An intelligent interactive reminding method and device, a robot and a storage medium

Abstract

The application discloses an intelligent interaction reminding method and device, a robot and a storage medium. The method comprises the following steps: obtaining relative position information of a target vehicle and the robot; the relative position information comprises a lane relative position and a relative distance; determining target interaction prompt information according to the lane relative position and the relative distance, and displaying the target interaction prompt information; and adjusting a driving state of the robot and display content according to a receiving state of interaction feedback information corresponding to the target interaction prompt information. The technical scheme of the embodiment of the application enables the robot to preferably interact with the target vehicle when performing a road cleaning task, reduces active avoidance actions, reduces time waste and cleaning coverage reduction caused by avoidance, enhances interaction in a task execution process by receiving interaction feedback information of the target vehicle, and simultaneously adjusts the driving state of the robot in a timely manner according to an interaction result, thereby improving the intelligence of the robot and the safety of task execution.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an intelligent interactive reminder method, device, robot, and storage medium. Background Technology

[0002] With the rapid development of automation and artificial intelligence, robots have been applied in various scenarios. For example, robots can be applied to cleaning scenarios. As a labor-intensive industry with high repetition, the cleaning industry is undergoing a transformation period with labor shortages and rising labor costs. Robots, through autonomous driving technology, can complete simple and repetitive cleaning tasks, greatly reducing labor costs and realizing the automation of cleaning work.

[0003] When robots perform road cleaning tasks, they are often affected by passing vehicles. To ensure cleaning safety, existing technologies often require robots to take active avoidance actions, such as directly bypassing passing vehicles or stopping on the side of the road when a vehicle is passing by and then performing the cleaning task after the vehicle has passed.

[0004] However, by detouring around passing vehicles during its journey, a large number of uncleaned areas are left behind. To ensure the integrity of the cleaning, the robot needs to return to clean these areas; otherwise, it is difficult to guarantee the cleaning coverage. While stopping at the side of the road when vehicles are passing by can ensure safety to a large extent, there is a lot of blank time when the robot cannot perform cleaning tasks, which reduces the cleaning efficiency of the robot and thus reduces the user experience. Summary of the Invention

[0005] This invention provides an intelligent interactive reminder method, device, robot, and storage medium, which enriches the content of interactive reminders between the robot and passing vehicles when performing road cleaning tasks, increases the intensity of reminders to passing vehicles, reduces the robot's active avoidance actions, and improves cleaning coverage and cleaning efficiency.

[0006] According to one aspect of the present invention, an intelligent interactive reminder method is provided, the method comprising:

[0007] Obtain the relative position information between the target vehicle and the robot; the relative position information includes the lane relative position and relative distance;

[0008] The target interactive prompt information is determined based on the relative position and relative distance of the lanes, and then displayed.

[0009] Adjust the robot's driving state and displayed content based on the reception status of the interactive feedback information corresponding to the target interactive prompts.

[0010] According to another aspect of the present invention, an intelligent interactive reminder device is provided, the device comprising:

[0011] The location information acquisition module is used to acquire the relative position information between the target vehicle and the robot; the relative position information includes the lane relative position and relative distance.

[0012] The prompt information display module is used to determine the target interactive prompt information based on the lane's relative position and relative distance, and to display the target interactive prompt information;

[0013] The status adjustment module is used to adjust the robot's driving status and displayed content based on the reception status of the interactive feedback information corresponding to the target interactive prompt information.

[0014] According to another aspect of the present invention, a robot is provided, the robot comprising:

[0015] Information display device, used to display target interactive prompts;

[0016] An information receiving device is used to receive interactive feedback information corresponding to the target interactive prompt information;

[0017] At least one processor, and

[0018] A memory that is communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to execute the intelligent interactive reminder method of any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute and implement the intelligent interactive reminder method of any embodiment of the present invention.

[0021] This invention discloses an intelligent interactive reminder method, device, robot, and storage medium. It acquires the relative position information of the target vehicle and the robot, including the lane relative position and relative distance. It determines and displays the target interactive reminder information based on the lane relative position and relative distance. It adjusts the robot's driving state and displayed content based on the reception status of the interactive feedback information corresponding to the target interactive reminder information. The technical solution provided by this invention determines whether the target vehicle and the robot are in the same lane and the relative distance between them based on the acquired relative position information of the target vehicle and the robot. Then, it comprehensively determines the target interactive prompt information that the robot should display to the target vehicle. This allows the target vehicle to provide interactive feedback to the robot after receiving the target interactive prompt information. The robot then adjusts its driving state and displayed content based on the received interactive feedback information. When performing road cleaning tasks, the robot prioritizes interactive prompts to target vehicles, reducing active avoidance actions. This reduces wasted time and reduced cleaning coverage caused by avoidance. Furthermore, because the information sent to the target vehicle is interactive prompt information, it can receive interactive feedback information from the target vehicle, enhancing the interactivity during task execution. Simultaneously, the robot's driving state can be adjusted in a timely manner based on the interaction results, improving the robot's intelligence and the safety of task execution.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of an intelligent interactive reminder method provided in an embodiment of the present invention;

[0025] Figure 2 This is a flowchart of another intelligent interactive reminder method provided in an embodiment of the present invention;

[0026] Figure 3 This is a flowchart illustrating a method for determining target interactive prompt information based on lane line information, as provided in an embodiment of the present invention.

[0027] Figure 4 This is a schematic diagram of the structure of an intelligent interactive reminder device provided in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of a robot provided in an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Figure 1 This is a flowchart of an intelligent interactive reminder method provided by an embodiment of the present invention. This embodiment is applicable to situations where a robot interacts with vehicles passing by on the road to provide safety reminders while performing road cleaning tasks. The method can be executed by an intelligent interactive reminder device, which can be implemented in hardware and / or software. The intelligent interactive reminder device can be configured on a robot, which can be an intelligent motion robot for performing cleaning tasks, or other electronic devices with intelligent driving and vehicle avoidance requirements. The present invention does not impose any limitations on this.

[0032] like Figure 1 As shown in the figure, an intelligent interactive reminder method provided by an embodiment of the present invention specifically includes the following steps:

[0033] S101. Obtain the relative position information of the target vehicle and the robot.

[0034] The relative position information includes the lane's relative position and relative distance.

[0035] In this embodiment, the target vehicle can be specifically understood as the vehicle closest to the robot during the road cleaning task, that is, the vehicle that will pass through the robot's cleaning area. Relative position information can be specifically understood as information representing the target vehicle's distance and orientation relative to the robot. Lane relative position can be specifically understood as information indicating whether the target vehicle and the robot are in the same lane. Relative distance can be specifically understood as the straight-line distance between the target vehicle and the robot in the direction of travel.

[0036] Specifically, when performing road cleaning tasks, the robot acquires environmental information around it using sensors, cameras, or other information acquisition devices placed in front of and behind it. This information is then categorized and identified, and if vehicles are present, the vehicle closest to the robot is designated as the target vehicle. Based on the acquired environmental information, the relative distance between the target vehicle and the robot in the direction of travel is determined. Simultaneously, lane line information is extracted from the environmental information to clarify the relative position of the target vehicle and the robot within their respective lanes. Combining the relative lane position and relative distance, the relative position information between the target vehicle and the robot is determined.

[0037] S102. Determine the target interactive prompt information based on the relative position and relative distance of the lanes, and display the target interactive prompt information.

[0038] In this embodiment, the target interactive prompt information can be specifically understood as information displayed by the robot to the target vehicle, including feedback content expected to be received by the target vehicle, used to prompt the target vehicle to ensure safety.

[0039] Specifically, based on the relative position and distance between the lanes, the risk of a collision between the target vehicle and the robot can be determined. Based on the different risks, corresponding target interactive prompts containing feedback that the target vehicle is expected to receive are generated. The target interactive prompts are then displayed in the direction of the target vehicle by an information display device set on the robot, so that the driver of the target vehicle can notice the target interactive prompts to the greatest extent.

[0040] S103. Adjust the robot's driving state and displayed content according to the reception status of the interactive feedback information corresponding to the target interactive prompt information.

[0041] In this embodiment, the interactive feedback information can be specifically understood as information provided by the target vehicle, corresponding to the target interactive prompt information, indicating that the driver of the target vehicle has received the prompt. For example, the interactive feedback information may be horn honking information of a preset number and frequency, or light flare information of a preset number and frequency, etc., and this embodiment of the invention does not impose any limitations on this.

[0042] Specifically, since the target interaction prompts contain the expected feedback from the target vehicle's driver, after the robot displays the prompts, it will begin receiving feedback from the target vehicle. This feedback is received via sensors, cameras, or other information acquisition devices positioned before and after the robot. Based on the received feedback, the robot determines whether the target vehicle has received the safety prompts and adjusts its driving behavior and displayed content accordingly. This ensures the robot operates normally and interacts with the target vehicle after receiving the prompts, or it allows the robot to take timely safety measures even if the target vehicle has not received the prompts, thus guaranteeing the safety of both the robot and the target vehicle.

[0043] The technical solution of this invention involves acquiring the relative position information between the target vehicle and the robot; the relative position information includes the lane relative position and relative distance; determining and displaying target interactive prompt information based on the lane relative position and relative distance; and adjusting the robot's driving state and displayed content based on the reception status of the interactive feedback information corresponding to the target interactive prompt information. The technical solution provided by this invention determines whether the target vehicle and the robot are in the same lane and the relative distance between them based on the acquired relative position information of the target vehicle and the robot. Then, it comprehensively determines the target interactive prompt information that the robot should display to the target vehicle. This allows the target vehicle to provide interactive feedback to the robot after receiving the target interactive prompt information. The robot then adjusts its driving state and displayed content based on the received interactive feedback information. When performing road cleaning tasks, the robot prioritizes interactive prompts to target vehicles, reducing active avoidance actions. This reduces wasted time and reduced cleaning coverage caused by avoidance. Furthermore, because the information sent to the target vehicle is interactive prompt information, it can receive interactive feedback information from the target vehicle, enhancing the interactivity during task execution. Simultaneously, the robot's driving state can be adjusted in a timely manner based on the interaction results, improving the robot's intelligence and the safety of task execution.

[0044] Figure 2 This is a flowchart of another intelligent interactive reminder method provided by an embodiment of the present invention. This embodiment is further optimized based on the above embodiment, such as... Figure 2 As shown, the specific steps include the following:

[0045] S201. Obtain the relative position information of the target vehicle and the robot.

[0046] The relative position information includes the lane's relative position and relative distance.

[0047] S202. Determine whether the relative positions of the lanes are different lanes. If yes, proceed to step S203; otherwise, proceed to step S204.

[0048] Specifically, the relative positions of the target vehicle and the robot in the lanes are used to determine whether they are in different lanes. If they are, it can be assumed that the target vehicle will likely pass the robot, and the risk of collision is low. However, there is still a possibility that the target vehicle may change lanes and cause a collision. In this case, step S203 is executed to clarify the prompt information for dealing with the target vehicle. If not, it can be assumed that the target vehicle and the robot are traveling in the same lane in the same direction or in opposite directions, and there is a possibility of a head-on collision or a rear-end collision. In this case, step S204 is executed to clarify the prompt information for dealing with the target vehicle.

[0049] S203. Obtain lane line information, determine the target interactive prompt information based on the lane line information, and execute step S205.

[0050] In this embodiment, lane line information can be specifically understood as information indicating whether lane changing is permitted between the target vehicle and the robot. It should be clarified that, according to Chinese regulations, lane changing is not allowed when lane lines are solid; lane changing between different lanes is only permitted when lane lines are dashed. Therefore, the possibility of the target vehicle changing lanes can be determined based on the acquired lane line information.

[0051] Specifically, after determining that the target vehicle and the robot are in different lanes, the image acquisition device installed on the robot acquires the lane line image between the target vehicle and the robot, and then extracts the lane line information based on the lane line image to determine whether there is a possibility that the target vehicle may change lanes into the lane where the robot is located, thereby determining the risk of collision between the target vehicle and the robot. The target interactive prompt information is determined according to the level of risk, and step S205 is executed.

[0052] Furthermore, Figure 3 This invention provides a flowchart illustrating how to determine target interactive prompt information based on lane line information, as shown in the embodiment of the invention. Figure 3 As shown, the specific steps include the following:

[0053] S2031. Determine whether the lane line information is a solid line. If yes, proceed to step S2032; otherwise, proceed to step S2033.

[0054] Specifically, since vehicles are not allowed to change lanes when the lane line is a solid line, it can be assumed that the target vehicle will not switch lanes to the robot's lane when the lane line information is confirmed to be a solid line. In other words, the possibility of a collision is very small. At this time, it is only necessary to inform passing vehicles that the robot is performing a cleaning task and to drive carefully. Step S2032 is then executed. When the lane line is confirmed to be a dashed line, it can be assumed that the target vehicle may switch lanes to the robot's lane. Collisions may occur during and after the switch. At this time, step S2033 is executed to generate corresponding target interactive prompt information according to the actual situation.

[0055] S2032. Set the preset working status prompt as the target interactive prompt information.

[0056] In this embodiment, the preset working status prompt can be understood as a prompt message used to inform the outside world that the robot is performing a cleaning task. It may not include prompts for feedback content, but only needs to clearly indicate the working status of the robot.

[0057] For example, the preset working status prompt may be "Cleaning operation in progress, please drive carefully!", and this embodiment of the invention does not limit this.

[0058] S2033. Obtain the historical driving status of the target vehicle and determine the lane switching probability based on the historical driving status.

[0059] In this embodiment, historical driving status can be specifically understood as the target vehicle's speed, direction, and other information that can be used to predict the target vehicle's trajectory within a preset historical time period. Lane switching probability can be specifically understood as the probability that the target vehicle switches to the robot's lane.

[0060] Specifically, the system acquires driving data of the target vehicle within a preset historical time period, such as its speed, direction, and turn signal illumination status. Based on the acquired speed and direction, it predicts the target vehicle's trajectory, or obtains the lane-changing probability based on the turn signal illumination status. It should be noted that any trajectory prediction method can be used for trajectory prediction; this embodiment of the invention does not impose any restrictions. Furthermore, when the turn signal is illuminated, the target vehicle is considered to have a higher probability of changing lanes, and the lane-changing probability can be set to a relatively high value. Optionally, different weights can be assigned to the driving trajectory and turn signal illumination status to obtain the lane-changing probability corresponding to the target vehicle's driving state.

[0061] S2034. Determine whether the lane switching probability is greater than the preset probability threshold. If yes, proceed to step S2035; otherwise, proceed to step S2032.

[0062] In this embodiment, the preset probability threshold can be understood as a threshold set in advance according to the actual situation to determine the probability of a vehicle changing lanes.

[0063] Specifically, when the lane switching probability is greater than the preset probability threshold, it can be considered that the target vehicle is highly likely to switch to the robot's lane, and the collision risk is high. At this time, step S2035 is executed. When the lane switching probability is less than or equal to the preset probability threshold, it can be considered that the target vehicle is less likely to switch to the robot's lane. At this time, it can be considered that the scenario faced by the robot is consistent with the lane line information when it is a solid line. Therefore, step S2032 can be returned to be executed.

[0064] S2035. Set the preset switching alarm prompt as the target interactive prompt information.

[0065] In this embodiment, the preset lane switching alarm can be understood as a message used to inform other vehicles that the robot is performing a cleaning task, thereby prompting them not to switch lanes.

[0066] For example, the preset switching alarm prompt can be "Cleaning operation in progress, please do not change lanes!", and this embodiment of the invention does not impose any restrictions on it.

[0067] S204. Determine the target interactive prompt information based on the relative distance, and proceed to step S205.

[0068] Specifically, after determining that the target vehicle and the robot are in the same lane, the risk of collision between the two can be considered to be different depending on the distance between them. The target interactive prompt information can be determined according to the level of risk, and step S205 is executed.

[0069] Furthermore, the target interaction prompt information is determined based on the relative distance, which can be divided into the following cases:

[0070] 1) If the relative distance is greater than the first preset distance, the preset safety interaction prompt will be determined as the target interaction prompt information.

[0071] 2) If the relative distance is greater than the second preset distance and less than or equal to the first preset distance, then the preset deceleration interaction prompt is determined as the target interaction prompt information.

[0072] Furthermore, when the preset deceleration interaction prompt is determined as the target interaction prompt information, the robot's driving state is adjusted to a deceleration state.

[0073] 3) If the relative distance is less than or equal to the second preset distance, the preset emergency avoidance prompt will be determined as the target interactive prompt information.

[0074] Furthermore, when the preset emergency avoidance prompt is determined as the target interactive prompt information, the robot's driving state is adjusted to an avoidance and stopping state.

[0075] The preset safety interaction prompts, preset deceleration interaction prompts, and preset emergency avoidance prompts all include interactive feedback information.

[0076] In this embodiment, the first preset distance and the second preset distance are predetermined based on actual conditions and are used to assess the collision risk between the robot and the target vehicle. The first preset distance is greater than the second preset distance. The preset safety interaction prompt can be understood as a message indicating that the robot is performing a cleaning task and requesting the other party to give way and provide feedback upon receipt. The preset deceleration interaction prompt can be understood as a message indicating that the robot is in a deceleration state and is performing a cleaning task, requesting the other party to give way and provide feedback upon receipt. The preset emergency avoidance prompt can be understood as a message indicating that the robot has taken emergency avoidance measures against an approaching vehicle, requesting the other party to give way and provide feedback upon receipt. The interactive feedback prompt information can be understood as information used to provide feedback to the robot, including the feedback behavior the robot expects.

[0077] For example, a preset safety interaction prompt could be "Cleaning operation in progress, please give way. Please honk twice to reply, thank you!"; a preset deceleration interaction prompt could be "Robot has decelerated, please slow down and give way. Please honk twice to reply, thank you!"; a preset emergency avoidance prompt could be "I have pulled over, please give way. Please honk twice to reply, thank you!". The above prompts are merely exemplary prompts provided by this embodiment of the invention, and the prompt statements can be adapted to the actual situation. This embodiment of the invention does not impose any limitations on this.

[0078] Specifically, when the relative distance is greater than the first preset distance, the target vehicle and the robot are considered to be far apart, and the possibility of a collision is low. In this case, it is only necessary to inform the target vehicle that the robot is performing a cleaning task and to ensure that the driver of the target vehicle notices the prompt information. Therefore, the preset safety interaction prompt can be set as the target interaction prompt information. When the relative distance is between the first and second preset distances, the target vehicle and the robot are considered to be relatively close, and the possibility of a collision is high. In this case, the robot can be controlled to enter a deceleration state to minimize the risk of a collision. At the same time, the preset deceleration interaction prompt is set as the target interaction prompt information so that the driver of the target vehicle can receive the prompt information that the robot has decelerated and the target vehicle needs to actively avoid it. When the relative distance is less than or equal to the second preset distance, the target vehicle and the robot are considered to be very close, and a collision may occur at any time. To avoid a collision, the robot's driving state is adjusted to an avoidance and stopping state first. At the same time, the preset emergency avoidance prompt is set as the target interaction prompt information so that the driver of the target vehicle can receive the prompt information that the robot has pulled over and the target vehicle needs to change lanes to avoid it.

[0079] S205. Send attention acquisition information to the target vehicle.

[0080] The attention acquisition information includes at least one of light projection information and sound information.

[0081] In this embodiment, attention acquisition information can be specifically understood as information used to attract the attention of the target vehicle driver so that he or she can notice the target interactive prompt information displayed by the robot.

[0082] For example, if the attention acquisition information is light flare information, then the light flare can be fired a preset number of times in the direction of the target vehicle to attract the attention of the target vehicle driver; if the attention acquisition information is sound information, then an sound reminder can be emitted in the direction of the target vehicle to attract the attention of the target vehicle driver.

[0083] S206. Determine whether the robot has received interactive feedback information corresponding to the target interactive prompt information. If yes, proceed to step S207; otherwise, proceed to step S208.

[0084] Specifically, by using sensors, cameras, or other information acquisition devices installed in front of and behind the robot, it is detected whether interactive feedback information corresponding to the target interactive prompt information is received. When received, it can be assumed that the driver of the target vehicle has received the prompt from the robot and will perform operations such as changing lanes or slowing down to ensure that the target vehicle and the robot will not collide. At this time, step S207 is executed. When not received, it can be assumed that the driver of the target vehicle has not received the prompt from the robot and the robot needs to actively avoid the target vehicle to avoid the collision. At this time, step S208 is executed.

[0085] S207. Adjust the robot's driving status to normal driving status and adjust the displayed content to the preset thank-you message.

[0086] Specifically, since the driver of the target vehicle has received the prompt, it can be assumed that the target vehicle will actively avoid the robot. The robot only needs to continue to perform its cleaning task normally. Therefore, the robot's driving state can be readjusted to the normal driving state when performing the cleaning task. At the same time, to thank the driver of the target vehicle for actively avoiding the robot, the robot's display content is changed from the target interactive prompt information to a preset thank-you message to enhance interactivity and safety and improve the driver's experience.

[0087] S208. Keep the robot's driving status and displayed content unchanged.

[0088] Specifically, since the driver of the target vehicle did not receive a prompt, the robot can prioritize avoiding the target vehicle according to the preset avoidance rules. During the avoidance process, the displayed content remains unchanged, and the target interactive prompt content is continuously displayed to the target vehicle to ensure the visibility of the prompts and the safety of the cleaning process as much as possible.

[0089] The technical solution of this invention addresses situations where the robot and the target vehicle are in the same lane or different lanes, and at different distances within the same lane. It determines the probability of a collision between the target vehicle and the robot, and then determines corresponding interactive prompts based on the probability. This interactive prompts, along with a vast amount of feedback information, are displayed to the target vehicle. Based on the feedback from the target vehicle, the robot's driving state and the displayed content are adjusted, enabling interaction between the target vehicle and the robot. This allows the robot to prioritize interacting with target vehicles when performing road cleaning tasks, reducing active avoidance actions, minimizing wasted time and reduced cleaning coverage due to avoidance, and improving the robot's intelligence and the safety of task execution.

[0090] Figure 4 This is a schematic diagram of the structure of an intelligent interactive reminder device provided in an embodiment of the present invention, as shown below. Figure 4As shown, the intelligent interactive reminder device includes: a location information acquisition module 31, a prompt information display module 32, and a status adjustment module 33.

[0091] The system includes a location information acquisition module 31, which acquires the relative position information between the target vehicle and the robot; the relative position information includes the lane relative position and the relative distance; a prompt information display module 32, which determines the target interactive prompt information based on the lane relative position and the relative distance, and displays the target interactive prompt information; and a state adjustment module 33, which adjusts the robot's driving state and the displayed content based on the reception state of the interactive feedback information corresponding to the target interactive prompt information.

[0092] The technical solution of this invention determines whether the target vehicle and the robot are in the same lane and the relative distance between them based on the acquired relative position information of the target vehicle and the robot. Then, it comprehensively determines the target interactive prompt information that the robot should display to the target vehicle. This allows the target vehicle to provide interactive feedback to the robot after receiving the target interactive prompt information. The robot then adjusts its driving state and displayed content based on the received interactive feedback information. When performing road cleaning tasks, the robot prioritizes interactive prompts to target vehicles, reducing active avoidance actions. This minimizes time wastage and reduced cleaning coverage caused by avoidance. Furthermore, since the information sent to the target vehicle is interactive prompt information, it can receive interactive feedback information from the target vehicle, enhancing interactivity during task execution. Simultaneously, the robot's driving state can be adjusted promptly based on the interaction results, improving the robot's intelligence and the safety of task execution.

[0093] Optionally, the prompt information display module 32 includes:

[0094] The first information determination unit is used to obtain lane line information and determine target interactive prompt information based on the lane line information if the relative positions of the lanes are different lanes.

[0095] The second information determination unit is used to determine the target interactive prompt information based on the relative distance if the relative positions of the lanes are in the same lane.

[0096] The information display unit is used to display interactive prompts for the target audience.

[0097] Optionally, the first information determining unit is specifically used for:

[0098] If the lane line information is a solid line, then the preset working status prompt will be determined as the target interactive prompt information;

[0099] If the lane line information is a dashed line, the historical driving status of the target vehicle is obtained, the lane switching probability is determined based on the historical driving status, and the target interactive prompt information is determined based on the lane switching probability.

[0100] Furthermore, the target interactive prompt information is determined based on the lane switching probability, including:

[0101] If the lane switching probability is greater than the preset probability threshold, the preset lane switching alarm prompt will be determined as the target interactive prompt information.

[0102] If the lane switching probability is less than or equal to the preset probability threshold, then the preset working status prompt will be determined as the target interactive prompt information.

[0103] Optionally, the second information determining unit is specifically used for:

[0104] If the relative distance is greater than the first preset distance, then the preset safety interaction prompt will be determined as the target interaction prompt information;

[0105] If the relative distance is greater than the second preset distance and less than or equal to the first preset distance, then the preset deceleration interaction prompt will be determined as the target interaction prompt information.

[0106] If the relative distance is less than or equal to the second preset distance, the preset emergency avoidance prompt will be determined as the target interactive prompt information;

[0107] The preset safety interaction prompts, preset deceleration interaction prompts, and preset emergency avoidance prompts all include interactive feedback information.

[0108] Optional, the intelligent interactive reminder device also includes:

[0109] The attention acquisition module is used to send attention acquisition information to the target vehicle after displaying the target interactive prompt information; wherein the attention acquisition information is at least one of light ejection information and sound information.

[0110] Furthermore, if the target interactive prompt is a preset deceleration interactive prompt, then when displaying the target interactive prompt, it also includes: adjusting the robot's driving state to a deceleration state.

[0111] Furthermore, if the target interactive prompt is a preset emergency avoidance prompt, then when displaying the target interactive prompt, it also includes: adjusting the robot's driving state to an avoidance and docking state.

[0112] Optional, the status adjustment module 33 is specifically used for:

[0113] If no interactive feedback is received corresponding to the target interactive prompt, the robot's driving status and displayed content will remain unchanged.

[0114] If an interactive feedback message corresponding to the target interactive prompt is received, the robot's driving state will be adjusted to normal driving state, and the displayed content will be adjusted to the preset thank-you message.

[0115] The intelligent interactive reminder device provided in this embodiment of the invention can execute the intelligent interactive reminder method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0116] Figure 5 This is a schematic diagram of the structure of a robot provided in an embodiment of the present invention, such as... Figure 5 As shown, the robot includes: an information display device 41, an information receiving device 42, at least one processor 43, a memory 44 communicatively connected to the at least one processor, an input device 45, and an output device 46. Figure 5 Taking a processor 43 as an example; the information display device 41, information receiving device 42, processor 43, memory 44, input device 45, and output device 46 in the robot can be connected via a bus or other means. Figure 5 Taking the example of a connection between China and Israel via a bus.

[0117] Among them, the information display device 41 is used to display target interactive prompt information;

[0118] The information receiving device 42 is used to receive interactive feedback information corresponding to the target interactive prompt information.

[0119] The memory 44, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the intelligent interactive reminder method in this embodiment of the invention. The processor 43 executes various functional applications and data processing of the robot by running the software programs, instructions, and modules stored in the memory 44, thereby realizing the aforementioned intelligent interactive reminder method.

[0120] The memory 44 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on terminal usage. Furthermore, the memory 44 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 44 may further include memory remotely located relative to the processor 43, which can be connected to the robot via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0121] Input device 45 can be used to receive input digital or character information, and to generate key signal inputs related to user settings and function control of the robot. Output device 46 may include display devices such as a display screen.

[0122] This invention also provides a computer-readable storage medium storing computer instructions that can be used to cause a processor to execute an intelligent interactive reminder method, the method comprising:

[0123] Based on image information and radar point cloud information along the robot's direction of travel, the presence of moving obstacles is determined, and when moving obstacles are present, their type and motion information are determined.

[0124] If the type information is a large obstacle and the motion information is moving towards each other, then the relative position of the robot and the narrow passage is determined based on the robot's current position, and a reference path is determined based on the relative position, the current position, and the map path information.

[0125] Control the robot to travel along a reference path to avoid moving obstacles.

[0126] Of course, the computer instructions of the computer-readable storage medium provided in the embodiments of the present invention are not limited to the above-described method operations, but can also execute related operations in the intelligent interactive reminder method provided in any embodiment of the present invention.

[0127] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.

[0128] It is worth noting that in the above-described device embodiments, the various units and modules are divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0129] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0130] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A smart interactive reminder method, characterized in that, include: Obtain the relative position information of the target vehicle and the robot; The relative position information includes the lane's relative position and relative distance; The target interactive prompt information is determined based on the relative position of the lane and the relative distance, and the target interactive prompt information is displayed. Based on the reception status of the interactive feedback information corresponding to the target interactive prompt information, adjust the robot's driving status and displayed content; The step of determining the target interactive prompt information based on the relative position of the lane and the relative distance includes: If the relative positions of the lanes are different lanes, then the lane line information is obtained, and the target interactive prompt information is determined based on the lane line information; If the relative positions of the lanes are in the same lane, then the target interactive prompt information is determined based on the relative distance; The step of determining the target interactive prompt information based on the lane line information includes: If the lane line information is a solid line, then the preset working status prompt will be determined as the target interactive prompt information; If the lane line information is a dashed line, then the historical driving status of the target vehicle is obtained, the lane switching probability is determined based on the historical driving status, and the target interactive prompt information is determined based on the lane switching probability.

2. The method according to claim 1, characterized in that, The step of determining the target interactive prompt information based on the lane switching probability includes: If the lane switching probability is greater than a preset probability threshold, then the preset lane switching alarm prompt will be determined as the target interactive prompt information; If the lane switching probability is less than or equal to a preset probability threshold, then the preset working status prompt is determined as the target interactive prompt information.

3. The method according to claim 1, characterized in that, The step of determining the target interactive prompt information based on the relative distance includes: If the relative distance is greater than the first preset distance, then the preset safety interaction prompt is determined as the target interaction prompt information; If the relative distance is greater than the second preset distance and less than or equal to the first preset distance, then the preset deceleration interaction prompt is determined as the target interaction prompt information; If the relative distance is less than or equal to the second preset distance, then the preset emergency avoidance prompt is determined as the target interactive prompt information; The preset safety interaction prompt, the preset deceleration interaction prompt, and the preset emergency avoidance prompt all include interactive feedback prompt information.

4. The method according to claim 1, characterized in that, After displaying the target interactive prompt information, the method further includes: Send attention acquisition information to the target vehicle; The attention acquisition information is at least one of light projection information and sound information.

5. The method according to claim 3, characterized in that, If the target interactive prompt is a preset deceleration interactive prompt, then when displaying the target interactive prompt, the method further includes: The robot's driving state is adjusted to a deceleration state.

6. The method according to claim 3, characterized in that, If the target interactive prompt is a preset emergency avoidance prompt, then when displaying the target interactive prompt, the method further includes: Adjust the robot's driving state to an avoidance and docking state.

7. The method according to claim 1, characterized in that, The step of adjusting the robot's driving state and displayed content based on the reception status of the interactive feedback information corresponding to the target interactive prompt information includes: If no interactive feedback information corresponding to the target interactive prompt information is received, the robot's driving state and displayed content will remain unchanged. If an interactive feedback message corresponding to the target interactive prompt message is received, the robot's driving state is adjusted to normal driving state, and the displayed content is adjusted to a preset thank-you message.

8. An intelligent interactive reminder device, characterized in that, include: The location information acquisition module is used to acquire the relative position information between the target vehicle and the robot; The relative position information includes the lane's relative position and relative distance; The prompt information display module is used to determine the target interactive prompt information based on the relative position of the lane and the relative distance, and to display the target interactive prompt information; The status adjustment module is used to adjust the robot's driving status and displayed content according to the reception status of the interactive feedback information corresponding to the target interactive prompt information. The notification display module includes: The first information determination unit is used to obtain lane line information and determine target interactive prompt information based on the lane line information if the relative positions of the lanes are different lanes. The second information determination unit is used to determine target interactive prompt information based on the relative distance if the relative positions of the lanes are in the same lane. The first information determining unit is specifically used to determine the preset working status prompt as the target interactive prompt information if the lane line information is a solid line; and to obtain the historical driving status of the target vehicle if the lane line information is a dashed line, determine the lane switching probability based on the historical driving status, and determine the target interactive prompt information based on the lane switching probability.

9. A robot, characterized in that, The robot includes: Information display device, used to display target interactive prompts; An information receiving device is used to receive interactive feedback information corresponding to the target interactive prompt information; At least one processor, and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the intelligent interactive reminder method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the intelligent interactive reminder method according to any one of claims 1-7.

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