A special user assistance service method, device and medium for a wheeled robot

Abstract

The embodiments of this specification disclose a special user auxiliary service method, device and medium of a wheeled robot, which relate to the technical field of wheeled robots. The method includes: collecting service instructions of the special user to be served through the instruction acquisition module of the wheeled robot, and the service instructions include any one or more of voice instructions, text instructions and action instructions; identifying the service instructions to determine the service needs of the special user to be served, and the service needs include a demand subject; based on the demand subject of the service needs, scanning a specified environment through the scanning and recognition module of the wheeled robot to obtain location information of the demand subject in the specified environment; determining the demand type of the service demand, and the demand type of the service demand includes behavioral demand and voice demand; based on the demand type and the location information, generating auxiliary service content to realize auxiliary service for the special user to be served.

Description

Technical Field

[0001] This specification relates to the technical field of wheeled robots, and in particular to a special user assistance service method, device, and medium for a wheeled robot. Background Art

[0002] As manufacturing and artificial intelligence technologies mature, the younger generation is pursuing higher material and spiritual goals, and more and more of them are living independently, working or studying away from home. Furthermore, there are special groups among the elderly, including those with speech, hearing, visual, and behavioral impairments.

[0003] Most of the existing home service robots are controlled by terminals, and special groups of users cannot use them effectively. Therefore, the existing robots cannot meet the needs of special groups of users. Summary of the Invention

[0004] One or more embodiments of this specification provide a special user assistance service method, device and medium for a wheeled robot, which are used to solve the following technical problem: existing robots cannot meet the usage needs of special groups of users.

[0005] One or more embodiments of this specification adopt the following technical solutions:

[0006] One or more embodiments of the present specification provide a special user auxiliary service method of a wheeled robot, characterized in that the method includes: collecting service instructions of the special user to be served through the instruction acquisition module of the wheeled robot, wherein the service instructions include any one or more of voice instructions, text instructions and action instructions; identifying the service instructions to determine the service needs of the special user to be served, wherein the service needs include a demand subject; based on the demand subject of the service needs, scanning a specified environment through the scanning and recognition module of the wheeled robot to obtain location information of the demand subject in the specified environment; determining the demand type of the service demand, wherein the demand type of the service demand includes behavioral needs and voice needs; generating auxiliary service content based on the demand type and the location information to implement auxiliary services for the special user to be served according to the auxiliary service content, wherein the auxiliary service content includes executing behavioral actions corresponding to the behavioral needs through the wheeled robot or executing voice actions corresponding to the voice needs through the wheeled robot.

[0007] Furthermore, the service instructions of the special user to be served are collected through the instruction acquisition module of the wheeled robot, specifically including: collecting physiological signs of the special user to be served in advance through the wheeled robot, and determining the designated user type of the special user to be served based on the physiological signs, wherein the user type includes any one of a visual impairment type, an auditory impairment type and a language impairment type; based on the user type of the special user to be served, calling the designated instruction acquisition module of the wheeled robot, wherein the designated instruction acquisition module corresponds to the designated user type; and collecting the service instructions of the user to be served through the designated instruction acquisition module.

[0008] Furthermore, the service instruction is identified to determine the service needs of the special user to be served, specifically including: extracting the instruction features of the service instruction, and determining the feature type corresponding to the instruction features, wherein the feature type includes behavioral features and text features; determining the corresponding feature recognition library according to the feature type corresponding to the specified feature, wherein the feature recognition library includes a behavioral feature library and a text feature library, the behavioral feature library includes multiple behavioral features and the demand semantics corresponding to each behavioral feature, and the text feature library includes multiple fields and the demand semantics corresponding to each field; identifying the instruction features through the feature recognition library, generating the demand semantics corresponding to each instruction feature; extracting key fields from multiple demand semantics, determining the first demand semantics, and determining the demand subject of the service need of the special user to be served based on the first demand semantics, wherein the first demand semantics is used to represent the demand subject.

[0009] Furthermore, determining the requirement type of the service requirement specifically includes: extracting the action field of the multiple requirement semantics to obtain multiple action requirement fields; obtaining the behavior field corresponding to the preset behavior type requirement and the voice field corresponding to the voice type requirement; and determining the requirement type of the service requirement based on the action requirement field, the behavior field and the voice field.

[0010] Furthermore, based on the demand subject of the service demand, the designated environment is scanned by the scanning and recognition module of the wheeled robot to obtain the location information of the demand subject in the designated environment, specifically including: obtaining the demand subject in the service demand, wherein the demand subject includes daily necessities; scanning the designated environment by the scanning and recognition module of the wheeled robot to generate a designated environment scan map, wherein the designated environment scan map includes multiple daily necessities; performing feature extraction on the demand subject to obtain demand subject features; according to the demand subject features, determining the demand daily necessities corresponding to the demand subject in the designated environment scan map, and determining the location data of the demand daily necessities in the designated environment scan map.

[0011] Furthermore, when the demand type is the behavioral demand, auxiliary service content is generated based on the demand type and the location information to implement the auxiliary service for the special user to be served according to the auxiliary service content, specifically including: generating first location data of the special user to be served in a specified environment through the wheeled robot; controlling the wheeled robot to run to the demand subject according to the location information of the demand subject in the specified environment, so as to clamp the demand subject through the wheeled robot; and controlling the wheeled robot to run to the special user to be served based on the first location data to deliver the demand subject.

[0012] Furthermore, when the demand type is the voice-type demand, auxiliary service content is generated based on the demand type and the location information to implement auxiliary services for the special user to be served according to the auxiliary service content, specifically including: generating first location data of the special user to be served in a specified environment through the wheeled robot; generating second location data based on the first location data and the location information of the demand subject in the specified environment, wherein the second location data is used to represent the relative position relationship between the demand subject and the special user to be served; using the second location data as auxiliary service content, and voice broadcasting the auxiliary service content to the special user to be served.

[0013] Furthermore, based on the action requirement field, the behavior field and the voice field, the requirement type of the service requirement is determined, specifically including: performing similarity detection on the action requirement field and the behavior field to obtain a first similarity factor between the action requirement field and the behavior field; performing similarity detection on the action requirement field and the voice field to obtain a second similarity factor between the action requirement field and the voice field; when the first similarity factor of the action requirement field is greater than the second similarity factor, determining that the requirement type corresponding to the action requirement field is a behavior type requirement; when the first similarity factor of the action requirement field is less than the second similarity factor, determining that the requirement type corresponding to the action requirement field is a voice type requirement.

[0014] One or more embodiments of this specification provide a special user assistance service device for a wheeled robot, including:

[0015] at least one processor; and,

[0016] a memory communicatively connected to the at least one processor; wherein,

[0017] The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to:

[0018] The service instructions of the special user to be served are collected through the instruction acquisition module of the wheeled robot, wherein the service instructions include any one or more of voice instructions, text instructions and action instructions; the service instructions are identified to determine the service needs of the special user to be served, wherein the service needs include a demand subject; based on the demand subject of the service needs, the scanning and recognition module of the wheeled robot is used to scan the specified environment to obtain the location information of the demand subject in the specified environment; the demand type of the service demand is determined, wherein the demand type of the service demand includes behavioral demand and voice demand; based on the demand type and the location information, auxiliary service content is generated to implement auxiliary services for the special user to be served according to the auxiliary service content, wherein the auxiliary service content includes executing behavioral actions corresponding to the behavioral demand by the wheeled robot or executing voice actions corresponding to the voice demand by the wheeled robot.

[0019] One or more embodiments of this specification provide a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to:

[0020] The service instructions of the special user to be served are collected through the instruction acquisition module of the wheeled robot, wherein the service instructions include any one or more of voice instructions, text instructions and action instructions; the service instructions are identified to determine the service needs of the special user to be served, wherein the service needs include a demand subject; based on the demand subject of the service needs, the scanning and recognition module of the wheeled robot is used to scan the specified environment to obtain the location information of the demand subject in the specified environment; the demand type of the service demand is determined, wherein the demand type of the service demand includes behavioral demand and voice demand; based on the demand type and the location information, auxiliary service content is generated to implement auxiliary services for the special user to be served according to the auxiliary service content, wherein the auxiliary service content includes executing behavioral actions corresponding to the behavioral demand by the wheeled robot or executing voice actions corresponding to the voice demand by the wheeled robot.

[0021] At least one of the above-mentioned technical solutions adopted in the embodiments of this specification can achieve the following beneficial effects: through the above-mentioned technical solution, a variety of service instructions are set, combined with the actual situation of special users, and a variety of instruction input methods are provided, which can meet the usage needs of different types of special users and have many usage scenarios; service needs are determined according to service instructions, and service needs are divided into behavioral needs and voice needs, which can meet a variety of robot applicable scenarios, covering a variety of special users' special application scenarios, providing protection for the lives of special users, and realizing robot-based auxiliary services for special users. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are only some of the embodiments described in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work. In the drawings:

[0023] Figure 1 A flowchart of a special user assistance service method for a wheeled robot provided in an embodiment of this specification;

[0024] Figure 2 This is a schematic structural diagram of a special user assistance service device for a wheeled robot provided in an embodiment of this specification. DETAILED DESCRIPTION

[0025] To help those skilled in the art better understand the technical solutions in this specification, the following will provide a clear and complete description of the technical solutions in the embodiments of this specification, in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this specification without creative work should fall within the scope of protection of this specification.

[0026] As manufacturing and artificial intelligence technologies mature, the younger generation is pursuing higher material and spiritual goals, and more and more of them are living independently, working or studying away from home. Furthermore, there are special groups among the elderly, including those with speech, hearing, visual, and behavioral impairments.

[0027] Most of the existing home service robots are controlled by terminals, and special groups of users cannot use them effectively. Therefore, the existing robots cannot meet the needs of special groups of users.

[0028] The embodiments of this specification provide a special user assistance service method for a wheeled robot. It should be noted that the execution subject in the embodiments of this specification can be a server or any device with data processing capabilities. Figure 1 This is a flowchart of a special user assistance service method for a wheeled robot provided in an embodiment of this specification, such as Figure 1 As shown, it mainly includes the following steps:

[0029] Step S101: The instruction acquisition module of the wheeled robot collects the service instruction of the special user to be served.

[0030] The service instructions include any one or more of voice instructions, text instructions and action instructions.

[0031] It should be noted that the wheeled robot described in the embodiments of this specification comprises a smart car chassis structure and a robotic arm structure. The main advantages of choosing a four-wheeled robot are: good load-bearing capacity and sufficient obstacle-crossing capabilities for daily household use. Furthermore, its relatively simple structure and control mathematical expressions are relatively simple, allowing for speed control of the smart car through Simulink. Furthermore, considering the limited space available for daily household activities, and taking into account the limited space available for some families, we assume a 1-meter width for the activity space, and accordingly set the width and length of the smart car to 40 cm and 36 cm. This length is reasonable and meets the practical needs of most families. Furthermore, considering the electrical control of the smart car, sufficient space must be reserved for the controller and sufficient for carrying capacity. Controlling the four-wheeled smart car requires first determining the theoretical speed of the four in-wheel motors. Then, the corresponding controllers are controlled to change the PWM duty cycle in real time based on this speed, ultimately achieving speed and direction control of the smart car.

[0032] The service instructions of the special user to be served are collected through the instruction acquisition module of the wheeled robot, specifically including: collecting the physiological signs of the special user to be served in advance through the wheeled robot, and determining the designated user type of the special user to be served based on the physiological signs, wherein the user type includes any one of a visual impairment type, an auditory impairment type and a language impairment type; based on the user type of the special user to be served, calling the designated instruction acquisition module of the wheeled robot, wherein the designated instruction acquisition module corresponds to the designated user type; and collecting the service instructions of the user to be served through the designated instruction acquisition module.

[0033] In one embodiment of the present specification, a wheeled robot's instruction acquisition module collects service instructions from a special user to be served. This instruction acquisition module can be a voice acquisition module, a text input module, or a motion acquisition module. When a user first uses the wheeled robot, they register their user information, enter their face and fingerprint, and set a user type. The user type here indicates the special group to which the user belongs, including any of visual impairments, hearing impairments, and speech impairments. It can also include motor impairments, such as users who are bedridden and have difficulty moving.

[0034] In one embodiment of the present specification, a wheeled robot is used to collect physiological signs of a special user to be served. When the physiological signs are authenticated, the user registration information of the user is obtained to determine the designated user type corresponding to the user. Physiological signs here include physiological features such as face and fingerprint. According to the user type of the special user to be served, the designated instruction acquisition module of the wheeled robot is called. The designated instruction acquisition module corresponds to the designated user type, so that the service instructions of the user to be served can be collected through the designated instruction acquisition module. It should be noted that when the user type is visually impaired, the voice acquisition module is called so that the user can issue service instructions in the form of voice input; when the user type is auditory impaired, the text input module is called so that the user can input service instructions in the form of text input; when the user type is language impaired, the action acquisition module is called so that the user can input service instructions in the form of action expression.

[0035] Through the above technical solution, combined with the actual situation of special users, a variety of command input methods are provided to meet the usage needs of different types of special users, and there are many usage scenarios.

[0036] Step S102: Identify the service instruction and determine the service requirements of the special user to be served.

[0037] The service demand includes a demand subject.

[0038] Identify the service instruction and determine the service demand of the special user to be served, specifically including: extracting the instruction feature of the service instruction and determining the feature type corresponding to the instruction feature, wherein the feature type includes behavioral features and text features; determine the corresponding feature recognition library according to the feature type corresponding to the specified feature, wherein the feature recognition library includes a behavioral feature library and a text feature library, the behavioral feature library includes multiple behavioral features and the demand semantics corresponding to each behavioral feature, and the text feature library includes multiple fields and the demand semantics corresponding to each field; identify the instruction feature through the feature recognition library, and generate the demand semantics corresponding to each instruction feature; extract key fields from multiple demand semantics, determine the first demand semantic, and determine the demand subject of the service demand of the special user to be served based on the first demand semantic, wherein the first demand semantic is used to represent the demand subject.

[0039] In one embodiment of this specification, a service instruction is subjected to instruction feature extraction to determine a feature type. It should be noted that feature types herein include behavioral features and text features. For example, if a user inputs the instruction "take a red dress," feature extraction is performed on this instruction, with "take" as the corresponding behavioral feature and "a red dress" as the text feature. Suppose the user inputs the instruction "tell me where the red dress is," feature extraction is performed on this instruction, with "tell" as the behavioral feature and "where the red dress is" as the text feature. Based on the feature type corresponding to a specified feature, a corresponding feature recognition library is determined. The feature recognition library includes a behavioral feature library and a text feature library. The behavioral feature library includes multiple behavioral features and the corresponding requirement semantics for each behavioral feature. The text feature library includes multiple fields and the corresponding requirement semantics for each field. If the feature type is a behavioral feature, the behavioral feature library compares the behavioral feature with the requirement semantics to obtain the corresponding requirement semantics. If the feature type is a text feature, the text feature library compares the text feature with the requirement semantics to obtain the corresponding requirement semantics. It should be noted that the requirement semantics here can be the same expression of a field in the service instruction or a synonymous expression. The requirement semantics is used to convert the service instruction into an expression that can be recognized by the robot.

[0040] In one embodiment of the present specification, after converting the demand semantics of each feature, key fields are extracted from multiple demand semantics to obtain demand semantics used to represent the demand subject, such as "red clothes", so as to determine the demand subject of the service demand of the special user to be served based on the first demand semantics, and take red clothes as the demand subject of the service demand of the special user to be served.

[0041] Step S103 : Based on the demand subject of the service demand, the scanning and recognition module of the wheeled robot is used to scan the designated environment to obtain the location information of the demand subject in the designated environment.

[0042] Based on the demand subject of the service demand, the designated environment is scanned by the scanning and recognition module of the wheeled robot to obtain the location information of the demand subject in the designated environment, specifically including: obtaining the demand subject in the service demand, wherein the demand subject includes daily necessities; scanning the designated environment by the scanning and recognition module of the wheeled robot to generate a designated environment scan map, wherein the designated environment scan map includes multiple daily necessities; extracting features of the demand subject to obtain demand subject features; according to the demand subject features, determining the daily necessities corresponding to the demand subject in the designated environment scan map, and determining the location data of the daily necessities in the designated environment scan map.

[0043] In one embodiment of the present specification, a designated environment is scanned by a scanning and recognition module of a wheeled robot to obtain a scan map of the designated environment. The designated environment here can be the entire space of a living environment or a designated area. The demand subject in the service demand is determined, and the demand subject here can be daily necessities or daily necessities such as food. The demand subject is feature-recognized, and the recognition method here can be a convolutional neural network model to obtain the demand subject features. Based on the demand subject features, the demand daily necessities corresponding to the demand subject are determined in the scan map of the designated environment, and the location data of the daily necessities in the designated environment are determined.

[0044] It should be noted that a convolutional neural network is used to extract salient image representations. The neural network is trained using the PyTorch programming language on images in the training set to achieve classification within the dataset. This method primarily utilizes convolutional neural networks to learn the training targets. Convolutional neural networks are a type of feedforward neural network with a deep structure that incorporates convolutional computations and are a representative algorithm for deep learning. Convolutional neural networks possess the ability to learn representations and perform translation-invariant classification of input information based on their hierarchical structure. They are a typical multi-layer neural network that excels at machine learning problems related to images, especially large images. Through a series of methods, convolutional neural networks can continuously reduce the dimensionality of large-scale image recognition problems, ultimately enabling training.

[0045] Step S104: Determine the service requirement type.

[0046] The demand types of the service demand include behavioral demand and voice demand;

[0047] Determining the requirement type of the service requirement specifically includes: extracting the action field of the multiple requirement semantics to obtain multiple action requirement fields; obtaining the behavior field corresponding to the preset behavior type requirement and the voice field corresponding to the voice type requirement; determining the requirement type of the service requirement based on the action requirement field, the behavior field and the voice field.

[0048] Based on the action requirement field, the behavior field and the voice field, the requirement type of the service requirement is determined, specifically including: performing a similarity test on the action requirement field and the behavior field to obtain a first similarity factor between the action requirement field and the behavior field; performing a similarity test on the action requirement field and the voice field to obtain a second similarity factor between the action requirement field and the voice field; when the first similarity factor of the action requirement field is greater than the second similarity factor, determining that the requirement type corresponding to the action requirement field is a behavior requirement; when the first similarity factor of the action requirement field is less than the second similarity factor, determining that the requirement type corresponding to the action requirement field is a voice requirement.

[0049] In one embodiment of this specification, action fields are extracted from multiple semantic requirements to obtain multiple action requirement fields. Preset behavior fields corresponding to behavior-type requirements and voice fields corresponding to voice-type requirements are obtained. For example, behavior fields include "take," "get," and "bring," while voice fields include "tell," and "inform." Based on the action requirement fields, the behavior fields, and the voice fields, the requirement type of the service requirement is determined.

[0050] In one embodiment of the present specification, a similarity test is performed on the action requirement field and the behavior field to obtain a first similarity factor between the action requirement field and the behavior field. The similarity test here can be obtained by model calculation. A similarity test is performed on the action requirement field and the voice field to obtain a second similarity factor between the action requirement field and the voice field. When the first similarity factor of the action requirement field is greater than the second similarity factor, the requirement type corresponding to the action requirement field is determined to be a behavior requirement; when the first similarity factor of the action requirement field is less than the second similarity factor, the requirement type corresponding to the action requirement field is determined to be a voice requirement.

[0051] Step S105 : generating auxiliary service content based on the demand type and the location information, so as to implement the auxiliary service for the special user to be served according to the auxiliary service content.

[0052] Among them, the auxiliary service content includes performing behavioral actions corresponding to the behavioral requirements through the wheeled robot or performing voice actions corresponding to the voice requirements through the wheeled robot.

[0053] When the demand type is a behavioral demand, auxiliary service content is generated based on the demand type and the location information to implement the auxiliary service for the special user to be served according to the auxiliary service content, specifically including: generating the first location data of the special user to be served in the specified environment through the wheeled robot; controlling the wheeled robot to run to the demand subject according to the location information of the demand subject in the specified environment, so as to clamp the demand subject through the wheeled robot; based on the first location data, controlling the wheeled robot to run to the special user to be served and delivering the demand subject.

[0054] In one embodiment of the present specification, when the demand type is a behavioral demand, that is, when a robot is required to help a special user to be served retrieve an item, the wheeled robot locates the location of the special user to be served and generates position data of the special user to be served in a specified environment as first position data. Then, based on the position information of the item to be retrieved in the specified environment, the wheeled robot is controlled to move to the item, where the wheeled robot's gripping arm grasps the item. Based on the first position data, the wheeled robot is controlled to move to the special user to deliver the item.

[0055] It should be noted that there are currently two popular control methods for robotic arms: pneumatic and electrical. Each method has its own advantages and disadvantages. The advantages of pneumatic control include: using air as the working medium, which is environmentally friendly and pollution-free, quick response, and easy maintenance. Disadvantages include: poor operating speed stability, low operating torque, and high noise. Compared to pneumatic control, electrical control offers advantages: high precision, simple structure, high-precision control achieved through the use of high-precision sensors and controllers, low noise, and simplified auxiliary equipment. In summary, the electrical method will be used in the design of the robotic arm. To achieve comprehensive grasping requirements, a six-degree-of-freedom robotic arm was designed based on the finished product, with a total length of 76 cm. It can grasp objects within a range of 55 cm, which basically meets daily needs.

[0056] When the demand type is the voice demand, auxiliary service content is generated based on the demand type and the location information to implement auxiliary services for the special user to be served according to the auxiliary service content, specifically including: generating first location data of the special user to be served in a specified environment through the wheeled robot; generating second location data based on the first location data and the location information of the demand subject in the specified environment, wherein the second location data is used to represent the relative position relationship between the demand subject and the special user to be served; using the second location data as auxiliary service content, and voice broadcasting the auxiliary service content to the special user to be served.

[0057] In one embodiment of the present specification, when the demand type is a voice type, for example, the service instruction is "Please tell me where the red jacket is", the first position data of the special user to be served in the specified environment is generated by the wheeled robot; based on the first position data and the position information of the demand subject in the specified environment, the third position data of the demand subject relative to the special user to be served is generated; the second position data is used as the auxiliary service content, and the auxiliary service content is voice broadcast to the special user to be served, so as to inform the special user to be served of the voice auxiliary service that needs to be obtained through voice.

[0058] Through the above technical solution, a variety of service instructions are set, combined with the actual situation of special users, and a variety of instruction input methods are provided, which can meet the usage needs of different types of special users and have a large number of usage scenarios; service needs are determined according to service instructions, and service needs are divided into behavioral needs and voice needs, which can meet a variety of robot applicable scenarios, covering a variety of special users' special application scenarios, providing protection for the lives of special users, and realizing robot-based auxiliary services for special users.

[0059] The embodiment of this specification also provides a special user assistance service device for a wheeled robot, such as Figure 2 As shown, the device includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to:

[0060] The service instructions of the special user to be served are collected through the instruction acquisition module of the wheeled robot, wherein the service instructions include any one or more of voice instructions, text instructions and action instructions; the service instructions are identified to determine the service needs of the special user to be served, wherein the service needs include a demand subject; based on the demand subject of the service need, the designated environment is scanned through the scanning and recognition module of the wheeled robot to obtain the location information of the demand subject in the designated environment; the demand type of the service need is determined, wherein the demand type of the service need includes behavioral needs and voice needs; based on the demand type and the location information, auxiliary service content is generated to implement auxiliary services for the special user to be served according to the auxiliary service content, wherein the auxiliary service content includes executing behavioral actions corresponding to the behavioral needs through the wheeled robot or executing voice actions corresponding to the voice needs through the wheeled robot.

[0061] The embodiments of this specification also provide a non-volatile computer storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured as follows:

[0062] The service instructions of the special user to be served are collected through the instruction acquisition module of the wheeled robot, wherein the service instructions include any one or more of voice instructions, text instructions and action instructions; the service instructions are identified to determine the service needs of the special user to be served, wherein the service needs include a demand subject; based on the demand subject of the service need, the designated environment is scanned through the scanning and recognition module of the wheeled robot to obtain the location information of the demand subject in the designated environment; the demand type of the service need is determined, wherein the demand type of the service need includes behavioral needs and voice needs; based on the demand type and the location information, auxiliary service content is generated to implement auxiliary services for the special user to be served according to the auxiliary service content, wherein the auxiliary service content includes executing behavioral actions corresponding to the behavioral needs through the wheeled robot or executing voice actions corresponding to the voice needs through the wheeled robot.

[0063] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the device, apparatus, and non-volatile computer storage medium embodiments are generally similar to the method embodiments, so their descriptions are relatively simplified. For relevant details, refer to the descriptions of the method embodiments.

[0064] The foregoing description of this specification describes specific embodiments. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in an order different from that described in the embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order shown or the sequential order to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0065] The devices and media provided in the embodiments of this specification correspond one-to-one to the methods. Therefore, the devices and media also have similar beneficial technical effects to their corresponding methods. Since the beneficial technical effects of the methods have been described in detail above, the beneficial technical effects of the devices and media will not be repeated here.

[0066] Those skilled in the art will appreciate that the embodiments of this specification may be provided as methods, systems, or computer program products. Thus, this specification may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, this specification may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] This specification is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of this specification. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0068] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0070] In a typical configuration, a computing device includes one or more processors (CPUs), input / output interfaces, network interfaces, and memory.

[0071] Memory may include non-permanent storage in a computer-readable medium, in the form of random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.

[0072] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can be implemented using any method or technology to store information. Information can be computer-readable instructions, data structures, program modules, or other data. Examples of computer storage media include, but are not limited to, phase-change RAM (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer-readable media does not include transitory computer-readable media such as modulated data signals and carrier waves.

[0073] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0074] The foregoing description is merely one or more embodiments of this specification and is not intended to limit this specification. It will be apparent to those skilled in the art that various modifications and variations may be made to one or more embodiments of this specification. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of one or more embodiments of this specification are intended to be within the scope of the claims of this specification.

Claims

1. A special user assistance service method for a wheeled robot, characterized in that: The method comprises: The wheeled robot collects service instructions from the special user to be served through an instruction acquisition module, wherein the service instructions include any one or more of voice instructions, text instructions, and action instructions; Identifying the service instruction and determining the service demand of the special user to be served, wherein the service demand includes a demand subject; Based on the demand subject of the service demand, a designated environment is scanned by the scanning and recognition module of the wheeled robot to obtain the location information of the demand subject in the designated environment; Determining a demand type of the service demand, wherein the demand type of the service demand includes a behavior demand and a voice demand; Based on the demand type and the location information, auxiliary service content is generated to implement the auxiliary service for the special user to be served according to the auxiliary service content, wherein the auxiliary service content includes performing a behavioral action corresponding to the behavioral demand by the wheeled robot or performing a voice action corresponding to the voice demand by the wheeled robot; Identifying the service instruction and determining the service requirements of the special user to be served specifically includes: Extracting instruction features of the service instruction and determining a feature type corresponding to the instruction features, wherein the feature type includes a behavioral feature and a text feature; Determine a corresponding feature recognition library based on the feature type corresponding to the specified feature, wherein the feature recognition library includes a behavioral feature library and a text feature library. The behavioral feature library includes multiple behavioral features and the demand semantics corresponding to each behavioral feature, and the text feature library includes multiple fields and the demand semantics corresponding to each field. Identify the instruction features through the feature recognition library and generate the requirement semantics corresponding to each instruction feature; Extracting key fields from the plurality of demand semantics to determine a first demand semantic, and determining a demand subject of the service demand of the special user to be served based on the first demand semantic, wherein the first demand semantic is used to represent the demand subject; Determine the service requirement type, including: Extracting action fields from the multiple requirement semantics to obtain multiple action requirement fields; Obtain the behavior fields corresponding to the preset behavior requirements and the voice fields corresponding to the voice requirements; Determining a requirement type of the service requirement according to the action requirement field, the behavior field, and the voice field; Determining the requirement type of the service requirement according to the action requirement field, the behavior field, and the voice field, specifically including: Performing a similarity test on the action requirement field and the behavior field to obtain a first similarity factor between the action requirement field and the behavior field; Performing a similarity test on the action requirement field and the voice field to obtain a second similarity factor between the action requirement field and the voice field; When the first similarity factor of the action requirement field is greater than the second similarity factor, determining that the requirement type corresponding to the action requirement field is a behavior requirement; When the first similarity factor of the action requirement field is smaller than the second similarity factor, it is determined that the requirement type corresponding to the action requirement field is a voice requirement.

2. A special user assistance service method for a wheeled robot according to claim 1, characterized in that: The wheeled robot's instruction acquisition module collects service instructions for special users to be served, including: collecting physiological signs of the special user to be served in advance by the wheeled robot, and determining a designated user type of the special user to be served based on the physiological signs, wherein the user type includes any one of a visual impairment type, a hearing impairment type, and a language impairment type; Based on the user type of the special user to be served, calling a designated instruction acquisition module of the wheeled robot, wherein the designated instruction acquisition module corresponds to the designated user type; The service instructions of the special user to be served are collected through the designated instruction acquisition module.

3. The special user assistance service method of a wheeled robot according to claim 1, characterized in that: Based on the service demand subject, a scanning and recognition module of the wheeled robot is used to scan a designated environment to obtain location information of the demand subject in the designated environment, specifically including: Acquire a demand subject in the service demand, wherein the demand subject includes daily necessities; Scanning the designated environment by the scanning and recognition module of the wheeled robot to generate a designated environment scan map, wherein the designated environment scan map includes a plurality of daily necessities; Extracting features of the demand subject to obtain demand subject features; According to the characteristics of the demand subject, the demand daily necessities corresponding to the demand subject are determined in the specified environment scan map, and the location data of the demand daily necessities are determined in the specified environment scan map.

4. The special user assistance service method of a wheeled robot according to claim 1, characterized in that: When the demand type is the behavioral demand, generating auxiliary service content based on the demand type and the location information to implement the auxiliary service for the special user to be served according to the auxiliary service content, specifically including: generating, by the wheeled robot, first position data of the special user to be served in a specified environment; According to the position information of the demand subject in the specified environment, controlling the wheeled robot to move to the demand subject, so as to grasp the demand subject by the wheeled robot; Based on the first position data, the wheeled robot is controlled to run to the special user to be served and deliver the demand subject.

5. The special user assistance service method of a wheeled robot according to claim 1, characterized in that: When the demand type is the voice demand, generating auxiliary service content based on the demand type and the location information to implement the auxiliary service for the special user to be served according to the auxiliary service content, specifically including: generating, by the wheeled robot, first position data of the special user to be served in a specified environment; generating second location data according to the first location data and location information of the demand subject in the specified environment, wherein the second location data is used to represent the relative location relationship between the demand subject and the special user to be served; The second position data is used as auxiliary service content, and the auxiliary service content is voice broadcasted to the special user to be served.

6. A special user assistance service device for a wheeled robot, characterized in that: The device comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

7. A non-volatile computer storage medium storing computer executable instructions, characterized in that: The computer executable instructions are configured to execute the method according to any one of claims 1 to 5.

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