, or may be acquired through statistics collected by an application deployed within the reception robot. The application may count the number of mobile people detected within a certain time range.

[0078] For example, if the welcoming robot determines that its basic information meets the preset information judgment conditions, it detects the number of mobile personnel in the current welcoming area through the radar monitoring module and uses the number of mobile personnel as the first human flow data.

[0079] S340: If the first human flow data meets the preset first human flow judgment condition, determine that the welcoming robot executes the corresponding leading instruction.

[0080] The first pedestrian flow determination condition can be pre-set by relevant technical personnel. For example, the first pedestrian flow determination condition can be that the number of mobile people in the first pedestrian flow data is less than a preset pedestrian flow threshold for the reception area. The pedestrian flow threshold for the reception area can be pre-set by relevant technical personnel based on actual needs, and can be specifically set based on the size of the reception area. For example, the pedestrian flow threshold for the reception area can be 5 people.

[0081] Exemplarily, if the first pedestrian flow data is less than a preset pedestrian flow threshold of the welcoming area, the welcoming robot may execute the corresponding guiding instruction.

[0082] S350: If the first person flow data does not meet the preset first person flow judgment condition, it is determined that the welcoming robot does not execute the corresponding leading instruction.

[0083] For example, if the first human flow data does not meet the preset first human flow judgment condition, that is, the first human flow data is not less than the preset welcoming area human flow threshold, the current welcoming robot will not execute the corresponding leading instruction. Specifically, other robots other than itself in the preset scene area may be called to execute the corresponding leading instruction.

[0084] S360: If the corresponding guiding instruction is not executed by the welcoming robot, obtain second pedestrian flow data in the guiding area; wherein the preset scene area includes the guiding area.

[0085] The second pedestrian flow data may be the number of people moving within the guidance area. The guidance area may be the area where the robot guides the user to the destination. For example, in a restaurant scenario, the reception area may be the area outside the restaurant entrance, while the guidance area may be the user's dining area within the restaurant.

[0086] Among them, the second pedestrian flow data can be obtained in real time by calling the background server to obtain the pedestrian flow data in the leading area, such as the occupancy rate, etc., or it can be obtained by statistics of the application deployed inside the welcoming robot. This embodiment does not limit this.

[0087] S370. Determine a target idle robot for executing the leading instruction based on the second pedestrian flow data.

[0088] The target idle robot may be a robot in an idle state within the leading area for executing leading instructions.

[0089] Exemplarily, the welcoming robot may obtain at least one idle robot in an idle state in the leading area, and based on the second pedestrian flow data, select an idle robot that is closer from an area with a sparse pedestrian flow distribution in the leading area as the target idle robot.

[0090] In order to further improve the accuracy of determining the target idle robot, thereby further improving the execution efficiency of the leading instruction, the target idle robot can also be determined by setting a human flow judgment condition.

[0091] In an optional embodiment, a target idle robot for executing a leading instruction is determined based on the second human flow data, including: obtaining at least one candidate idle robot in the leading area; if the second human flow data meets the preset second human flow judgment condition, determining the target idle robot based on the position information and / or robot type data of each candidate idle robot; if the second human flow data does not meet the preset second human flow judgment condition, determining the target idle robot based on the interactive function data of each candidate idle robot.

[0092] The candidate idle robot may be an idle robot within the guidance area. The second pedestrian flow determination condition may be pre-set by relevant technical personnel. For example, the second pedestrian flow determination condition may be that the number of people in the second pedestrian flow data exceeds a preset threshold for pedestrian flow in the guidance area.

[0093] The location information of the candidate idle robot may be the location coordinates of the candidate idle robot. The robot type data may be the positioning type corresponding to the candidate idle robot, for example, the machine type may be a tag type robot.

[0094] The interactive function data of the candidate idle robot may represent the functions that the robot can perform. For example, the interactive function data may include at least one of a food delivery function, a guide function, and a voice function. Different robots can perform different functions, and the corresponding interactive function data is also different.

[0095] Exemplarily, the welcoming robot obtains at least one candidate idle robot in an idle state in the leading area. If the second human flow data meets the preset second human flow judgment condition, the target idle robot is determined based on the location information and / or robot type data of the candidate robot. Specifically, at least one candidate idle robot that is closer to itself can be determined through location information; based on the robot type data, from at least one candidate idle robot that is closer, a tag robot with a tag type machine type is preferentially selected as the target idle robot. If the second human flow data does not meet the preset second human flow judgment condition, based on the interactive function data of each candidate idle robot, the candidate idle robot with the most complete interactive functions is selected from each candidate idle robot as the target idle robot. By preferentially selecting a candidate idle robot that supports more interactive functions as the target idle robot when the human flow data does not meet the preset second human flow judgment condition, a richer interactive experience can be provided to the user.

[0096] This optional embodiment determines the target idle robot based on the position information and / or robot type data of the candidate idle robots when the conditions are met, and determines the target idle robot based on the interactive function data of the candidate idle robots when the conditions are not met, thereby achieving accurate determination of the target idle robot, thereby improving the execution efficiency of the leading instructions executed by the target idle robot.

[0097] It should be noted that, in order to further improve the accuracy of determining the target idle robot when the second human flow data meets the preset second human flow judgment condition, the target idle robot can also be determined by setting a distance judgment condition.

[0098] In an optional embodiment, a target idle robot is determined based on the position information and / or robot type data of each candidate idle robot, including: determining the position distance between the welcome area and each candidate idle robot based on the position information of the welcome area; determining a candidate idle robot corresponding to at least one position distance that meets a preset distance judgment condition among the position distances; and determining the target idle robot based on the robot type data of each candidate idle robot.

[0099] The preset distance judgment condition can be pre-set by relevant technical personnel based on actual needs. For example, the preset distance judgment condition can be that among the determined position distances to each candidate idle robot, there is a candidate robot with a relatively close position distance and a distance difference less than a preset difference, that is, there is a candidate idle robot with a relatively close position distance. The preset difference can be pre-set by relevant technical personnel, for example, the preset difference can be 0.5 meters.

[0100] Specifically, if there are five candidate idle robots in the guidance area, namely, candidate idle robot A, candidate idle robot B, candidate idle robot C, candidate idle robot D, and candidate idle robot E. The reception robot determines that the position distance between itself and candidate idle robot A is 3 meters, the position distance between itself and candidate idle robot B is 4 meters, the position distance between itself and candidate idle robot C is 4.2 meters, the position distance between itself and candidate idle robot D is 3.1 meters, and the position distance between itself and candidate idle robot E is 2.9 meters. Among them, the idle robots with the closest position distance to the reception robot are candidate idle robot A, candidate idle robot D, and candidate idle robot E, and the position distance differences between these three candidate idle robots are all less than a preset difference threshold of 0.5. Then, the robot type data corresponding to each of the three candidate idle robots can be determined, and the candidate idle robot that meets the set machine type can be selected as the target robot. For example, the set machine type can be a tag robot. Accordingly, the tag robot among candidate idle robot A, candidate idle robot D, and candidate idle robot E is selected as the target idle robot. If both candidate idle robot A and candidate idle robot E are tagged robots, the candidate idle robot E with a closer location distance is selected as the target idle robot.

[0101] This optional embodiment further improves the accuracy of determining the target idle robot when the second pedestrian flow data meets the preset second pedestrian flow judgment condition by identifying candidate idle robots corresponding to at least one location distance that meets the preset distance judgment condition. This avoids identifying robots that are too far away as target idle robots for guidance operations, thereby reducing user waiting time. Prioritizing tagged robots improves positioning accuracy throughout the guidance process and reduces the occurrence of robots losing their position.

[0102] In order to further improve the user experience and avoid errors in the guidance of the target idle robot, the welcoming robot and the target idle robot can also cooperate with each other to remind the user of relevant seating information.

[0103] In an optional embodiment, after determining the target idle robot for executing the leading instruction, it also includes: establishing a communication connection with the target idle robot; obtaining the target robot basic information of the target idle robot, and sending the leading instruction to the target idle robot, so that the target idle robot can execute the robot leading operation according to the leading instruction; generating and broadcasting the corresponding target prompt according to the target robot basic information.

[0104] The target robot basic information may include the target idle robot's machine type, machine identification, machine name, and achievable interactive functions.

[0105] Exemplarily, after determining the target idle robot, the welcoming robot establishes a communication connection with the target idle robot; after the communication connection is successfully established, the basic target robot information of the target idle robot, such as the machine type, machine name, etc., is obtained. At the same time, the leading instruction containing the leading information is sent to the target idle robot. After sending the leading instruction to the target idle robot, the welcoming robot can generate and broadcast the corresponding target prompt according to the basic information of the target robot. For example, the target prompt can be "Please follow Peanut (the machine name of the target idle robot) to table 3." At the same time, after the target idle robot obtains the leading instruction, it can execute the robot leading operation according to the leading instruction. At the same time, the target idle robot can broadcast "I am Peanut, please follow me to table 3" and display the corresponding leading expression to let the user know that the robot is a leading robot to avoid incorrect leading.

[0106] This optional embodiment sends a leading instruction to the target idle robot so that the target idle robot can perform the robot leading operation according to the leading instruction. At the same time, according to the basic information of the target robot, the corresponding target prompt is generated and broadcast, thereby prompting the user when the target idle robot is leading, avoiding the occurrence of errors in the leading of the target idle robot, and further improving the user experience.

[0107] S380: Control the target idle robot to execute the leading instruction.

[0108] Optionally, when the user arrives at the target table, the target idle robot can display the target table's order QR code on its display and announce the corresponding order prompts. If the user has already placed an order while waiting for a table, the order information is synchronized and announced, asking the user whether to place the order. After receiving a confirmed voice order instruction or the user manually clicking the screen to confirm, the target idle robot sends the order instruction to the ordering system. At this point, the target idle robot can return to the delivery origin near the kitchen to wait for a delivery task.

[0109] Optionally, after the welcoming robot or the target idle robot completes the leading task, it can continue with the food delivery task in the restaurant. If there is no food delivery task at this time, it will return to the origin and wait for the food delivery task to be issued. Some hatch robots equipped with disinfection lamps can automatically perform internal disinfection in the process of returning to the origin to ensure the hygiene of the next food delivery.

[0110] This embodiment determines whether a welcoming robot is executing a leading instruction by comparing the first acquired human flow data with the first human flow judgment condition when the welcoming robot satisfies the preset information judgment condition, thereby accurately determining whether the welcoming robot is executing the leading instruction. When the welcoming robot is not executing the leading instruction, the second human flow data within the leading area is acquired, and the target idle robot to execute the leading instruction is determined based on the second human flow data, thereby accurately determining the target idle robot. This embodiment improves the utilization rate of robots while reducing labor costs through the mutual cooperation between multiple robots. By determining the most appropriate leading plan in real time based on the human flow in the preset scene area, it not only provides users with a good experience, but also improves the efficiency of leading in the scene.

[0111] Example 4

[0112] Figure 4 This is a schematic diagram of the structure of a robot leading device provided by the fourth embodiment of the present invention. The robot leading device provided by the embodiment of the present invention is applicable to situations where multiple robots cooperate to lead each other. The robot leading device can be implemented in the form of hardware and / or software, such as Figure 4 As shown, the device specifically includes: a leading request acquisition module 401, a leading instruction determination module 402 and a leading instruction execution module 403.

[0113] The leading request obtaining module 401 is used for the welcoming robot to obtain the leading request in the welcoming area;

[0114] A guiding instruction determination module 402 is used to determine whether the welcoming robot executes the corresponding guiding instruction;

[0115] The leading instruction execution module 403 is used to call other robots other than itself in the preset scene area to execute the leading instruction if the corresponding leading instruction is not executed by the welcoming robot.

[0116] In this embodiment of the present invention, a welcoming robot receives a guidance request and determines whether to execute the corresponding guidance command. If not, it calls on other robots within a preset scene area to execute the guidance command. This solution implements robot guidance through coordinated scheduling between robots. If a welcoming robot is unable to execute a guidance command itself, it can dispatch other robots to execute the corresponding guidance command. This achieves automated allocation and execution of guidance commands, improves guidance efficiency, ensures timely guidance to the target location, and enhances the user experience.

[0117] Optionally, the leading instruction determination module 402 includes:

[0118] A basic information acquisition unit, configured to acquire basic information of the welcoming robot;

[0119] The leading instruction determination unit is used to determine whether the welcoming robot executes the corresponding leading instruction based on the basic information of the welcoming robot.

[0120] Optionally, the leading instruction determining unit includes:

[0121] a first passenger flow acquisition subunit, configured to acquire first passenger flow data in the reception area if the basic information thereof satisfies a preset information judgment condition;

[0122] a first guiding instruction determining subunit, configured to determine that the welcoming robot executes a corresponding guiding instruction if the first pedestrian flow data satisfies a preset first pedestrian flow judgment condition;

[0123] The second guiding instruction determining subunit is used to determine that the welcoming robot does not execute the corresponding guiding instruction if the first human flow data does not meet the preset first human flow judgment condition.

[0124] Optionally, the guiding instruction execution module 403 includes:

[0125] A second flow data acquisition unit is used to acquire second pedestrian flow data in the leading area; wherein the preset scene range includes the leading area;

[0126] a target idle robot determining unit, configured to determine a target idle robot for executing the leading instruction according to the second human flow data;

[0127] A leading instruction execution unit is used to control the target idle robot to execute the leading instruction.

[0128] Optionally, the target idle robot determination unit includes:

[0129] a candidate idle robot acquiring subunit, configured to acquire at least one candidate idle robot in the leading area;

[0130] a first idle robot determining subunit, configured to determine a target idle robot based on the position information and / or robot type data of each of the candidate idle robots if the second human flow data satisfies a preset second human flow judgment condition;

[0131] The second idle robot determining subunit is configured to determine a target idle robot based on the interactive function data of each of the candidate idle robots if the second human flow data does not meet a preset second human flow judgment condition.

[0132] Optionally, the first idle robot determining subunit is specifically configured to:

[0133] Determining the position distance between the robot and each of the candidate idle robots according to the position information of the welcome area;

[0134] Determine a candidate idle robot corresponding to at least one position distance that satisfies a preset distance judgment condition among the position distances;

[0135] A target idle robot is determined according to the robot type data of each candidate idle robot.

[0136] Optionally, the guiding instruction execution module 403 further includes:

[0137] a communication connection establishing unit, configured to establish a communication connection with the target idle robot after determining the target idle robot for executing the leading instruction;

[0138] a leading instruction sending unit, configured to obtain target robot basic information of the target idle robot, and send the leading instruction to the target idle robot, so that the target idle robot performs a robot leading operation according to the leading instruction;

[0139] The target prompt generation unit is used to generate and broadcast the corresponding target prompt according to the basic information of the target robot.

[0140] Optionally, the device further includes:

[0141] a leading instruction completion module, configured to enable the welcoming robot to complete the leading according to the leading instruction if the corresponding leading instruction is executed by the welcoming robot;

[0142] An idle welcoming point acquisition module, configured to acquire at least one idle welcoming point in the welcoming area after the welcoming robot completes the leading;

[0143] A position distance determination module, configured to determine the welcoming position distance between the module and each of the idle welcoming points;

[0144] A driving route generating module is used to determine a target welcoming point according to the distances between the welcoming positions and the distribution density of the available welcoming points, and to generate a driving route to the corresponding target point;

[0145] The welcoming point driving module is used to drive to the target welcoming point according to the target point driving route.

[0146] The robot leading device provided in the embodiment of the present invention can execute the robot leading method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0147] Example 5

[0148] Figure 5 A schematic diagram of a robot 50 that can be used to implement embodiments of the present invention is shown. The robot is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The robot can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices (such as helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0149] like Figure 5 As shown, the robot 50 includes at least one processor 51 and a memory, such as a read-only memory (ROM) 52 and a random access memory (RAM) 53, communicatively connected to the at least one processor 51. The memory stores a computer program executable by the at least one processor. The processor 51 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 52 or loaded from a storage unit 58 into the random access memory (RAM) 53. The RAM 53 can also store various programs and data required for the operation of the robot 50. The processor 51, ROM 52, and RAM 53 are interconnected via a bus 54. An input / output (I / O) interface 55 is also connected to the bus 54.

[0150] Various components in the robot 50 are connected to the I / O interface 55, including an input unit 56, such as a keyboard, mouse, etc.; an output unit 57, such as various types of displays, speakers, etc.; a storage unit 58, such as a magnetic disk, optical disk, etc.; and a communication unit 59, such as a network card, modem, wireless communication transceiver, etc. The communication unit 59 allows the robot 50 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0151] The processor 51 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the processor 51 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors that run machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 51 executes the various methods and processes described above, such as the robot-leading method.

[0152] In some embodiments, the robot-leading method can be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as storage unit 58. In some embodiments, part or all of the computer program can be loaded and / or installed on the robot 50 via ROM 52 and / or communication unit 59. When the computer program is loaded into RAM 53 and executed by processor 51, one or more steps of the robot-leading method described above can be performed. Alternatively, in other embodiments, processor 51 can be configured to perform the robot-leading method in any other suitable manner (e.g., via firmware).

[0153] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0154] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer program is executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer program may be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0155] In the context of the present invention, computer-readable storage media can be tangible media that can contain or store a computer program for use with an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. Computer-readable storage media can include but are not limited to electronic, magnetic, optical, electromagnetic, infrared or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, computer-readable storage media can be machine-readable signal media. More specific examples of machine-readable storage media can include electrical connections based on one or more lines, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM or flash memory), optical fibers, portable compact disk read-only memories (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0156] To provide interaction with a user, the systems and techniques described herein can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the robot. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0157] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0158] A computing system may include clients and servers. The clients and servers are typically remote from each other and typically interact via a communication network. This client-server relationship arises through computer programs running on the respective computers, creating a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host. This server is a hosting product within the cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosting and VPS services.

[0159] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in the present invention can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved. This is not limited herein.

[0160] The above specific embodiments do not limit the scope of protection of the present invention. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention are intended to be included within the scope of protection of the present invention.

Claims

1. A robot leading method, characterized in that: include: The welcoming robot receives a lead request in the welcoming area; Obtaining basic information of the welcoming robot; If the basic information meets the preset information judgment condition, obtaining the first passenger flow data in the reception area; If the first pedestrian flow data meets a preset first pedestrian flow judgment condition, determining that the welcoming robot executes a corresponding guiding instruction; If the first human flow data does not meet the preset first human flow judgment condition, determining not to execute the corresponding leading instruction by the welcoming robot; If it is determined that the welcoming robot is not to execute the corresponding leading instruction, calling other robots other than itself in the preset scene area to execute the leading instruction; The step of calling other robots other than the robot itself in the preset scene area to execute the leading instruction includes: Acquire second pedestrian flow data in the leading area; wherein the preset scene area includes the leading area; determining, according to the second human flow data, a target idle robot for executing the leading instruction; The target idle robot is controlled to execute the leading instruction.

2. The method according to claim 1, characterized in that The welcoming area is the drainage area of ​​the welcoming robot; at least one welcoming point is deployed in the welcoming area; the welcoming robot performs drainage at the welcoming point.

3. The method according to claim 1, characterized in that The basic information includes the machine model, range of activity and positioning method.

4. The method according to claim 1, wherein The step of determining a target idle robot for executing the leading instruction based on the second human flow data includes: Acquire at least one candidate idle robot in the leading area; If the second human flow data meets the preset second human flow judgment condition, determining the target idle robot according to the position information and / or robot type data of each candidate idle robot; If the second human flow data does not meet the preset second human flow judgment condition, a target idle robot is determined according to the interactive function data of each of the candidate idle robots.

5. The method according to claim 4, characterized in that The step of determining a target idle robot based on the position information and / or robot type data of each candidate idle robot includes: Determining the position distance between the robot and each of the candidate idle robots according to the position information of the welcome area; Determine a candidate idle robot corresponding to at least one position distance that satisfies a preset distance judgment condition among the position distances; A target idle robot is determined according to the robot type data of each candidate idle robot.

6. The method according to claim 1, wherein After determining the target idle robot for executing the leading instruction, the method further includes: establishing a communication connection with the target idle robot; Acquire target robot basic information of the target idle robot, and send the leading instruction to the target idle robot, so that the target idle robot performs a robot leading operation according to the leading instruction; According to the basic information of the target robot, the corresponding target prompt is generated and broadcast.

7. The method according to claim 1, characterized in that The method further comprises: If the corresponding leading instruction is executed by the welcoming robot, the welcoming robot completes the leading according to the leading instruction; After the welcoming robot completes the leading, obtaining at least one idle welcoming point in the welcoming area; Determining the welcoming position distance between each of the idle welcoming points; Determine the target welcoming point based on the distances between the welcoming positions and the distribution density of the available welcoming points, and generate a corresponding driving route to the target point; Drive to the target welcoming point according to the target point driving route.

8. A robot leading device, characterized in that: include: The leading request acquisition module is used for the welcoming robot to obtain the leading request in the welcoming area; A guiding instruction determination module, used to determine whether the welcoming robot executes the corresponding guiding instruction; A leading instruction execution module is used to call other robots other than the welcoming robot in a preset scene area to execute the leading instruction if the welcoming robot does not execute the corresponding leading instruction; The leading instruction determination module includes: A basic information acquisition unit, configured to acquire basic information of the welcoming robot; a guiding instruction determining unit, configured to determine whether the welcoming robot shall execute a corresponding guiding instruction based on the basic information of the welcoming robot; The leading instruction determining unit includes: a first passenger flow acquisition subunit, configured to acquire first passenger flow data in the reception area if the basic information thereof satisfies a preset information judgment condition; a first guiding instruction determining subunit, configured to determine that the welcoming robot executes a corresponding guiding instruction if the first pedestrian flow data satisfies a preset first pedestrian flow judgment condition; a second guiding instruction determining subunit, configured to determine not to execute the corresponding guiding instruction by the welcoming robot if the first pedestrian flow data does not satisfy a preset first pedestrian flow judgment condition; The leading instruction execution module includes: A second flow data acquisition unit is used to acquire second pedestrian flow data in the leading area; wherein the preset scene range includes the leading area; a target idle robot determining unit, configured to determine a target idle robot for executing the leading instruction according to the second human flow data; A leading instruction execution unit is used to control the target idle robot to execute the leading instruction.

9. A robot, characterized in that: The robot comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the robot leading method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the robot leading method according to any one of claims 1 to 7 when executed.

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