A control method, chip and mobile printing robot for a mobile printing robot

Abstract

The present application discloses a control method for a mobile printing robot, a chip, and a mobile printing robot. The control method for the mobile printing robot includes: the mobile printing robot receives a printing request; obtains a file to be printed and a designated delivery location based on the printing request; calculates a first duration required for the mobile printing robot to complete the printing work of the file to be printed; calculates a second duration required for the mobile printing robot to move to the designated delivery location; and controls the mobile printing robot to execute a corresponding parallel printing and delivery process according to the first duration and the second duration, so that the printing work of the file to be printed is completed when the mobile printing robot moves to the designated delivery location. The present application reasonably arranges the parallel printing and delivery process of the mobile printing robot from the perspective of working time consumption, improves the printing and delivery efficiency of the mobile printing robot, and enables the mobile printing robot to complete the printing work of the printed file when the mobile printing robot moves to the designated delivery location.

Description

Technical Field

[0001] This application relates to the technical field of printers, and specifically relates to a control method for a mobile printing robot, a chip, and a mobile printing robot. Background Art

[0002] Currently, most printers in the prior art are fixed-point printers, and users need to go to the printing point to pick up the printed materials by themselves. When users are busy, they usually don't have time to get up and go to the printing point to pick up the printed materials. If the printers in a large company are not densely distributed, users usually need to walk a long distance to pick up the printed materials, and the round-trip time for picking up the materials takes a long time. Therefore, the need for users to go to the printing point to pick up the printed materials by themselves has become a major pain point of printers. A mobile intelligent printer provided by Chinese Patent CN216373883U can automatically deliver to a specified location after the printer finishes printing, but this printer only transports after printing is completed. This transportation method takes a lot of time, cannot transport in time, and has low transportation efficiency. Summary of the Invention

[0003] This application provides a control method for a mobile printing robot, a chip, and a mobile printing robot. The specific technical solutions are as follows:

[0004] A control method for a mobile printing robot, the control method for the mobile printing robot includes: the mobile printing robot receives a printing request; obtains a file to be printed and a specified delivery location based on the printing request; calculates a first duration required for the mobile printing robot to complete the printing work of the file to be printed; calculates a second duration required for the mobile printing robot to move to the specified delivery location; controls the mobile printing robot to execute a corresponding parallel printing and delivery process according to the first duration and the second duration, so that the printing work of the file to be printed is completed when the mobile printing robot moves to the specified delivery location.

[0005] Further, the controlling the mobile printing robot to execute a corresponding parallel printing and delivery process according to the first duration and the second duration specifically includes: determining whether the first duration is greater than the second duration; when the first duration is greater than the second duration, controlling the mobile printing robot to execute a first parallel printing and delivery process; when the first duration is less than or equal to the second duration, controlling the mobile printing robot to execute a second parallel printing and delivery process.

[0006] Further, the mobile printing robot executing the first parallel printing and delivery process specifically includes: calculating the time difference between the first duration and the second duration; controlling the mobile printing robot to first execute the printing work of the file to be printed; when the duration of the mobile printing robot executing the printing work of the file to be printed is greater than or equal to the time difference between the first duration and the second duration, controlling the mobile printing robot to move to the specified delivery location while executing the printing work of the file to be printed.

[0007] Furthermore, the mobile printing robot executes a second parallel printing and transportation process, which specifically includes: controlling the mobile printing robot to perform the printing work of the file to be printed while moving to a designated transportation position.

[0008] Furthermore, calculating the first duration required for the mobile printing robot to complete the printing work of the file to be printed specifically includes: determining whether there is an unexecuted printing work in the printing work list of the mobile printing robot; when there is an unexecuted printing work in the printing work list of the mobile printing robot, calculating the third duration required for the mobile printing robot to complete the unexecuted printing work in the printing work list, and calculating the fourth duration required for the mobile printing robot to perform the printing work of the file to be printed obtained based on the printing request, and the first duration required for the mobile printing robot to complete the printing work of the file to be printed is equal to the sum of the third duration and the fourth duration; when there is no unexecuted printing work in the printing work list of the mobile printing robot, calculating the fourth duration required for the mobile printing robot to perform the printing work of the file to be printed obtained based on the printing request, and the first duration required for the mobile printing robot to complete the printing work of the file to be printed is equal to the fourth duration.

[0009] Furthermore, the method for calculating the second duration required for the mobile printing robot to move to the designated transportation position specifically includes: obtaining the current position of the mobile printing robot; using the current position of the mobile printing robot as the starting point of movement, using the designated transportation position in the printing request as the ending point of movement, selecting the optimal transportation path including the starting point of movement and the ending point of movement from the current environmental map, and calculating the length of the optimal transportation path; using the length of the optimal transportation path as the dividend and the average moving speed of the mobile printing robot as the divisor, and the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the designated transportation position.

[0010] Further, the method for calculating the second duration required for the mobile printing robot to move to the specified delivery position further includes: obtaining the current position of the mobile printing robot; determining whether there is an unexecuted delivery task in the delivery task list of the mobile printing robot; when there is an unexecuted delivery task in the delivery task list of the mobile printing robot, using the current position of the mobile printing robot as the starting point of movement, using each delivery position corresponding to the unexecuted delivery task as a passing node, using the specified delivery position in the printing request as the ending point of movement, and selecting the optimal delivery path that conforms to the starting point of movement, the passing nodes, and the ending point of movement from the current environmental map; when there is no unexecuted delivery task in the delivery task list of the mobile printing robot, using the current position of the mobile printing robot as the starting point of movement, using the specified delivery position in the printing request as the ending point of movement, and selecting the optimal delivery path that includes the starting point of movement and the ending point of movement from the current environmental map; calculating the length of the optimal delivery path, using the length of the optimal delivery path as the dividend, using the average moving speed of the mobile printing robot as the divisor, and the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the specified delivery position.

[0011] Further, the mobile printing robot control method further includes: the mobile printing robot stores the output printed paper in the corresponding printing file safe according to the corresponding printing request.

[0012] Further, the mobile printing robot control method further includes: the mobile printing robot generates corresponding pick-up identity information based on the printing request and transmits the pick-up identity information to the party that submitted the printing request.

[0013] Further, the mobile printing robot control method further includes: when the mobile printing robot moves to the specified delivery position in the printing request, the mobile printing robot performs a pick-up identity information acquisition and recognition process at the specified delivery position. When the mobile printing robot recognizes the pick-up identity information corresponding to the printing request corresponding to the specified delivery position, and determines the corresponding printing request according to the pick-up identity information, the mobile printing robot outputs the corresponding printed file from the printing file safe according to the printing request.

[0014] This application also discloses a chip with a computer program stored therein. When the computer program stored inside the chip is run by a processor, it executes the mobile printing robot control method as described above.

[0015] This application also discloses a mobile printing robot, including: a processor and the chip as described above; wherein, when the processor runs the chip, the mobile printing robot executes the mobile printing robot control method.

[0016] The mobile printing robot control method, chip and mobile printing robot described in this application consider both the first duration required for the mobile printing robot to complete the printing of the file to be printed in the printing request and the second duration required for the mobile printing robot to move to the specified delivery position in the printing request. From the perspective of working time consumption, the parallel printing and delivery process of the mobile printing robot is reasonably arranged, improving the printing and delivery efficiency of the mobile printing robot, so that when the mobile printing robot moves to the specified delivery position, the mobile printing robot can complete the printing of the printed file. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic flowchart of the mobile printing robot control method according to an embodiment of this application.

[0018] Figure 2 It is a schematic flowchart of the mobile printing robot executing the parallel printing and delivery process according to an embodiment of this application. DETAILED DESCRIPTION OF THE INVENTION

[0019] In order to make the objectives, technical solutions and advantages of this application clearer and more understandable, the following describes and explains this application in combination with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application. Based on the embodiments provided in this application, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

[0020] Obviously, the accompanying drawings described below are only some examples or embodiments of this application. For those of ordinary skill in the art, this application can also be applied to other similar scenarios without making creative efforts. In addition, it can also be understood that although the efforts made in this development process may be complex and time-consuming, for those of ordinary skill in the art related to the content disclosed in this application, some design, manufacturing or production changes based on the technical content disclosed in this application are only conventional technical means and should not be understood as the content disclosed in this application being insufficient.

[0021] Unless otherwise defined, the technical terms or scientific terms involved in this application shall have the ordinary meanings understood by those with ordinary skills in the technical field to which this application belongs. The words such as "a", "an", "one kind", "the" and the like involved in this application do not indicate a quantity limit and may represent a singular or plural number. The terms "including", "containing", "having" and any variations thereof involved in this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or modules is not limited to the listed steps or units, but may further include unlisted steps or units, or may further include other steps or units inherent to these processes, methods, products or devices. The terms "first", "second", "third" involved in this application are only used to distinguish similar objects and do not represent a specific order for the objects.

[0022] The mobile printing robot control method provided in this application aims to optimize the execution process of the printing and transportation work of the mobile printing robot, thereby improving the working efficiency of the mobile printing robot and enhancing the user experience. The mobile printing robot described in this application refers to an intelligent robot with a mobile structure and a printing function.

[0023] The first embodiment of this application provides a mobile printing robot control method, as Figure 1 shown, specifically including:

[0024] The mobile printing robot receives a printing request; specifically, the way for the printing request requester to transmit the printing request to the mobile printing robot may be, but is not limited to, the way of transmitting information within the same local area network, or the way of wireless network communication, etc.

[0025] The mobile printing robot obtains the file to be printed and the specified delivery location based on the received printing request; specifically, each printing request at least includes: the file to be printed requested to be printed, the specified delivery location to which the file to be printed requested to be printed needs to be delivered, so that the mobile printing robot can obtain the file to be printed according to the printing request and deliver the printed file to the specified delivery location in the printing request.

[0026] Calculate the first duration required for the mobile printing robot to complete the printing work of the file to be printed; specifically, the first duration required for the mobile printing robot to complete the printing work of the file to be printed is related to the file size of the file to be printed, the printing color requirement, the single-sided or double-sided printing requirement, and whether the mobile printing robot has unfinished printing work and the time required therefor, etc.

[0027] Calculate the second duration required for the mobile printing robot to move to the specified delivery position; specifically, the second duration required for the mobile printing robot to move to the specified delivery position is related to the average moving speed of the mobile printing robot, the length of the moving path selected by the mobile printing robot to move to the specified delivery position, etc.

[0028] Control the mobile printing robot to execute the corresponding parallel printing and delivery process according to the first duration and the second duration, so that the printing work of the file to be printed is completed when the mobile printing robot moves to the specified delivery position. Specifically, in this embodiment, the first duration required for the mobile printing robot to complete the printing work of the file to be printed in the printing request and the second duration required for the mobile printing robot to move to the specified delivery position in the printing request are both taken into consideration, and the parallel printing and delivery process of the mobile printing robot is reasonably arranged from the perspective of working time consumption, so as to improve the printing and delivery efficiency of the mobile printing robot, so that when the mobile printing robot moves to the specified delivery position, the mobile printing robot can complete the printing work of the file to be printed.

[0029] In the mobile printing robot control method provided in the second embodiment of the present application, the controlling the mobile printing robot to execute the corresponding parallel printing and delivery process according to the first duration and the second duration is as Figure 2 shown, and specifically includes: judging whether the first duration required for the mobile printing robot to complete the printing work of the file to be printed is greater than the second duration required for the mobile printing robot to move to the specified delivery position; when the first duration is greater than the second duration, controlling the mobile printing robot to execute the first parallel printing and delivery process; when the first duration is less than or equal to the second duration, controlling the mobile printing robot to execute the second parallel printing and delivery process.

[0030] Specifically, in order to enable the mobile robot to complete the printing work of the file to be printed when the mobile printing robot moves to the specified delivery position, this embodiment compares the first duration required for the mobile printing robot to complete the printing work of the file to be printed with the second duration required for the mobile printing robot to move to the specified delivery position, and controls the mobile printing robot to perform the corresponding parallel printing and delivery process based on the comparison result.

[0031] Among them, the first parallel printing and transportation process mainly aims at the scenario where the time required for printing the file to be printed is greater than the time required for the mobile printing robot to move to the specified transportation position. The second parallel printing and transportation process mainly aims at the scenario where the time required for the mobile printing robot to move to the specified transportation position is greater than or equal to the time required for printing the file to be printed. During the printing and transportation process of the mobile printing robot, if the mobile printing robot simultaneously executes the printing work of the file to be printed and the moving and transporting work of the mobile printing robot, in some cases, when the mobile printing robot moves to the specified transportation position, the printing work of the file to be printed has not been completed yet. The mobile printing robot needs to wait at the specified transportation position until the printing work of the file to be printed is completed before it can output the printed file to the printing request initiator. That is, the printing request initiator needs to wait at the specified transportation position for the mobile printing robot to complete the printing work of the file to be printed. This solution that requires the user to wait will make the user feel that the printing efficiency of the mobile printing robot is low, affecting the user experience. Therefore, according to the comparison result of the first duration and the second duration, the second embodiment of the present application controls the mobile printing robot to execute the first parallel printing and transportation process or the second parallel printing and transportation process, so as to ensure that when the mobile printing robot moves to the specified transportation position, the printing work of the file to be printed is just completed or has been completed, improving the printing and transportation efficiency of the mobile printing robot and enhancing the user experience of using the mobile printing robot.

[0032] In the mobile printing robot control method provided by the third embodiment of the present application, the execution of the first parallel printing and transportation process by the mobile printing robot is specifically defined as including: calculating the time difference between the first duration required for the mobile printing robot to complete the printing work of the file to be printed and the second duration required for the mobile printing robot to move to the specified transportation position; controlling the mobile printing robot to first execute the printing work of the file to be printed, and when the duration of the mobile printing robot executing the printing work of the file to be printed is greater than or equal to the time difference between the first duration and the second duration, controlling the mobile printing robot to move to the specified transportation position while executing the printing work of the file to be printed. Specifically, in this embodiment, by controlling the mobile printing robot to execute its printing work and the transportation work of the printed file according to the first parallel printing and transportation process, when the time required for the printing work of the file to be printed is greater than the time required for transportation, the mobile printing robot first executes the printing work of the file to be printed and concurrently executes the transportation work of the printed file during the execution of the printing work of the file to be printed, so as to ensure that when the mobile printing robot moves to the specified transportation position, the printing work of the file to be printed is just completed or has been completed, solving the problem of affecting the user experience due to the inability to complete the printing work in time and optimizing the execution process of printing and transportation of the mobile printing robot.

[0033] In the mobile printing robot control method provided by the fourth embodiment of the present application, the execution of the second parallel printing and transportation process by the mobile printing robot is specifically defined as including: while controlling the mobile printing robot to perform the printing work of the file to be printed, moving it to the designated transportation position. In this embodiment, the trigger for triggering the mobile printing robot to execute the second parallel printing and transportation process is that the first duration required for the mobile printing robot to perform the printing work of the file to be printed is less than or equal to the second duration required for the mobile printing robot to move to the designated transportation position. In the second parallel printing and transportation process, by controlling the mobile printing robot to execute the printing work of the file to be printed and the movement work of the mobile robot moving to the designated transportation position in parallel, the work efficiency of the mobile printing robot is improved in the way of parallel execution of work, and it is ensured that the printing work of the file to be printed is just completed or has been completed when the mobile printing robot moves to the designated transportation position.

[0034] In some embodiments of the present application, the execution of the second parallel printing and transportation process by the mobile printing robot is specifically defined as: calculating the time difference between the second duration required for the mobile printing robot to move to the designated transportation position and the first duration required for the mobile printing robot to complete the printing work of the file to be printed; controlling the mobile printing robot to move towards the designated transportation position first, and when the duration of the mobile printing robot moving towards the designated transportation position is less than the time difference between the second duration and the first duration, controlling the mobile robot to execute the printing work of the file to be printed while moving towards the designated transportation position. In these embodiments, the second parallel printing and transportation process is defined as first executing the movement work of the mobile printing robot, and after the movement work of the mobile printing robot is executed for a certain duration, then controlling the mobile printing robot to execute the movement work and the printing work of the file to be printed in parallel.

[0035] In the mobile printing robot control method provided by the fifth embodiment of the present application, the calculation of the first duration required for the mobile printing robot to complete the printing work of the file to be printed is specifically defined as including:

[0036] Judging whether there is an unexecuted printing work in the printing work list of the mobile printing robot; specifically, the printing work list is used to record the printing work corresponding to the file to be printed obtained from the printing requests received by the mobile printing robot. When the mobile printing robot completes the printing work of the file to be printed corresponding to a printing request, the printing work item is deleted from the printing work list. When the mobile robot fails to complete the printing work in the printing work list, the printing work to be executed needs to be taken into account in the first duration required for the mobile printing robot to complete the printing work of the file.

[0037] When there is an unexecuted print job in the print job list of the mobile printing robot, calculate the third duration required for the mobile printing robot to complete the unexecuted print jobs in the print job list, and calculate the fourth duration required for the mobile printing robot to execute the print job of the print file obtained based on the print request. The first duration required for the mobile printing robot to complete the print job of the print file is equal to the sum of the third duration and the fourth duration;

[0038] When there is no unexecuted print job in the print job list of the mobile printing robot, calculate the fourth duration required for the mobile printing robot to execute the print job of the print file obtained based on the print request. The first duration required for the mobile printing robot to complete the print job of the print file is equal to the fourth duration. In this embodiment, the time required to execute the unexecuted print jobs in the print job list of the mobile printing robot is included in the first duration required for the mobile printing robot to complete the print job of the print file, comprehensively considering the situation where the mobile printing robot has multiple print jobs to execute, and more reasonably calculating the first duration required for the mobile printing robot to complete the print job of the print file, so as to more reasonably control the print job of the mobile printing robot.

[0039] In some embodiments of the present application, the print jobs in the print job list of the mobile printing robot have execution priorities, and the priority of each print job is used to reflect the degree to which the print job needs to be preferentially executed by the mobile printing robot. Based on the existing priorities of the print jobs, when there is an unexecuted print job in the print job list of the mobile printing robot, it is necessary to determine whether there is a print job with a priority higher than the priority of the print job corresponding to the current print request among the unexecuted print jobs; if there is no print job with a priority higher than the priority of the print job corresponding to the current print request among the unexecuted print jobs in the print job list, calculate the fourth duration required for the mobile printing robot to execute the print job of the print file obtained based on the print request, and the first duration required for the mobile printing robot to complete the print job of the print file is equal to the fourth duration; on the contrary, if there is a print job with a priority higher than the priority of the print job corresponding to the current print request among the unexecuted print jobs in the print job list, determine the print job with a priority higher than the priority of the print job corresponding to the current print request in the print job list, calculate the fifth duration required for the mobile printing robot to complete all the print jobs with a priority higher than the priority of the print job corresponding to the current print request, and calculate the fourth duration required for the mobile printing robot to execute the print job of the print file obtained based on the print request. The first duration required for the mobile printing robot to complete the print job of the print file is equal to the sum of the fourth duration and the fifth duration.

[0040] In the mobile printing robot control method provided by the sixth embodiment of the present application, the method for calculating the second duration required for the mobile printing robot to move to the specified transportation position is specifically defined as including: using the current position of the mobile printing robot as the starting point of movement, using the specified transportation position in the printing request as the ending point of movement, selecting the optimal transportation path including the starting point of movement and the ending point of movement from the current environmental map, and calculating the length of the optimal transportation path; using the length of the optimal transportation path as the dividend and the average moving speed of the mobile printing robot as the divisor, and the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the specified transportation position. Specifically, the selection method of the optimal transportation path may be, but is not limited to, selecting based on comprehensive considerations such as the length of the transportation path and / or the number of turns required for the transportation path. Among them, the number of turns required for the transportation path refers to the number of turns that the mobile printing robot needs to make on this transportation path. It should be noted that in some application scenarios, due to the size of the mobile printing robot or the path width, the turning of the mobile printing robot is relatively complex. Therefore, the number of turns required for the transportation path is used as a factor affecting the selection of the optimal transportation path. The average moving speed of the mobile printing robot is obtained based on the average value of the historical moving speeds of the mobile printing robot, and is used to determine the average moving speed of the mobile printing robot, so as to facilitate estimating the time required for the mobile printing robot to move on the optimal transportation path according to the average moving speed of the mobile printing robot. In this embodiment, by selecting the optimal transportation path and estimating the second duration required for the mobile printing robot to move from the current position to the specified transportation position based on the optimal transportation path and the average moving speed of the mobile printing robot, reference information related to mobile work is provided for the work planning of the mobile printing robot.

[0041] In the mobile printing robot control method provided by the sixth embodiment of the present application, there is a to-be-transported work list in the mobile printing robot. The to-be-transported work list is used to record the to-be-transported work that the mobile printing robot has not executed. Whenever the mobile printing robot moves to a to-be-transported position, the to-be-transported work corresponding to this to-be-transported position is deleted from the to-be-transported work list. In the sixth embodiment of the present application, the to-be-transported work list of the mobile printing robot is incorporated into the method for calculating the second duration required for the mobile printing robot to move to the specified transportation position, and is specifically defined as including: obtaining the current position of the mobile printing robot; judging whether there is any unexecuted to-be-transported work in the to-be-transported work list of the mobile printing robot;

[0042] When there are unexecuted transportation jobs in the transportation job list of the mobile printing robot, an optimal transportation path is selected from the current environmental map based on the current position of the mobile printing robot, the transportation positions corresponding to all unexecuted transportation jobs in the transportation list, and the specified transportation position in the printing request, and the length of the optimal transportation path is calculated; the length of the optimal transportation path is used as the dividend, and the average moving speed of the mobile printing robot is used as the divisor, and the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the specified position; specifically, the selecting an optimal transportation path from the current environmental map based on the current position of the mobile printing robot, all unexecuted transportation jobs in the transportation list, and the specified transportation position in the printing request means selecting a path from the current environmental map that takes the current position of the mobile printing robot as the starting point of movement, takes the transportation position corresponding to each unexecuted transportation job in the transportation job list as a passing node, and takes the specified transportation position in the printing request as the ending point of movement, and taking the path with the shortest length and / or the shortest time consumption and / or the fewest turning times as the optimal transportation path.

[0043] When there are no unexecuted transportation jobs in the transportation job list of the mobile printing robot, the current position of the mobile printing robot is used as the starting point of movement, the specified transportation position in the printing request is used as the ending point of movement, and an optimal transportation path including the starting point of movement and the ending point of movement is selected from the current environmental map; the length of the optimal transportation path is calculated, the length of the optimal transportation path is used as the dividend, the average moving speed of the mobile printing robot is used as the divisor, and the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the specified transportation position.

[0044] In some embodiments of the present application, there is an execution priority for the printing jobs to be printed in the printing job list of the mobile printing robot. The priority of each printing job to be printed is used to reflect the degree to which the mobile printing robot needs to execute the printing job preferentially. Based on the execution priority of the printing jobs to be printed, each transportation job to be transported has a corresponding execution priority. Based on the situation that there is an execution priority for the transportation jobs to be transported in the transportation job list, when there are unexecuted transportation jobs in the transportation job list of the mobile printing robot, it is necessary to determine whether there is a transportation job with a priority higher than the priority of the transportation job corresponding to the current printing request among the unexecuted transportation jobs; if there is no transportation job with a priority higher than the priority of the printing job corresponding to the current printing request among the unexecuted transportation jobs, the current position of the mobile printing robot is used as the starting point of movement, the designated transportation position in the printing request is used as the ending point of movement, and the optimal transportation path including the starting point of movement and the ending point of movement is selected from the current environmental map; calculate the length of the optimal transportation path, use the length of the optimal transportation path as the dividend, use the average moving speed of the mobile printing robot as the divisor, and the quotient of the dividend divided by the divisor is equal to the second duration required for the mobile printing robot to move to the designated transportation position. On the contrary, if there is a transportation job with a priority higher than the priority of the printing job corresponding to the current printing request among the unexecuted transportation jobs, determine the transportation job with a priority higher than the priority corresponding to the current printing request in the transportation job list, use the current position of the mobile printing robot as the starting point of movement, use the transportation position corresponding to each transportation job with a priority higher than the priority corresponding to the current printing request in the transportation job list as a passing node, use the transportation position of the current printing request as the ending point of movement, select the optimal movement path from the current environmental map according to the above starting point of movement, passing node and ending point of movement, calculate the length of the optimal transportation path, use the length of the optimal transportation path as the dividend, use the average moving speed of the mobile printing robot as the divisor, and the quotient of the dividend divided by the divisor is equal to the second duration required for the mobile printing robot to move to the designated transportation position.

[0045] The mobile printing robot control method provided by the seventh embodiment of the present application, compared with the above embodiments, further includes: the mobile printing robot stores the output printed paper according to the corresponding printing request in the printing file safe. It should be noted that during the printing process of the file to be printed corresponding to a printing request by the mobile printing robot, usually the number of printed papers output by the mobile printing robot at one time is limited, and a file to be printed needs to output printed papers in multiple times. In the embodiment of the present application, the mobile printing robot is controlled to store the printed papers output between prints in the printing file safe to ensure that when the mobile printing robot executes printing work and transportation work in parallel, the output printed papers can be confidentially processed and have high security. At the same time, the output printed papers are classified and stored according to the corresponding printing request, that is, all the printed papers in the printed file corresponding to a printing request are stored in the same printing file safe, avoiding the problem of confusion in storing multiple printed files.

[0046] In the mobile printing robot control method provided by the eighth embodiment of the present application, compared with the above embodiments, further includes: the mobile printing robot generates corresponding pick-up identity information based on the printing request and transmits the pick-up identity information to the party that submitted the printing request. Specifically, the pick-up identity information may be, but is not limited to, digital key information, specified graphic information, connection key information, or two-dimensional code information, etc. Specifically, when the mobile printing robot moves to the specified delivery location in the printing request, the mobile printing robot performs a pick-up identity information acquisition and recognition process at the specified delivery location. When the mobile printing robot recognizes the pick-up identity information corresponding to the printing request corresponding to the specified delivery location and determines the corresponding printing request according to the pick-up identity information, the mobile printing robot outputs the corresponding printed file from the printing file safe according to the printing request. It should be noted that there is only one printing request corresponding to one pick-up identity information, and there may be one or more printing requests corresponding to the same specified delivery location. Therefore, in this embodiment, the corresponding printing request is not determined solely based on the specified delivery location, but also based on the pick-up identity information recognized by the mobile printing robot to determine the displacement corresponding printing request, double ensuring that the mobile printing robot outputs the accurate printed file. In this embodiment, by controlling the mobile printing robot to generate corresponding pick-up identity information based on the printing request, it is ensured that the printed papers can be delivered to the target user based on the pick-up identity information corresponding one-to-one with the printing request, and the confidentiality and security of the printed papers during printing and transportation of the mobile printing robot are ensured.

[0047] The ninth embodiment of the present application provides a chip, which stores a computer program internally. When the computer program stored in the chip is run by a processor, it executes the mobile printing robot control method described in any one of the above embodiments. Further, this embodiment also provides a mobile robot, including: a processor and the chip; wherein, when the processor runs the chip, the mobile printing robot executes the mobile printing robot control method to reasonably plan the parallel execution of the printing work and the transportation work according to the time required for the printing work and the time required for the transportation work.

[0048] Although the embodiments of the present application have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present application. The above embodiments are only the preferred embodiments of the present application and are not used to limit the present application. Any modification, equivalent substitution, or improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for a mobile printing robot, characterized in that, The mobile printing robot control method includes: The mobile printing robot receives a printing request; Based on the printing request, obtain the file to be printed and the specified delivery location; Calculate the first duration required for the mobile printing robot to complete the printing work of the file to be printed; Calculate the second duration required for the mobile printing robot to move to the specified delivery location; According to the first duration and the second duration, control the mobile printing robot to execute the corresponding parallel printing and delivery process, so that the printing work of the file to be printed is completed when the mobile printing robot moves to the specified delivery location; The step of controlling the mobile printing robot to execute the corresponding parallel printing and delivery process according to the first duration and the second duration specifically includes: Judge whether the first duration is greater than the second duration; When the first duration is greater than the second duration, control the mobile printing robot to execute the first parallel printing and delivery process; When the first duration is less than or equal to the second duration, control the mobile printing robot to execute the second parallel printing and delivery process; The mobile printing robot executes the first parallel printing and delivery process, which specifically includes: Calculate the time difference between the first duration and the second duration; Control the mobile printing robot to first execute the printing work of the file to be printed; When the duration of the mobile printing robot executing the printing work of the file to be printed is greater than or equal to the time difference between the first duration and the second duration, control the mobile printing robot to move to the specified delivery location while executing the printing work of the file to be printed; The mobile printing robot executes the second parallel printing and delivery process, which specifically includes: controlling the mobile printing robot to move to the specified delivery location while executing the printing work of the file to be printed.

2. The mobile printing robot control method according to claim 1, characterized in that, The step of calculating the first duration required for the mobile printing robot to complete the printing work of the file to be printed specifically includes: Judge whether there is an unexecuted printing work in the printing work list of the mobile printing robot; When there is an unexecuted printing work in the printing work list of the mobile printing robot, calculate the third duration required for the mobile printing robot to complete the unexecuted printing work in the printing work list, and calculate the fourth duration required for the mobile printing robot to execute the printing work of the file to be printed obtained based on the printing request. The first duration required for the mobile printing robot to complete the printing work of the file to be printed is equal to the sum of the third duration and the fourth duration; When there is no unexecuted printing work in the printing work list of the mobile printing robot, calculate the fourth duration required for the mobile printing robot to execute the printing work of the file to be printed obtained based on the printing request. The first duration required for the mobile printing robot to complete the printing work of the file to be printed is equal to the fourth duration.

3. The mobile printing robot control method according to claim 1, characterized in that The method for calculating the second duration required for the mobile printing robot to move to the specified delivery location specifically includes: Obtain the current position of the mobile printing robot; Take the current position of the mobile printing robot as the starting point of movement, take the specified delivery location in the printing request as the ending point of movement, select the optimal delivery path including the starting point of movement and the ending point of movement from the current environment map, and calculate the length of the optimal delivery path; Taking the optimal transportation path length as the dividend and the average moving speed of the mobile printing robot as the divisor, the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the specified transportation position.

4. The mobile printing robot control method according to claim 3, characterized in that, The method for calculating the second duration required for the mobile printing robot to move to the specified transportation position further includes: Obtaining the current position of the mobile printing robot; Judging whether there is any unexecuted transportation task in the transportation task list of the mobile printing robot; When there is an unexecuted transportation task in the transportation task list of the mobile printing robot, taking the current position of the mobile printing robot as the starting point of movement, taking the transportation position corresponding to each unexecuted transportation task as a passing node, and taking the specified transportation position in the printing request as the ending point of movement, and selecting the optimal transportation path that conforms to the starting point of movement, the passing node and the ending point of movement from the current environment map; When there is no unexecuted transportation task in the transportation task list of the mobile printing robot, taking the current position of the mobile printing robot as the starting point of movement and taking the specified transportation position in the printing request as the ending point of movement, and selecting the optimal transportation path including the starting point of movement and the ending point of movement from the current environment map; Calculating the optimal transportation path length, taking the optimal transportation path length as the dividend and the average moving speed of the mobile printing robot as the divisor, and the quotient of the dividend and the divisor is equal to the second duration required for the mobile printing robot to move to the specified transportation position.

5. The mobile printing robot control method according to claim 1, wherein The mobile printing robot control method further includes: the mobile printing robot stores the output printed paper pieces in the corresponding printed file safe according to the corresponding printing request.

6. The mobile printing robot control method according to claim 5, characterized in that, The mobile printing robot control method further includes: the mobile printing robot generates corresponding pick-up identity information based on the printing request and transmits the pick-up identity information to the party that submits the printing request.

7. The mobile printing robot control method according to claim 6, wherein The mobile printing robot control method further includes: when the mobile printing robot moves to the specified transportation position in the printing request, the mobile printing robot performs a pick-up identity information acquisition and recognition process at the specified transportation position. When the mobile printing robot recognizes the pick-up identity information corresponding to the printing request corresponding to the specified transportation position, and determines the corresponding printing request according to the pick-up identity information, the mobile printing robot outputs the corresponding printed file from the printed file safe according to the printing request.

8. A chip with a computer program stored internally, characterized in that, The computer program stored inside the chip, when run by the processor, executes the mobile printing robot control method according to any one of claims 1 to 7.

9. A mobile printing robot, characterized in that, The mobile printing robot includes: a processor and a chip as claimed in claim 8; wherein, when the processor runs the chip, the mobile printing robot executes the mobile printing robot control method according to any one of claims 1 to 7.

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