Cruise robot and picture switching method

Abstract

The embodiment of the invention discloses a cruise robot and a picture switching method, the robot comprises a driving module, a control module, a positioning module, a communication module and a processing module, the control module generates a navigation route according to a preset map and a preset algorithm, and controls the driving module to enable the cruise robot to move according to the navigation route; when the cruise robot moves to any station, the positioning module obtains real-time position information of the cruise robot and sends the real-time position information to the processing module; the processing module obtains the station identification information at the moment according to a preset map and the real-time position information, obtains the sequence information of the station cameras arranged on the corresponding stations according to the station identification information, and sends the sequence information to the display terminal through the communication module; and the display terminal displays the real-time video acquired by the camera at the corresponding station. By means of the mode, the pictures can be switched according to the preset sequence, and the convenience degree of picture switching operation is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of robots, and in particular to a cruise robot and a screen switching method. Background Art

[0002] In vocational education and skills training, students and trainers need to move between different workstations to perform practical operations. The training stations are usually equipped with cameras to observe and record these operations in real time, and further transmit the images to the display terminal for staff to view; in industrial environments, quality control personnel need to move on different production lines to check the manufacturing process of products. Quality control personnel monitor the operations on the production line in real time; in dangerous or restricted environments, such as chemical laboratories or nuclear power plants, staff need to ensure the safety of operations through remote monitoring.

[0003] In the above-mentioned situations, the current training system can only switch the display screen of the display terminal to the corresponding workstation camera through manual switching. Each switch requires the same operation, which inevitably brings inconvenience to the operation and may cause switching errors. Summary of the invention

[0004] The main technical problem solved by the embodiments of the present invention is to provide a cruise robot and a screen switching method, which can improve the convenience of screen switching operations and avoid the problem of switching errors.

[0005] In order to solve the above technical problems, a technical solution adopted in an embodiment of the present invention is: to provide a cruise robot, including: a driving module, a control module, a positioning module, a communication module and a processing module, wherein the control module is connected to the driving module, the processing module is respectively communicated with the control module and the positioning module, and the processing module establishes a communication connection with a display terminal through the communication module; the control module generates a navigation route according to a preset map and a preset algorithm, and controls the driving module so that the cruise robot moves according to the navigation route; when the cruise robot moves to any workstation, the positioning module obtains the real-time position information of the cruise robot, and sends the real-time position information to the processing module; the processing module obtains the workstation identification information at this time according to the preset map and the real-time position information, and obtains the sequence information of the workstation camera set on the corresponding workstation according to the workstation identification information, and sends the sequence information to the display terminal through the communication module, so that the display terminal displays the real-time video obtained by the corresponding workstation camera.

[0006] In some embodiments, the control module includes a sensing unit and a navigation unit, the sensing unit is used to obtain obstacle information and send the obstacle information to the processing module so that the processing module updates the preset map according to the obstacle information; the navigation unit is used to generate the navigation route according to the preset map and the preset algorithm, and control the driving module according to the navigation route so that the cruise robot moves according to the navigation route.

[0007] In some embodiments, the control module further includes a feedback unit, which controls the driving module according to a real-time rotation speed and a preset rotation speed of the driving module to reduce a difference between the real-time rotation data and the preset rotation data.

[0008] In some embodiments, the positioning module includes an odometer, and the odometer obtains the real-time position information according to the motion data and initial position information of the driving module.

[0009] In some embodiments, the positioning module includes an ultrasonic array, and the ultrasonic array obtains the real-time position information according to a sound source signal sent by a reference sound source.

[0010] In some embodiments, the sensing unit includes a binocular camera and an ultrasonic sensor.

[0011] In order to solve the above technical problems, another technical solution adopted in the embodiment of the present invention is: to provide a screen switching method, applied to the cruise robot as described above, including: creating a preset map; generating a navigation route according to the preset map and the preset algorithm; moving according to the navigation route, and when moving to any workstation, obtaining real-time position information; obtaining the workstation identification information at this time according to the real-time position information; obtaining the sequence information of the workstation camera set on the corresponding workstation according to the workstation identification information; sending the sequence information to the display terminal, so that the display terminal displays the real-time video obtained by the corresponding workstation camera.

[0012] In some embodiments, the real-time location information is matched with a preset map to obtain the current workstation location information; and a preset database is queried based on the workstation location information to obtain corresponding workstation identification information.

[0013] In some embodiments, obtaining the sequence information of the workstation camera set at the corresponding workstation based on the workstation identification information includes: obtaining the sequence information of the workstation camera set at the corresponding workstation based on a preset mapping table and the workstation identification information; the preset mapping table includes the workstation ID, camera serial number, camera IP address and camera port.

[0014] In some embodiments, sending the sequence information to a display terminal so that the display terminal displays real-time video acquired by a camera at a corresponding workstation includes: encapsulating the sequence information into a sequence data packet; sending the sequence data packet to the display terminal so that the display terminal parses the sequence data packet to obtain the sequence information.

[0015] The beneficial effects of the embodiments of the present invention are as follows: different from the prior art, the embodiments of the present invention generate a navigation route through a preset map, so that the cruise robot obtains the position information of the workstations it passes through while moving along the navigation route, and obtains the camera sequence information of the corresponding workstations based on this, and further sends the sequence information to the display terminal so that the display terminal switches the screen. The screen can be switched in a preset order, thereby improving the convenience of the screen switching operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a structural schematic diagram of a cruise robot provided by an embodiment of the present invention;

[0017] Figure 2 is a structural schematic diagram of a control module provided by an embodiment of the present invention;

[0018] Figure 3 It is a flowchart of a screen switching method provided by an embodiment of the present invention;

[0019] Figure 4 yes Figure 3 A schematic flow chart of step S400 in the screen switching method is shown;

[0020] Figure 5 yes Figure 3 The flowchart of step S500 in the screen switching method is shown. DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of the present application, the present application is described in more detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that when an element is described as "fixed to" another element, it can be directly on another element or there can be one or more centered elements therebetween. When an element is described as "connected" to another element, it can be directly connected to another element or there can be one or more centered elements therebetween. The orientation or positional relationship indicated by the terms "upper", "lower", "inner", "outer", "bottom" and the like used in this specification is based on the orientation or positional relationship shown in the accompanying drawings, only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third" and the like are used only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0022] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification and in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application. The term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0023] In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0024] The technical solution in this application will be described below in conjunction with the accompanying drawings.

[0025] In some embodiments of the present application, a cruise robot is provided, and its structural schematic diagram is as follows: Figure 1 As shown, the cruise robot includes a control module 110, a drive module 120, a processing module 130, a communication module 140 and a positioning module 150. The control module 110 is connected to the drive module 120, the processing module 130 is respectively connected to the control module 110 and the positioning module 150, and the processing module 130 establishes a communication connection with the display terminal 200 through the communication module 140.

[0026] The control module 110 generates a navigation route according to a preset map and a preset algorithm, and controls the driving module 120 to enable the cruise robot to move according to the navigation route.

[0027] Specifically, the control module 110 includes laser radar, camera, ultrasonic sensor and other equipment, uses laser radar, camera, ultrasonic sensor and other equipment to collect environmental data, converts the collected data into a grid map, a topological map or other forms of maps, that is, a preset map, and stores it in the memory of the cruise robot. The preset map is usually a two-dimensional or three-dimensional coordinate system, including obstacles, workstations, paths and other information.

[0028] Select a suitable path planning algorithm, such as A* algorithm, Dijkstra algorithm or particle swarm optimization algorithm, to determine the starting position of the robot, and calculate the optimal path from the starting position to traverse each workstation based on the preset map information.

[0029] As an example but not a limitation, the A* algorithm is selected to initialize two lists. The open list is used to store the nodes to be checked, and the closed list is used to store the nodes that have been checked. The costs are calculated: G cost: the cost of moving from the starting point to the current node; H cost: the estimated cost from the current node to the target node; F cost: the sum of G cost and H cost, which is used to determine the priority of the node.

[0030] Select the node with the lowest F cost from the open list, add the adjacent traversable nodes to the open list, and calculate their G, H, and F costs. If a shorter path is found to reach an adjacent node, update the parent node and G cost of the node, and move the current node from the open list to the closed list. The path search is complete when the target node is added to the open list and selected as the next node. Starting from the target node, trace back to the starting node through the parent node of each node to form a complete path.

[0031] The planned path is decomposed into a series of movement instructions, such as forward, turn, etc. The drive module 120 controls the robot's motor according to the instructions to achieve forward, backward, turn, etc., so that the robot moves along the calculated navigation path. The drive module 120 adjusts the motor speed as needed to control the movement speed of the robot.

[0032] It should be noted that during the movement of the cruise robot, the positioning module 150 monitors the position of the robot in real time, and feeds back the information to the processing module 140 through devices such as wheel speed encoders, laser rangefinders, cameras or GPS. The processing module 140 compares the preset navigation path with the actual path, and if there is a deviation, it sends an adjustment instruction to the control module 110, and the control module 110 replans the path.

[0033] When the cruise robot moves to any workstation, the positioning module 150 obtains the real-time position information of the cruise robot and sends the real-time position information to the processing module 130 .

[0034] Specifically, a suitable positioning technology is selected according to the environment, such as Wi-Fi positioning, ultra-wideband (UWB) positioning, laser ranging, wheel speed encoder, visual SLAM, etc. The positioning module 150 continuously collects the position data of the robot, including wheel speed, angle change, sensor reading, etc. The collected data is converted into specific coordinate information, such as (x, y) coordinates or (x, y, θ) coordinates (including direction).

[0035] The positioning module 150 sends the real-time position information to the processing module 130 through a communication interface (such as a serial port, a wireless module). The position information is usually sent in a specific format, such as JSON, XML or binary format.

[0036] The processing module 130 monitors the communication port from the positioning module to receive real-time position information, parses the received data, and extracts the position coordinates. The processing module 130 updates the current state of the robot, including the position and direction.

[0037] It should be noted that, according to the new position information, the processing module 130 may adjust the task execution order or path of the robot.

[0038] In some embodiments, the positioning module 150 includes an odometer, and a wheel speed encoder is installed on the pulley of the cruise robot to measure the rotation speed and direction of the wheel. The odometer obtains real-time position information based on the motion data of the driving module 120 and the initial position information.

[0039] When the cruise robot starts, the odometer is calibrated to zero point to ensure the accuracy of the initial position information. The resolution of the wheel speed encoder and the diameter of the wheel are set to accurately calculate the displacement.

[0040] The wheel speed encoder collects the rotation data of the pulley in real time. The odometer module calculates the distance traveled by the wheel based on the encoder data and calculates the displacement of the robot based on the wheel diameter. The current direction (yaw angle) of the robot is calculated through the wheel speed difference or the steering encoder.

[0041] The odometer encapsulates the calculated position information (usually including x, y coordinates and yaw angle) into a data packet, and sends the position data packet to the processing module 130 through a serial port, a wireless communication module (such as Wi-Fi, Bluetooth) or other communication interface.

[0042] In some embodiments, a plurality of ultrasonic sensors are installed on the cruise robot to form an array. The ultrasonic sensors are usually evenly distributed around the robot to measure distances from different directions, and the ultrasonic array constitutes a positioning module.

[0043] When the robot starts, calibrate the ultrasonic sensor to ensure that it measures accurately. Set the ultrasonic sensor's measurement range, resolution, and trigger threshold.

[0044] Ultrasonic sensors emit ultrasonic pulses in real time and receive reflected pulses to calculate the distance to obstacles (such as warehouse shelves). The processing module or a dedicated positioning algorithm fuses the distance data of multiple ultrasonic sensors to estimate the specific position of the robot.

[0045] The processing module 130 obtains the current workstation identification information based on the preset map and real-time location information, and obtains the sequence information of the workstation camera set at the corresponding workstation based on the workstation identification information, and sends the sequence information to the display terminal 200 through the communication module 140, so that the display terminal 200 displays the real-time video obtained by the corresponding workstation camera.

[0046] Specifically, the processing module 130 matches the real-time location information with the workstation coordinates in the preset map to determine the workstation the robot is currently in. Once the workstation is determined, the processing module 130 extracts the unique identification information of the workstation, such as the workstation number or name.

[0047] The processing module 130 queries an internal database or an external server to obtain the camera sequence information corresponding to the workstation identification. Each workstation may have one or more cameras, each with a unique serial number. The required camera sequence information is extracted from the query result. The processing module 130 establishes a connection with the display terminal through the communication module and sends the camera sequence information to the display terminal, usually using a network protocol such as HTTP or WebSocket.

[0048] After receiving the sequence information, the display terminal 200 parses and prepares to display the real-time video. The display terminal 200 uses the received sequence information to send a request to the video stream server of the camera. The video stream server responds to the request and sends the real-time video stream to the display terminal 200, which displays it to the operator.

[0049] In some embodiments, one or more RFID tags are installed on each workstation, and each tag has a unique identification code (UID). The cruise robot is integrated with an RFID reader for reading the RFID tags on the workstations during the movement of the robot.

[0050] When the robot moves near a certain workstation, the positioning module 150 updates the real-time location information of the robot. At the same time, the RFID reader detects and reads the RFID tag on the workstation. The processing module receives the tag information from the RFID reader and matches it with the workstation information in the preset map to determine the current workstation identification. The processing module 130 queries the database or mapping table to obtain the sequence information of the corresponding workstation camera based on the workstation identification. The processing module 130 sends the camera sequence information to the display terminal 200 through the communication module. The display terminal 200 requests the real-time video stream of the corresponding camera based on the received sequence information.

[0051] In some embodiments of the present application, the control module 110 includes a sensing unit 111 , a navigation unit 112 , and a feedback unit 113 .

[0052] The sensing unit 111 is used to obtain obstacle information and send the obstacle information to the processing module, so that the processing module 130 updates the preset map according to the obstacle information.

[0053] Specifically, the sensing unit 111 may include a variety of sensors, such as a laser radar that measures the distance to obstacles through laser pulses, an ultrasonic sensor that measures the distance by emitting ultrasonic waves and receiving reflected waves, an infrared sensor for detecting temperature differences of objects, and a camera for visual recognition that can detect color, shape and movement.

[0054] The sensing unit 111 obtains information about the surrounding environment in real time through the above sensors and converts it into digital signals. For example, laser radar emits laser pulses and measures the time difference of the reflected pulses to calculate the distance to the obstacle; ultrasonic sensors emit ultrasonic waves and measure the time difference of the reflected waves to calculate the distance to the obstacle; infrared sensors detect the temperature difference on the surface of objects to determine the existence of objects. The image processing algorithm of the camera identifies the object and estimates its distance.

[0055] The sensing unit 111 sends the collected obstacle information to the processing module 130, usually through an internal bus or a wireless communication interface. For example, the distance data measured by the laser radar is sent to the processing module; the distance data measured by the ultrasonic sensor is sent to the processing module; the temperature difference data detected by the infrared sensor is sent to the processing module; the image data taken by the camera is sent to the processing module, and the image processing algorithm in the processing module 120 identifies the object and estimates the distance.

[0056] After receiving the obstacle information sent by the sensing unit 111, the processing module 130 updates the preset map according to the information. If a laser radar or ultrasonic sensor is used, the processing module 130 adds the location information of the obstacle to the map and updates the obstacle distribution in the map; if an infrared sensor is used, the processing module 130 determines the existence of the obstacle based on the temperature difference and marks it on the preset map; if a camera is used, the image processing algorithm in the processing module 130 identifies the object and marks the obstacle on the preset map.

[0057] In other embodiments, the sensing unit 111 uses a binocular camera, which simultaneously collects images taken by two cameras, finds corresponding feature points in the two images through an image processing algorithm, and calculates the disparity between the feature points. According to the disparity and the distance between the cameras, the distance from the feature point to the camera, that is, the depth information, is calculated.

[0058] Through the depth information, obstacles in the image can be identified and their positions and sizes can be calculated. The sensing unit 111 sends the calculated obstacle information to the processing module 130. After receiving the obstacle information, the processing module 130 updates the preset map according to the information and marks the position of the obstacle.

[0059] The navigation unit 112 is used to generate a navigation route according to a preset map and a preset algorithm, and control the driving module 120 according to the navigation route so that the cruise robot moves according to the navigation route.

[0060] The navigation unit 112 loads a preset map from the memory. The map is usually a two-dimensional or three-dimensional grid map, including information such as the robot's starting position, target position, and obstacles. According to the preset algorithm, the navigation unit 112 selects a suitable path planning algorithm, such as the A* algorithm, the Dijkstra algorithm, the dynamic window method, etc.

[0061] The navigation unit 112 uses the selected path planning algorithm to calculate the optimal path from the starting position to the target position on the preset map. The calculated navigation route is converted into specific driving instructions, such as steering angle, forward speed, etc. The generated driving instructions are sent to the driving module 120, and the driving module controls the movement of the robot according to the instructions.

[0062] The feedback unit 113 controls the driving module 120 according to the real-time rotation speed of the driving module 120 and the preset rotation speed, so as to reduce the difference between the real-time rotation data and the preset rotation data.

[0063] Specifically, the feedback unit 113 monitors the rotation speed of the driving module 120 in real time through a wheel speed encoder or other speed sensor, obtains a preset rotation speed from the navigation unit 112 or other control unit, and compares the real-time rotation speed with the preset rotation speed. If there is a difference between the real-time rotation speed and the preset rotation speed, the feedback unit 113 adjusts the control parameters of the driving module 120, such as the motor output power or the steering angle, and the driving module 120 performs corresponding actions according to the adjustment instructions of the feedback unit 113.

[0064] In some embodiments of the present application, the feedback unit 113 includes a PID controller, the wheel speed encoder monitors the rotation speed of the drive module 120 in real time, and the navigation unit 112 calculates the preset rotation speed according to the preset navigation route and speed parameters. The control module calculates the difference between the real-time rotation speed and the preset rotation speed, that is, the error. The PID controller calculates a proportional control signal according to the error, integrates the error over a period of time, calculates an integral control signal, differentiates the rate of change of the error, calculates a differential control signal, and combines the proportional, integral and differential control signals to obtain a final PID control signal.

[0065] The driving module 120 performs corresponding actions according to the PID control signal of the feedback unit 113, such as adjusting the motor output power or the steering angle.

[0066] Different from the prior art, the implementation mode of the present invention generates a navigation route through a preset map, so that the cruise robot can obtain the position information of the workstations it passes through while moving along the navigation route, and obtain the camera sequence information of the corresponding workstations based on this, and further send the sequence information to the display terminal to enable the display terminal to switch the screen. The screen can be switched in a preset order, thereby improving the convenience of the screen switching operation.

[0067] Based on the cruise robot provided in the above embodiment, the embodiment of the present invention provides a screen switching method, and its flow chart is as follows: Figure 3 As shown, the method specifically comprises the following steps:

[0068] Step S100: Create a preset map.

[0069] Specifically, information about the working environment, including obstacles, workstations, paths, etc., is collected and digitized, and the collected map information is stored in an internal or external storage device of the robot.

[0070] Step S200: Generate a navigation route according to a preset map and a preset algorithm.

[0071] Select a suitable path planning algorithm, such as A* algorithm, Dijkstra algorithm, etc., apply the selected path planning algorithm on the preset map, and calculate the optimal path from the starting location to the target location.

[0072] Step S300: Move according to the navigation route, and obtain real-time location information when moving to any workstation.

[0073] The calculated navigation route is converted into specific driving instructions, such as steering angle, forward speed, etc. The robot is controlled to move according to the instructions and move along the navigation route. The robot's position information is obtained in real time using sensors such as odometers, ultrasonic arrays, and lidar.

[0074] Step S400: obtaining the current workstation identification information according to the real-time location information.

[0075] Match the real-time location information with the preset map to determine the current workstation of the robot and extract the unique identification information of the workstation, such as the workstation number or name.

[0076] Step S500: acquiring sequence information of a workstation camera arranged at a corresponding workstation according to the workstation identification information.

[0077] The database is queried according to the workstation identification information, the sequence information of the corresponding workstation camera is obtained, and the required camera sequence information is extracted from the query results.

[0078] Specifically, according to the preset mapping table and the workstation identification information, the sequence information of the workstation camera set on the corresponding workstation is obtained; the preset mapping table includes the workstation ID, the camera serial number, the camera IP address and the camera port.

[0079] Step S600: Sending the sequence information to the display terminal so that the display terminal displays the real-time video acquired by the corresponding workstation camera.

[0080] The camera sequence information is sent to the display terminal in a specific format (such as JSON, XML, etc.) through a communication interface (such as Wi-Fi, Bluetooth, etc.). The display terminal requests the real-time video stream of the corresponding camera based on the received sequence information. The video stream server responds to the request and sends the real-time video stream to the display terminal, which displays it to the operator.

[0081] In some embodiments of the present application, the flowchart of step S400 is as follows: Figure 4 As shown, the specific steps include the following

[0082] Step S410: Match the real-time location information with the preset map to obtain the current workstation location information.

[0083] Step S420: query a preset database according to the workstation location information to obtain corresponding workstation identification information.

[0084] In some embodiments of the present application, the flowchart of step S600 is as follows: Figure 5 As shown, the specific steps include the following

[0085] Step S610: Encapsulate the sequence information into a sequence data packet.

[0086] Step S620: Send the sequence data packet to the display terminal, so that the display terminal parses the sequence data packet to obtain sequence information.

[0087] Different from the prior art, the implementation mode of the present invention generates a navigation route through a preset map, so that the cruise robot can obtain the position information of the workstations it passes through while moving along the navigation route, and obtain the camera sequence information of the corresponding workstations based on this, and further send the sequence information to the display terminal to enable the display terminal to switch the screen. The screen can be switched in a preset order, thereby improving the convenience of the screen switching operation.

[0088] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Under the concept of the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other changes in different aspects of the present application as above, which are not provided in detail for the sake of simplicity. Although the present application has been described in detail with reference to the aforementioned embodiments, a person of ordinary skill in the art should understand that the technical solutions described in the aforementioned embodiments can still be modified, or some of the technical features can be replaced by equivalents. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A cruising robot, characterized in that: include: Drive module, control module, positioning module, communication module and processing module, The control module is connected to the driving module, the processing module is respectively connected to the control module and the positioning module for communication, and the processing module establishes a communication connection with the display terminal through the communication module; The control module generates a navigation route according to a preset map and a preset algorithm, and controls the driving module so that the cruise robot moves according to the navigation route; When the cruise robot moves to any workstation, the positioning module obtains the real-time position information of the cruise robot and sends the real-time position information to the processing module; The processing module obtains the current workstation identification information based on the preset map and the real-time location information, and obtains the sequence information of the workstation camera set at the corresponding workstation based on the workstation identification information, and sends the sequence information to the display terminal through the communication module, so that the display terminal displays the real-time video obtained by the corresponding workstation camera.

2. The robot according to claim 1, characterized in that: The control module includes a sensing unit and a navigation unit. The sensing unit is used to obtain obstacle information and send the obstacle information to the processing module, so that the processing module updates the preset map according to the obstacle information; The navigation unit is used to generate the navigation route according to the preset map and the preset algorithm, and control the driving module according to the navigation route so that the cruise robot moves according to the navigation route.

3. The robot according to claim 1, characterized in that: The control module further includes a feedback unit, which controls the driving module according to the real-time rotation speed and the preset rotation speed of the driving module to reduce the difference between the real-time rotation data and the preset rotation data.

4. The robot according to claim 1, characterized in that: The positioning module includes an odometer, and the odometer obtains the real-time position information according to the motion data and initial position information of the driving module.

5. The robot according to claim 1, characterized in that: The positioning module includes an ultrasonic array, and the ultrasonic array obtains the real-time position information according to the sound source signal sent by the reference sound source.

6. The robot according to claim 2, characterized in that: The sensing unit includes a binocular camera and an ultrasonic sensor.

7. A screen switching method, applied to the cruise robot according to any one of claims 1 to 6, characterized in that: include: Create preset maps; Generate a navigation route according to the preset map and preset algorithm; Move along the navigation route and obtain real-time location information when moving to any workstation; Obtaining the workstation identification information at this time according to the real-time position information; According to the workstation identification information, sequence information of a workstation camera arranged at the corresponding workstation is acquired; The sequence information is sent to a display terminal so that the display terminal displays the real-time video acquired by the corresponding workstation camera.

8. The method according to claim 7, characterized in that The obtaining the workstation identification information at this time according to the real-time position information includes: Match the real-time location information with the preset map to obtain the current workstation location information; The preset database is queried according to the workstation location information to obtain corresponding workstation identification information.

9. The method according to claim 7, characterized in that: The step of acquiring sequence information of a workstation camera disposed at a corresponding workstation according to the workstation identification information includes: According to the preset mapping table and the workstation identification information, the sequence information of the workstation camera set at the corresponding workstation is obtained; The preset mapping table includes a workstation ID, a camera serial number, a camera IP address, and a camera port.

10. The method according to claim 7, characterized in that The sending of the sequence information to a display terminal so that the display terminal displays a real-time video acquired by a camera at a corresponding workstation includes: Encapsulating the sequence information into a sequence data packet; The sequence data packet is sent to the display terminal, so that the display terminal parses the sequence data packet to obtain the sequence information.

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