Robot emergency stop control method, robot device, and storage medium

Abstract

The disclosure provides a robot emergency stop control method, a robot device and a storage medium, and relates to the technical field of computers. The method comprises the following steps: acquiring environment data around a robot, wherein the robot is in a first running state; in the case that an emergency stop instruction is received, controlling the robot to enter a second running state and displaying a second interface; wherein the operation content of the second interface is determined according to the environment data, the second interface is an emergency stop function display interface, and the second running state is an emergency stop state; and determining the current running state of the robot according to a touch operation received for the second interface. Therefore, the robot can make corresponding emergency stop decisions for different environments, improve the accuracy and reliability of robot control, enhance the smoothness of task execution of the robot, and improve the user experience.

Description

[0001] Cross-references to related applications

[0002] This disclosure claims priority to Chinese Patent Application No. 202210033843.6, filed on January 12, 2022, entitled "Emergency Stop Control Method, Apparatus, Robot Device and Storage Medium for Robot". Technical Field

[0003] This disclosure relates to the field of computer technology, and in particular to an emergency stop control method for a robot, a robot device, and a storage medium. Background Technology

[0004] Typically, when a robot detects that the emergency stop button has been triggered, it will immediately interrupt the task being executed and remain in an emergency stop state, even if there is a task currently being performed. The emergency stop button may be triggered actively by the user as needed, or it may be triggered by accidental operation. Directly interrupting the corresponding task and maintaining the emergency stop state may affect the efficiency and smoothness of the robot's task execution. Summary of the Invention

[0005] This disclosure provides a method, apparatus, and robot device for emergency stop control of a robot.

[0006] The method proposed in one embodiment of this disclosure includes:

[0007] Acquire environmental data around the robot, wherein the robot is in a first operating state;

[0008] Upon receiving an emergency stop command, the robot is controlled to enter a second operating state and a second interface is displayed; wherein, the operation content of the second interface is determined based on the environmental data, the second interface is an emergency stop function display interface, and the second operating state is an emergency stop state;

[0009] The current operating state of the robot is determined based on the received touch operation on the second interface.

[0010] Optionally, before displaying the second interface, the following steps are also included:

[0011] Upon receiving an emergency stop command, the first interface is displayed, which is the emergency stop verification interface.

[0012] Based on the received touch operation for the first interface, determine the first information corresponding to the touch operation;

[0013] In a case where the first information is user input verification information, if the first information is consistent with preset information, operation content of a second interface is determined according to the environment data. Optionally, after the first interface is displayed, the method further includes:

[0014] In a case where no touch operation for the first interface is received within a first time length, it is determined that the robot returns to the first running state.

[0015] Optionally, after the first interface is displayed, the method further includes:

[0016] If the first information is inconsistent with preset information, it is determined that the robot returns to the first running state. Optionally, before the second interface is displayed, the method further includes:

[0017] In a case where the first information is an exit of the second running state, it is determined that the robot returns to the first running state. Optionally, the operation content of the second interface determined according to the environment data includes:

[0018] The environment in which the robot is located is determined according to sensor data in the environment data, and operation content of the second interface is determined according to the environment in which the robot is located; wherein the environment in which the robot is located includes a flat path environment, an environment near a charging pile or an elevator environment.

[0019] Optionally, in a case where the emergency stop instruction is received, after the first interface is displayed, the method further includes:

[0020] The robot is controlled to stop receiving a task order and interrupt navigation;

[0021] In a case where the first information is user input verification information, after operation content of a second interface is determined according to the environment data in a case where the first information is consistent with preset information, the method further includes:

[0022] The hub of the robot is controlled to be unloaded.

[0023] Optionally, the operation content of the second interface determined according to the environment data includes:

[0024] In a case where the robot is determined to be in an environment near a charging pile according to the environment data, the operation content of the second interface includes a first control and a second control;

[0025] The current running state of the robot is determined according to the received touch operation for the second interface, including:

[0026] In a case where the first control in the second interface is triggered, a task in a task list of the robot is determined.

[0027] displaying a task in the robot task list for a user to perform a management operation on the task, wherein the management operation comprises a cancel operation;

[0028] in a case where a second control in the second interface is triggered, if the robot has a task and has positioning information, determining that the robot continues to perform a current task of the robot.

[0029] Optionally, the determining of the current running state of the robot according to the received touch operation on the second interface comprises:

[0030] in a case where a second control in the second interface is triggered, if the robot has a task and has positioning information, determining that the robot continues to perform a current task of the robot.

[0031] in a case where a second control in the second interface is triggered, if the robot has a task and has positioning information, determining that the robot continues to perform a current task of the robot.

[0032] Optionally, in a case where the robot is in a state near a charging pile, the operation content of the second interface determined further comprises a third control.

[0033] the determining of the current running state of the robot according to the received touch operation on the second interface comprises:

[0034] in a case where a third control in the second interface is triggered, opening a box door of the robot.

[0035] Optionally, the determining of the robot to return to the first running state comprises:

[0036] if the first information is inconsistent with the preset information, determining that the robot returns to the first running state and continues to perform a current task.

[0037] Optionally, the determining of the operation content of the second interface according to the environment data comprises:

[0038] in a case where the environment data is elevator taking state data, the operation content of the second interface determined comprises a fourth control.

[0039] the determining of the current running state of the robot according to the received touch operation on the second interface comprises:

[0040] in a case where a fourth control in the second interface is triggered, determining to cancel all tasks in a task list of the robot, open a box door of the robot, control a wheel hub of the robot to be unloaded, and determine that the robot enters a reset page.

[0041] In a case where the reset control of the reset page is touched, the robot is reset to recover to an initial standby state.

[0042] Optionally, the operation content of the second interface is determined according to the environment data, including:

[0043] In a case where the environment data is a flat path state, the operation content of the second interface includes a fifth control, a sixth control and a seventh control.

[0044] The current running state of the robot is determined according to the received touch operation for the second interface, including:

[0045] In a case where the fifth control in the second interface is triggered, a task list of the robot and a list of stranded items of a delivery box of the robot are determined; the task list of the robot is displayed, so that a user performs a first management operation on a task in the task list, the first management operation including a cancel operation or a re-delivery operation; the list of stranded items is displayed, so that the user performs a second management operation on a stranded item in the list of stranded items, the second management operation including a removal operation or a conversion to a re-delivery operation.

[0046] In a case where the sixth control in the second interface is triggered, a box door of the robot is opened.

[0047] In a case where the seventh control in the second interface is triggered, it is determined whether the robot has positioning information, if the robot has the positioning information, the robot is determined to be in a recoverable state; if the robot is in the recoverable state, the robot is determined to continue to execute a current task, if the robot is in an un-recoverable state, the robot is determined to be in a fault state.

[0048] Optionally, in a case where the first information is verification information, the first information is administrator identity information, a short message verification code or a time threshold configured in the background.

[0049] Another aspect of the embodiment of the present disclosure provides a device, including:

[0050] The acquisition module is configured to acquire environment data around the robot, wherein the robot is in a first running state.

[0051] The control module is configured to, in a case where an emergency stop instruction is received, control the robot to enter a second running state and display a second interface; wherein operation content of the second interface is determined according to the environment data, the second interface is an emergency stop function display interface, and the second running state is an emergency stop state.

[0052] determining, according to the received touch operation for the second interface, a current running state of the robot.

[0053] Optionally, the method further comprises:

[0054] displaying, in a case where an emergency stop instruction is received, a first interface, wherein the first interface is an emergency stop verification interface;

[0055] The determining module is further configured to determine first information corresponding to the touch operation according to the received touch operation for the first interface.

[0056] The determining module is further configured to, in a case where the first information is verification information input by a user, determine operation content of a second interface according to the environmental data if the first information is consistent with preset information.

[0057] Optionally, the determining module is further configured to determine that the robot returns to the first running state if no touch operation for the first interface is received within a first time length.

[0058] Optionally, the determining module is further configured to determine that the robot returns to the first running state if the first information is inconsistent with preset information.

[0059] Optionally, the determining module is further configured to determine that the robot returns to the first running state if the first information is information for exiting the second running state.

[0060] Optionally, the control module is specifically configured to: determine an environment in which the robot is located according to sensor data in the environmental data, and determine operation content of a second interface according to the environment in which the robot is located; wherein the environment in which the robot is located includes a flat path environment, an environment near a charging pile, or an elevator environment.

[0061] Optionally, the control module is further configured to:

[0062] control the robot to stop receiving a task order and interrupt navigation;

[0063] In a case where the first information is verification information input by a user, after determining, in a case where the first information is consistent with preset information, operation content of a second interface according to the environmental data, the method further comprises:

[0064] control a wheel hub of the robot to release force.

[0065] Optionally, the control module is specifically configured to:

[0066] In a case where the robot is determined to be in the environment near the charging pile according to the environment data, the operation content of the second interface includes a first control and a second control.

[0067] Optionally, the determining module is specifically configured to:

[0068] In a case where the first control in the second interface is triggered, a task in the robot task list is determined.

[0069] The task in the robot task list is displayed for the user to perform a management operation on the task, and the management operation includes a cancel operation.

[0070] In a case where the second control in the second interface is triggered, if the robot has a task and has positioning information, the robot is determined to continue to perform the current task of the robot.

[0071] Optionally, the determining module is specifically configured to, in a case where the second control in the second interface is triggered, if the robot has no task or has no positioning information, the robot is determined to enter a reset page.

[0072] In a case where a reset control in the reset page is triggered, the robot is reset to return to an initial standby state.

[0073] Optionally, in a case where the robot is in the state near the charging pile, the operation content of the determined second interface further includes a third control.

[0074] The determining module is specifically configured to:

[0075] In a case where the third control in the second interface is triggered, a box door of the robot is opened.

[0076] Optionally, the determining module is specifically configured to:

[0077] If the first information is inconsistent with preset information, the robot is determined to return to the first running state and continue to perform the current task.

[0078] Optionally, the control module is specifically configured to:

[0079] In a case where the environment data is the elevator taking state data, the operation content of the second interface includes a fourth control.

[0080] Optionally, the determining module is further configured to:

[0081] In a case where the fourth control in the second interface is triggered, all tasks in a task list of the robot are determined to be cancelled, a box door of the robot is opened, a wheel hub of the robot is controlled to be unloaded, and the robot is determined to enter a reset page.

[0082] In a case where a reset control in the reset page is triggered, the robot is reset to recover to an initial standby state.

[0083] Optionally, the control module is specifically configured to:

[0084] In a case where the environment data is in a flat path state, operation content of the second interface includes a fifth control, a sixth control and a seventh control.

[0085] Optionally, the determination module is specifically configured to:

[0086] In a case where the fifth control in the second interface is triggered, a task list of the robot and a list of stranded pieces of a delivery box of the robot are determined; the task list of the robot is displayed, so that a user performs a first management operation on a task in the task list, the first management operation including a cancellation operation or a re-delivery operation; the list of stranded pieces is displayed, so that the user performs a second management operation on a stranded piece in the list of stranded pieces, the second management operation including a removal operation or a conversion operation into a re-delivery operation.

[0087] In a case where the sixth control in the second interface is triggered, a box door of the robot is opened.

[0088] In a case where the seventh control in the second interface is triggered, it is determined whether the robot has positioning information, if the robot has the positioning information, the robot is determined to be in a recoverable state; if the robot is in the recoverable state, the robot is determined to continue to execute a current task, if the robot is in an un-recoverable state, the robot is determined to be in a fault state.

[0089] In still another aspect, a robot device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the emergency stop control method of the robot when executing the program.

[0090] In still another aspect, a computer readable storage medium is provided, which stores a computer program, and the program is executed by a processor to implement the emergency stop control method of the robot.

[0091] In still another aspect, a computer program is provided, which is executed by a processor to implement the emergency stop control method of the robot.

[0092] The robot emergency stop control method, device, robot equipment and storage medium provided by the embodiments of the present disclosure can first acquire environmental data around the robot, wherein the robot is in a first running state, in the case that an emergency stop instruction is received, the robot is controlled to enter a second running state, and a second interface is displayed, the operation content of the second interface can be determined according to the environmental data, the second interface is an emergency stop function display interface, the second running state is an emergency stop state, and then the current running state of the robot can be determined according to the received touch operation on the second interface. Therefore, after receiving the emergency stop instruction, the robot can perform emergency stop function display according to different environmental data, and determine the current running state according to the received touch operation, so that corresponding emergency stop decisions can be made for different environments, the accuracy and reliability of robot control are improved, the smoothness of robot task execution is enhanced, and the user experience is improved.

[0093] Additional aspects and advantages of the present disclosure will be made apparent from the following description, which is given by way of example only, with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0094] The above and / or additional aspects and advantages of the present disclosure will become apparent and more readily appreciated from the following description, with reference to the following figures, in which:

[0095] Figure 1 A flowchart of a robot emergency stop control method provided by an embodiment of the present disclosure is shown in FIG. 1;

[0096] Figure 2 A flowchart of a robot emergency stop control method provided by another embodiment of the present disclosure is shown in FIG. 2;

[0097] Figure 2A A schematic diagram of a first interface of a robot provided by an embodiment of the present disclosure is shown in FIG. 3;

[0098] Figure 2B A schematic diagram of another first interface of a robot provided by an embodiment of the present disclosure is shown in FIG. 4;

[0099] Figure 2C A schematic diagram of a first interface of a robot provided by an embodiment of the present disclosure is shown in FIG. 5;

[0100] Figure 2D A schematic diagram of a second interface of a robot provided by an embodiment of the present disclosure is shown in FIG. 6;

[0101] Figure 2E A schematic diagram of a second interface of a robot provided by an embodiment of the present disclosure is shown in FIG. 7;

[0102] Figure 3A flowchart of a robot emergency stop control method according to another embodiment of the present disclosure is provided.

[0103] Figure 3A A second interface of a robot according to an embodiment of the present disclosure is provided.

[0104] Figure 3B An interaction interface of a robot according to an embodiment of the present disclosure is provided.

[0105] Figure 3C A reset interface of a robot according to an embodiment of the present disclosure is provided.

[0106] Figure 3D An interaction interface of a robot according to an embodiment of the present disclosure is provided.

[0107] Figure 3E An interaction interface of a robot according to an embodiment of the present disclosure is provided.

[0108] Figure 4 A structure diagram of a robot emergency stop control device according to another embodiment of the present disclosure is provided.

[0109] Figure 5 A structure diagram of a robot device according to an embodiment of the present disclosure is provided. DETAILED DESCRIPTION

[0110] Embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, in which the same or similar components are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the present disclosure, and should not be understood as limiting the present disclosure.

[0111] The robot emergency stop control method, device, robot device and storage medium according to the present disclosure are described in detail below with reference to the accompanying drawings.

[0112] The robot emergency stop control method according to an embodiment of the present disclosure can be executed by a robot emergency stop control device according to an embodiment of the present disclosure, which can be configured in a robot device.

[0113] For convenience of description, the robot emergency stop control device according to an embodiment of the present disclosure can be simply denoted as “control device”.

[0114] Figure 1 A flowchart of a robot emergency stop control method according to an embodiment of the present disclosure is provided.

[0115] As shown in Figure 1 the robot emergency stop control method comprises the following steps:

[0116] In step 101, environment data around the robot is acquired, wherein the robot is in a first running state.

[0117] The environment data can reflect the environment around the robot. For example, the environment can be an elevator environment, a charging pile environment, a straight path environment, and the like, which are not limited in the present disclosure.

[0118] Optionally, image information can be collected during the running of the robot, and then the image information is analyzed to acquire the environment data around the robot.

[0119] The first running state can be a walking state of the robot, or can be a corresponding task running state, such as a delivery in progress, a cruising in progress, a taking in progress, and the like, which are not limited in the present disclosure.

[0120] In step 102, when the emergency stop instruction is received, the robot is controlled to enter a second running state, and a second interface is displayed.

[0121] The operation content of the second interface can be determined according to the environment data, which is not limited in the present disclosure.

[0122] The second interface can be an emergency stop function display interface, and the user can perform touch operation on the interface to control the robot, which is not limited in the present disclosure.

[0123] It can be understood that the corresponding second interface can be the same or different according to different environment data, which is not limited in the present disclosure.

[0124] The second interface can have one or more controls representing different functions, such as an “exit” control, a “cancel” control, a “confirm” control, and the like, which are not limited in the present disclosure.

[0125] In addition, the second running state can be an emergency stop state, such as a stop running, or a robot wheel hub locking, and the like, which are not limited in the present disclosure.

[0126] In addition, the emergency stop instruction can be triggered by the user as needed, or can be a false trigger, which is not limited in the present disclosure.

[0127] For example, an administrator finds that the robot is not running normally, and presses an emergency stop button to make the robot enter an emergency stop state, and then the robot can try to perform a recovery operation, and the like, which are not limited in the present disclosure.

[0128] In step 103, the current running state of the robot is determined according to the received touch operation on the second interface.

[0129] Optionally, one or more controls can be provided in the second interface, so that the user can perform touch operations on the controls.

[0130] For example, the controls in the second interface are an "exit" control and an "open box door" control. If the robot determines that a click operation is received for the "exit" control, it can be determined to exit the current emergency stop state and determine the current running state. For example, if the first state of the robot before the emergency stop is "straight line delivery", the robot can continue "straight line delivery" after exiting the emergency stop state.

[0131] It should be noted that the above examples are only illustrative and cannot be used as a limitation on the second interface, touch operation, current running state of the robot, etc. in the embodiments of the present disclosure.

[0132] In the embodiments of the present disclosure, the environment data around the robot can be obtained first, wherein the robot is in a first running state. In the case that an emergency stop instruction is received, the robot is controlled to enter a second running state, and a second interface is displayed. The operation content of the second interface can be determined according to the environment data. The second interface is an emergency stop function display interface, the second running state is an emergency stop state, and then the current running state of the robot can be determined according to the received touch operation on the second interface. Thus, after receiving the emergency stop instruction, the robot can perform emergency stop function display according to different environment data, and determine the current running state according to the received touch operation, so that corresponding emergency stop decisions can be made for different environments, the accuracy and reliability of robot control are improved, the smoothness of robot task execution is enhanced, and the user experience is improved.

[0133] Figure 2 A flowchart of an emergency stop control method of a robot provided in the embodiments of the present disclosure is shown.

[0134] As shown in the figure, the emergency stop control method of the robot includes the following steps: Figure 2

[0135] Step 201, in the case that an emergency stop instruction is received, a first interface is displayed, wherein the first interface is an emergency stop verification interface.

[0136] Generally, when the robot monitors that the emergency stop button is triggered, it will directly perform the emergency stop operation even if there is a task being executed at present, and always keep the emergency stop state. The emergency stop button can be triggered by the user according to the need, or can be triggered by the misoperation or triggered by the random operation of a passerby, etc., so that if the emergency stop is directly performed and the corresponding task is interrupted, the efficiency and smoothness of the robot executing the task can be affected. Therefore, in the embodiments of the present disclosure, after receiving the emergency stop instruction, the first interface can be displayed first to verify the emergency stop instruction.

[0137] ​It can be understood that an emergency stop button, an emergency stop key, etc. can be arranged on the robot, so that the control device can determine that the emergency stop instruction is received when it is monitored that the emergency stop button is triggered, and then the emergency stop can be performed and the first interface can be displayed. Alternatively, the emergency stop instruction can be determined to be received when it is monitored that the robot is impacted by external force, and the like, which are not limited in the present disclosure.

[0138] The first interface can be used to verify the emergency stop instruction to determine whether the emergency stop instruction is triggered by the user, whether the corresponding task needs to be interrupted, whether the emergency stop state needs to be maintained, and the like, which are not limited in the present disclosure.

[0139] In addition, the presentation form of the first interface can be various. For example, the first interface can include one or more controls, which can be an emergency stop verification interface as shown in Figure 2A , or can be an emergency stop verification interface as shown in Figure 2B , and the like, which are not limited in the present disclosure.

[0140] Optionally, after receiving the emergency stop instruction, the first interface to be displayed can be determined according to the environment data.

[0141] The style or format of the first interface to be displayed can be the same or different, which are not limited in the present disclosure. It can be understood that since the elevator environment is relatively complex, if it is determined that the robot receives the emergency stop instruction in the elevator scene, the corresponding first interface can be used to verify whether all tasks are cancelled and the emergency stop is performed. The present disclosure is not limited in this regard.

[0142] For example, the corresponding environment data can be determined by analyzing the collected image information. If the environment data includes elevator data, it can be determined that the robot is currently located in the elevator scene, such as in the elevator, near the elevator, and the like, and the corresponding first interface to be displayed can be as shown in Figure 2C . Figure 2C It can be seen that the first interface has the words “Determine to cancel all tasks? Enter the password to perform emergency stop verification, and the verification will cancel all tasks”.

[0143] Alternatively, by analyzing the collected image information, it can be determined that the environment data includes charging pile data, and it can be determined that the robot is currently located near the charging pile. The corresponding first interface to be displayed can be as shown in Figure 2A or Figure 2B .

[0144] It should be noted that the above examples are only illustrative and cannot be regarded as a limitation on the environment data, the first interface to be displayed, and the like in the embodiments of the present disclosure.

[0145] Therefore, in the embodiments of the present disclosure, corresponding emergency stop strategies can be adopted according to different emergency stop areas, thereby greatly enhancing the service fluency and user experience on the basis of ensuring the original braking function.

[0146] Optionally, after displaying the first interface in the case of receiving the emergency stop instruction, the robot can be controlled to stop receiving task orders and interrupt navigation, thereby avoiding the phenomenon that the robot cannot process task orders in time in the emergency stop state, resulting in order accumulation and the like.

[0147] For example, after receiving the emergency stop instruction, the robot can stop receiving task orders, such as stopping receiving task orders from the cloud and the like. Alternatively, if the robot is currently executing a navigation task, the navigation task can be interrupted after receiving the emergency stop instruction. The present disclosure does not make any limitation in this regard.

[0148] In step 202, first information corresponding to the touch operation is determined according to the received touch operation on the first interface.

[0149] The first information can be the content corresponding to the touch operation, that is, the content input by the user, and the present disclosure does not make any limitation in this regard. It can be understood that after receiving the touch operation on the first interface, the touch operation can be analyzed to determine the verification information input by the user.

[0150] For example, control 1 corresponds to the number "1", control 2 corresponds to the number "2", and control 3 corresponds to the number "3". If the control device detects that control 2 and control 3 of the first interface are clicked, it can be determined that the corresponding first information is 23, that is, the information input by the user is 23.

[0151] It should be noted that the above examples are only illustrative and cannot be regarded as a limitation on the first interface, the touch operation, the first information and the like in the embodiments of the present disclosure.

[0152] It should be noted that any desirable way can be adopted to determine the first information corresponding to the touch operation, and the present disclosure does not make any limitation in this regard.

[0153] In step 203, if the first information is the verification information input by the user and the first information is consistent with the preset information, the operation content of the second interface is determined according to the environmental data.

[0154] Optionally, an input box can be provided in the first interface, that is, an input box is provided in the emergency stop verification interface, so that the user can input the verification information in the input box. Alternatively, the user can input the verification information through some controls in the first interface and the like. The present disclosure does not make any limitation in this regard.

[0155] Optionally, the correct preset information can be set in advance, and then the first information is compared with the preset information to determine whether the emergency stop instruction is correct. If they are consistent, it indicates that the emergency stop verification is passed, and it can be determined to execute the emergency stop operation; if they are inconsistent, it can be determined that the current emergency stop instruction can be triggered by a misoperation, and then the emergency stop operation can not be executed.

[0156] For example, the preset information is "9999", if the received first information is "0123", which is inconsistent with the preset information, it can be determined not to execute the emergency stop operation, and the robot can be restored to the state before receiving the emergency stop instruction. Alternatively, the preset information is "8520", if the received first information is "8520", which is consistent with the preset information, it can be determined to execute the emergency stop operation.

[0157] It should be noted that the above examples are only illustrative and cannot be used as a limitation on the first information, preset information and the like in the embodiments of the present disclosure.

[0158] It can be understood that, in the embodiments of the present disclosure, in order to avoid the emergency stop of the robot triggered by misoperation or random operation of pedestrians, the emergency stop instruction can be verified after receiving the emergency stop instruction, so as to ensure that the emergency stop function is performed by authorized managers or users as much as possible, thereby improving the accuracy of robot control and the fluency of task execution.

[0159] Optionally, in the case where the first information is consistent with the preset information, the hub of the robot can be controlled to be unloaded, and if the user wants to push the robot, the robot can be pushed in the state that the hub of the robot is unloaded.

[0160] Optionally, in the case where the first information is verification information, the first information can be an administrator identity information, a short message verification code or a time threshold configured in the background, and the present disclosure does not limit this.

[0161] Optionally, the environment in which the robot is located can be determined according to the sensor data in the environmental data, and the operation content of the second interface can be determined according to the environment in which the robot is located.

[0162] The environment in which the robot is located can include a flat path environment, an environment near a charging pile or an elevator environment, and the present disclosure does not limit this.

[0163] For example, by analyzing the collected image information, it can be determined that the image information contains charging pile data; or by detecting the charging pile identifier through the sensor in the robot, it can be determined that the robot is currently located near the charging pile, and then the second interface to be displayed can be determined, which can be an emergency stop function display interface, and the second interface can be as shown in Figure 2D .

[0164] Alternatively, the image information collected is identified or analyzed to determine whether the image information contains elevator-related data. Alternatively, the robot detects a change in current acceleration through a sensor in the robot, and it is determined that the robot is currently located in an elevator environment. Then, it is determined that the second interface to be displayed can be a case closing prompt interface, and the second interface can be as shown in FIG. 8B. The present disclosure is not limited in this regard. Figure 2E

[0165] Alternatively, the preset path of the robot is determined. If the preset path of the robot is a straight line, it is determined that the robot is in a flat path environment.

[0166] It should be noted that the above examples are only illustrative and cannot be used as a limitation on the manner in which the robot environment is determined in the embodiments of the present disclosure.

[0167] Optionally, in the case where the first information is to exit the second running state, it is determined that the robot returns to the first running state.

[0168] For example, the first interface includes an "exit" control. If an operation on the "exit" control is received, it is determined that the robot exits the second running state, and at this time, it is determined that the robot returns to the first running state. Alternatively, if the first interface includes a "cancel" control, if a single click or touch operation on the "cancel" control is received, it is determined that the robot exits the second running state, and at this time, it is determined that the robot returns to the first running state. The present disclosure is not limited in this regard.

[0169] Optionally, an emergency stop verification duration can be set. If the touch operation is not received within the emergency stop verification duration, it is determined that the emergency stop instruction can be a false trigger, so that the robot continues to execute the task, reduces the emergency stop operation caused by false touch, and improves the accuracy and flow of the robot in processing the task.

[0170] For example, after the first interface is displayed, if a touch operation on the first interface is not received within a first duration, it is determined that the robot returns to the first running state.

[0171] The first duration can be a preset duration, such as 10 seconds (s), or 30 s, etc., and the present disclosure is not limited in this regard.

[0172] For example, the first duration is 15 s. If the robot receives an emergency stop instruction during the execution of task 1, it can pause the execution of task 1 and display the first interface. If the first interface has been displayed for more than 15 s, and no corresponding touch operation is received during the display of the first interface, it is determined that the robot returns to continue executing task 1.

[0173] ​It should be noted that the above examples are only illustrative and cannot be used as a limitation on the first time length, the first running state, etc. in the embodiments of the present disclosure.

[0174] Step 204, determining the current running state of the robot according to the received touch operation for the second interface.

[0175] Optionally, the task in the task list of the robot can be determined when the first control in the second interface is triggered, wherein the second interface is an emergency stop function display interface, and then the current running state of the robot can be determined according to the execution state of the task in the task list and the environmental data.

[0176] The first control can be a control for exiting the current second interface, such as an "exit" control. When it is detected that the "exit" control is triggered, the task in the task list can be determined. The present disclosure does not make a limitation on this. In the embodiments of the present disclosure, when the emergency stop instruction is received, the first interface can be displayed, wherein the first interface is an emergency stop verification interface, and then the first information corresponding to the touch operation can be determined according to the received touch operation for the first interface. If the first information is the verification information input by the user, and the first information is consistent with the preset information, the operation content of the second interface is determined according to the environmental data, and then the current running state of the robot can be determined according to the received touch operation for the second interface. Therefore, after receiving the emergency stop instruction, the emergency stop instruction can be verified first, and then the running state of the robot is determined according to the verification result, which reduces the situation that the robot is stopped and the task is interrupted due to a false touch, thereby improving the accuracy and reliability of the robot control, enhancing the smoothness of the robot in executing the task, and improving the user experience.

[0177] Figure 3 A flowchart of a robot emergency stop control method provided by the embodiments of the present disclosure is shown.

[0178] As shown in Figure 3 The robot emergency stop control method includes the following steps:

[0179] Step 301, obtaining environmental data around the robot, wherein the robot is in a first running state.

[0180] Step 302, displaying a first interface when an emergency stop instruction is received, wherein the first interface is an emergency stop verification interface.

[0181] Step 303, determining first information corresponding to a touch operation according to the received touch operation for the first interface.

[0182] It should be noted that the specific content and implementation of steps 301 to 303 can refer to the description of other embodiments of the present disclosure, which will not be repeated here.

[0183] Step 304, in the case that the first information is the user input verification information, if the first information is inconsistent with the preset information, it is determined that the robot returns to the first running state, wherein the first running state is the running state before the robot receives the emergency stop instruction.

[0184] Optionally, if the first information is inconsistent with the preset information, the robot can be determined to return to the first running state and continue to execute the current task.

[0185] Wherein, if the first information is inconsistent with the preset information, it can indicate that the emergency stop instruction verification fails, and the emergency stop instruction can be triggered by mistake or triggered by random operation of passers-by, etc. At this time, it can be restored to the first running state and continue to execute the current task.

[0186] Step 305, in the case that the first information is consistent with the preset information, and according to the environmental data, it is determined that the robot is in the environment near the charging pile, the operation content of the second interface includes the first control and the second control.

[0187] Wherein, the first control can be a task list function control, such as a "task list" control and the like; the second control can be a control for canceling the emergency stop, such as an "exit" control, a "cancel" control and the like. The present disclosure does not limit this.

[0188] For example, the second interface can be as shown in Figure 3A As can be seen from Figure 3A The first control is a "task list" control, and by triggering the control, the current task can be viewed or canceled; the second control can be an "exit" control, and by triggering the control, the emergency stop state can be exited.

[0189] It should be noted that the above example is only illustrative and cannot be regarded as a limitation on the style or format of the second interface in the embodiments of the present disclosure.

[0190] Step 306, in the case that the first control in the second interface is triggered, the task in the robot task list is determined, and the task in the robot task list is displayed for the user to perform management operation on the task, wherein the management operation includes cancel operation.

[0191] It can be understood that in the case that the first control in the second interface is triggered, the task in the robot task list can be determined, which can include the task in the current task list and the task in the backlog list.

[0192] For example, if the second interface is as shown in Figure 3AAs shown, in the case where the "task list" control is triggered, the tasks in the robot task list can be displayed, and the like, which are not limited in the present disclosure.

[0193] In step 307, in the case where the second control in the second interface is triggered, if the robot has a task and has positioning information, it is determined that the robot continues to execute the current task of the robot.

[0194] For example, if the second interface is as shown in Figure 3A As shown, in the case where the "exit" control in the interface is triggered, it is determined that there is a current task and there is also current positioning information, and the current task can be continued to be executed. The task can be a task being executed before receiving the emergency stop instruction, or can be an unexecuted task, and the like, which are not limited in the present disclosure.

[0195] Optionally, in the case where the second control in the second interface is triggered, if the robot has no task or has no positioning information, it is determined that the robot enters a reset page, and in the case where the reset control in the reset page is triggered, the robot is reset to recover to an initial standby state.

[0196] The reset page can be a page set in advance, which can guide the user or administrator to push the robot to a charging pile, and use the charging pile to reacquire the positioning of the robot, thereby playing a reset role, so that the robot can enter a state of waiting to receive a task, and the like, which are not limited in the present disclosure.

[0197] In addition, the initial standby state can be an initial state of the robot, such as a state of waiting to receive a task, and the like, which are not limited in the present disclosure.

[0198] Optionally, in the case where the robot is in the state of being near the charging pile, the operation content of the determined second interface further includes a third control, and in the case where the third control in the second interface is triggered, the box door of the robot is opened.

[0199] The third control can be a box door management control, such as opening the box door or closing the box door by triggering the control, and the like, which are not limited in the present disclosure.

[0200] For example, for a delivery robot, a delivery box is arranged in the delivery robot, and if the second interface is as shown in Figure 3A The "box door" control is the third control, and in the case where the control is triggered, the box door can be controlled to be opened so that the user can take out the stranded goods. It can be understood that after the box door is opened, a control to close the box door can be popped up on the interface to enable the user to close the box door, or the box door can be automatically closed after a certain time of opening the box, and the interface can be as shown in Figure 3B Figure 3B ​It can be known that the interface can include an "open box door" control, a "close box door" control, and a "return" control. If it is detected that the "close box door" control is triggered, the box door in the robot can be closed. If it is detected that the "return" control is triggered, it can be determined to close the current interface.

[0201] It should be noted that the above examples are only illustrative and cannot be used as a limitation on the second interface, the third control, and the like in the embodiments of the present disclosure.

[0202] At step 308, in a case where the first information is consistent with the preset information and the environmental data is the taking elevator state data, it is determined that the operation content of the second interface includes a fourth control. In a case where the fourth control in the second interface is triggered, it is determined to cancel all tasks in a task list of the robot.

[0203] In an elevator environment, if the robot receives an emergency stop instruction and the emergency stop verification is passed, the second interface can pop up the fourth control, so that the user or the administrator can quickly cancel all tasks in the task list of the robot by triggering the fourth control. The tasks canceled by triggering the fourth control can usually be recorded in the cloud and arranged separately, such as being assigned to other robots in a normal running state. The present disclosure does not make a limitation on this.

[0204] It can be understood that if the robot fails, the administrator can control the robot through the emergency stop key. For example, during the taking elevator process, if the robot fails, the robot can pop up the fourth control in the second interface after receiving the emergency stop instruction and passing the verification. If the fourth control is triggered, the box door of the robot can be opened, so that the user or the administrator can take out the items in the box door as soon as possible, thereby reducing the task delay and processing the robot as soon as possible.

[0205] Optionally, after the box door of the robot is opened, a "close box door" control can also be popped up, so that the user can close the box door in time by operating the control.

[0206] Optionally, it can also be determined to close the box door in a case where no touch operation is received within a second time length.

[0207] The second time length can be a preset time length, such as 15 seconds, 40 seconds, and the like. The present disclosure does not make a limitation on this.

[0208] For example, the second time length is 30 seconds. If the box door is in an open state at t0, no touch operation is received within 30 seconds, that is, from t0 to (t0+30), and the box door can be automatically closed. The present disclosure does not make a limitation on this.

[0209] In addition, in the case that the fourth control is triggered, the wheel hub of the robot can be controlled to unload force, and the robot can be pushed to move. Then, it can be determined that the robot enters a reset page. In the case that the reset control of the reset page is triggered, the robot is reset to return to the initial standby state.

[0210] The reset page can guide the user or administrator to push the robot to a charging pile, and use the charging pile to reacquire the positioning of the robot, so as to play a reset role, so that the robot can enter a state of waiting to receive a task, and the like. The present disclosure does not limit this.

[0211] The reset page can include one or more controls, such as a "reset robot" control, a "reset" control, and the like. The present disclosure does not limit this.

[0212] For example, the reset interface is as shown in Figure 3C , where the third control is a "reset" control, and the "return" control is also included. If it is detected that the "reset" control is triggered, it can be determined that the robot is in a reset state. The present disclosure does not limit this.

[0213] In step 309, in the case that the first information is consistent with the preset information and the environmental data is a flat path state, it is determined that the operation content of the second interface includes a fifth control, a sixth control and a seventh control.

[0214] In the case that the fifth control in the second interface is triggered, it can be determined that the robot task list and the list of stranded items of the delivery box of the robot. Then, the task list of the robot can be displayed, so that the user can perform a first management operation on the task in the task list, and the first management operation includes a cancel operation or a re-delivery operation. The list of stranded items is displayed, so that the user can perform a second management operation on the stranded items in the list of stranded items, and the second management operation includes a removal operation or a conversion to a re-delivery operation.

[0215] For example, if the second interface is as shown in Figure 3A , the fifth control can be the "task list" control in the figure. If it is detected that the control is triggered, an interaction interface as shown in Figure 3D can be displayed. As can be seen from Figure 3D , the current task list and the list of stranded items can be included. In the "current task list", the tasks in the current task list can be displayed. In the "list of stranded items", the tasks in the list of stranded items can be displayed. As can be seen from Figure 3D , the task in the current task list is a delivery task. If it is detected that the "cancel task" control is triggered, it can be determined that the task is canceled.

[0216] It should be noted that the above examples are only illustrative and cannot be used as a limitation on the second interface and the controls in the second interface in the embodiments of the present disclosure.

[0217] Optionally, the box door of the robot can be opened when the sixth control in the second interface is triggered.

[0218] For example, as shown in the second interface Figure 3A , the "box door" control is the sixth control. If it is detected that the control is triggered, the box door can be controlled to be opened so that the user can take out the goods.

[0219] It can be understood that after the box door is opened, a control for closing the box door can be popped up on the interface to enable the user to close the box door, or the box door can be automatically closed after a certain time of opening, and the like, which are not limited in the present disclosure.

[0220] Optionally, when the seventh control in the second interface is triggered, it is determined whether the robot has positioning information. If the robot has positioning information, it is determined that the robot is in a recoverable state, and if the robot is in a recoverable state, it is determined that the robot continues to execute the current task. If the robot is in an unrecoverable state, it is determined that the robot is in a fault state.

[0221] The seventh control can be an exit emergency stop control, such as an "exit" control, or an "exit emergency stop" control, and the like, which are not limited in the present disclosure.

[0222] For example, if it is determined that the robot has positioning information: XX Hotel, 1st Floor, C Road, B District, A City, it is determined that the robot is in a recoverable state, and the robot can continue to execute the current task, such as continuing to execute the navigation, goods delivery, and the like, which are not limited in the present disclosure.

[0223] Alternatively, if it is determined that the positioning information in the robot is lost, it is determined that the robot is in an unrecoverable state, and the robot can enter a fault state. Then, a fault signal can be sent so that the user can timely troubleshoot the fault, and the like, which are not limited in the present disclosure.

[0224] Optionally, in some embodiments, after the seventh control is triggered, a secondary exit confirmation can be performed, and the interactive interface can be as shown in Figure 3E . As shown in Figure 3E , the interface can include a "cancel (10s)" control and an "exit" control. If an operation on the "exit" control is received, it is determined that the emergency stop state is exited. Alternatively, if no touch operation is received within 10s, the current interface is cancelled. The present disclosure is not limited in this regard.

[0225] The embodiment of the present disclosure can first acquire environmental data around the robot, determine a first interface in the case of receiving an emergency stop instruction, and then determine first information corresponding to a touch operation according to the received touch operation on the first interface. In the case that the first information is verification information input by the user, if the first information is inconsistent with preset information, the robot is determined to return to a first running state. In the case that the first information is consistent with the preset information, the operation content of a second interface is determined according to the environmental data, including a first control and a second control. In the case that the first control in the second interface is triggered, a task in a robot task list is determined and displayed for the user to perform a management operation on the task. In the case that the second control in the second interface is triggered, if the robot has a task and has positioning information, the robot is determined to continue to execute the current task of the robot. In the case that the environmental data is elevator state data, the operation content of the second interface is determined to include a fourth control. In the case that the fourth control in the second interface is triggered, all tasks in the task list of the robot are determined to be canceled. In the case that the environmental data is a flat path state, the operation content of the second interface is determined to include a fifth control, a sixth control and a seventh control. Thus, after receiving the emergency stop instruction, the emergency stop instruction can be verified, and then corresponding second interfaces can be displayed according to different environmental data, and the running state of the robot can be determined according to the touch operation on the second interface, thereby reducing the situation that the robot is stopped and the task is interrupted due to a false touch, improving the accuracy and reliability of robot control, enhancing the smoothness of the robot in executing tasks, and improving the user experience.

[0226] To implement the above-mentioned embodiments, the present disclosure further provides an emergency stop control device of a robot.

[0227] Figure 4 A structural schematic diagram of an emergency stop control device of a robot provided by the embodiment of the present disclosure is provided.

[0228] As Figure 4 shown, the emergency stop control device 400 of the robot includes an acquisition module 410, a control module 420 and a determination module 430.

[0229] The acquisition module 410 is configured to acquire environmental data around the robot, wherein the robot is in a first running state.

[0230] The control module 420 is configured to control the robot to enter a second running state and display a second interface in the case of receiving an emergency stop instruction. The operation content of the second interface is determined according to the environmental data. The second interface is an emergency stop function display interface. The second running state is an emergency stop state.

[0231] determining module 430 is configured to determine a current running state of the robot according to the received touch operation for the second interface.

[0232] Optionally, the method further comprises:

[0233] displaying a first interface when the emergency stop instruction is received, wherein the first interface is an emergency stop verification interface;

[0234] The determining module is further configured to determine first information corresponding to the touch operation for the first interface according to the received touch operation for the first interface.

[0235] The determining module is further configured to, when the first information is verification information input by a user, determine operation content of a second interface according to the environmental data if the first information is consistent with preset information.

[0236] Optionally, the determining module is further configured to determine that the robot returns to the first running state if no touch operation for the first interface is received within a first time length.

[0237] Optionally, the determining module is further configured to determine that the robot returns to the first running state if the first information is inconsistent with preset information.

[0238] Optionally, the determining module is further configured to determine that the robot returns to the first running state if the first information is to exit the second running state.

[0239] Optionally, the control module is specifically configured to: determine an environment in which the robot is located according to sensor data in the environmental data, and determine operation content of a second interface according to the environment in which the robot is located; wherein the environment in which the robot is located includes a flat path environment, an environment near a charging pile, or an elevator environment.

[0240] Optionally, the control module is further configured to:

[0241] control the robot to stop receiving a task order and interrupt navigation;

[0242] When the first information is verification information input by a user, and if the first information is consistent with preset information, the method further comprises, after the operation content of the second interface is determined according to the environmental data:

[0243] control a wheel hub of the robot to be unloaded.

[0244] Optionally, the control module is specifically configured to:

[0245] In a case where the robot is determined to be in the environment near the charging pile according to the environment data, the operation content of the second interface includes a first control and a second control.

[0246] Optionally, the determining module is specifically configured to:

[0247] In a case where the first control in the second interface is triggered, a task in the robot task list is determined.

[0248] The task in the robot task list is displayed for the user to perform a management operation on the task, where the management operation includes a cancel operation.

[0249] In a case where the second control in the second interface is triggered, if the robot has a task and has positioning information, the robot is determined to continue to perform the current task of the robot.

[0250] Optionally, the determining module is specifically configured to, in a case where the second control in the second interface is triggered, if the robot has no task or has no positioning information, the robot is determined to enter a reset page.

[0251] In a case where a reset control in the reset page is triggered, the robot is reset to return to an initial standby state.

[0252] Optionally, in a case where the robot is in the state near the charging pile, the operation content of the determined second interface further includes a third control.

[0253] The determining module is specifically configured to:

[0254] In a case where the third control in the second interface is triggered, a box door of the robot is opened.

[0255] Optionally, the determining module is specifically configured to:

[0256] If the first information is inconsistent with preset information, the robot is determined to return to the first running state and continue to perform the current task.

[0257] Optionally, the control module is specifically configured to:

[0258] In a case where the environment data is the elevator taking state data, the operation content of the second interface includes a fourth control.

[0259] Optionally, the determining module is further configured to:

[0260] In a case where the fourth control in the second interface is triggered, all tasks in a task list of the robot are determined to be cancelled, a box door of the robot is opened, a wheel hub of the robot is controlled to be unloaded, and the robot is determined to enter a reset page.

[0261] In a case where a reset control in the reset page is triggered, the robot is reset to return to an initial standby state.

[0262] Optionally, the control module is specifically configured to:

[0263] In a case where the environment data is in a flat path state, operation content of the second interface includes a fifth control, a sixth control and a seventh control.

[0264] Optionally, the determination module is specifically configured to:

[0265] In a case where the fifth control in the second interface is triggered, a task list of the robot and a list of stranded items of a delivery box of the robot are determined; the task list of the robot is displayed, so that a user performs a first management operation on a task in the task list, the first management operation including a cancellation operation or a re-delivery operation; the list of stranded items is displayed, so that the user performs a second management operation on a stranded item in the list of stranded items, the second management operation including a removal operation or a conversion operation into a re-delivery.

[0266] In a case where the sixth control in the second interface is triggered, a box door of the robot is opened.

[0267] In a case where the seventh control in the second interface is triggered, it is determined whether the robot has positioning information, if the robot has the positioning information, the robot is determined to be in a recoverable state; if the robot is in the recoverable state, the robot is determined to continue to execute a current task, if the robot is in an unrecoverable state, the robot is determined to be in a fault state.

[0268] It should be noted that the functions and specific implementation principles of the above-mentioned modules in the embodiments of the present disclosure can refer to the above-mentioned method embodiments, and will not be described here.

[0269] The robot emergency stop control device provided by the embodiments of the present disclosure can first acquire environmental data around the robot, wherein the robot is in a first running state, in the case that an emergency stop instruction is received, the robot is controlled to enter a second running state, and a second interface is displayed, the operation content of the second interface can be determined according to the environmental data, the second interface is an emergency stop function display interface, the second running state is an emergency stop state, and then the current running state of the robot can be determined according to the received touch operation on the second interface. Therefore, after receiving the emergency stop instruction, the robot can perform emergency stop function display according to different environmental data, and determine the current running state according to the received touch operation, so that corresponding emergency stop decisions can be made for different environments, the accuracy and reliability of robot control are improved, the smoothness of robot task execution is enhanced, and the user experience is improved.

[0270] To implement the above embodiments, the present disclosure further provides a robot device.

[0271] Figure 5 A structural schematic diagram of the robot device of the embodiments of the present disclosure.

[0272] As Figure 5 shown, the robot device 200 includes:

[0273] The memory 210 and the processor 220, the bus 230 connecting different components (including the memory 210 and the processor 220), the memory 210 stores a computer program, and the processor 220 executes the program to implement the method described in the embodiments of the present disclosure.

[0274] The bus 230 represents one or more of several types of bus structures, including a memory bus or a memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to industry standard architecture (ISA) bus, micro channel architecture (MAC) bus, enhanced ISA bus, video electronics standards association (VESA) local bus, and peripheral component interconnect (PCI) bus.

[0275] The robot device 200 typically includes a variety of robot device readable media. These media can be any available media that can be accessed by the robot device 200, including volatile and non-volatile media, removable and non-removable media.

[0276] Memory 210 can also include computer system readable media in the form of volatile memory, such as random access memory (RAM) 240 and / or cache memory 250. Robot device 200 can further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, storage system 260 can be provided for reading from and writing to a non-removable, non-volatile magnetic media (not shown and typically called a "hard drive"). Figure 5 Although not shown, a magnetic disk drive can also be utilized in some embodiments of robot device 200 for reading from and writing to a removable, non-volatile magnetic medium (e.g., a "floppy disk"), and an optical disk drive can be used in some embodiments of robot device 200 for reading from and writing to a removable, non-volatile optical medium (e.g., a CD-ROM, DVD-ROM or other optical media). In such instances, each drive can be connected to bus 230 by one or more data media interfaces. Storage 210 can include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure. Figure 5

[0277] Program / utility 280 having a set (at least one) of program modules 270 can be stored in, for example, memory 210 by way of example, and not limitation, as well as an operating system, one or more application programs, other program modules, and program data, and a user interface program, etc. Each of the operating systems, one or more application programs, other program modules, and program data or some combination thereof, can include an implementation of a networking environment. Program modules 270 generally carry out the functions and / or methodologies of embodiments of the disclosure as described herein.

[0278] Robot device 200 can also communicate with one or more external devices 290 such as a keyboard, a pointing device, a display 291, etc.; one or more devices that enable a user to interact with robot device 200; and / or one or more devices that enable robot device 200 to communicate with one or more other computing devices. Such communication can be via input / output (I / O) interfaces 292. Similarly, robot device 200 can communicate with one or more networks such as a local area network (LAN), a general wide area network (WAN), and / or a public network such as the Internet, via network adapter 293. As indicated, network adapter 293 can be communicatively coupled to bus 230 via the I / O interfaces 292. It will be appreciated that other hardware and / or software modules can be used in conjunction with robot device 200, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data archival storage systems, etc.

[0279] Processor 220 can execute instructions for various functions and data processing by running programs stored in memory 210.​

[0280] It should be noted that the implementation process and technical principles of the robot device in this embodiment are described in the foregoing description of the method of the embodiments of the present disclosure, and will not be described here.

[0281] The robot device provided by the embodiments of the present disclosure can first acquire environmental data around the robot, wherein the robot is in a first running state, in the case that an emergency stop instruction is received, the robot is controlled to enter a second running state, and a second interface is displayed, the operation content of the second interface can be determined according to the environmental data, the second interface is an emergency stop function display interface, the second running state is an emergency stop state, and then the current running state of the robot can be determined according to the received touch operation on the second interface. Therefore, after receiving the emergency stop instruction, the robot can perform emergency stop function display according to different environmental data, and determine the current running state according to the received touch operation, so that corresponding emergency stop decisions can be made for different environments, the accuracy and reliability of robot control are improved, the smoothness of robot task execution is enhanced, and the user experience is improved.

[0282] To achieve the above-mentioned embodiments, the present disclosure further provides a computer-readable storage medium.

[0283] The computer-readable storage medium has a computer program stored thereon, and the program is executed by a processor to implement the method described in the embodiments of the present disclosure.

[0284] To achieve the above-mentioned embodiments, the present disclosure further provides a computer program, which is executed by a processor to implement the method described in the embodiments of the present disclosure.

[0285] In an optional implementation form, the embodiments of the present disclosure can adopt any combination of one or more computer-readable media. The computer-readable media can be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination thereof. More specific examples (non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, the computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or component.

[0286] A computer readable signal medium can include a propagated data signal with computer executable code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal can take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium can be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport programming code.

[0287] Program code embodied on a computer readable medium can be transmitted using any appropriate medium, including but not limited to wireless, wire line, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

[0288] Computer program code for carrying out operations for aspects of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's robotic device, partly on the user's robotic device, as a stand-alone software package, partly on the user's robotic device and partly on a remote robotic device or entirely on the remote robotic device or server. In the latter scenario, the remote robotic device can be connected to the user's robotic device through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external robotic device (for example, through the Internet using an Internet Service Provider). The user's robotic device can also be connected to one or more intranets and the Internet using T3, T4, DS3, DS4, 64 kilobit per second leased lines, 128 kilobit per second leased lines, T1, T2, or T-l lines, Integrated Services Digital Networks (ISDNs), PSTNs, or other mechanisms for coupling devices together.

[0289] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features of the disclosure as set forth herein. It is intended that the disclosure be construed as including any patent, any patentable novel features anywhere in the world, and any patent, applications, and or patentable inventive concepts included in the same. It is intended that the specification and examples be considered exemplary only, with the true scope and spirit of the disclosure indicated by the following claims.

[0290] It is understood that the present disclosure is not limited to the precise construction herein described and illustrated and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the claims appended hereto.

Claims

1. A method for emergency stop control of a robot, characterized by, The method comprises: acquiring environment data around a robot, wherein the robot is in a first running state; in a case where an emergency stop instruction is received, controlling the robot to enter a second running state and displaying a second interface; wherein operation content of the second interface is determined according to the environment data, the second interface is an emergency stop function display interface, and the second running state is an emergency stop state; determining a current running state of the robot according to a received touch operation for the second interface; The method further comprises: before the second interface is displayed, in a case where an emergency stop instruction is received, displaying a first interface, the first interface being an emergency stop verification interface; determining first information corresponding to the touch operation according to a received touch operation for the first interface; in a case where the first information is verification information input by a user, if the first information is consistent with preset information, then determining operation content of the second interface according to the environment data; wherein, in a case where the environment data is a flat path state, the operation content of the second interface includes a fifth control, a sixth control and a seventh control, in a case where the fifth control in the second interface is triggered, determining a task list of the robot and a list of stranded items of a delivery box of the robot; displaying the task list of the robot to enable a user to perform a first management operation on a task in the task list, the first management operation including a cancel operation or a re-delivery operation; displaying the list of stranded items to enable a user to perform a second management operation on a stranded item in the list of stranded items, the second management operation including a removal operation or an operation of being converted into a re-delivery; in a case where the sixth control in the second interface is triggered, opening a box door of the robot; in a case where the seventh control in the second interface is triggered, determining whether the robot has positioning information, if there is positioning information, then determining that the robot is in a recoverable state; if the robot is in a recoverable state, then determining that the robot continues to execute a current task, and if the robot is in an unrecoverable state, then determining that the robot is in a fault state.

2. The emergency stop control method of the robot according to claim 1, characterized in that, after the first interface is displayed, the method further comprises: if no touch operation for the first interface is received within a first time period, then determining that the robot returns to the first running state.

3. The emergency stop control method of the robot according to claim 1, wherein after the first interface is displayed, the method further comprises: if the first information is inconsistent with preset information, then determining that the robot returns to the first running state.

4. The emergency stop control method of a robot according to claim 1, wherein before the second interface is displayed, the method further comprises: in a case where the first information is to exit the second running state, then determining that the robot returns to the first running state.

5. The emergency stop control method of the robot according to claim 1, wherein The determining of the operation content of the second interface according to the environment data further comprises: determining an environment in which the robot is located according to sensor data in the environment data, and determining the operation content of the second interface according to the environment in which the robot is located; wherein the environment in which the robot is located includes a flat path environment, an environment near a charging pile or an elevator environment.

6. The emergency stop control method of a robot according to claim 1, wherein after the first interface is displayed in the case where the emergency stop instruction is received, the method further comprises: controlling the robot to stop receiving task orders and interrupting navigation; in a case where the first information is user input verification information, in a case where the first information is consistent with preset information, the method further comprises: controlling the wheel hub of the robot to unload force.

7. The emergency stop control method of a robot according to claim 6, wherein The operation content of the second interface determined according to the environment data further comprises: in a case where the robot is determined to be in an environment near a charging pile according to the environment data, the operation content of the second interface comprises a first control and a second control; The current running state of the robot is determined according to the received touch operation on the second interface, comprising: in a case where the first control in the second interface is triggered, determining a task in a task list of the robot; displaying the task in the task list of the robot for the user to perform a management operation on the task, wherein the management operation comprises a cancel operation; in a case where the second control in the second interface is triggered, if the robot has a task and has positioning information, determining the robot to continue to execute the current task of the robot.

8. The emergency stop control method of a robot according to claim 7, wherein The current running state of the robot is determined according to the received touch operation on the second interface, comprising: in a case where the second control in the second interface is triggered, if the robot has no task or no positioning information, determining the robot to enter a reset page; in a case where the reset control of the reset page is touched, the robot is reset to recover to an initial standby state.

9. The emergency stop control method of the robot according to claim 7, wherein in a case where the robot is in a state near a charging pile, the operation content of the second interface further comprises a third control; The current running state of the robot is determined according to the received touch operation on the second interface, comprising: in a case where the third control in the second interface is triggered, opening the box door of the robot.

10. The emergency stop control method of the robot according to claim 3, wherein in a case where the first information is inconsistent with preset information, the robot is determined to recover to the first running state, comprising: in a case where the first information is inconsistent with preset information, the robot is determined to recover to the first running state and continue to execute the current task.

11. The emergency stop control method of the robot according to claim 6, wherein The operation content of the second interface determined according to the environment data further comprises: in a case where the environment data is elevator taking state data, the operation content of the second interface comprises a fourth control; The current running state of the robot is determined according to the received touch operation on the second interface, comprising: in a case where the fourth control in the second interface is triggered, all tasks in the task list of the robot are determined to be canceled, the box door of the robot is opened, the wheel hub of the robot is controlled to unload force, and the robot is determined to enter a reset page; in a case where the reset control of the reset page is touched, the robot is reset to recover to an initial standby state.

12. The emergency stop control method of the robot according to claim 1, wherein in a case where the first information is verification information, the first information is administrator identity information, a short message verification code, or a time threshold configured in the background.

13. A robotic device, characterized by comprises: A memory, a processor, and a program stored on the memory and executable on the processor, the processor implementing the method of any of claims 1-12 when executing the program.

14. A computer readable storage medium having stored thereon a computer program, characterized in that, The program, when executed by the processor, implements the method of any of claims 1-12.

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