Robot control method, electronic device, and storage medium

Abstract

The application relates to a robot control method, an electronic device and a storage medium, and belongs to the technical field of electronic device control. The robot is provided with multiple user interfaces; the method comprises the following steps: acquiring environment information of the robot; determining one user interface in the multiple user interfaces as a target user interface according to the environment information of the robot; and determining the target user interface as a function module for information input or output. The robot body is provided with multiple user interfaces, so that the multiple user interfaces are respectively oriented in multiple different directions. When a user is at different positions relative to the robot, the robot can still determine a target user interface according to the user position, so that the user can conveniently realize man-machine interaction with the robot based on the target user interface, and the interactive experience of the robot and the user is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of electronic device control, and in particular to a robot control method, an electronic device, and a computer readable storage medium. BACKGROUND

[0002] Electronic devices, such as robots, can be applied to hotel and KTV scenarios. With the rapid development of artificial intelligence technology, the robot industry has developed rapidly in recent years and has a wide range of applications in different fields and permeates various aspects of social life.

[0003] Currently, a display panel, i.e., only one user interface, is fixedly installed at a certain position of a robot body, such as the top of the robot. During the operation of the robot, the orientation of the robot will constantly change. A user can achieve human-machine interaction with the robot based on the user interface, for example, the user inputs a control instruction on the user interface to control the robot to perform a delivery action. Thus, the single design of the user interface is inconvenient for the user to use the robot, causing a poor product experience. SUMMARY

[0004] The present application provides a robot control method, an electronic device, and a storage medium to solve the technical problem of poor product experience of existing robots.

[0005] In a first aspect, the present application provides a robot control method, wherein the robot is provided with multiple user interfaces.

[0006] The method comprises:

[0007] obtaining environment information of the robot;

[0008] determining one of the multiple user interfaces as a target user interface according to the environment information of the robot;

[0009] determining the target user interface as a function module for information input or output.

[0010] Unlike the related art, in the present application, the environment information of the robot is first obtained; then one of the multiple user interfaces is determined as a target user interface according to the environment information of the robot; and finally, the target user interface is determined as a function module for information input or output. That is, multiple user interfaces are provided on the robot body to be oriented in multiple different directions. When the user is at different positions relative to the robot, the robot can still determine a target user interface according to the user position, so that the user can conveniently achieve human-machine interaction with the robot based on the target user interface, thereby improving the interactive experience of the robot and the user.

[0011] In some embodiments, the environment information of the robot comprises a state of the robot and external scene information of the robot.

[0012] The step of obtaining the environment information of the robot comprises:

[0013] The state of the robot comprises a working state when the robot is executing a task in the task list and an idle state when the robot is not executing any task.

[0014] When the state of the robot is the working state, the external scene information in the direction of movement of the robot is obtained.

[0015] When the state of the robot is the idle state, the external scene information in the direction around the robot is obtained.

[0016] In some embodiments, the environment information of the robot comprises a state of the robot and external scene information of the robot.

[0017] The step of determining one of the plurality of user interfaces as the target user interface according to the environment information of the robot comprises:

[0018] When the state of the robot is the working state and the robot is moving, it is determined whether there is a movable object according to the external scene information in the direction of current movement of the robot.

[0019] If there is a movable object, one of the plurality of user interfaces that faces in the same direction as the current movement direction of the robot is determined as the target user interface.

[0020] If there is no movable object, one of the plurality of user interfaces that faces in the opposite direction of the current movement direction of the robot is determined as the target user interface.

[0021] In some embodiments, the step of determining one of the plurality of user interfaces as the target user interface according to the environment information of the robot further comprises:

[0022] When the state of the robot is the idle state, it is determined whether there is a movable object according to the external scene information in the direction around the robot.

[0023] If there is a movable object, one of the plurality of user interfaces that faces the movable object is determined as the target user interface.

[0024] If there is no movable object, one of the plurality of user interfaces that is located at the top of the robot is determined as the target user interface.

[0025] In some embodiments, the environment information of the robot comprises external scene information of the robot.

[0026] According to the environmental information of the robot, the step of determining one of the plurality of user interfaces as the target user interface comprises:

[0027] According to the external scene information of the robot, it is determined whether there is a movable object;

[0028] If there is a movable object, and the distance between the movable object and the robot is greater than a first preset distance, then one of the plurality of user interfaces that faces the movable object is determined as the target user interface;

[0029] If there is a movable object, and the distance between the movable object and the robot is less than or equal to the first preset distance, then one of the plurality of user interfaces that is located at the top of the robot is determined as the target user interface.

[0030] In some other embodiments, the plurality of user interfaces comprises a first user interface, a second user interface, and a third user interface, the first user interface is installed at the top of the robot, the second user interface is installed at the front end of the robot, and the third user interface is installed at the rear end of the robot; the environmental information of the robot comprises the state of the robot and the external scene information of the robot;

[0031] According to the environmental information of the robot, the step of determining one of the plurality of user interfaces as the target user interface comprises:

[0032] When the state of the robot is a working state and the robot is in the process of docking with a charging pile, the second user interface is determined as the target user interface;

[0033] When the state of the robot is a working state and the robot is in a charging state, one of the first user interface and the third user interface is determined as the target user interface according to the external scene information of the robot.

[0034] In some other embodiments, the step of determining one of the first user interface and the third user interface as the target user interface according to the external scene information of the robot comprises:

[0035] The external scene information of the robot is obtained to determine whether there is a movable object;

[0036] If there is a movable object, and the distance between the movable object and the robot is greater than a second preset distance, then the third user interface is determined as the target user interface;

[0037] If there is a movable object, and the distance between the movable object and the robot is less than or equal to the second preset distance, then the first user interface is determined as the target user interface.

[0038] In some embodiments, the plurality of user interfaces comprises a control interface.

[0039] The step of determining one of the plurality of user interfaces as the target user interface according to the environmental information of the robot comprises:

[0040] When the robot state is a fault state, attempting to remotely connect to the control interface through the wireless network;

[0041] If the robot and the control interface are successfully connected in communication, the control interface is determined as the target user interface.

[0042] In a second aspect, embodiments of the present application provide a control device of a robot, the robot being provided with a plurality of user interfaces.

[0043] The device comprises:

[0044] An obtaining module, configured to obtain environmental information of the robot;

[0045] A first determining module, configured to determine one of the plurality of user interfaces as a target user interface according to the environmental information of the robot;

[0046] A second determining module, configured to determine the target user interface as a function module of information input or output.

[0047] In a third aspect, embodiments of the present application provide an electronic device, comprising:

[0048] At least one processor; and

[0049] A memory in communication connection with the at least one processor;

[0050] The memory stores instructions executable 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 perform the control method of the robot as described in the first aspect.

[0051] In a fourth aspect, embodiments of the present application provide a computer readable storage medium, the computer readable storage medium storing a computer program, the computer program being executed by a processor to implement the steps of the control method of the robot as described in the first aspect.

[0052] In a fifth aspect, embodiments of the present application provide a computer program product, when the computer program product is executed on an electronic device, enabling the electronic device to perform the steps of the control method of the robot as described in the first aspect. BRIEF DESCRIPTION OF DRAWINGS

[0053] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like- referenced numerals designate similar elements throughout the drawings and various embodiments are meant to be illustrative only and not limiting upon the scope of the application. The figures are not necessarily to scale, present a simplified representation and are shown by way of example, but not limiting the scope of the application.

[0054] Figure 1 is a schematic diagram of a robot provided by an embodiment of the application;

[0055] Figure 2 is a flowchart of a control method of a robot provided by an embodiment of the application;

[0056] Figure 3 is a functional module diagram of a control device of a robot provided by an embodiment of the application;

[0057] Figure 4 is a hardware structure diagram of an electronic device provided by an embodiment of the application. DETAILED DESCRIPTION

[0058] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0059] It should be noted that, if there is no conflict, each feature of the embodiments of the present application can be combined with each other, and all within the scope of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than the module division in the device schematic diagram or the order in the flowchart.

[0060] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. All publications, patent applications, patents, and other references mentioned herein are incorporated by reference in their entirety.

[0061] In addition, in the description of the present application and the appended claims, the terms "first", "second", "third" and the like are only used to distinguish description, and cannot be understood as indicating or implying relative importance.

[0062] Please refer to Figure 1 , Figure 1is a schematic view of a robot provided by an embodiment of the present application. The robot body is provided with multiple user interfaces, for example, the first user interface is arranged on the top of the robot, and the second user interface and the third user interface are arranged along the side wall of the robot. Optionally, the direction in which the robot normally travels in a straight line is defined as the direction in which the front end of the robot faces, and the side away from the front end of the robot is the rear end of the robot, the second user interface is arranged on the front end of the robot, and the third user interface is arranged on the rear end of the robot. The user interface is an interface for human-computer interaction, for example, the user interface is a touch display panel, a display screen, etc., the robot program is displayed on the touch display panel, the user inputs instructions to the touch display panel to control the robot to perform corresponding actions, or the robot displays the search result or the execution result through the touch display panel. Optionally, one user interface corresponds to one touch display panel, and each touch display panel is connected to the robot body in a wired or wireless manner, for example, multiple user interfaces are assembled on the robot body in a serial port or wireless network manner. In the present application, the robot is exemplarily a hotel robot, a delivery robot, a cleaning robot, a pet robot, a carrying robot, a nursing robot, a remote monitoring robot, a sweeping robot, etc. The shape and function of the robot are not limited in the present application.

[0063] Please refer to Figure 2 , Figure 2 is a flowchart of a control method of a robot provided by an embodiment of the present application. In the first aspect, the present application provides a control method of a robot, the execution subject of the control method of the robot is the robot, for example, the robot as shown in Figure 1 , specifically, the execution subject is the processor of the robot. The robot is provided with multiple user interfaces, and the multiple user interfaces are respectively installed at different positions of the robot body so as to respectively face different directions. The control method of the robot provided by the present application comprises the following steps S21-S23:

[0064] Step S21, obtaining the environmental information of the robot.

[0065] The environmental information is the information of the environment where the robot is currently located, for example, the environmental information includes the robot state and the external scene information of the robot. The robot state includes a working state and an idle state, the working state is the state of the robot when performing a task in the task list, and the idle state is the state of the robot when not performing any task. The external scene information of the robot can be a moving obstacle and a fixed obstacle outside the robot, for example, the moving obstacle can be a pedestrian, a vehicle, an intelligent vehicle, an intelligent device, etc., and the fixed obstacle can be a wall, a table, a step, a curb, etc. In the present application, the robot is provided with a plurality of sensing devices, and the environmental information of the robot is obtained based on the sensing devices. For example, the robot is provided with a laser radar, a depth camera, etc., and the external environment of the robot is scanned by the laser radar and / or the depth camera to obtain the point cloud data of the external environment of the robot, that is, the point cloud data of the external environment of the robot represents the external scene information of the robot. Moreover, the processor of the robot can find the task situation of the task list, and obtain the robot state according to the execution of the task. When the robot is executing a task in the task list, it means that the robot is in a working state; when the robot is not executing any task, or there is no task in the task list, it means that the robot is in an idle state. Optionally, the robot can obtain the task input by the user through the user interface, and store the task in the task list, and execute the tasks in the task list one by one. Further, the task priority can be set for each task, and the robot can execute the task with the highest priority according to the task priority in the task list.

[0066] In step S22, one of the plurality of user interfaces is determined as the target user interface according to the environmental information of the robot.

[0067] In the present application, the robot is provided with a plurality of user interfaces, and only one of the user interfaces is activated at the same time and used as the window for information interaction between the robot and the user, and the interface used for human-computer interaction is defined as the target user interface. That is, the robot needs to constantly switch between the plurality of user interfaces according to the requirements of the environmental information, and activate the unique target user interface for human-computer interaction. In the present application, one of the plurality of user interfaces is determined as the target user interface according to the environmental information of the robot, that is, one of the plurality of user interfaces is activated as the target user interface. For example, one of the plurality of user interfaces is activated as the target user interface according to the robot state of the robot and / or the external scene information of the robot, and human-computer interaction is realized between the user and the unique target user interface.

[0068] In step S23, the target user interface is determined as a function module for information input or output.

[0069] In the present application, if one of the plurality of user interfaces is determined as a target user interface, the target user interface is activated, wherein the target user interface is used to realize human-computer interaction, and the target user interface is a functional module for information input or output as part of the robot. For example, the user inputs a control instruction to the robot based on the target user interface to instruct the robot to go to a specified position or perform a corresponding driving action. For another example, the robot displays a query window to the user based on the target user interface, and the query window displays information content queried by the user. For another example, the robot displays push content or reminder information to the user based on the target user interface, and so on. The content displayed by the robot based on the target user interface includes but is not limited to greeting words or expression images for greeting the user, push content sent to the user, advertising information sent to the user, reminder information sent to the user, avoidance reminders sent to smart devices, reminder information sent to smart devices, and working state information sent to smart devices.

[0070] Optionally, after the target user interface in the plurality of user interfaces is activated, the remaining user interfaces are handled to be off-screen, or the remaining user interfaces are locked to not receive information input or output, or the remaining user interfaces are handled to be in sleep state.

[0071] In the present application, the robot is provided with a plurality of user interfaces, and the plurality of user interfaces are installed at different positions of the robot body so as to be respectively oriented in a plurality of different directions. When the user is at different positions relative to the robot, the robot can still determine a target user interface oriented to the user according to the position of the user, so that the user can conveniently realize human-computer interaction with the robot and improve the interactive experience of the robot and the user.

[0072] In some other embodiments, the environmental information of the robot includes the state of the robot and the external scene information of the robot. The step S21 of obtaining the environmental information of the robot includes: obtaining the state of the robot based on the task list of the robot, wherein the state of the robot includes a working state when the tasks in the task list are executed and an idle state when no task is executed; obtaining the external scene information in the direction of the robot movement when the state of the robot is the working state; and obtaining the external scene information in the direction around the robot when the state of the robot is the idle state.

[0073] Exemplarily, the robot is configured with a depth camera, which is used to scan the external environment of the robot to obtain external scene information of the robot; the robot has task information of a task list stored in the memory of the robot, and the processor of the robot finds and acquires the task information in the task list to determine the current state of the robot, wherein when the robot executes any task in the task list, it means that the robot is in a working state, and when the robot does not execute any task or the task information of the task list is empty, it means that the robot is in an idle state. When the robot is in a working state and is in the process of traveling, the current traveling direction of the robot is determined. For example, the historical time at a preset time length (for example, 1s) from the current time is acquired, and the position of the robot at the historical time is defined as a historical position, and according to the current position and the historical position of the robot, the direction from the historical position to the current position is the traveling direction of the robot. Based on the traveling direction of the robot within a certain time length, the traveling direction of the robot is determined. When the robot is in a working state, the external scene information in the traveling direction of the robot is acquired, that is, the external scene information in the traveling direction of the robot is collected by the depth camera. When the robot is in an idle state, the external scene information in the surrounding direction of the robot is acquired, that is, the external scene information in the surrounding direction of the robot is collected by the depth camera. It can be understood that in the process of executing a task, the robot needs to occupy a large amount of data processing resources for positioning, navigation and task logic processing, at this time, the robot can use a small amount of data processing capacity to scan the external environment in the traveling direction of the robot to obtain environmental data and perform data processing. However, when the robot does not execute any task, the robot is in an idle state, at this time, the robot occupies a small amount of data processing resources, and the robot can use a large amount of data processing capacity to scan the external scene environment in the surrounding direction of the robot to obtain environmental data and perform data processing.

[0074] In this embodiment, according to the use of the data processing resources of the robot, such as the use of the CPU, the perception range of the external environment of the robot is adaptively changed, and when the robot is in a working state, the external environment in the traveling direction of the robot is mainly perceived, so that the computing power resources of the robot are fully and reasonably used.

[0075] In some embodiments, the environmental information of the robot comprises a robot state and external scene information of the robot. In step S22, determining one of the plurality of user interfaces as a target user interface according to the environmental information of the robot comprises: when the robot state is a working state and the robot is moving, determining whether there is a movable object according to the external scene information in the current moving direction of the robot; if there is a movable object, determining one of the plurality of user interfaces facing the same direction as the current moving direction as the target user interface; if there is no movable object, determining one of the plurality of user interfaces facing the opposite direction of the current moving direction as the target user interface.

[0076] The position of the robot at a historical moment is defined as a historical position. According to the current position and the historical position of the robot, the direction from the historical position to the current position is the moving direction of the robot. When the robot state is a working state and the robot is moving during the execution of a task, the external scene information in the current moving direction of the robot is determined to determine whether there is a movable object. The movable object can be a pedestrian, an animal, a vehicle, an intelligent mobile device, etc. For example, a depth camera or a laser radar arranged at the front end of the robot body scans the external scene information in the current moving direction of the robot to obtain a target point cloud, and identifies the features in the target point cloud to determine whether there is a pedestrian, an animal, a vehicle, an intelligent mobile device, etc. If there is one or more movable objects in the current moving direction of the robot, it means that one or more movable objects in front of the robot are potential objects for communication and interaction with the robot. Therefore, one of the plurality of user interfaces facing the same direction as the current moving direction is determined as the target user interface, and information interaction is performed between the target user interface and the potential movable object. The information interaction includes but is not limited to sending a greeting expression or information through the target user interface, or sending the current state or driving path of the robot through the target user interface for the potential movable object to avoid in advance. It can be understood that if there is no one or more movable objects in the current moving direction of the robot, it means that there is no potential object in front of the robot for communication and interaction with the robot. Therefore, one of the plurality of user interfaces facing the opposite direction of the current moving direction is determined as the target user interface. At this time, the robot can realize human-computer interaction based on the target user interface and the movable object that may exist behind the robot. Of course, the robot can send advertisements, information push, warning reminders, etc. based on the target user interface. The content and process of information interaction between the robot and the outside world based on the target user interface are not limited.

[0077] Optionally, the intelligent mobile device is a robot of the same shape as the robot of the present application or a robot of a different shape but belonging to the same cloud control, so that the robot of the present application and the intelligent mobile device can realize communication interaction. For example, when the robot of the present application displays a greeting expression information to the intelligent mobile device based on the target user interface, the intelligent mobile device can obtain the expression information of the target user interface through the camera and make a corresponding greeting response according to the expression information. For another example, when the robot of the present application displays "I want to prioritize the delivery task, please avoid!", the intelligent mobile device can obtain the display information of the target user interface through the camera and avoid the roadside according to the display information, so that the robot of the present application can pass through the section.

[0078] Further, in some embodiments, the step S22 of determining one of the plurality of user interfaces as the target user interface according to the environmental information of the robot further comprises: when the state of the robot is an idle state, determining whether there is a movable object according to the external scene information in the direction around the robot; if there is a movable object, determining one of the plurality of user interfaces facing the movable object as the target user interface; if there is no movable object, determining one of the plurality of user interfaces located at the top of the robot as the target user interface.

[0079] When the state of the robot is an idle state, the robot scans the external scene environment in the direction around the robot through the depth camera or laser radar installed on the top of the robot body to obtain point cloud data about the external environment, and determines whether there is a movable object according to the point cloud data. The movable object can be a pedestrian, an animal, a vehicle, an intelligent mobile device, etc. If there is a movable object, such as a pedestrian, in the direction around the robot, one of the plurality of user interfaces facing the movable object (pedestrian) is determined as the target user interface. For example, the robot scans the external scene environment in the direction around the robot based on the depth camera on the top of the robot body, and determines that there is a pedestrian on the left side of the robot. At this time, one of the user interfaces on the left side of the robot body is activated and determined as the target user interface, and the robot greets the pedestrian based on the target user interface, thereby enhancing the interactive experience of the robot and the user.

[0080] It can be understood that a plurality of user interfaces are installed around the robot body, and a user interface is also installed on the top of the robot. Optionally, the user interface on the top of the robot is taken as a default user interface, so that when a user approaches the robot, the user can conveniently realize human-computer interaction with the robot based on the user interface on the top of the robot according to the height of the user. In the embodiment, when there is no movable object in the direction around the robot, the user interface on the top of the robot is determined as the target user interface, that is, the user interface on the top of the robot is activated and taken as the target user interface.

[0081] In other embodiments, the environmental information of the robot includes external scene information of the robot. In step S22, the step of determining one of the plurality of user interfaces as the target user interface according to the environmental information of the robot includes: determining whether there is a movable object according to the external scene information of the robot; if there is a movable object and the distance between the movable object and the robot is greater than a first preset distance, determining one of the plurality of user interfaces facing the movable object as the target user interface; and if there is a movable object and the distance between the movable object and the robot is less than or equal to the first preset distance, determining one of the user interfaces on the top of the robot as the target user interface.

[0082] For example, the external scene information of the robot is acquired based on a laser radar or a depth camera on the top of the robot, and whether there is a movable object is determined according to the external scene information of the robot. The movable object can be a pedestrian, an animal, a vehicle, an intelligent mobile device, etc. If it is determined that there is a movable object in the external scene information in the direction around the robot, and the distance between the movable object and the robot is greater than a first preset distance (for example, the first preset distance is 1 meter), one of the plurality of user interfaces facing the movable object is determined as the target user interface, that is, one of the user interfaces facing the movable object is determined as the target user interface, and the target user interface is activated to realize human-computer interaction with the user based on the target user interface.

[0083] It can be understood that if it is determined that there is a movable object in the external scene information in the direction around the robot, and the distance between the movable object and the robot is less than or equal to the first preset distance (for example, the first preset distance is 1 meter), one of the user interfaces on the top of the robot is determined as the target user interface, that is, one of the user interfaces on the top of the robot is determined as the target user interface. When a user approaches the robot, the user can realize human-computer interaction based on the target user interface on the top of the robot. The first preset distance is not limited in the present application, and can be set by the person skilled in the art according to the needs.

[0084] In the embodiment, the robot can determine to open a user interface suitable for the user to implement human-computer interaction according to the distance between the user and the robot itself, thereby enhancing the use experience of the robot and the user.

[0085] In some other embodiments, as shown in Figure 1 The plurality of user interfaces include a first user interface, a second user interface, and a third user interface. The first user interface is installed on the top of the robot, the second user interface is installed on the front end of the robot, and the third user interface is installed on the rear end of the robot. The environmental information of the robot includes the state of the robot and the external scene information of the robot.

[0086] The step S22 of determining one of the plurality of user interfaces as a target user interface according to the environmental information of the robot includes: when the state of the robot is a working state and the robot is in the process of docking with the charging pile, determining the second user interface as the target user interface; and when the state of the robot is a working state and the robot is in a charging state, determining one of the first user interface and the third user interface as the target user interface according to the external scene information of the robot.

[0087] The robot front end is also provided with a laser radar for positioning and navigation, which is optionally a single-line laser radar. Furthermore, the robot front end is also provided with a charging interface, which can be connected with the charging pile to charge the battery pack of the robot. When the robot is low in power, it needs to be connected with the charging pile to charge. When the robot receives a charging instruction, it executes the charging instruction and is in a working state. During the execution of the charging instruction, the robot self-positions and navigates to the connection position of the charging pile according to the position of the charging pile, and starts to connect with the charging pile at the connection position. The second user interface at the front end of the robot is determined as the target user interface during the connection with the charging pile. The laser radar at the front end of the robot is used to scan the scene environment including the charging pile, and when the charging pile is identified, the charging interface of the robot is controlled to connect with the charging pile. During the connection with the charging pile, the second user interface at the front end of the robot is the target user interface. During the connection with the charging pile, the robot displays connection information to the charging pile based on the target user interface, which includes but is not limited to robot state, current power of the robot, distance between the robot and the charging pile, connection state information, prompt information or alarm information. The connection state information includes but is not limited to connecting with the charging pile, pausing connection with the charging pile, failing to connect with the charging pile, successfully connecting with the charging pile. The charging pile can be provided with a camera or other image sensing device. The charging pile obtains the display content of the target user interface through the image sensing device to obtain the content sent by the robot to the charging pile. For example, when the target user interface of the robot displays the display content of "connecting with the charging pile", the charging pile obtains this information through the image sensing device and makes preliminary preparations for connecting with the robot, such as opening the connection interface to connect with the robot; when the target user interface of the robot displays the display content of "pausing connection with the charging pile", the charging pile obtains this information through the image sensing device and makes preparations for pausing connection with the robot, such as closing the connection interface to avoid connection with the robot; when the target user interface of the robot displays the display content of "failing to connect with the charging pile", the charging pile obtains this information through the image sensing device and makes preparations for trying to connect with the robot again, such as determining whether the robot is trying to reconnect to reconnect with the robot; when the target user interface of the robot displays the display content of "successfully connecting with the charging pile", the charging pile obtains this information through the image sensing device and makes the action of powering on the robot to charge.

[0088] It can be understood that after the robot is successfully docked with the charging pile, the robot is in a working state and is in a charging state, and one of the first user interface and the third user interface is determined as the target user interface according to the external scene information of the robot. When the robot is charging, one of the first user interface located at the top of the robot and the third user interface located at the rear end of the robot can be used to realize human-computer interaction with the user. One of the user interfaces can be defaulted as the target user interface as needed by those skilled in the art, so that the robot realizes human-computer interaction with the user based on the default target user interface when charging.

[0089] Optionally, the step of determining one of the first user interface and the third user interface as the target user interface according to the external scene information of the robot comprises: acquiring the external scene information of the robot to determine whether there is a movable object; if there is a movable object and the distance between the movable object and the robot is greater than a second preset distance, the third user interface is determined as the target user interface; if there is a movable object and the distance between the movable object and the robot is less than or equal to the second preset distance, the first user interface is determined as the target user interface.

[0090] The external scene information is scanned based on the depth camera or the laser radar arranged at the top of the robot, and whether there is a movable object is determined according to the external scene information of the robot. The movable object can be a pedestrian, an animal, a vehicle, a smart mobile device, etc. If there is a movable object in the environment around the robot during the charging process of the robot, and the distance between the movable object and the robot is greater than a second preset distance (for example, the second preset distance is 1 meter), the third user interface is determined as the target user interface, so that the robot sends prompt information or alarm information to the movable object (for example, a pedestrian) far away based on the third user interface at the rear end, for example, sends information such as “the current robot is charging” and “the current robot charging fails” to the pedestrian. If there is a movable object in the environment around the robot during the charging process of the robot, and the distance between the movable object and the robot is less than or equal to the second preset distance (for example, the second preset distance is 1 meter), the first user interface located at the top of the robot is determined as the target user interface, that is, when the user is close to the robot, the robot timely determines the first user interface as the target user interface, so as to switch the interface, thereby facilitating the user to realize human-computer interaction with the robot. The second preset distance is not limited in the application, and those skilled in the art can set it according to the needs.

[0091] Optionally, when there is no movable object in the environment around the robot during the charging process of the robot, the first user interface located at the top of the robot is determined as the target user interface, that is, the first user interface is the default user interface of the robot in the charging state.

[0092] In the present application, when the robot is docked with the charging pile and charging is realized, a laser radar and a target user interface are installed on one side of the robot for guiding the robot to pile up, and the robot can realize real-time information interaction with the charging pile based on the target user interface, so as to facilitate the successful docking and realization of the charging process.

[0093] In some other embodiments, the plurality of user interfaces further includes a control interface. Optionally, the control interface is a display interface of a remote control terminal.

[0094] In step S22, the target user interface is determined from the plurality of user interfaces according to the environmental information of the robot, including: when the robot is in a fault state, attempting to remotely connect with the control interface through a wireless network; if the robot and the control interface are successfully connected in communication, the control interface is determined as the target user interface.

[0095] During the execution of a task or during the daily operation of the robot, robot failure inevitably occurs. When the robot fails to perform the corresponding action, the robot is in a fault state. When the robot is in a fault state, the robot attempts to establish a communication connection with the remote control terminal based on the wireless communication module, so that the robot attempts to remotely connect with the control interface through a wireless network. If the robot and the remote control terminal are successfully connected in communication, it means that the robot can still establish contact with the remote control terminal based on the wireless network and execute the instructions issued by the remote control terminal, or send the running data, current state, environmental information, etc. of the robot to the remote control terminal. That is, when the robot fails, the control authority of the robot is switched to the remote control terminal, and the technician diagnoses the robot failure on the display interface of the remote control terminal or operates the robot to perform the corresponding repair action based on the control interface.

[0096] In this embodiment, when the robot fails, the control interface is determined as the target user interface, so that the control authority of the robot is switched to the remote control terminal, and the professional technician remotely maintains the robot, so that the robot can be restored to normal as soon as possible, and non-professional technicians can also avoid violating the repair of the robot.

[0097] Please refer to Figure 3 , in the second aspect, the embodiment of the present application proposes a control device 30 of a robot, which is arranged in the robot, for example, the robot as shown in Figure 1 , the robot is provided with a plurality of user interfaces; the device 30 includes:

[0098] The acquisition module 31 is used for acquiring the environmental information of the robot.

[0099] The first determining module 32 is configured to determine one of the plurality of user interfaces as a target user interface according to the environmental information of the robot.

[0100] The second determining module 33 is configured to determine the target user interface as a function module for information input or output.

[0101] In some other embodiments, the environmental information of the robot includes a robot state and external scene information of the robot; the obtaining module 31 is further configured to obtain the robot state based on a task list of the robot, wherein the robot state includes a working state when the robot is executing a task in the task list and an idle state when the robot is not executing any task; and obtain the external scene information in a direction in which the robot is moving when the robot state is the working state, and obtain the external scene information in a direction around the robot when the robot state is the idle state.

[0102] In some other embodiments, the environmental information of the robot includes a robot state and external scene information of the robot; the first determining module 32 is further configured to, when the robot state is the working state and the robot is moving, determine whether there is a movable object according to the external scene information in a current moving direction of the robot; if there is the movable object, determine one of the plurality of user interfaces that faces in the same direction as the current moving direction as the target user interface; and if there is no movable object, determine one of the plurality of user interfaces that faces in the opposite direction of the current moving direction as the target user interface.

[0103] In some other embodiments, the first determining module 32 is further configured to, when the robot state is the idle state, determine whether there is a movable object according to the external scene information in a direction around the robot; if there is the movable object, determine one of the plurality of user interfaces that faces the movable object as the target user interface; and if there is no movable object, determine one of the plurality of user interfaces that is located at the top of the robot as the target user interface.

[0104] In some other embodiments, the environmental information of the robot includes external scene information of the robot; the first determining module 32 is further configured to determine whether there is a movable object according to the external scene information of the robot; if there is the movable object and the distance between the movable object and the robot is greater than a first preset distance, determine one of the plurality of user interfaces that faces the movable object as the target user interface; and if there is the movable object and the distance between the movable object and the robot is less than or equal to the first preset distance, determine one of the plurality of user interfaces that is located at the top of the robot as the target user interface.

[0105] In some embodiments, the plurality of user interfaces comprises a first user interface, a second user interface and a third user interface, the first user interface is installed on a top of the robot, the second user interface is installed on a front end of the robot, and the third user interface is installed on a rear end of the robot; the environmental information of the robot comprises a state of the robot and external scene information of the robot; the first determining module 32 is further configured to: when the state of the robot is a working state and the robot is in a process of docking with a charging pile, determine the second user interface as the target user interface; and when the state of the robot is the working state and the robot is in a charging state, determine one of the first user interface and the third user interface as the target user interface according to the external scene information of the robot.

[0106] In some embodiments, the first determining module 32 is further configured to: acquire the external scene information of the robot to determine whether there is a movable object; if there is a movable object and the distance between the movable object and the robot is greater than a second preset distance, determine the third user interface as the target user interface; and if there is a movable object and the distance between the movable object and the robot is less than or equal to the second preset distance, determine the first user interface as the target user interface.

[0107] In some embodiments, the plurality of user interfaces comprises a control interface; the first determining module 32 is further configured to: when the state of the robot is a fault state, attempt to remotely connect to the control interface through a wireless network; and if the robot and the control interface are successfully connected in communication, determine the control interface as the target user interface.

[0108] It can be understood that the implementation principle and technical effects of the control device 30 of the robot according to the second aspect of the present application can be referred to the implementation principle and technical effects of the control method of the robot according to the first aspect of the present application, which will not be described herein again.

[0109] Please refer to Figure 4 , Figure 4 is a hardware structure schematic diagram of an electronic device 400 provided by an embodiment of the present application. The electronic device 400 can be a robot or be configured in a robot, and comprises at least one processor 401 and a memory 402 in communication connection with the at least one processor 401, Figure 4 The memory 402 stores instructions (or programs) executable by the at least one processor 401, and the instructions are executed by the at least one processor 401 to enable the at least one processor 401 to perform the steps of the control method of the robot according to the first aspect of the present application. The processor 401 and the memory 402 can be connected based on a bus or other manners, Figure 4 For example, the connection based on the bus is taken as an example.

[0110] The memory 402 determines a readable storage medium, which can be used to store software programs, executable programs and modules, such as program instructions / modules corresponding to the robot control method executed by the electronic device in the embodiment of the present application. The processor 401 executes various functional applications and data processing based on the running of the software programs, instructions and modules stored in the memory 402, that is, the steps of the robot control method according to the first aspect of the present application are implemented.

[0111] The memory 402 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; and the data storage area can store data created by executing the robot control method and the like. The memory 402 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 402 can optionally include a memory remotely arranged with respect to the processor 401, and these remote memories can be connected to the electronic device based on a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0112] One or more modules are stored in the memory 402, and when executed by the one or more processors 401, the steps of executing the robot control method according to the first aspect of the present application are implemented, for example, the memory 402 stores the acquisition module 31, the first determination module 32 and the second determination module 33 in the robot control device 30 according to the second aspect of the present application.

[0113] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; under the idea of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes of different aspects of the present application as described above, which are not provided in details for simplicity; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method of a robot characterized by, The robot is provided with a plurality of user interfaces, including a first user interface, a second user interface and a third user interface, the first user interface is installed on the top of the robot, the second user interface is installed on the front end of the robot, the front end of the robot is also provided with a charging interface for docking with a charging pile, the charging pile is provided with an image sensing device, the charging pile obtains the display content of the target user interface through the image sensing device to obtain the content sent by the robot to the charging pile; the third user interface is installed on the rear end of the robot; the environmental information of the robot includes the state of the robot and the external scene information of the robot; The method comprises: obtaining the environmental information of the robot; determining one of the plurality of user interfaces as a target user interface according to the environmental information of the robot, including: when the state of the robot is a working state and in the process of docking with the charging pile, determining the second user interface as the target user interface; when the state of the robot is a working state and in the process of charging, determining one of the first user interface and the third user interface as the target user interface according to the external scene information of the robot; determining the target user interface as a functional module for information input or output; wherein the step of determining one of the first user interface and the third user interface as the target user interface according to the external scene information of the robot comprises: obtaining the external scene information of the robot to determine whether there is a movable object; if there is a movable object and the distance between the movable object and the robot is greater than a second preset distance, then determining the third user interface as the target user interface; if there is a movable object and the distance between the movable object and the robot is less than or equal to the second preset distance, then determining the first user interface as the target user interface.

2. The control method of the robot according to claim 1, characterized by, The step of obtaining the environmental information of the robot comprises: obtaining the state of the robot based on the task list of the robot, wherein the state of the robot includes a working state when executing the task list and an idle state when not executing any task; when the state of the robot is a working state, obtaining the external scene information in the direction of the robot's travel; when the state of the robot is an idle state, obtaining the external scene information in the direction around the robot.

3. The control method of the robot according to claim 1, characterized by, The step of determining one of the plurality of user interfaces as a target user interface according to the environmental information of the robot comprises: when the state of the robot is a working state and the robot is moving, determining whether there is a movable object according to the external scene information in the direction of the robot's current travel; if there is a movable object, then determining the user interface facing the same direction as the current travel direction among the plurality of user interfaces as the target user interface; if there is no movable object, then determining the user interface facing the opposite direction of the current travel direction among the plurality of user interfaces as the target user interface.

4. The control method of the robot according to claim 3, characterized by, The step of determining one of the plurality of user interfaces as a target user interface according to the environmental information of the robot further comprises: When the robot is in an idle state, whether there is a movable object is determined according to external scene information around the robot; If there is a movable object, one user interface in the plurality of user interfaces that faces the movable object is determined as the target user interface; If there is no movable object, one user interface located at the top of the robot is determined as the target user interface.

5. The control method of the robot according to claim 1, characterized by, The step of determining one user interface in the plurality of user interfaces as the target user interface according to the environmental information of the robot comprises: Whether there is a movable object is determined according to external scene information of the robot; If there is a movable object, and the distance between the movable object and the robot is greater than a first preset distance, one user interface in the plurality of user interfaces that faces the movable object is determined as the target user interface; If there is a movable object, and the distance between the movable object and the robot is less than or equal to the first preset distance, one user interface located at the top of the robot is determined as the target user interface.

6. The control method of the robot according to claim 1, characterized by, The plurality of user interfaces comprises a control interface; The step of determining one user interface in the plurality of user interfaces as the target user interface according to the environmental information of the robot comprises: When the robot is in a fault state, a remote connection with the control interface is attempted through a wireless network; If the robot and the control interface are successfully connected in communication, the control interface is determined as the target user interface.

7. An electronic device, comprising: Comprise: At least one processor; And A memory in communication connection with the at least one processor; Wherein the memory stores instructions executable 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 perform the control method of the robot as claimed in any one of claims 1-6.

8. A computer-readable storage medium storing a computer program, the computer-readable storage medium comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 7. The computer program is executed by the processor to implement the control method of the robot as claimed in any one of claims 1 to 6. The computer program is executed by the processor to implement the control method of the robot as claimed in any one of claims 1 to 6.

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