Robot travel method, electronic device, and storage medium

Abstract

The application relates to a robot travel method, an electronic device and a storage medium, and belongs to the technical field of robot control. The robot travel method of the application is applied to a first robot, the first robot is provided with an operation mechanism, the operation mechanism comprises a ring body, a plurality of sensing areas arranged on the ring body and an operation ring which is mutually looped with the ring body, the operation ring can be used for contacting each sensing area respectively to trigger a corresponding control signal; wherein the method comprises: acquiring the control signal triggered by the operation ring contacting the sensing area; and controlling the first robot to travel according to the control signal. In the application, a physical operation mechanism is additionally arranged, the ring body and the operation ring are mutually looped, which can not only be used for triggering the control signal, but also be used for physical constraint, so that effective physical constraint between the first robot and a target object of the control operation ring is guaranteed, and the driving control process is effectively guaranteed to be stable and robust.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, and more particularly to a robot movement method, electronic device, and computer-readable storage medium. Background Technology

[0002] Electronic devices, such as robots or driverless vehicles, can be applied in hotels, KTVs, or outdoor settings. With the rapid development of artificial intelligence technology, the robotics industry has grown rapidly in recent years, finding wide application in various fields and permeating all aspects of social life. Robots possess autonomous positioning and navigation capabilities; by configuring various functional parameters, they can perform multiple functions, such as delivery, greeting, or guidance.

[0003] Currently, in some application scenarios, robots can achieve automatic following, or two robots can coordinate their actions to achieve the same goal. However, the collaborative actions between two robots (or a robot and a user) are based on recognizing and processing the behavior of the two robots (or the robot and the user) and adjusting their own behavior accordingly. Thus, if the perception and recognition accuracy is insufficient, or if the wireless communication between the two robots fails, or if the drive control accuracy is insufficient, the collaboration between the two robots (or the robot and the user) may be difficult to control effectively. Summary of the Invention

[0004] This invention provides a robot movement method, electronic device, and storage medium to solve the technical problem that existing robot collaborative control is difficult to achieve effective control.

[0005] In a first aspect, the present invention proposes a method for the movement of a robot, which is applied to a first robot. The first robot is provided with an operating mechanism, which includes a ring body, a plurality of sensing areas disposed on the ring body, and an operating ring interlocked with the ring body. The operating ring can be used to contact each sensing area to trigger a corresponding control signal.

[0006] The method includes:

[0007] Acquire the control signal triggered when the operating ring contacts the sensing area;

[0008] The first robot is controlled to move according to the control signal.

[0009] In other embodiments, prior to the step of acquiring the control signal triggered by the operating ring contacting the sensing area, the method further includes:

[0010] The working mode is activated according to the target's intent, which includes guided mode and normal mode;

[0011] When the working mode is the guide mode, the operating mechanism is activated, and the steps of obtaining the control signal triggered by the operating ring contacting the sensing area and subsequent steps are executed.

[0012] When the operating mode is normal, the operating mechanism is turned off, and the steps of obtaining the control signal triggered by the operating ring contacting the sensing area and subsequent steps are not executed.

[0013] In other embodiments, the step of activating the working mode according to the intention of the target object includes:

[0014] The working mode is in response to active input from the target object;

[0015] When the target object actively inputs the guided mode, the operating mechanism is activated, and the working mode of the first robot is switched to the guided mode;

[0016] Alternatively, determine whether the target object requires a guidance service;

[0017] If the target object requires guidance services, the operating mechanism is activated, and the working mode of the first robot is switched to the guidance mode;

[0018] If the target object does not require guidance services, the operating mechanism will not be started, and the working mode of the first robot will be switched to the normal mode.

[0019] In other embodiments, the sensing area is provided with a corresponding physical button, and when the physical button is pressed to a preset pressure value, a corresponding control signal is triggered;

[0020] The step of obtaining the control signal triggered by the operating ring contacting the sensing area includes:

[0021] When the physical button is pressed by a portion of the operating ring structure, and the pressure reaches a preset pressure value, the operating mechanism triggers a corresponding control signal.

[0022] Obtain the triggered control signal.

[0023] In other embodiments, the operating mechanism further includes a mounting part, one end of which is connected to the first robot, and the other end of which is connected to the ring body;

[0024] The ring body is provided with a first sensing area, a second sensing area, a third sensing area, a fourth sensing area, a fifth sensing area, and a sixth sensing area; the first sensing area is provided on the inner side of the ring body away from the mounting part, the second sensing area is provided on the outer side of the ring body away from the mounting part, the third sensing area is provided on the upper inner side of the ring body, the fourth sensing area is provided on the lower inner side of the ring body, the fifth sensing area is provided on the left side of the ring body, and the sixth sensing area is provided on the right side of the ring body;

[0025] The control signals include straight driving signals, left turn driving signals, right turn driving signals, acceleration driving signals, deceleration driving signals, constant speed driving signals, or stop driving signals;

[0026] The step of triggering a corresponding control signal by the operating mechanism when the physical button is pressed by a portion of the operating ring structure and the pressure reaches a preset pressure value includes:

[0027] When the physical button in the first sensing area is pressed on the operating ring and the pressure value reaches the first preset pressure value, a deceleration driving signal is triggered.

[0028] When the physical button in the second sensing area is pressed on the operating ring and the pressure value reaches the second preset pressure value, an acceleration driving signal is triggered.

[0029] When the physical button in the third sensing area is pressed on the operating ring and the pressure value reaches the third preset pressure value, a constant speed driving signal is triggered.

[0030] When the physical button in the fourth sensing area is pressed on the operating ring and the pressure value reaches the fourth preset pressure value, a stop driving signal is triggered.

[0031] When the physical button in the fifth sensing area is pressed on the operating ring and the pressure value reaches the fifth preset pressure value, a signal to turn left is triggered.

[0032] When the physical button in the sixth sensing area is pressed on the operating ring and the pressure reaches the sixth preset pressure value, a signal to turn to the right is triggered.

[0033] In other embodiments, the operating ring is also used to connect a second robot, which contacts the sensing area through the operating ring to trigger a corresponding control signal;

[0034] The step of obtaining the control signal triggered by the operating ring contacting the sensing area includes:

[0035] The second robot contacts the sensing area through the operating ring to trigger a corresponding control signal.

[0036] In other embodiments, prior to the step of obtaining the second robot's contact with the sensing area via the operating ring to trigger a corresponding control signal, the method further includes:

[0037] Detect whether the second robot requires guidance services;

[0038] When the second robot requires guidance services, a physical connection is established between the operating ring and the second robot. The operating mechanism further includes a traction rod, one end of which is connected to the operating ring, and the other end of which is used to connect to the second robot.

[0039] In other embodiments, the step of controlling the first robot to move according to the control signal includes:

[0040] When the control signal is a deceleration signal, the first robot is controlled to decelerate.

[0041] When the control signal is an acceleration signal, the first robot is controlled to accelerate.

[0042] When the control signal is a constant speed driving signal, the first robot is controlled to drive at a constant speed.

[0043] When the control signal is a stop signal, the first robot is controlled to stop moving;

[0044] When the control signal is a left turn signal, the first robot is controlled to turn to the left.

[0045] When the control signal is a right turn signal, the first robot is controlled to turn to the right.

[0046] Secondly, embodiments of the present invention provide a robot travel device applied to a first robot. The first robot is provided with an operating mechanism. The operating mechanism includes a ring body, a plurality of sensing areas disposed on the ring body, and an operating ring interlocked with the ring body. The operating ring can be used to contact each sensing area to trigger a corresponding control signal.

[0047] The device includes:

[0048] The acquisition module is used to acquire the control signal triggered when the operating ring contacts the sensing area;

[0049] The control module is used to control the movement of the first robot according to the control signal.

[0050] Thirdly, embodiments of the present invention provide an electronic device, comprising:

[0051] At least one processor; and

[0052] A memory that is communicatively connected to the at least one processor;

[0053] The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the robot's movement method as described in the first aspect above.

[0054] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the robot's movement method as described in the first aspect above.

[0055] Fifthly, embodiments of the present invention provide a computer program product that, when run on an electronic device, causes the electronic device to execute the steps of the robot's movement method described in the first aspect.

[0056] Unlike related technologies, in this invention, the first robot is equipped with an operating mechanism. This mechanism includes a ring body, multiple sensing areas disposed on the ring body, and an operating ring interlocked with the ring body. The operating ring can be used to contact each sensing area to trigger a corresponding control signal. First, the control signal triggered by the operating ring contacting the sensing area is acquired; finally, the first robot is controlled to move according to the control signal. Thus, this invention adds a physical operating mechanism. When it is necessary to drive and control the first robot, the physical control signal triggered by the operating mechanism is acquired, and the first robot's movement is controlled, thereby effectively ensuring the robustness and effectiveness of the drive control process. The interlocking of the ring body and the operating ring not only triggers the control signal but also serves as a physical constraint, ensuring effective physical constraint between the first robot and the target object controlling the operating ring. Attached Figure Description

[0057] One or more embodiments are illustrated by way of example based on the corresponding drawings. These illustrative descriptions do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute a limitation on scale.

[0058] Figure 1 This is a schematic diagram of the structure of the operating mechanism provided in an embodiment of the present invention;

[0059] Figure 2 This is a flowchart illustrating a robot movement method according to an embodiment of the present invention;

[0060] Figure 3This is a functional block diagram of a robot's propulsion device provided in an embodiment of the present invention;

[0061] Figure 4 This is a schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0062] To make the objectives, technical solutions, and advantages of this invention clearer, the invention 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 merely illustrative and not intended to limit the invention.

[0063] It should be noted that, unless otherwise specified, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division or in a different order than that shown in the device schematic diagram or the flowchart.

[0064] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0065] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0066] Please see Figure 1 , Figure 1 This is a schematic diagram of an operating mechanism for mounting on the body of a robot or unmanned vehicle, according to an embodiment of the present invention. Figure 1 As shown, the operating mechanism includes a mounting part 30, a ring body 10, multiple sensing areas disposed on the ring body 10, and an operating ring 20 interlocked with the ring body 10. One end of the mounting part 30 is connected to the first robot (not shown), and the other end of the mounting part 30 is connected to the ring body 10.

[0067] The ring body 10 is provided with a first sensing area 11, a second sensing area 12, a third sensing area 13, a fourth sensing area 14, a fifth sensing area 15, and a sixth sensing area (not shown in the figure). Specifically, the first sensing area 11 is provided on the inner side of the ring body 10 away from the mounting part 30, the second sensing area 12 is provided on the outer side of the ring body 10 away from the mounting part 30, the third sensing area 13 is provided on the upper inner side of the ring body 10, the fourth sensing area 14 is provided on the lower inner side of the ring body 10, the fifth sensing area 15 is provided on the left side of the ring body 10, and the sixth sensing area (not shown in the figure) is provided on the right side of the ring body 10. The fifth sensing area 15 and the sixth sensing area are arranged opposite to each other.

[0068] Furthermore, a receiving groove 16 is provided in the ring body 10, which is adjacent to the mounting part 30. When the operating mechanism is not working, the operating ring 20 can be placed in the receiving groove 16 to ensure stable placement of the operating ring 20. The operating ring 20 can be fixed with the receiving groove 16 by snap-fit ​​or magnetic attraction. Optionally, the operating mechanism also includes a traction rod 21, which is a rod with a certain degree of flexibility. One end of the traction rod 21 is connected to the operating ring 20, and the other end of the traction rod 21 is used to connect to a second robot (or target object).

[0069] The operating ring 20 can be used to contact each sensing area to trigger a corresponding control signal. For example, the control signals include a straight-line driving signal, a left-turn driving signal, a right-turn driving signal, an acceleration driving signal, a deceleration driving signal, a constant-speed driving signal, or a stop driving signal. When the operating ring 20 presses on the first sensing area 11 and the pressure reaches a first preset pressure value, a deceleration driving signal is triggered; when the operating ring 20 presses on the second sensing area 12 and the pressure reaches a second preset pressure value, an acceleration driving signal is triggered; when the operating ring 20 presses on the third sensing area 13 and the pressure reaches a third preset pressure value, a constant-speed driving signal is triggered; when the operating ring 20 presses on the fourth sensing area 14 and the pressure reaches a fourth preset pressure value, a stop driving signal is triggered; when the operating ring 20 presses on the fifth sensing area 15 and the pressure reaches a fifth preset pressure value, a left-turn driving signal is triggered; and when the operating ring 20 presses on the sixth sensing area and the pressure reaches a sixth preset pressure value, a right-turn driving signal is triggered. Each sensing zone may contain a pressure sensor to detect the pressure value when pressed. In other embodiments, each sensing zone contains a physical button and a corresponding pressure sensor, and the pressing force of the operating ring 20 can be applied to the physical button, with the pressure value detected by the pressure sensor.

[0070] In this invention, exemplarily, the robot (or unmanned vehicle) refers to mobile service robots such as hotel robots, guide robots, transport robots, delivery robots, cleaning robots, pet robots, handling robots, care robots, remote monitoring robots, and sweeping robots. This application does not limit the shape or function of the robot.

[0071] Please see Figure 2 , Figure 2 This is a flowchart illustrating a robot movement method according to an embodiment of the present invention. Based on Figure 1 The schematic diagram of the operating mechanism shown illustrates the embodiments of the present invention in detail. In a first aspect, the present invention provides a robot movement method, wherein the executing entity of the robot movement method is a robot, specifically, the executing entity is the processor of a first robot. The robot movement method of the present invention includes the following steps S21-S22:

[0072] Step S21: Obtain the control signal triggered when the operating ring contacts the sensing area.

[0073] This embodiment describes a robot movement method applied to a first robot, the first robot having an operating mechanism on its body. Specifically, the operating mechanism includes a ring body, multiple sensing areas disposed on the ring body, and an operating ring interlocked with the ring body. The operating ring can be used to contact each sensing area to trigger a corresponding control signal.

[0074] The ring body can be made of a rigid material and has multiple sensing areas. Pressing each sensing area triggers a corresponding control signal. For example, the operating ring can be made of a rigid material, and part of its ring structure can press the sensing areas. That is, during a single press, the operating ring can only press one sensing area and trigger a corresponding control signal. The control signal is used to drive and control the first robot.

[0075] Step S22: Control the first robot to move according to the control signal.

[0076] In this embodiment, the ring body may be provided with multiple sensing areas, and each sensing area may be associated with a control signal. When the first robot obtains the control signal, it controls its own driving behavior according to the control signal.

[0077] For example, the ring body is provided with a first sensing area and a second sensing area. When the operating ring contacts and presses the first sensing area, a deceleration control signal is triggered. When the first robot receives the deceleration control signal, it controls the first robot to decelerate. When the operating ring contacts and presses the second sensing area, a acceleration control signal is triggered. When the first robot receives the acceleration control signal, it controls the first robot to accelerate.

[0078] Understandably, more sensing areas can be set on the ring body, and different control signals can be associated with each sensing area to enable the robot to move from multiple dimensions.

[0079] This invention incorporates a physical operating mechanism. When the first robot needs to be driven and controlled, the mechanism acquires the physical control signal triggered by the operating mechanism and controls the robot's movement, thereby effectively ensuring the robustness and efficiency of the drive control process. The interlocking ring and the operating ring not only trigger control signals but also serve as physical constraints, ensuring effective physical constraints between the first robot and the target object of the control operating ring.

[0080] In some other embodiments, before step S21, which involves obtaining a control signal triggered by the operating ring contacting the sensing area, the robot's movement method of the present invention further includes the following steps S201-S203:

[0081] Step S201: Activate the working mode according to the target object's intent, wherein the working mode includes a guided mode and a normal mode.

[0082] The target object is any entity that may want to operate the first robot. For example, any intelligent device (i.e., a robot) or person within a preset range (2 meters) of the first robot can be considered a target object. When the target object approaches the first robot, its intent is identified to determine whether it requires guidance services or intends to operate the first robot. Guidance services refer to using the first robot's intelligent positioning and navigation functions to guide the target object's movement.

[0083] Understandably, the target object achieves drive control of the first robot by manipulating the operating ring to bring a portion of the operating ring's ring structure into contact with the ring's sensing area.

[0084] The first robot's operating modes may include, but are not limited to, a guidance mode and a normal mode. Generally, the first robot operates in normal mode. In normal mode, the first robot can navigate to a designated location based on user-input control commands, thereby meeting the user's needs. In this invention, the first robot enters guidance mode when the target object or user requires guidance services. For example, if the target object is a smart device and is malfunctioning and unable to move on its own, the target object needs the first robot to provide guidance services to help it move normally; or, if the target object is a blind person and needs to reach a specific room, the target object needs the first robot to provide guidance services to guide the blind person to the designated room.

[0085] In this embodiment, the first robot identifies the target object's intention and activates the corresponding working mode based on the target object's intention.

[0086] For example, if the first robot moves closer to the second robot and discovers that the second robot is faulty, it determines that the second robot's intention is to provide guidance services. In this case, the first robot switches its operating mode from normal mode to guidance mode. Alternatively, if a blind person approaches the first robot, the first robot detects the blind person and inquires if they need guidance services. Upon learning that the blind person needs guidance services, it determines that the blind person's intention is to provide guidance services, and in this case, the first robot switches its operating mode from normal mode to guidance mode.

[0087] Understandably, when the first robot no longer provides guidance services to the target object, the first robot's working mode switches from guidance mode to normal mode. In normal mode, the first robot is consistent with other robots, and can receive control commands input by the user through the cloud or locally, and drive itself to complete the corresponding actions according to the control commands.

[0088] Step S202: When the working mode is the guide mode, the operating mechanism is activated, and step S21 is executed to obtain the control signal triggered by the operating ring contacting the sensing area, as well as subsequent steps.

[0089] Step S203: When the working mode is normal mode, the operating mechanism is turned off, and step S21, the step of obtaining the control signal triggered by the operating ring contacting the sensing area, and subsequent steps are not executed.

[0090] In other words, when the first robot's operating mode is the guided mode, the operating mechanism is activated, and step S21 of the robot's movement method of the present invention, as well as subsequent steps, is executed. When the first robot's operating mode is the normal mode, the operating mechanism is deactivated, and step S21 of the robot's movement method of the present invention, as well as subsequent steps, are not executed. Activating the operating mechanism can mean powering it on and establishing a communication connection between the operating mechanism and the controller of the first robot via a communication bus (e.g., a wired serial port connection or a wireless module connection). Correspondingly, deactivating the operating mechanism can mean disconnecting its power supply or not responding to control signals triggered by the operating mechanism, thereby achieving the purpose of deactivating the operating mechanism.

[0091] In some other embodiments, step S201, the step of activating the working mode according to the intention of the target object, includes: responding to the working mode actively input by the target object; when the working mode actively input by the target object is the guidance mode, activating the operating mechanism and switching the working mode of the first robot to the guidance mode.

[0092] When the first robot is in normal mode, the target object or user can send control commands to the first robot via its local control panel or via the cloud. These commands can instruct the first robot to reach a designated location or perform corresponding actions at that location, including but not limited to opening the door to receive goods, closing the door and initiating delivery, or rescuing a malfunctioning robot at a designated location, guiding the malfunctioning robot away from danger, etc. The first robot has a guidance mode and a normal mode for the target object or user to choose from. The target object or user confirms the selected working mode by pressing the confirmation button, causing the first robot to activate the corresponding working mode. When the target object or user actively inputs the guidance mode, the operating mechanism is activated, and the first robot's working mode is switched to guidance mode. When the target object or user actively inputs the normal mode, the operating mechanism is deactivated, and the first robot's working mode is switched to normal mode.

[0093] In some other embodiments, step S201, the step of activating the working mode according to the intention of the target object, further includes: determining whether the target object needs guidance service; if the target object needs guidance service, then activating the operating mechanism and switching the working mode of the first robot to the guidance mode; if the target object does not need guidance service, then not activating the operating mechanism and switching the working mode of the first robot to the normal mode.

[0094] For example, if the target object is a smart device that is malfunctioning and unable to move on its own, the target object needs the first robot to provide guidance to help it move normally; or if the target object is a blind person who needs to reach a specific room, the target object needs the first robot to provide guidance to help the blind person reach the specific room; or if the first robot is an exploration robot and the target object is an explorer, the explorer needs the first robot to provide guidance, and the explorer can use the first robot to explore forward or use the first robot to sense environmental information in advance and provide feedback to the explorer.

[0095] In this embodiment, the first robot identifies the intention of the target object and determines whether the target object needs guidance services, that is, it starts the corresponding working mode according to the intention of the target object.

[0096] For example, if the first robot moves closer to the second robot and discovers that the second robot is faulty, it determines that the second robot's intention is to provide guidance services. In this case, the first robot switches its operating mode from normal mode to guidance mode. Alternatively, if a blind person approaches the first robot, the first robot detects the blind person and inquires if they need guidance services. Upon learning that the blind person needs guidance services, it determines that the blind person's intention is to provide guidance services. In this case, the first robot switches its operating mode from normal mode to guidance mode. Or, if an explorer approaches the first robot, the first robot detects the explorer and inquires if they need guidance services. If the explorer responds to the first robot that they need guidance services, it determines that the explorer's intention is to provide guidance services. In this case, the first robot switches its operating mode from normal mode to guidance mode.

[0097] In this invention, the first robot can actively recognize the intentions of intelligent devices or people and activate the corresponding working mode; alternatively, the first robot can passively receive the working mode actively input by intelligent devices or people and activate the corresponding working mode. Thus, the first robot has multiple modes for user use. When the first robot is in guided mode, the operating mechanism is activated to selectively activate or deactivate the functional components of the first robot.

[0098] In other embodiments, the sensing area is provided with corresponding physical buttons, and when the physical buttons are pressed to a preset pressure value, the corresponding control signal is triggered.

[0099] Step S21, the step of obtaining the control signal triggered by the operation ring contacting the sensing area, includes: when the physical button is pressed by a part of the structure of the operation ring, and the pressure value of the press reaches a preset pressure value, the operation mechanism triggers a corresponding control signal; and the triggered control signal is obtained.

[0100] Each sensing area is equipped with a corresponding physical button and pressure sensor. The target object or user can manipulate the operating ring so that a part of the operating ring presses the physical button corresponding to a sensing area. Furthermore, when the pressure sensor detects that the pressed pressure value reaches a preset pressure value, the corresponding control signal is triggered for that sensing area of ​​the operating mechanism. The first robot obtains the triggered control signal via a communication bus.

[0101] Understandably, each sensing area corresponds to a physical button, and for each physical button, the preset pressure value for pressing the physical button to trigger the control signal can be the same or different. Technicians can set the preset pressure value according to the actual situation.

[0102] In other embodiments, each sensing area is provided with a corresponding electronic skin or pressure sensor device to sense whether the operating ring is pressing a certain sensing area. Furthermore, if the operating ring is pressing a certain sensing area and the pressure reaches a preset pressure value, a control signal for that sensing area is triggered.

[0103] For example, please refer to Figure 1 One end of the mounting part 30 is connected to the first robot (not shown), and the other end of the mounting part 30 is connected to the ring body 10. The ring body 10 is provided with a first sensing area 11, a second sensing area 12, a third sensing area 13, a fourth sensing area 14, a fifth sensing area 15, and a sixth sensing area (not shown). Specifically, the first sensing area 11 is located on the inner side of the ring body 10 away from the mounting part 30; the second sensing area 12 is located on the outer side of the ring body 10 away from the mounting part; the third sensing area 13 is located on the upper inner side of the ring body 10; the fourth sensing area 14 is located on the lower inner side of the ring body 10; the fifth sensing area 15 is located on the left side of the ring body 10; and the sixth sensing area (not shown) is located on the right side of the ring body 10. The fifth and sixth sensing areas are arranged opposite to each other. The operating ring 20 can be used to contact each sensing area to trigger a corresponding control signal. For example, the control signals include straight-line driving signals, left-turn driving signals, right-turn driving signals, acceleration driving signals, deceleration driving signals, constant-speed driving signals, or stop driving signals. When the first sensing area 11 is pressed on the operating ring 20 and the pressure reaches a first preset pressure value, a deceleration driving signal is triggered; when the second sensing area 12 is pressed on the operating ring 20 and the pressure reaches a second preset pressure value, an acceleration driving signal is triggered; when the third sensing area 13 is pressed on the operating ring 20 and the pressure reaches a third preset pressure value, a constant-speed driving signal is triggered; when the fourth sensing area 14 is pressed on the operating ring 20 and the pressure reaches a fourth preset pressure value, a stop driving signal is triggered; when the fifth sensing area 15 is pressed on the operating ring 20 and the pressure reaches a fifth preset pressure value, a left-turn driving signal is triggered; and when the sixth sensing area is pressed on the operating ring 20 and the pressure reaches a sixth preset pressure value, a right-turn driving signal is triggered. Each sensing area can be equipped with a pressure sensor to sense the pressure value when pressed. Each sensing area is equipped with a physical button and a corresponding pressure sensor. The pressing pressure of the operating ring 20 can be applied to the physical button and the pressure sensor can detect the magnitude of the pressure value.

[0104] The step of triggering a corresponding control signal by the operating mechanism when the physical button is pressed by a portion of the operating ring structure and the pressure reaches a preset pressure value includes:

[0105] When the physical button in the first sensing area is pressed on the operating ring and the pressure reaches the first preset pressure value, a deceleration signal is triggered.

[0106] When the physical button in the second sensing area is pressed on the operating ring and the pressure reaches the second preset pressure value, an acceleration driving signal is triggered.

[0107] When the physical button in the third sensing area is pressed on the operating ring and the pressure value reaches the third preset pressure value, a constant speed driving signal is triggered.

[0108] When the physical button in the fourth sensing area is pressed on the operating ring and the pressure reaches the fourth preset pressure value, a stop driving signal is triggered.

[0109] When the physical button in the fifth sensing area of ​​the operating ring is pressed and the pressure value reaches the fifth preset pressure value, a signal to turn left is triggered.

[0110] When the physical button in the sixth sensing area is pressed on the operating ring, and the pressure reaches the sixth preset pressure value, a signal to turn to the right is triggered.

[0111] Understandably, the specific values ​​of the first, second, third, fourth, fifth, and sixth preset pressure values ​​can all be set by the technicians themselves. The values ​​of the first, second, third, fourth, fifth, and sixth preset pressure values ​​can be the same, partially the same, or different from each other.

[0112] In this invention, the first robot can be positioned in front of the target object to provide guidance. The end of the first robot that moves in a straight line is defined as the front end, and correspondingly, the back of the first robot is defined as the rear end. Optionally, the operating mechanism is mounted at the rear end of the first robot; that is, the mounting part is connected to the rear end of the first robot. Thus, the target object can operate the first robot from its rear direction, enabling the first robot to provide guidance.

[0113] For example, step S22, the step of controlling the first robot to move according to the control signal, includes:

[0114] When the control signal is a deceleration signal, the first robot is controlled to decelerate; when the control signal is an acceleration signal, the first robot is controlled to accelerate; when the control signal is a constant speed signal, the first robot is controlled to move at a constant speed; when the control signal is a stop signal, the first robot is controlled to stop; when the control signal is a left turn signal, the first robot is controlled to turn left; when the control signal is a right turn signal, the first robot is controlled to turn right.

[0115] The control signals are used to control the driving behavior of the first robot, including but not limited to controlling the first robot to decelerate, accelerate, maintain a constant speed, stop, turn left, and turn right. Specifically, when the control signal is a deceleration signal, the first robot is controlled to decelerate, reducing its speed to a speed below its current speed. When the control signal is an acceleration signal, the first robot is controlled to accelerate, increasing its speed to a speed above its current speed. When the control signal is a constant speed signal, the first robot is controlled to maintain a constant speed, keeping its speed within a preset fluctuation range to ensure uniform movement. When the control signal is a stop signal, the first robot is controlled to stop, braking to a halt. When the control signal is a left turn signal, the first robot is controlled to turn left, achieving turning motion. When the control signal is a right turn signal, the first robot is controlled to turn right, achieving turning motion.

[0116] Understandably, when a target object operates the first robot from behind, relative sensing areas are set at various positions on the operating mechanism to facilitate the target object's operation of the first robot. For example, when the target object pushes the operating mechanism with the operating ring and reaches a second preset pressure value, the first robot accelerates forward; when the target object pulls the operating mechanism with the operating ring and reaches a first preset pressure value, the first robot decelerates; when the target object taps the operating mechanism upward with the operating ring and reaches a third preset pressure value, the first robot maintains a constant speed; when the target object taps the operating mechanism downward with the operating ring and reaches a fourth preset pressure value, the first robot brakes and stops; when the target object taps the operating mechanism to the left with the operating ring and reaches a fifth preset pressure value, the first robot turns to the left; and when the target object taps the operating mechanism to the right with the operating ring and reaches a sixth preset pressure value, the first robot turns to the right.

[0117] Understandably, the control signal can also be used to control the first robot to perform corresponding actions, such as instructing the first robot to perform actions such as opening the door, closing the door, extending the robotic arm, using the robotic arm to grip, or using the robotic arm to click, etc. The control signal in this application does not limit the content of the instruction to the first robot.

[0118] In other embodiments, the operating ring is also used to connect a second robot, which contacts the sensing area through the operating ring to trigger a corresponding control signal.

[0119] Step S21, the step of obtaining the control signal triggered by the operation ring contacting the sensing area, includes step S211: obtaining the corresponding control signal triggered by the second robot contacting the sensing area through the operation ring.

[0120] The second robot is distinct from the first robot; for example, it may be a malfunctioning robot or a robot requiring guidance services. Optionally, the second robot is connected to the operating ring via a traction rod. The second robot manipulates the traction rod to cause a portion of the operating ring to contact and press a sensing area, thereby triggering a corresponding control signal.

[0121] Furthermore, before step S211, which involves obtaining the step of the second robot contacting the sensing area through the operating ring to trigger the corresponding control signal, the robot's movement method of the present invention further includes the following steps: detecting whether the second robot needs guidance service; and when the second robot needs guidance service, establishing a physical connection between the operating ring and the second robot.

[0122] The operating mechanism also includes a traction rod, one end of which is connected to the operating ring, and the other end of which is used to connect to the second robot. When the first robot approaches the second robot, it detects whether the second robot requires guidance services. In some embodiments, after the first robot receives an assistance command from the user or the cloud, the first robot needs to assist the second robot. Specifically, the first robot approaches the second robot according to the assistance command and confirms the identity of the second robot. If the first robot's identity is confirmed and it is determined to be a faulty robot, then the second robot needs guidance services. Alternatively, in other embodiments, after the second robot receives a guidance command from the user or the cloud, the second robot needs guidance services from the first robot. In this case, the second robot approaches the first robot according to the guidance command and confirms the identity of the first robot. If the second robot's identity is confirmed, it informs the first robot that it needs guidance services and sends a request for cooperation command to the first robot. When the first robot learns that the second robot needs guidance services, the first robot establishes a physical connection between its operating ring and the second robot according to the request for cooperation. For example, the first robot activates the opening operating mechanism and extends the traction rod to establish a fixed physical connection between the traction rod and the second robot. For example, one end of the traction rod is locked and fixed to the second robot through a buckle, magnetic attraction or locking mechanism.

[0123] In this invention, the first robot can actively establish a physical connection with the second robot based on a traction rod, enabling the second robot to operate the first robot. Thus, the first and second robots can achieve fully automated guidance through an intelligent operating process.

[0124] Understandably, when the first robot starts its operating mechanism, a prompt message is sent to the target object so that the target object can operate the first robot based on the operating loop to control the first robot's driving behavior.

[0125] Please see Figure 3 Secondly, embodiments of the present invention provide a robot travel device 30, which is configured on a first robot. The first robot is provided with an operating mechanism, which includes a ring body, a plurality of sensing areas disposed on the ring body, and an operating ring interlocked with the ring body. The operating ring can be used to contact each sensing area to trigger a corresponding control signal.

[0126] The device 30 includes:

[0127] Acquisition module 31 is used to acquire the control signal triggered when the operating ring contacts the sensing area;

[0128] The control module 32 is used to control the first robot to move according to the control signal.

[0129] In other embodiments, the device 30 further includes:

[0130] The enabling module is used to enable the working mode according to the intent of the target object. The working modes include the guiding mode and the normal mode.

[0131] The activation module is also used to activate the operating mechanism when the working mode is the guide mode;

[0132] The module is also used to disable the operating mechanism when the working mode is normal mode.

[0133] In other embodiments, the activation module is also configured to respond to the working mode actively input by the target object; when the working mode actively input by the target object is the guidance mode, the operating mechanism is activated and the working mode of the first robot is switched to the guidance mode;

[0134] In other embodiments, the activation module is also used to determine whether the target object needs guidance services; if the target object needs guidance services, the operating mechanism is activated and the working mode of the first robot is switched to the guidance mode; if the target object does not need guidance services, the operating mechanism is not activated and the working mode of the first robot is switched to the normal mode.

[0135] In other embodiments, the sensing area is provided with a corresponding physical button, and when the physical button is pressed to a preset pressure value, a corresponding control signal is triggered;

[0136] The acquisition module 31 is also used to acquire the control signal triggered by the operating mechanism when the physical button is pressed by a part of the structure of the operating ring and the pressure value reaches a preset pressure value.

[0137] In other embodiments, the operating mechanism further includes a mounting part, one end of which is connected to the first robot, and the other end of which is connected to the ring body. The ring body is provided with a first sensing area, a second sensing area, a third sensing area, a fourth sensing area, a fifth sensing area, and a sixth sensing area. The first sensing area is located on the inner side of the ring body away from the mounting part, the second sensing area is located on the outer side of the ring body away from the mounting part, the third sensing area is located on the upper inner side of the ring body, the fourth sensing area is located on the lower inner side of the ring body, the fifth sensing area is located on the left side of the ring body, and the sixth sensing area is located on the right side of the ring body. The control signals include a straight-line driving signal, a left-turn driving signal, a right-turn driving signal, an acceleration driving signal, a deceleration driving signal, a constant-speed driving signal, or a stop driving signal.

[0138] When the physical button in the first sensing area is pressed on the operating ring and the pressure value reaches the first preset pressure value, a deceleration driving signal is triggered.

[0139] When the physical button in the second sensing area is pressed on the operating ring and the pressure value reaches the second preset pressure value, an acceleration driving signal is triggered.

[0140] When the physical button in the third sensing area is pressed on the operating ring and the pressure value reaches the third preset pressure value, a constant speed driving signal is triggered.

[0141] When the physical button in the fourth sensing area is pressed on the operating ring and the pressure value reaches the fourth preset pressure value, a stop driving signal is triggered.

[0142] When the physical button in the fifth sensing area is pressed on the operating ring and the pressure value reaches the fifth preset pressure value, a signal to turn left is triggered.

[0143] When the physical button in the sixth sensing area is pressed on the operating ring and the pressure reaches the sixth preset pressure value, a signal to turn to the right is triggered.

[0144] In other embodiments, the operating ring is also used to connect a second robot, which contacts the sensing area through the operating ring to trigger a corresponding control signal;

[0145] The acquisition module 31 is also used to acquire information about the second robot contacting the sensing area through the operating ring to trigger a corresponding control signal.

[0146] In other embodiments, the device 30 further includes:

[0147] The detection module is used to detect whether the second robot needs guidance services; when the second robot needs guidance services, the operation ring is physically connected to the second robot. The operation mechanism also includes a traction rod, one end of which is connected to the operation ring, and the other end of which is connected to the second robot.

[0148] In other embodiments, the control module 32 is further configured to: control the first robot to decelerate when the control signal is a deceleration signal; control the first robot to accelerate when the control signal is an acceleration signal; control the first robot to travel at a constant speed when the control signal is a constant speed signal; control the first robot to stop when the control signal is a stop signal; control the first robot to turn left when the control signal is a left turn signal; and control the first robot to turn right when the control signal is a right turn signal.

[0149] It is understood that the implementation principle and technical effects of the robot's traveling device 30 proposed in the second aspect of the present invention can be found in the implementation principle and technical effects of the robot's traveling method proposed in the first aspect, and will not be repeated here.

[0150] Please see Figure 4 , Figure 4 This is a schematic diagram of the hardware structure of an electronic device 400 provided in an embodiment of the present invention. The electronic device 400 may be a robot (e.g., the first robot proposed in the first aspect), or configured on a robot, and includes: at least one processor 401, and a memory 402 communicatively connected to the at least one processor 401. Figure 4 Taking a processor 401 as an example, the memory 402 stores instructions (or programs) executable by at least one processor 401, which, when executed by at least one processor 401, enable the at least one processor 401 to perform the steps of the robot's movement method of the first aspect of the present invention. The processor 401 and the memory 402 may be connected via a bus or other means. Figure 4 Taking bus-based connections as an example.

[0151] The memory 402 is defined as a readable storage medium that can be used to store software programs, executable programs, and modules, such as the program instructions / modules corresponding to the robot's movement method that the electronic device in the embodiment of the present invention needs to execute. The processor 401 executes various functional applications and data processing based on the software programs, instructions, and modules stored in the memory 402, that is, it implements the steps of the robot's movement method proposed in the first aspect of the embodiment of the present invention.

[0152] Memory 402 may include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created by executing the robot's movement method, etc. Memory 402 may include high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 402 may optionally include memory remotely located relative to processor 401, and these remote memories may be connected to electronic devices via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0153] One or more modules are stored in memory 402. When executed by one or more processors 401, they implement the steps of executing the robot's movement method according to the first aspect of the present invention. For example, memory 402 stores the acquisition module 31 and control module 32 of the robot's movement device 30 according to the second aspect of the present invention.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for the movement of a robot, characterized in that, This invention is applied to a first robot, which is equipped with an operating mechanism. The operating mechanism includes a ring body, multiple sensing areas disposed on the ring body, an operating ring interlocked with the ring body, a traction rod, and a mounting part. The operating ring can be used to contact each sensing area to trigger a corresponding control signal. One end of the traction rod is connected to the operating ring, and the other end is connected to a second robot. The second robot manipulates the traction rod to make a portion of the operating ring contact and press the sensing areas to trigger the corresponding control signal. One end of the mounting part is connected to the first robot, and the other end is connected to the ring body. The ring body is equipped with... The device has a first sensing area, a second sensing area, a third sensing area, a fourth sensing area, a fifth sensing area, and a sixth sensing area. The first sensing area is located on the inner side of the ring body away from the mounting part, the second sensing area is located on the outer side of the ring body away from the mounting part, the third sensing area is located on the upper inner side of the ring body, the fourth sensing area is located on the lower inner side of the ring body, the fifth sensing area is located on the left side of the ring body, and the sixth sensing area is located on the right side of the ring body. The control signals include a straight driving signal, a left turn driving signal, a right turn driving signal, an acceleration driving signal, a deceleration driving signal, a constant speed driving signal, or a stop driving signal. The method includes: The working mode is activated according to the intention of the second robot, which includes a guided mode and a normal mode; When the operating mode is the guided mode, the operating mechanism is activated; When the second robot requires guidance services, a physical connection is established between the operating ring and the second robot; Acquire the control signal triggered when the operating ring contacts the sensing area; The first robot is controlled to move according to the control signal; The sensing area is equipped with a corresponding physical button. When the physical button is pressed to a preset pressure value, a corresponding control signal is triggered. The step of obtaining the control signal triggered by the operating ring contacting the sensing area includes: When the physical button in the first sensing area is pressed on the operating ring and the pressure value reaches the first preset pressure value, a deceleration driving signal is triggered. When the physical button in the second sensing area is pressed on the operating ring and the pressure value reaches the second preset pressure value, an acceleration driving signal is triggered. When the physical button in the third sensing area is pressed on the operating ring and the pressure value reaches the third preset pressure value, a constant speed driving signal is triggered. When the physical button in the fourth sensing area is pressed on the operating ring and the pressure value reaches the fourth preset pressure value, a stop driving signal is triggered. When the physical button in the fifth sensing area is pressed on the operating ring and the pressure value reaches the fifth preset pressure value, a signal to turn left is triggered. When the physical button in the sixth sensing area is pressed on the operating ring and the pressure value reaches the sixth preset pressure value, a signal to turn to the right is triggered. Obtain the triggered control signal.

2. The robot's movement method according to claim 1, characterized in that, The method further includes: When the operating mode is normal, the operating mechanism is turned off, and the steps of obtaining the control signal triggered by the operating ring contacting the sensing area and subsequent steps are not executed.

3. The robot's movement method according to claim 2, characterized in that, The step of activating the working mode according to the intention of the second robot includes: In response to the working mode actively input by the second robot; When the second robot actively inputs the guided mode, the operating mechanism is activated, and the operating mode of the first robot is switched to the guided mode; Alternatively, determine whether the second robot requires guidance services; If the second robot requires guidance services, the operating mechanism is activated, and the working mode of the first robot is switched to the guidance mode; If the second robot does not require guidance services, the operating mechanism will not be activated, and the operating mode of the first robot will be switched to the normal mode.

4. The method for the robot to move according to any one of claims 1-3, characterized in that, The step of obtaining the control signal triggered by the operating ring contacting the sensing area includes: The second robot contacts the sensing area through the operating ring to trigger a corresponding control signal.

5. The robot's movement method according to claim 4, characterized in that, The method further includes: Detect whether the second robot requires guidance services.

6. The robot's movement method according to claim 1, characterized in that, The step of controlling the first robot to move according to the control signal includes: When the control signal is a deceleration signal, the first robot is controlled to decelerate. When the control signal is an acceleration signal, the first robot is controlled to accelerate. When the control signal is a constant speed driving signal, the first robot is controlled to drive at a constant speed. When the control signal is a stop signal, the first robot is controlled to stop moving; When the control signal is a left turn signal, the first robot is controlled to turn to the left. When the control signal is a right turn signal, the first robot is controlled to turn to the right.

7. An electronic device, characterized in that, include: At least one processor; as well as A memory that is communicatively connected to the at least one processor; The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the robot's movement method as described in any one of claims 1-6.

8. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the robot's movement method as described in any one of claims 1 to 6.

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