Method and device for determining working route of hotel robot

Abstract

The present application relates to the technical field of robots, and provides a method and device for determining a working route of a hotel robot. The method includes: determining a first working route according to the working tasks of a target robot; when the target robot determines that the first working route contains obstacle information, determining a first estimated duration according to the obstacle information; determining consultation information according to the obstacle information, and sending the consultation information to a collaborative robot so that the collaborative robot determines corresponding reply information according to the consultation information; when receiving the reply information sent by the collaborative robot, determining a second working route according to the reply information and the first estimated duration. It realizes the autonomous planning of the working route of the hotel robot, and can complete the route adjustment through collaboration when there are obstacles in the working route, improving the task execution efficiency; and avoiding the excessive occupation of the computing resources of the hotel management platform.

Description

Technical Field

[0001] This application relates to the technical field of robots, and particularly to a method and device for determining the working route of a hotel robot. Background Art

[0002] In the service industry such as hotels, providing considerate and timely services to customers has always been an important means for hotels to enhance competitiveness and maintain word-of-mouth and reputation. Since the work content in hotels covers a large number of repetitive and tedious tasks, long-term repetitive work may cause employees to become fatigued, thus affecting the service quality of employees. Therefore, hotel robots that can replace employees to complete repetitive and complex tasks have emerged as the times require.

[0003] Currently, the route selection for hotel robots to execute work tasks is planned by the hotel management platform center according to the hotel environment. However, planning the action route of hotel robots by the hotel management platform center requires constantly monitoring the road environment information in the hotel and calculating based on the monitored road environment information to obtain the action route of the hotel robot. Such a method requires a large amount of computing power and causes waste of computing resources. Summary of the Invention

[0004] In view of this, embodiments of this application provide a method and device for determining the working route of a hotel robot to solve the problem of waste of computing resources in the prior art.

[0005] In the first aspect of the embodiments of this application, a method for determining the working route of a hotel robot is provided, including:

[0006] Determine a first working route according to the work task of the target robot;

[0007] When it is determined that the first working route contains obstacle information, determine a first estimated duration according to the obstacle information;

[0008] Determine consultation information according to the obstacle information, and send the consultation information to the collaborative robot so that the collaborative robot determines the corresponding reply information according to the consultation information;

[0009] When receiving the reply information sent by the collaborative robot, determine a second working route according to the reply information and the first estimated duration.

[0010] In the second aspect of the embodiments of this application, a device for determining the working route of a hotel robot is provided, including:

[0011] A first working route determination module configured to determine a first working route according to the work task of the target robot;

[0012] The first estimated duration determination module is configured to, when the target robot determines that the first working route contains obstacle information, determine the first estimated duration according to the obstacle information;

[0013] The collaboration module is configured to determine consultation information according to the obstacle information and send the consultation information to the collaborative robot, so that the collaborative robot determines the corresponding reply information according to the consultation information;

[0014] The second working route determination module is configured to, when receiving the reply information sent by the collaborative robot, determine the second working route according to the reply information and the first estimated duration.

[0015] In the third aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the steps of the above method are implemented.

[0016] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: The first working route is determined through the work task of the target robot; when the target robot determines that the first working route contains obstacle information, the first estimated duration is determined according to the obstacle information; consultation information is determined according to the obstacle information and sent to the collaborative robot, so that the collaborative robot determines the corresponding reply information according to the consultation information; when receiving the reply information sent by the collaborative robot, the second working route is determined according to the reply information and the first estimated duration route. It realizes the autonomous planning of the working route by the hotel robot, and when there are obstacles in the working route, it can complete the route adjustment through collaboration, improving the task execution efficiency; and avoiding the excessive occupation of the computing resources of the hotel management platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0018] Figure 1 It is a schematic diagram of the application scenario of the embodiments of the present application;

[0019] Figure 2 It is a flowchart of a method for determining the working route of a hotel robot provided by the embodiments of the present application;

[0020] Figure 3 It is a schematic structural diagram of a device for determining the working route of a hotel robot provided by the embodiments of the present application;

[0021] Figure 4It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0022] In the following description, specific details such as specific system structures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0023] Next, a method and device for determining the working route of a hotel robot according to an embodiment of the present application will be described in detail with reference to the accompanying drawings.

[0024] Figure 1 It is a schematic diagram of the application scenario of the embodiment of the present application. This application scenario may include a server 101 and a hotel service robot 102.

[0025] The server 101 is the hotel management platform, which is used to generate work tasks related to hotel operation and assign the generated work tasks to the hotel service robot 102. The hotel service robot 102 can receive the work tasks assigned by the server and plan the working route of the work tasks through the navigation system configured in the hotel service robot. The hotel service robot can detect the surrounding environment through the configured sensors and can also complete the communication between hotel service robots through the communication device configured in itself. The number of hotel service robots 102 is usually multiple ( Figure 1 only one is shown in the figure, and the same applies to others). Each hotel service robot 102 can be of the same model and have the same functions; or they can be of different models and be used to undertake their respective different tasks.

[0026] It should be noted that the specific types and numbers of the server 101 and the hotel service robot 102 can be adjusted according to the actual needs of the application scenario, and the embodiments of the present application do not limit this.

[0027] Figure 2 It is a schematic flowchart of a method for determining the working route of a hotel robot provided by an embodiment of the present application. The execution subject of this method can be any one of the above hotel service robots. For the sake of distinction in narration, in this embodiment, the hotel service robot as the execution subject is called the target robot. Other hotel service robots except the target robot can be called cooperative robots.

[0028] As Figure 2 shown, the method for determining the working route of this hotel robot includes:

[0029] S201. Determine the first working route according to the working task of the target robot.

[0030] S202. When the target robot determines that the first working route contains obstacle information, determine the first estimated duration according to the obstacle information.

[0031] S203. Determine the consultation information according to the obstacle information, and send the consultation information to the collaborative robot, so that the collaborative robot determines the corresponding reply information according to the consultation information.

[0032] S204. When receiving the reply information sent by the collaborative robot, determine the second working route according to the reply information and the first estimated duration.

[0033] Specifically, after the target robot in the embodiment of the present application receives the working task through the hotel management platform, according to its own navigation system, it determines a working route with the shortest action time, and this working route is the first working route.

[0034] When the target robot is driving and performing tasks according to the first working route, through the sensors configured on itself, it detects that there is obstacle information on the first working route, which means that there is an obstacle on the first working route that hinders the target robot from continuing to perform the working task according to the first working route, so that the target robot may not be able to perform the working task according to the expected time limit. For example, the obstacle information may represent congestion caused by the flow of people, or represent impassability caused by local construction. At this time, the time length for the target robot to continue to complete the working task according to the first working route can be further calculated according to the obstacle information, and this time length is the first estimated duration. It can also be said that the target robot is expected to take the time of the first estimated duration to continue to perform the working task according to the first working route.

[0035] Furthermore, in order to ensure the timeliness of completing the working task, according to the obstacle information, through the communication device configured in the robot, a consultation information can be sent to the collaborative robot. The purpose is to perform collaborative information analysis and processing between robots when the target robot encounters an obstacle during task execution, so as to solve the problem that the target robot cannot perform the working task due to encountering an obstacle. When the target robot encounters an obstacle, sending the consultation information to the collaborative robot can play many roles. For example, it can ensure that the working route of the collaborative robot also passes through the obstacle, so that the collaborative robot can avoid the obstacle in the working route planning; or it can confirm the road conditions information of the roads around the collaborative robot to the collaborative robot, and ensure that the target robot re-plans the working route according to the collected road conditions information; or it can also check whether there is a collaborative robot more suitable for completing the working task that the target robot is currently performing.

[0036] In this embodiment, the collaborative robot needs to determine a reply message based on the consultation information sent by the target robot and its own and surrounding relevant conditions, and send the reply message to the target robot.

[0037] When the target robot receives the reply message, it can judge whether to re-plan the route according to the reply message. If re-planning the route is required, the route planning can be further completed by combining the reply message with the original first working route. Thus, the impact of relevant obstacles on task execution is minimized as much as possible, ensuring the timeliness of the work task.

[0038] Meanwhile, only when the target robot encounters an obstacle during task execution and needs to re-plan the working route, will it analyze and process the collaborative information with the collaborative robot. During normal work execution, the target robot can plan its working route by itself without always being connected to the hotel management platform to determine the working route by continuously transmitting information to the hotel management platform. Thus, the excessive occupation of the computing resources of the hotel management platform is effectively reduced.

[0039] According to the technical solution provided by the embodiment of the present application, the first working route is determined according to the work task of the target robot; when the target robot determines that the first working route contains obstacle information, the first estimated duration is determined according to the obstacle information; the consultation information is determined according to the obstacle information, and the consultation information is sent to the collaborative robot so that the collaborative robot determines the corresponding reply message according to the consultation information; when the reply message sent by the collaborative robot is received, the second working route is determined according to the reply message and the first estimated duration. The autonomous planning of the working route of the hotel robot is realized, and the route can be adjusted through collaboration when there are obstacles in the working route, improving the task execution efficiency; and the excessive occupation of the computing resources of the hotel management platform is avoided.

[0040] In some embodiments, determining the first working route according to the work task of the target robot includes: determining the destination location of the work task; and determining the first working route according to the destination location of the work task and the current location of the target robot.

[0041] Specifically, the method for the target robot to determine the first working route of the work task is as follows: First, determine the destination location of the work task. There may be more than one destination location for the work task. Due to the nature of hotel work, it may be necessary to pass through multiple destinations. For example, when the target robot needs to deliver the prepared meals to a certain room, at this time, for the target robot, there is only one destination for the work task, which is the target room; or, when the target robot needs to go to the laundry room to deliver the clothes of multiple customers to different rooms, at this time, for the target robot, the multiple rooms in the work task are equivalent to multiple destinations. Therefore, it is necessary to determine the destination of the work task and the current position of the target robot, and through the navigation system configured by the target robot, plan a route with the shortest time consumption and use it as the first working route.

[0042] In some embodiments, when the target robot determines that the first working route contains obstacle information, determining the first estimated duration according to the obstacle information includes: when the target robot detects the obstacle information through the sensor, determining the obstacle type according to the obstacle information; the obstacle type includes fixed obstacles and temporary obstacles; when the obstacle type is a temporary obstacle, determining the first estimated duration required for the target robot to complete the work task according to the first working route according to the cleaning speed of the temporary obstacle; when the obstacle type is a fixed obstacle, determining the first estimated duration required for the target robot to complete the work task according to the first working route as positive infinity.

[0043] Specifically, when the target robot detects obstacle information on the first working line through the sensor, it will affect the target robot's execution of the work task. Obstacles can be divided into two types. One is a temporary obstacle, such as a temporary blockage caused by a crowded crowd. Temporary obstacles can disappear over time. Therefore, the target robot can detect the cleaning speed of the temporary obstacle and the total amount of the temporary obstacle through the sensor, and estimate the cleaning time of the temporary obstacle. Then, according to the estimated cleaning time of the temporary obstacle, estimate how much time it will take to continue to complete the work task along the first working route. This time is the first estimated duration. However, when the obstacle type is a fixed obstacle, that is, the obstacle opposite to the temporary obstacle can be called a fixed obstacle, which is an obstacle that cannot be cleared in a short time. That is to say, at this time, if the target robot cannot continue to execute the task along the first working route, it is equivalent to that the first estimated duration required for the target robot to complete the work task according to the first working route is positive infinity.

[0044] In some embodiments, determining the consultation information according to the obstacle information includes: when the target robot detects the obstacle information through the sensor, determining the obstacle position according to the obstacle information; determining the consultation information according to the obstacle position and the destination position.

[0045] Specifically, the target robot sends consultation information to the collaborative robot according to the obstacle information. When the target robot detects obstacle information on the first working route through the configured sensor, it first determines the position information of the obstacle, and the position information of the obstacle refers to the specific coordinate information of the obstacle. To ensure the timeliness of the target robot's execution of the work task, it may take less time for the target robot to select other working routes to complete the work task than to execute the work task according to the first working route. Therefore, the target robot needs to determine the time required for other working routes to complete the work task. To determine the time required for other working routes to complete the work task, it is necessary to determine the time from the position of the target robot to the position of the collaborative robot and the time from the position of the collaborative robot to the destination. Therefore, it is necessary to send the position information of the target robot and the destination position information to the collaborative robot, and let the collaborative robot act as an intermediate device to calculate the time spent respectively. The position of the target robot and the position of the obstacle are on the same action route, and the distance is almost negligible. Sending the position of the obstacle to the collaborative robot can also ensure that the collaborative robot determines whether the position of the obstacle will affect the collaborative robot's execution of the work. If the position of the obstacle is on the working route of the collaborative robot, the collaborative robot can also re-plan the working route in advance according to the obstacle position information.

[0046] In some embodiments, the collaborative robot determines the corresponding reply information according to the consultation information, including: the collaborative robot determines the current position information of the target robot; determines the road condition information of the alternative routes corresponding to the collaborative robot; determines the second estimated duration according to the current position information of the target robot, the road condition information of the alternative routes, and the destination position information; and determines the reply information according to the second estimated duration.

[0047] Specifically, when the collaborative robot receives the consultation information sent by the target robot, it communicates with the target robot to determine the specific location information of the target robot. And based on the sensors configured on the collaborative robot, it determines the road conditions information of the area that the collaborative robot can detect. Since the target robot may need to select a route in the surrounding area of the collaborative robot to execute the work task to ensure the timeliness of the work task. Then all the surrounding routes with good road conditions detected by the collaborative robot can be used as alternative routes. The collaborative robot calculates the shortest time required for the target robot to pass through the area where the collaborative robot is located and reach the destination based on the current position information of the target robot, the road conditions information of the alternative routes, and the destination location, and determines this time as the second estimated duration. Each collaborative robot calculates the second estimated duration independently. Compared with the way that the collaborative robot only aggregates the road conditions information to the target robot, and then the target robot calculates the second estimated duration of each alternative route according to the road conditions information, it is equivalent to performing the calculation of the second estimated duration in a distributed manner. This can avoid the risk of the operation system of the target robot crashing due to a sudden increase in the pressure of the operation system when the road conditions information of the alternative routes is too complex and all the operations of calculating the second estimated duration of each alternative route are concentrated on the target robot. By calculating the second estimated duration independently by the collaborative robot, the risk of the operation system of the target robot crashing can be effectively prevented. The collaborative robot sends the calculated second estimated duration to the target robot as a reply message.

[0048] In some embodiments, determining the second working route according to the reply message and the first estimated duration includes: when the second estimated duration in the reply message is less than the first estimated duration, determining the second working route of the target robot according to the alternative route and the first working route.

[0049] Specifically, after the target robot receives the reply message sent by the collaborative robot, it compares the second estimated duration determined by the collaborative robot with the first estimated duration determined when the obstacle information is found. When the second estimated duration is less than the first estimated duration, it means that the time spent from the location of the target robot, passing through the alternative route corresponding to the second estimated duration, to the destination is shorter, and it can better ensure the timeliness of executing the work task. Therefore, after determining the second estimated duration with the shortest time, the working route from the alternative route corresponding to the second estimated duration with the shortest time to the destination is the second working route.

[0050] In some embodiments, the collaborative robot determining the corresponding reply message according to the consultation information further includes; determining the task information of the work task according to the consultation information; determining the third estimated duration according to the status information and the task information of the collaborative robot; determining the reply message according to the third estimated duration.

[0051] Specifically, to ensure the timeliness of work tasks, the time taken for the collaborative robot to complete the remaining work process instead of the target robot may be less than the time taken for the target robot to continue performing the work task along the first work route or for the target robot to select other routes to perform the work task. Therefore, after receiving the consultation information sent by the target robot, the collaborative robot can also determine the work type and work process of the work task executed by the target robot. The work type and work process are collectively referred to as task information. Determining the work type is to determine whether the collaborative robot can replace the target robot to complete the work task. For example, a collaborative robot with the same cleaning function can replace the target robot to perform the cleaning work of the remaining rooms, etc., while a collaborative robot without the cleaning function cannot replace the target robot to complete the work task. Determining the work process is to determine the remaining work of the work task and prevent waste of resources and time caused by the collaborative robot repeating the work.

[0052] Furthermore, it is necessary to determine the time required for the collaborative robot to complete the work task. Then, the time required for the collaborative robot to complete the work task is the third estimated duration. Determining the third estimated duration requires determining the status information and task information of the collaborative robot. The status information of the collaborative robot includes the location of the collaborative robot and the working status of the collaborative robot. The working status is whether it is in the process of working and the end time of the current work.

[0053] When the work type of the target robot's work task can be completed by the collaborative robot, the collaborative robot can determine the start time of performing the target robot's work task based on its own location and working status, and determine the arrival duration based on the current location of the collaborative robot and the destination location of the work task. Combining the current time, the start time of performing the work task, and the arrival duration, the duration for the collaborative robot to replace the target robot to perform the work task can be determined. Then, this duration is the third estimated duration. The collaborative robot sends the calculated third estimated duration as a reply message to the target robot.

[0054] In some embodiments, it further includes: when the third estimated duration is less than the first estimated duration and the third estimated duration is less than the second estimated duration, when the third estimated duration is less than the first estimated duration and the third estimated duration is less than the second estimated duration, the target robot sends a replacement message to the collaborative robot so that the collaborative robot performs the work task.

[0055] Specifically, after the target robot receives the reply information sent by the collaborative robot, it compares the third estimated duration required for the collaborative robot to complete the work task, the second estimated duration determined by the collaborative robot, and the first estimated duration determined when the obstacle information is discovered. When the third estimated duration is the minimum value, it indicates that it is more time-effective for the collaborative robot to replace the target robot to execute the work task. Therefore, the target robot abandons the execution of the work task and sends a replacement message to the collaborative robot with the shortest third estimated duration, allowing the collaborative robot to replace the target robot to complete the work task. After the collaborative robot receives the replacement message sent by the target robot, it determines a work route for the collaborative robot to execute the work task based on its current working state and the location of the work task destination.

[0056] According to the technical solution provided by the embodiment of the present application, when the target robot executes the work task according to the first work route, the target robot detects obstacle information through the sensor, determines the position of the obstacle according to the obstacle information, determines the obstacle position and the destination position as the consultation information, and determines the first estimated duration; the collaborative robot determines the current position information of the target robot, determines the road condition information of the alternative routes corresponding to the collaborative robot, and determines the second estimated duration according to the current position information of the target robot, the road condition information of the alternative routes, and the destination position information; the collaborative robot determines the progress of the work task, and determines the third estimated duration according to the current position information of the collaborative robot, the working state of the collaborative robot, the destination position information, and the progress of the work task. By comparing the values of the first estimated duration, the second estimated duration, and the third estimated duration, the execution subject and the work route of the work task are determined. The embodiment of the present application can avoid waste of computing resources, improve the timeliness of the work task, and thus enhance the user's living experience in the hotel.

[0057] All of the above optional technical solutions can be combined arbitrarily to form optional embodiments of the present application, which will not be elaborated herein one by one.

[0058] The following is an embodiment of the device of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the embodiment of the device of the present application, please refer to the method embodiment of the present application.

[0059] Figure 3 It is a schematic diagram of a device for determining the work route of a hotel robot provided by an embodiment of the present application. As Figure 3 shown, the device for determining the work route of the hotel robot includes:

[0060] The first work route determination module 301 is configured to determine the first work route according to the work task of the target robot;

[0061] The first estimated duration determination module 302 is configured to, when the target robot determines that the first working route contains obstacle information, determine the first estimated duration according to the obstacle information;

[0062] The collaboration module 303 is configured to determine consultation information according to the obstacle information and send the consultation information to the collaborative robot, so that the collaborative robot determines the corresponding reply information according to the consultation information;

[0063] The second working route determination module 304 is configured to, when receiving the reply information sent by the collaborative robot, determine the second working route according to the reply information and the first estimated duration.

[0064] In some embodiments, Figure 3 the first working route determination module 301 of obtains the destination location of the work task; according to the destination location of the work task and the current location of the target robot, determine the first working route.

[0065] In some embodiments, Figure 3 when the first estimated duration determination module 302 of the target robot detects obstacle information through a sensor, determine the obstacle type according to the obstacle information; the obstacle type includes fixed obstacles and temporary obstacles; when the obstacle type is a temporary obstacle, determine the first estimated duration required for the target robot to complete the work task according to the first working route according to the temporary obstacle clearing speed; when the obstacle type is a fixed obstacle, determine the first estimated duration required for the target robot to complete the work task according to the first working route as positive infinity.

[0066] In some embodiments, Figure 3 when the collaboration module 303 of the target robot detects obstacle information through a sensor, determine the obstacle location according to the obstacle information; determine the consultation information according to the obstacle location and the destination location.

[0067] In some embodiments, Figure 3 the collaboration module 303 of uses the collaborative robot to determine the current location information of the target robot; determines the road condition information of the alternative routes corresponding to the collaborative robot; according to the current location information of the target robot, the road condition information of the alternative routes, and the destination location information, determine the second estimated duration; determine the reply information according to the second estimated duration.

[0068] In some embodiments, Figure 3 the collaboration module 303 of uses the consultation information to determine the task information of the work task; according to the status information of the collaborative robot and the task information, determine the third estimated duration; determine the reply information according to the third estimated duration.

[0069] In some embodiments, Figure 3The second working route determination module 304 determines the second working route of the target robot according to the alternative route and the first working route when the second estimated duration in the reply information is less than the first estimated duration.

[0070] In some embodiments, Figure 3 When the third estimated duration is less than the first estimated duration and the third estimated duration is less than the second estimated duration, the second working route determination module 304 of the target robot abandons the work task and sends a replacement message to the collaborative robot so that the collaborative robot can execute the work task.

[0071] It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution. The execution order of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0072] Figure 4 is a schematic diagram of the electronic device 4 provided by the embodiment of the present application. As Figure 4 shown, the electronic device 4 of this embodiment includes: a processor 401, a memory 402, and a computer program 403 stored in the memory 402 and executable on the processor 401. When the processor 401 executes the computer program 403, the steps in the above-mentioned various method embodiments are implemented. Or, when the processor 401 executes the computer program 403, the functions of each module / unit in the above-mentioned various device embodiments are implemented.

[0073] The electronic device 4 may be a desktop computer, a notebook, a palm computer, a cloud server and other electronic devices. The electronic device 4 may include, but is not limited to, a processor 401 and a memory 402. Those skilled in the art can understand that Figure 4 is only an example of the electronic device 4, and does not constitute a limitation to the electronic device 4. It may include more or fewer components than those shown in the figure, or different components.

[0074] The processor 401 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0075] The memory 402 can be an internal storage unit of the electronic device 4, for example, the hard disk or memory of the electronic device 4. The memory 402 can also be an external storage device of the electronic device 4, for example, a plug-in hard disk equipped on the electronic device 4, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. The memory 402 can also include both the internal storage unit of the electronic device 4 and the external storage device. The memory 402 is used to store computer programs and other programs and data required by the electronic device.

[0076] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0077] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above embodiment methods of this application, it can also be completed by instructing relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above method embodiments can be implemented. The computer program can include computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0078] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for determining the working route of a hotel robot, characterized in that, The method is applied to a target robot, and the method includes: Determine a first working route according to the working task of the target robot; When the target robot determines that the first working route contains obstacle information, determine a first estimated duration according to the obstacle information; Determine consultation information according to the obstacle information, and send the consultation information to the collaborative robot so that the collaborative robot determines corresponding reply information according to the consultation information; When receiving the reply information sent by the collaborative robot, determine a second working route according to the reply information and the first estimated duration; The step of when the target robot determines that the first working route contains obstacle information and determines a first estimated duration according to the obstacle information includes: When the target robot detects obstacle information through a sensor, determine the type of obstacle according to the obstacle information; the types of obstacles include fixed obstacles and temporary obstacles; When the type of obstacle is a temporary obstacle, determine the first estimated duration required for the target robot to complete the working task according to the first working route according to the cleaning speed of the temporary obstacle; When the type of obstacle is a fixed obstacle, determine the first estimated duration required for the target robot to complete the working task according to the first working route as positive infinity.

2. The method according to claim 1, wherein The step of determining a first working route according to the working task of the target robot includes: Determine the destination location of the working task; Determine the first working route according to the destination location of the working task and the current location of the target robot.

3. The method according to claim 1, wherein The step of determining consultation information according to the obstacle information includes: When the target robot detects obstacle information through a sensor, determine the location of the obstacle according to the obstacle information; Determine the consultation information according to the location of the obstacle and the destination location.

4. The method according to claim 3, wherein The step of the collaborative robot determining corresponding reply information according to the consultation information includes: Determine the current location information of the target robot; Determine the road condition information of the alternative route corresponding to the collaborative robot; Determine a second estimated duration according to the current location information of the target robot, the road condition information of the alternative route, and the destination location; Determine the reply information according to the second estimated duration.

5. The method according to claim 4, characterized in that, The step of determining a second working route according to the reply information and the first estimated duration includes: When the second estimated duration in the reply information is less than the first estimated duration, determine the second working route of the target robot according to the alternative route and the first working route.

6. The method according to claim 4, characterized in that, The step of the collaborative robot determining corresponding reply information according to the consultation information further includes: Determine the task information of the working task according to the consultation information; Determine a third estimated duration according to the status information of the collaborative robot and the task information; Determine the reply information according to the third estimated duration.

7. The method according to claim 6, wherein It further includes: When the third estimated duration is less than the first estimated duration and the third estimated duration is less than the second estimated duration, the target robot sends a replacement information to the collaborative robot so that the collaborative robot executes the working task.

8. A working route determination device for a hotel robot, characterized in that, It includes: The first working route determination module is configured to determine a first working route according to the working task of the target robot; The first estimated duration determination module is configured to, when the target robot determines that the first working route contains obstacle information, determine a first estimated duration according to the obstacle information; The collaboration module is configured to determine consultation information according to the obstacle information and send the consultation information to the collaborative robot, so that the collaborative robot determines corresponding reply information according to the consultation information; The second working route determination module is configured to, when receiving the reply information sent by the collaborative robot, determine a second working route according to the reply information and the first estimated duration; The first estimated duration determination module is specifically configured to: when the target robot detects obstacle information through a sensor, determine the type of obstacle according to the obstacle information; the type of obstacle includes fixed obstacles and temporary obstacles; when the type of obstacle is a temporary obstacle, determine the first estimated duration required for the target robot to complete the working task according to the first working route according to the cleaning speed of the temporary obstacle; when the type of obstacle is a fixed obstacle, determine the first estimated duration required for the target robot to complete the working task according to the first working route as positive infinity.

9. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 7.

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