Robot control method, robot, and computer-readable storage medium

Abstract

The application discloses a robot control method, a robot and a computer readable storage medium, relates to the technical field of robots, and discloses a robot control method, which comprises the following steps: when a leading instruction is received, the position of a target user is determined and moved close to the target user based on the leading instruction; a user image of the target user is acquired, and target luggage is determined based on the user image; the pose of the robot is adjusted according to the relative position between the target luggage and the robot, and a helping action for the target luggage is performed; and a leading task for the target user is performed. When the leading task is performed, the helping action is performed to help the user carry the luggage, so that the burden of the user is reduced, and the functional diversity of the robot can be increased.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a robot control method, a robot, and a computer-readable storage medium. Background Technology

[0002] Currently, robots are widely used in various service scenarios to reduce labor costs. For example, in hotel services, robots are used to guide customers to their rooms, improving customer experience and service efficiency. However, robots used for this task typically only guide customers to their destination and provide corresponding prompts during the process, offering limited functionality and unable to provide further services.

[0003] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0004] The main purpose of this application is to provide a robot control method, a robot, and a computer-readable storage medium, aiming to solve the technical problem of robots having limited functionality.

[0005] To achieve the above objectives, this application proposes a robot control method, the method comprising:

[0006] Upon receiving a guidance instruction, the system determines and moves to a location closer to the target user based on the guidance instruction.

[0007] Acquire a user image of the target user, and determine the target luggage based on the user image;

[0008] Based on the relative position between the target luggage and the robot, the robot's posture is adjusted, and assistive actions are performed on the target luggage.

[0009] Perform a guidance task for the target user.

[0010] In some embodiments, the robot includes a robotic arm and a tray, and the step of adjusting the robot's pose based on the relative position between the target luggage and the robot, and performing a carrying action for the target luggage, includes:

[0011] When the type of the target luggage is the first type, control the robotic arm to move to the first preset position and control the tray to extend outward;

[0012] A first guidance prompt message is output to the target user so that the target user places the first type of target luggage onto the robotic arm;

[0013] The robotic arm is controlled to place the target luggage onto the tray.

[0014] In some embodiments, the method further includes:

[0015] When the type of the target luggage is the second type, control the robotic arm to move to the second preset position and control the tray to extend outward;

[0016] A second guidance prompt message is output to the target user so that the target user is aware that the robot is going to perform a carrying action on the target luggage;

[0017] Control the robotic arm to pick up the target luggage and place it on the tray.

[0018] In some embodiments, the step of acquiring a user image of the target user and determining the target luggage based on the user image includes:

[0019] Turn on the camera device and capture the user image of the target user;

[0020] In the user image, the back region, shoulder region, and hand region of the target user are determined;

[0021] The target luggage carried by the target user is determined in the back area, shoulder area, and hand area of ​​the target user.

[0022] In some embodiments, the step of determining the target luggage carried by the target user in the back region, shoulder region, and hand region of the target user includes:

[0023] Items located in the back, shoulder, or hand areas of the target user are identified as the target luggage.

[0024] If the target luggage cannot be detected in the target user's back area, shoulder area, and hand area, output a question to the target user asking whether they need to carry luggage.

[0025] When the target user replies with confirmation information based on the inquiry information, a third guiding prompt is output to the target user so that the target user places their hand on the first item that needs the robot's assistance, so that the robot can identify the first item as the target luggage.

[0026] In some embodiments, the method further includes:

[0027] If the target luggage cannot be recognized in the user image, a fourth guidance prompt message is output to the target user so that the target user is aware that the robot will not provide assistance service and begins to execute the guidance task steps and subsequent steps for the target user.

[0028] In some embodiments, the step of determining and moving closer to the target user based on the guidance instruction upon receiving the guidance instruction includes:

[0029] Upon receiving a guidance instruction, the user information of the target user is obtained based on the guidance instruction;

[0030] Search for the target user based on the user information, and move closer to the target user's location.

[0031] In some embodiments, the step of performing the guidance task for the target user includes:

[0032] Based on the guidance instructions, determine the destination that the target user needs to reach;

[0033] Control the robot to travel to the destination;

[0034] During the journey to the destination, a fifth guiding prompt message is output to the target user so that the target user can follow the robot.

[0035] In addition, to achieve the above objectives, this application also proposes a robot comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the robot control method described above.

[0036] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the robot control method described above.

[0037] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the robot control method described above.

[0038] This application provides a robot control method. Upon receiving a guidance command, the robot determines and moves closer to the target user, acquires a user image, identifies the target luggage based on the user image, adjusts the robot's pose according to the relative position between the target luggage and the robot, and performs a carrying action for the target luggage before performing the guidance task for the target user. This application provides a carrying service before performing the guidance task, which can reduce the user's burden and increase the robot's functional versatility. Attached Figure Description

[0039] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0040] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart illustrating an embodiment of the robot control method of this application.

[0042] Figure 2 This is a flowchart illustrating Embodiment 2 of the robot control method of this application;

[0043] Figure 3 This is a flowchart illustrating Embodiment 3 of the robot control method of this application;

[0044] Figure 4 This is a schematic diagram of the device structure of the hardware operating environment involved in the robot control method in the embodiments of this application.

[0045] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0046] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0047] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0048] The main solution of this application embodiment is as follows: upon receiving a guidance command, the robot determines and moves closer to the target user based on the command, acquires a user image of the target user, identifies the target luggage based on the user image, adjusts the robot's pose according to the relative position between the target luggage and the robot, and performs a carrying action for the target luggage before performing the guidance task for the target user. This application also provides a carrying service before performing the guidance task, which can reduce the user's burden and increase the robot's functional versatility.

[0049] In this embodiment, for ease of description, the robot will be used as the execution subject in the following description.

[0050] Currently, robots are widely used in various service scenarios to reduce labor costs. For example, in hotel services, robots are used to guide customers to their rooms, improving customer experience and service efficiency. However, robots used for this task typically only guide customers to their destination and provide corresponding prompts during the process, offering limited functionality and unable to provide further services.

[0051] This application increases the robot's functional versatility by performing assistive actions to help users carry their luggage during guidance tasks, thereby reducing the burden on users.

[0052] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or a robot capable of performing the above functions. The following description uses a robot as an example to illustrate this embodiment and the subsequent embodiments.

[0053] Based on this, embodiments of this application provide a robot control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the robot control method of this application.

[0054] In this embodiment, the robot control method includes steps S10 to S40:

[0055] Step S10: Upon receiving a guidance instruction, determine and move the device to a location closer to the target user based on the guidance instruction.

[0056] In this embodiment, upon receiving a guidance command, the robot can acquire the user information of the target user carried in the command, and then search for the target user based on the user information to move closer to the target user's location. The user information includes the target user's facial image. The robot can then acquire the user's facial image and match it with the target user's facial image. If the match fails, it continues to acquire and match other users' facial images. If a match is successful, that user is identified as the target user, and the robot moves closer to the target user's location.

[0057] In another optional implementation, the user information includes the target user's facial image and full-body image. The robot can identify the target user based on the full-body image, determining the target user's clothing characteristics, such as the color of the clothes and prominent patterns on the clothes. Then, a large-scale search is performed based on the user's clothing characteristics. When a user with similar or identical clothing characteristics is found, their facial image is acquired and matched with the target user's facial image. If a match is successful, that user is identified as the target user, improving search efficiency in large environments and high-traffic scenarios.

[0058] In another alternative implementation, when the robot receives a guidance command, it can first move to a preset position, and then search for the target user based on the user information after moving to the preset position. This can reduce the robot's power consumption and improve the search efficiency for the target user.

[0059] In this embodiment, the preset location can be directly set to the corresponding location at the hotel entrance or in the hotel lobby. Alternatively, the target user's current location can be obtained when the target user checks in at the hotel, and this current location can be used as the preset location.

[0060] Step S20: Obtain the user image of the target user and determine the target luggage based on the user image.

[0061] In this embodiment, the robot includes a camera device. By activating the camera device, the robot acquires a user image of the target user, identifies the target user's back area, shoulder area, and hand area in the user image, and identifies the target luggage carried by the target user in the target user's back area, shoulder area, and hand area.

[0062] Optionally, items located in the back, shoulder, or hand areas of the target user can be identified as target luggage. If no target luggage is identified in the back, shoulder, or hand areas of the target user, an inquiry message is output to the target user asking whether they need to carry luggage. When the target user replies with a confirmation message based on the inquiry message, a third guiding prompt message is output to the target user so that the target user places their hands on the first item that the robot needs to carry, so that the robot can identify the first item as target luggage.

[0063] In this embodiment, to avoid misjudgment by the robot, when the target luggage cannot be identified, an inquiry message is first output to the target user to confirm whether the target user needs assistance. When the target user replies with a confirmation message based on the inquiry message, the robot can confirm that the target user needs assistance. At this time, in order to perform the corresponding assistance action for the target luggage, the robot outputs a third guiding prompt message to the target user, so that the target user places their hand on the first item that the robot needs to assist with. Then, the robot can re-acquire the user's image and identify the first item in the user's hand area, thereby identifying the first item as the target luggage.

[0064] Furthermore, a deep learning model can be used to analyze the user image, identify the target user's back, shoulder, and hand regions in the user image, and then perform item recognition on the target user's back, shoulder, and hand regions respectively. Items identified in the back, shoulder, or hand regions are identified as the target luggage carried by the target user.

[0065] In another alternative implementation, if the target luggage cannot be recognized in the user's image, a fourth guidance prompt message is output to the target user so that the target user is aware that the robot will not provide assistance services and begins to perform the guidance task for the target user and subsequent steps.

[0066] In this embodiment, if no items are detected in the back, shoulder, and hand areas of the user's image, it is determined that the target luggage cannot be identified in the user's image. A fourth guidance prompt message can then be directly output to the target user, informing them that the robot will not provide assistance and initiating the guidance task steps and subsequent steps for the target user. For example, the fourth guidance prompt message could be, "Hello, no luggage was detected; assistance service will not be provided this time."

[0067] Step S30: Adjust the robot's pose according to the relative position between the target luggage and the robot, and perform a carrying action for the target luggage.

[0068] In this embodiment, the robot adjusts its posture according to the relative position between the target luggage and the robot, so as to smoothly perform the assistance action for the target luggage and reduce the burden on the target user.

[0069] Step S40: Execute the guidance task for the target user.

[0070] In this embodiment, after the assisting action is completed, the destination that the target user needs to reach can be determined according to the guidance instruction. The robot is then controlled to move to the destination to perform the guidance task for the target user, leading them there and saving the user time searching for the destination. The destination can be the room the target user is checking into or other locations designated for the target user.

[0071] Optionally, during the process of the robot heading to its destination, it can output a fifth guiding prompt to the target user so that the target user can follow the robot. For example, the fifth guiding prompt could be, "Mr. Li Si, I will guide you to room 111. Please follow me."

[0072] It should be noted that this application reduces the burden on users and increases the robot's functional versatility by providing assistance services before the robot performs its guiding tasks.

[0073] Optionally, while the robot is traveling to its destination, it can also continue to perform the steps of acquiring the user image of the target user and determining the target luggage based on the user image within a preset time interval, so that the robot can continue to perform the assisting action when the target user adds luggage during the journey, thereby reducing the user's burden.

[0074] In the technical solution provided in this embodiment, upon receiving a guidance command, the robot determines and moves closer to the target user based on the command, acquires a user image of the target user, identifies the target luggage based on the user image, adjusts the robot's pose according to the relative position between the target luggage and the robot, and performs a carrying action for the target luggage before executing the guidance task for the target user. This application provides a carrying service before executing the guidance task, which can reduce the user's burden and increase the robot's functional versatility.

[0075] Reference Figure 2 In the second embodiment, based on the first embodiment described above, step S30, adjusting the robot's pose according to the relative position between the target luggage and the robot, and performing a carrying action for the target luggage, includes steps S50-S70:

[0076] Step S50: When the type of the target luggage is the first type, control the robotic arm to move to the first preset position and control the tray to extend outward;

[0077] In this embodiment, the robot includes a robotic arm and a tray. The robotic arm is used to retrieve luggage, and the tray is used to store luggage. When the target luggage is of type 1, the robotic arm is controlled to move to a first preset position and the tray is controlled to extend outward so that the target luggage can be successfully retrieved when subsequent assistance actions are performed.

[0078] It should be noted that the first type of target luggage refers to target luggage identified in the back and shoulder areas of the target user. The first preset position can be set directly in front of the target user, at a preset distance from the target user.

[0079] Understandably, the target luggage identified in the back and shoulder areas is lightweight, such as backpacks, handbags, and crossbody bags.

[0080] Step S60: Output a first guidance prompt to the target user so that the target user places the first type of target luggage on the robotic arm;

[0081] In this embodiment, the robot outputs a first guidance prompt to the target user so that the target user can actively place the target luggage on the robotic arm and remind the target user that the robot is about to perform a carrying action.

[0082] Understandably, because the first type of target luggage has shoulder straps and is lightweight, the target user can easily place the target luggage on the robotic arm without the robot having to control the robotic arm to pick it up automatically, which can improve the efficiency of performing the carrying action.

[0083] Furthermore, the first guidance prompt can be a voice message informing the target user to place the target luggage of the first type in the corresponding position on the robotic arm. For example, the first guidance prompt could be "Hello, please place the backpack in my hand."

[0084] In another alternative implementation, the first type of target luggage may refer to target luggage with a weight less than a preset weight threshold. The preset weight threshold is the maximum weight that the target user can bear, meaning that for target luggage with a weight less than the preset weight threshold, the target user can lift it and place it on the robotic arm by themselves.

[0085] In this embodiment, the weight of the target luggage can be determined based on its shape and size. If the weight is less than a preset weight threshold, it is classified as a first type of target luggage.

[0086] Optionally, target baggage identified in the back and shoulder areas can be directly identified as belonging to the first type of target baggage, while target baggage identified in the hand area can have its weight determined based on its shape and size, thereby determining whether it belongs to the first type based on the weight of the target baggage.

[0087] Step S70: Control the robotic arm to place the target luggage on the tray.

[0088] In this embodiment, when the robot detects that there is target luggage on the robotic arm, it continues to control the robotic arm to place the target luggage on the tray, thereby realizing the execution of the assistance action.

[0089] Optionally, to reduce device power consumption, after the robotic arm places the target luggage of the first type on the tray, the steps of controlling the robotic arm to move to the first preset position and controlling the tray to extend outward are continued, so that the target user places the target luggage of the first type on the robotic arm in sequence until all the target luggage of the first type is stored on the tray.

[0090] In this embodiment, when the robot identifies that a target baggage is placed on the robotic arm, it compares it with the identified target baggage belonging to the first type, and marks the placed target baggage. When all target baggage belonging to the first type is marked, it indicates that all target baggage of the first type has been placed, and the assistance action for the target baggage of the first type ends, and the guidance task for the target user and subsequent steps are executed.

[0091] In another alternative implementation, after each assistance action is completed, the robot can continue to acquire the user image of the target user, determine the target luggage of the target user, and if the target luggage cannot be identified in the user image, output a fourth guidance prompt message to the target user so that the target user knows that the robot will not provide assistance service and begins to execute the steps of the guidance task for the target user and subsequent steps.

[0092] In the technical solution provided in this embodiment, when the type of target luggage is the first type, the robotic arm is controlled to move to the first preset position and the tray is controlled to extend outward to output the first guiding prompt information to the target user, so that the target user places the target luggage of the first type on the robotic arm, and then controls the robotic arm to place the target luggage on the tray, thereby realizing the assistance action of the target luggage of the first type, reducing the burden on the user, and increasing the functional diversity of the robot.

[0093] Reference Figure 3 In the third embodiment, based on any of the above embodiments, the robot control method further includes steps S80-S100:

[0094] Step S80: When the type of the target luggage is the second type, control the robotic arm to move to the second preset position and control the tray to extend outward;

[0095] In this embodiment, the robot includes at least two robotic arms. When the target luggage is of type two, the robotic arms are controlled to move to a second preset position and the tray is controlled to extend outward so that the target luggage can be successfully retrieved when subsequent assistance actions are performed.

[0096] It should be noted that the second type of target luggage refers to target luggage identified in the target user's hand area. The first preset position can be set directly in front of the target user, at a preset distance from the target user.

[0097] It is understandable that the target luggage identified by the hand area is not lightweight. For example, a suitcase.

[0098] Step S90: Output a second guidance prompt to the target user so that the target user knows that the robot is going to perform a carrying action on the target luggage;

[0099] In this embodiment, the robot outputs a second guidance prompt to the target user so that the target user is aware that the robot is going to perform a carrying action on the target luggage.

[0100] Understandably, since the second type of target luggage is not lightweight, it is difficult for the target user to place the target luggage on the robotic arm by themselves. In this case, the robotic arm needs to automatically pick up the target luggage.

[0101] Furthermore, the second guidance prompt can be a voice message informing the target user that the robot will automatically place the target luggage belonging to the second type on the tray. For example, the second guidance prompt could be, "Hello, I will place your suitcase on the tray. Please place your suitcase on the ground."

[0102] In another alternative implementation, the second type of target luggage may refer to target luggage with a weight greater than or equal to a preset weight threshold. The preset weight threshold is the maximum weight that the target user can bear; that is, for target luggage with a weight greater than or equal to the preset weight threshold, the target user cannot lift it and place it on the robotic arm by himself.

[0103] In this embodiment, the weight of the target luggage can be determined based on its shape and size. If the weight is greater than or equal to a preset weight threshold, it is classified as a second type of target luggage.

[0104] Optionally, target baggage identified in the back and shoulder areas can be directly identified as belonging to the second type of target baggage, while target baggage identified in the hand area can have its weight determined based on its shape and size, thereby determining whether it belongs to the second type based on the weight of the target baggage.

[0105] Step S100: Control the robotic arm to pick up the target luggage and place the target luggage on the tray.

[0106] In this embodiment, the robot controls its robotic arms to move to the handle of the target luggage. One robotic arm hooks onto the handle and lifts the luggage upwards, while the other robotic arm supports the luggage. This ensures the stability of the luggage during the lifting process, preventing it from falling. Both robotic arms work together to hold the luggage in place. The robot then controls the robotic arms to place the luggage on a tray, thus performing the assisting action.

[0107] Optionally, to reduce device power consumption, after the robotic arm places the target luggage of the second type on the tray, the steps of controlling the robotic arm to move to a second preset position and controlling the tray to extend outward are performed, so that all target luggage of the second type are placed on the tray in sequence by the robotic arm.

[0108] In this embodiment, after the robot places the target luggage on the tray, it marks the placed target luggage. When all target luggage belonging to the second type is marked, it indicates that all target luggage of the second type has been placed, and the assistance action for the target luggage of the second type ends, and the guiding task for the target user and subsequent steps are executed.

[0109] In another alternative implementation, after each assistance action is completed, the robot can continue to acquire the user image of the target user, determine the target luggage of the target user, and if the target luggage cannot be identified in the user image, output a fourth guidance prompt message to the target user so that the target user knows that the robot will not provide assistance service and begins to execute the steps of the guidance task for the target user and subsequent steps.

[0110] It should be noted that in most scenarios, users typically carry both types of luggage. In this case, the robot can first perform the assistance action for the type of luggage, and then perform the assistance action for the type of luggage. Alternatively, it can perform the assistance action for the type of luggage first, and then perform the assistance action for the type of luggage. Or, the robot can determine the execution order of the different types of assistance actions based on the tray's capacity, or perform them in a staggered manner, so that the tray can accommodate more luggage.

[0111] In another alternative implementation, to respond to the needs of the target user and improve the user experience, when the target user is carrying target luggage including a first type and a second type, the user can select the assistance actions and / or the order in which the assistance actions are performed for the different types of target luggage.

[0112] In the technical solution provided in this embodiment, when the target luggage is of type two, the robot arm is controlled to move to a second preset position and the tray is controlled to extend outward. Then, a second guiding prompt message is output to the target user so that the target user knows that the robot is going to perform a carrying action on the target luggage. The robot arm is then controlled to pick up the target luggage and place it on the tray, thus realizing the carrying action of the target luggage of type two, reducing the user's burden and increasing the robot's functional diversity.

[0113] This application provides a robot, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the robot control method of the above embodiment 1.

[0114] The following is for reference. Figure 4 It shows a structural schematic diagram suitable for implementing the robot of the present application embodiments. Figure 4 The robot shown is merely an example and should not be construed as limiting the functionality and scope of use of the embodiments of this application.

[0115] like Figure 4As shown, the robot may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for robot operation. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, camera, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. The communication device 1009 allows the robot to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows a robot with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0116] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0117] The robot provided in this application, employing the robot control method described in the above embodiments, can solve the technical problem of the robot having a single function. Compared with the prior art, the beneficial effects of the robot provided in this application are the same as those of the robot control method provided in the above embodiments, and other technical features of the robot are the same as those disclosed in the method of the previous embodiment, and will not be repeated here.

[0118] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.

[0119] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0120] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the robot control method in the above embodiments.

[0121] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0122] The aforementioned computer-readable storage medium may be included in the robot; or it may exist independently and not be assembled into the robot.

[0123] The aforementioned computer-readable storage medium carries one or more programs. When these programs are executed by the robot, the robot: upon receiving a guidance command, determines and moves closer to the target user based on the command, acquires an image of the target user, identifies the target luggage based on the image, adjusts the robot's pose according to the relative position between the luggage and the robot, performs a carrying action for the luggage, and then performs the guidance task for the target user. This application provides a carrying service before performing the guidance task, which can reduce the user's burden and increase the robot's functional versatility.

[0124] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0125] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0126] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0127] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the control method of the robot described above, which can solve the technical problem of the robot having a single function. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as the beneficial effects of the robot control method provided in the above embodiments, and will not be repeated here.

[0128] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A method for controlling a robot, characterized in that, The robot control method includes: Upon receiving a guidance instruction, the system determines and moves to a location closer to the target user based on the guidance instruction. Acquire a user image of the target user, and determine the target luggage based on the user image; Based on the relative position between the target luggage and the robot, the robot's posture is adjusted, and a carrying action is performed on the target luggage, including: when the target luggage is of type 1, controlling the robotic arm to move to a first preset position and controlling the tray to extend outward, wherein the first type of target luggage refers to target luggage identified in the back and shoulder areas of the target user; outputting a first guiding prompt to the target user so that the target user places the first type of target luggage on the robotic arm; controlling the robotic arm to place the target luggage on the tray; when the target luggage is of type 2, controlling the robotic arm to move to a second preset position and controlling the tray to extend outward, wherein the second type of target luggage refers to target luggage identified in the hand area of ​​the target user; outputting a second guiding prompt to the target user so that the target user is aware that the robot is going to perform a carrying action on the target luggage; controlling the robotic arm to pick up the target luggage and place the target luggage on the tray; Perform a guidance task for the target user.

2. The method as described in claim 1, characterized in that, The step of acquiring the user image of the target user and determining the target luggage based on the user image includes: Turn on the camera device and capture the user image of the target user; In the user image, the back region, shoulder region, and hand region of the target user are determined; The target luggage carried by the target user is determined in the back area, shoulder area, and hand area of ​​the target user.

3. The method as described in claim 2, characterized in that, The step of determining the target luggage carried by the target user in the back area, shoulder area, and hand area of ​​the target user includes: Items located in the back, shoulder, or hand areas of the target user are identified as the target luggage. If the target luggage cannot be detected in the target user's back area, shoulder area, and hand area, output a question to the target user asking whether they need to carry luggage. When the target user replies with confirmation information based on the inquiry information, a third guiding prompt is output to the target user so that the target user places their hand on the first item that needs the robot's assistance, so that the robot can identify the first item as the target luggage.

4. The method as described in claim 1, characterized in that, The method further includes: If the target luggage cannot be recognized in the user image, a fourth guidance prompt message is output to the target user so that the target user is aware that the robot will not provide assistance service and begins to execute the guidance task steps and subsequent steps for the target user.

5. The method as described in claim 1, characterized in that, The step of determining and moving closer to the target user's location based on the guidance instruction upon receiving it includes: Upon receiving a guidance instruction, the user information of the target user is obtained based on the guidance instruction; Search for the target user based on the user information, and move closer to the target user's location.

6. The method as described in claim 1, characterized in that, The steps of performing the guidance task for the target user include: Based on the guidance instructions, determine the destination that the target user needs to reach; Control the robot to travel to the destination; During the journey to the destination, a fifth guiding prompt message is output to the target user so that the target user can follow the robot.

7. A robot, characterized in that, The robot includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the control method for the robot as described in any one of claims 1 to 6.

8. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the robot control method as described in any one of claims 1 to 6.

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