Blind guiding method and device

Abstract

The invention discloses a blind guiding method and device. The method comprises the following steps: in response to a navigation request of a target object, performing navigation matching with a target robot in at least one service robot to obtain a navigation matching result, the service robot being a robot having a preset service function and a blind guiding function, the target robot is a robot which is currently in a blind guiding state in the business robots; under the condition that the navigation matching result indicates that the matching is successful, generating a navigation standby instruction; a navigation standby instruction is sent to the target robot, so that the target robot responds to the navigation standby instruction, an auxiliary traction structure is started, and the target object is waited to be guided. According to the technical scheme, the service robot can be used as a blind guiding robot for guiding the blind, convenience is provided for the life of the blind, and the life of the blind is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of blind guidance technology, and in particular to a blind guidance method and device. Background Art

[0002] Although the current travel trajectories of blind people are mostly fixed routes, they will always encounter various emergencies during the route, which makes them unprepared and very inconvenient. For the blind, traveling alone has always been very inconvenient. Although there are many guide robots on the market, when the blind are in a scene where there are no guide robots, how to guide the blind intelligently will be an urgent problem to be solved. Summary of the invention

[0003] The embodiments of the present invention provide a method and device for guiding the blind, so as to enable a service robot to be used as a guide robot to guide the blind, thereby providing convenience for the blind and improving their lives.

[0004] According to one aspect of the present invention, a blind guiding method is provided, the method comprising:

[0005] In response to a navigation request of the target object, a navigation match is performed with a target robot among at least one service robot to obtain a navigation match result, wherein the service robot is a robot having a preset service function and a blind guide function, and the target robot is a robot among the service robots that is currently in a blind guide state;

[0006] If the navigation matching result indicates that the match is successful, generating a navigation standby instruction;

[0007] A navigation standby instruction is sent to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object.

[0008] According to another aspect of the present invention, a blind guide device is provided, the device comprising:

[0009] A navigation matching module is configured to execute a navigation request in response to a target object, perform navigation matching with a target robot among at least one service robot, and obtain a navigation matching result, wherein the service robot is a robot having both a preset service function and a blind guide function, and the target robot is a robot among the service robots that is currently in a blind guide state;

[0010] a standby instruction generating module, configured to generate a navigation standby instruction when the navigation matching result indicates a successful match;

[0011] The standby instruction sending module is configured to execute sending a navigation standby instruction to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object.

[0012] The embodiment of the present invention uses a wearable device to respond to the navigation request of the target object, and performs navigation matching with a target robot in at least one service robot to obtain a navigation matching result. When the navigation matching result indicates a successful match, a navigation standby instruction is generated, and the navigation standby instruction is sent to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object. Through the technical solution of the present invention, the service robot can be used as a guide robot to guide the blind, provide convenience for the lives of the blind, and improve the lives of the blind.

[0013] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0015] Figure 1 is a flow chart of a blind guiding method in an embodiment of the present invention;

[0016] Figure 2 It is a structural schematic diagram of a blind guide device in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0018] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and their meanings are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0019] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0020] Embodiment 1

[0021] Figure 1 is a flowchart of a blind guiding method in an embodiment of the present invention. This embodiment is applicable to the case of blind guiding. The method can be executed by a blind guiding device in an embodiment of the present invention. The device can be implemented in software and / or hardware. Figure 1 As shown, the method specifically comprises the following steps:

[0022] S101. In response to a navigation request of a target object, perform navigation matching with a target robot in at least one business robot to obtain a navigation matching result.

[0023] The current ARVR (AR: Augmented Reality, augmented reality; VR: Virtual Reality) devices mainly provide immersive visual experience for people with normal vision. Some adaptive improvements can be made on this basis, such as turning off the display function (for example, VR glasses can mainly achieve 3D stereoscopic display effect, and the blind generally do not need this function, and turning it off can save power) and adding motion assistance functions (the motion assistance function mainly helps the blind to move more conveniently, requiring the use of 6dof (Degree of Freedom), VSLAM (Visual Simultaneous Localization and Mapping) cameras or lidars, or can also be connected to a sweeping robot, a robot dog or a drone), etc. Microphones, speakers and nine-axis sensors can also be added as wearable devices to assist the blind in walking, guide the blind, provide convenience for the blind, and change their lives.

[0024] Exemplarily, the wearable device may be, for example, a helmet, glasses, a watch, etc., and the wearable device may also be other similar devices, which are not limited in this embodiment. Among them, the business robot is a robot that has a blind guide function while having a preset business function. Among them, the preset business function may be the robot's main business work. Exemplarily, the business robot may be, for example, a sweeping robot, or a robot dog or a drone, or an ordering or service robot set up in places such as shopping malls, banks or hotels, etc., which are not limited in this embodiment. For example, when the business robot is a sweeping robot, the preset business function of the business robot is sweeping. Among them, the target robot is a robot in the business robot that is currently in a blind guide state. In this embodiment, the blind guide state may be, for example, a state in which the business robot has not failed, is not offline, is idle, and has sufficient power to support the blind guide task.

[0025] In this embodiment, the target object may be a blind person, and in other embodiments, the target object may also be a person with normal vision, that is, a person with normal vision can also navigate through the wearable device and business robot in this embodiment, but in this embodiment, wearable devices and business robots are mainly used to help the blind navigate.

[0026] The navigation request may be a request from the target object for the wearable device to perform navigation. In this embodiment, the navigation request may be in the form of voice, and in other embodiments, the navigation request may also be in other forms such as gestures and actions, which are not limited in this embodiment.

[0027] In this embodiment, navigation matching can be understood as the wearable device establishing a communication connection with the target robot. The navigation matching result can be that the wearable device successfully matches the target robot, and in other embodiments, the navigation matching result can also be that the wearable device fails to match the target robot.

[0028] Specifically, the target object can send a navigation request to the wearable device in the form of voice, and the wearable device responds to the navigation request of the target object and performs navigation matching with a target robot in at least one business robot to obtain a navigation matching result.

[0029] S102: When the navigation matching result indicates that the matching is successful, generate a navigation standby instruction.

[0030] Among them, the navigation standby instruction can be generated by a wearable device and sent to the target robot to put the target robot into a standby state, waiting for the target object to issue an instruction for a specific navigation task.

[0031] Specifically, after the wearable device successfully matches the target robot, the wearable device generates a navigation standby instruction.

[0032] S103: Send a navigation standby instruction to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object.

[0033] In this embodiment, an auxiliary traction structure can be added to the service robot. The auxiliary traction structure can be, for example, an automatically retractable traction rope and handle (similar to a pet's retractable traction rope and handle, or other types of traction methods), which can facilitate the blind to guide the blind after being pulled.

[0034] Specifically, the wearable device sends a navigation standby instruction to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object. The target object can grab the auxiliary traction structure, for example, the target object can grab the handle, or tie the rope to the arm, and when the target robot is navigating, the target object can walk according to the traction direction of the handle or the rope.

[0035] The embodiment of the present invention uses a wearable device to respond to the navigation request of the target object, and performs navigation matching with a target robot in at least one service robot to obtain a navigation matching result. When the navigation matching result indicates a successful match, a navigation standby instruction is generated, and the navigation standby instruction is sent to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object. Through the technical solution of the present invention, the service robot can be used as a guide robot to guide the blind, provide convenience for the lives of the blind, and improve the lives of the blind.

[0036] Optionally, in response to a navigation request of the target object, performing navigation matching with a target robot in at least one service robot to obtain a navigation matching result includes:

[0037] In response to the navigation request, a business robot is searched within a preset search range to obtain robot search results.

[0038] Among them, the preset search range can be a preset range in which the wearable device searches whether there is a business robot nearby.

[0039] The robot search result may be that there are business robots within a preset range. In other embodiments, the robot search result may also be that there are no business robots within the preset range.

[0040] Exemplarily, the blind guide scenarios can be divided into four types: private environment, public environment + a blind guide function server + an idle robot nearby (the blind guide function server is not used at this time), public environment + a blind guide function server + no idle robots nearby (a blind guide function server is required for scheduling), and public environment + no blind guide function server.

[0041] In actual operation, different preset search ranges can be set according to different blind guide scenarios. For example, in a private environment, such as at home, the scene is small, and the preset search range can be set smaller. For example, the search method can be Bluetooth, WIFI and other short-range communication methods; in a public environment, such as a library, the scene is larger. If the service robot cannot be searched through Bluetooth, WIFI and other short-range communication methods, you can search on the network for whether there is a blind guide function server through WIFI, 5G, etc. If found, it will be linked to it, and then it can be determined whether there is a service robot nearby through the blind guide function server.

[0042] Specifically, the wearable device searches for a business robot within a preset search range in response to a navigation request of the target object to determine whether there is a business robot within the preset search range.

[0043] When the preset search result indicates that there is a business robot within the preset search range, navigation matching is performed with the target robot to obtain a navigation matching result.

[0044] For example, if in a private environment, and there is only one service robot, the wearable device searches for the service robot within the preset search range and then performs navigation matching with the target robot to obtain a navigation matching result. If in a public environment, the wearable device can first search for a service robot within the preset search range, and if so, perform navigation matching with the target robot to obtain a navigation matching result; if not, it can search for a guide function server, and if so, connect to the guide function server to determine whether there is a service robot within the preset search range through the guide function server; if there is no blind function server and no service robot, navigation cannot be performed.

[0045] Optionally, in response to the navigation request, after searching for the business robot within a preset search range and obtaining the robot search results, the method further includes:

[0046] When the robot search results indicate that there is no business robot within the robot search range and the business robot has a corresponding guide function server, the guide function server communicates with the guide function server and sends a navigation request to the guide function server, so that the guide function server determines the target robot from the business robots based on the navigation request and sends movement instructions to the target robot.

[0047] The moving instruction is used to instruct the target robot to move to the position of the target object.

[0048] In this embodiment, the blind guide function server can be a server that can interact with the wearable device, plan the blind guide route, and dispatch the service robot to guide the target object. Exemplarily, when in a library, the blind guide function server can be a server of the library, or a computer, or another main control.

[0049] Among them, the movement instruction can be an instruction sent by the guide function server to the target robot to enable the target robot to move.

[0050] Specifically, if there is no business robot within the preset search range and the business robot has a corresponding guide function server, the wearable device communicates with the guide function server and sends a navigation request to the guide function server. The guide function server determines the target robot from the business robots based on the navigation request and sends a moving instruction to the target robot, instructing the target robot to move to the location of the target object, where the target robot can be one or more.

[0051] In actual operation, if the robot search results indicate that there is no business robot within the robot search range and the business robot does not have a corresponding blind guide function server, blind guidance cannot be performed.

[0052] When the distance between the target robot and the target object is less than the preset distance, navigation matching is performed with the target robot to obtain a navigation matching result.

[0053] The preset distance may be the distance between the blind person and the target robot that is preset by the user according to actual conditions. This embodiment does not limit the specific size of the preset distance.

[0054] Specifically, when the target robot moves to a distance less than a preset distance from the target object, the wearable device performs navigation matching with the target robot to obtain a navigation matching result.

[0055] Optionally, the navigation request carries the current object position of the target object (wherein the current object position may be the current position of the target object) and the navigation target identifier (when there is no map in the wearable device, the navigation target identifier may be the name of the navigation destination and other identifying information, and illustratively, the navigation target identifier may be a restroom, for example). When the robot search result indicates that there is no service robot within the robot search range, and the service robot has a corresponding guide function server, the step of communicating with the guide function server and sending the navigation request to the guide function server includes:

[0056] When the robot search results indicate that there is no business robot within the preset search range and the business robot has a corresponding guide function server, communicate with the guide function server corresponding to the business robot and send a navigation request to the guide function server so that the server plans a navigation route based on the current object position and the navigation target identifier, obtains a first navigation route, and determines the target robot based on the first navigation route.

[0057] The first navigation route may be a traversable route from the current object position of the target object to the position of the destination represented by the navigation target identifier.

[0058] Specifically, if there is no business robot within the preset search range and the business robot has a corresponding guide function server, the wearable device communicates with the guide function server corresponding to the business robot, and the wearable device sends a navigation request to the guide function server. The guide function server plans a navigation route based on the current object position and the navigation target identifier, obtains a first navigation route, and determines the target robot based on the first navigation route.

[0059] Optionally, when the preset search range is a near field communication range (wherein the near field communication range can be understood as a range that can be searched by a short-distance communication method such as Bluetooth and WIFI), when the preset search result indicates that there is a business robot within the preset search range, performing navigation matching with the target robot, the step of obtaining the navigation matching result includes:

[0060] A first state acquisition instruction is generated.

[0061] Among them, the first status acquisition instruction can be an instruction to obtain the status information of the business robot within a preset search range.

[0062] A first status acquisition instruction is sent to the service robot, so that the service robot responds to the first status acquisition instruction and acquires the first service status.

[0063] Among them, the first business state can be the current state of the business robot existing in the preset search range. In this embodiment, the state information of the business robot may include the following: idle state, charging state, offline state, working state, navigation state and other states. Among them, the idle state can be a state in which the business robot is not shut down, has not failed, is not performing its main work (for example, when the business robot is a sweeping robot, its main work is sweeping the floor) and has sufficient power; the charging state can be a state in which the business robot is being charged; the offline state can be a state in which the business robot is out of power, shut down or fails. The working state can be a state in which the business robot is performing its main work (for example, when the business robot is a sweeping robot, its main work is sweeping the floor); the navigation state can be a state in which the business robot is performing a navigation task.

[0064] Exemplarily, in a private environment, and there is only one business robot, the wearable device generates a first state acquisition instruction after searching for the business robot within a preset search range, and sends the first state acquisition instruction to the business robot. The business robot responds to the first state acquisition instruction and sends the first business state to the wearable device. If in a public environment, the wearable device can first search for a business robot within a preset search range. If so, it generates a first state acquisition instruction and sends the first state acquisition instruction to the business robot. The business robot responds to the first state acquisition instruction and sends the first business state to the wearable device.

[0065] When the first service state indicates that the service robot is in a state capable of guiding the blind, the service robot is taken as a target robot for navigation matching to obtain a navigation matching result.

[0066] Specifically, if the business robot has not failed, is not offline, is idle, and has sufficient power to support the blind guide task, the business robot is used as the target robot for navigation matching to obtain a navigation matching result.

[0067] Optionally, when the preset search range is a network communication range (in this embodiment, the network communication range can be understood as a range searched on the network through WIFI, 5G, etc.), when the preset search result indicates that there is a business robot within the preset search range, navigation matching is performed with the target robot, and the navigation matching result obtained includes:

[0068] Generate map information acquisition instructions.

[0069] Among them, the map information acquisition instruction can be generated by the wearable device, which is an instruction to obtain the map stored in each business robot.

[0070] A map information acquisition instruction is sent to the business robot, so that the business robot responds to the map information acquisition instruction and acquires the area map.

[0071] The area map may be a map of the work area that each service robot is responsible for. In this embodiment, the area map may be in the form of a SLAM (Simultaneous Localization and Mapping) map.

[0072] For example, when the service robot is a sweeping robot, the work area corresponding to the service robot may be the area that the sweeping robot is responsible for cleaning. For example, each sweeping robot is responsible for cleaning a different cleaning area, such as sweeping robot A is responsible for cleaning work area 1, sweeping robot B is responsible for cleaning work area 2, and sweeping robot C is responsible for cleaning work area 3.

[0073] Specifically, the wearable device sends a map information acquisition instruction to the business robot, and the business robot responds to the map information acquisition instruction and sends the SLAM map of the working area stored in the business robot to the wearable device.

[0074] Receive the area map sent by the business robot, and splice the area map to obtain the target map.

[0075] Among them, the target map can be a complete map obtained by splicing the maps provided by each business robot.

[0076] Specifically, the wearable device receives the area map sent by each business robot, and stitches together the area maps of each business robot to obtain a complete target map.

[0077] The navigation route is planned through the target map to obtain a second navigation route.

[0078] The second navigation route may be a route on an area map passing from a current object position of the target object to a position of a destination represented by the navigation target identifier in the target map.

[0079] Exemplarily, after the wearable device obtains the target map, it performs navigation route planning in the target map according to the current object position and the navigation target identifier to obtain the second navigation route.

[0080] Navigation matching is performed with the target robot along the second navigation route to obtain a navigation matching result.

[0081] Specifically, the wearable device performs navigation matching with the business robots corresponding to all area maps involved in the second navigation route. For example, if the second navigation route passes through the area map responsible for business robot A and the area map responsible for business robot C, the wearable device performs navigation matching with business robot A and business robot C to obtain a navigation matching result.

[0082] In actual operation, if it is in a public environment and there is a guide function server, the above-mentioned map information acquisition instruction is generated, and the map information acquisition instruction is sent to the business robot so that the business robot responds to the map information acquisition instruction, obtains the area map, receives the area map sent by the business robot, and splices the area map to obtain the target map, plans the navigation route through the target map, obtains the second navigation route, performs navigation matching with the target robot along the second navigation route, and obtains the navigation matching result. All these operations can be executed by the guide function server.

[0083] Optionally, the step of performing navigation matching with a target robot along the second navigation route to obtain a navigation matching result includes:

[0084] A second state acquisition instruction is generated.

[0085] The second state acquisition instruction may be an instruction for acquiring state information of a target robot along the second navigation route.

[0086] A second status acquisition instruction is sent to the service robots along the second navigation route, so that the service robots along the second navigation route respond to the second status acquisition instruction and acquire the second service status.

[0087] The second business state may be the current state of the target robot along the second navigation route.

[0088] Specifically, the wearable device sends a second status acquisition instruction to the service robots along the second navigation route. The service robots along the second navigation route respond to the second status acquisition instruction and send their respective status information to the wearable device so that the wearable device determines whether the target robot can navigate.

[0089] When the second service status indicates that the service robots along the second navigation route are in a state capable of guiding the blind, the service robots along the second navigation route are taken as target robots for navigation matching to obtain a navigation matching result.

[0090] Specifically, if all the service robots along the second navigation route are in a state capable of guiding the blind, the service robots along the second navigation route are used as target robots for navigation matching to obtain navigation matching results, so that each target robot navigates in turn to complete the navigation task.

[0091] Optionally, when the target robot does not have a voice interaction function, after the step of sending a navigation standby instruction to the target robot, the method further includes:

[0092] In response to the voice command of the target object, a navigation start command is sent to the target robot, and obstacle information is received from the target robot in real time.

[0093] The voice command may be a voice command issued by the target object and requiring navigation. The navigation start command may be a command issued by the wearable device and used to control the target robot to start navigating for the target object.

[0094] The obstacle information may be relevant information of obstacles detected by the target robot and existing on the planned navigation route.

[0095] Specifically, when the business robot cannot recognize voice, after the target object issues a voice command, the wearable device responds to the target object's voice command, sends a navigation start command to the target robot, and receives obstacle information from the target robot in real time.

[0096] Generate voice prompt information based on obstacle information.

[0097] The voice prompt information may be voice information used to prompt the target object to avoid obstacles.

[0098] Specifically, the wearable device generates an obstacle avoidance route and corresponding voice prompt information according to the obstacle information uploaded by the target robot.

[0099] Play voice prompts to the target object.

[0100] Specifically, the wearable device plays voice prompt information through a speaker to prompt the user to avoid obstacles.

[0101] Optionally, the guiding state includes an idle state and a target charging state.

[0102] Among them, the target charging state is a state in which the current power of the business robot is greater than or equal to a preset power threshold.

[0103] The current power level may be the current power level of the business robot.

[0104] The preset power threshold may be a power threshold pre-set according to actual conditions. When the power of the service robot reaches or exceeds the power threshold, it can be considered that the service robot has enough power to complete the navigation task. This embodiment does not limit the specific value of the preset power threshold. Different power thresholds can be set for service robots with different battery models. For example, some service robots have large batteries, and 30% of the power is sufficient for navigation, while some have small batteries and 60% of the power is sufficient for navigation. The specific setting can be based on the specific situation.

[0105] Specifically, for a business robot that is charging, the wearable device will first query the power status of the business robot. If the current power of the business robot is greater than or equal to a preset power threshold, a navigation standby command can be sent to the business robot to make the business robot stop charging and prepare to navigate for the target object.

[0106] As an exemplary description of an embodiment of the present invention, the guide method is explained by taking the wearable device as VR glasses and the business robot as a sweeping robot as an example.

[0107] In one embodiment, the blind guiding system may be composed of VR glasses and at least one sweeping robot (hereinafter referred to as a robot), that is, it may be divided into two cases: a single robot blind guiding system and a multi-robot collaborative blind guiding system.

[0108] (1) Single robot guide

[0109] Smaller places often only need one robot. For example, if there is only one sweeping robot in a home, the sweeping robot can add a guide mode and use the sweeping robot for indoor navigation. The sweeping robot can connect to the VR glasses through Bluetooth / WIFI and communicate (transmit maps to VR glasses, receive instructions from VR glasses, etc.). After receiving the navigation instructions, the sweeping robot can prompt the user through voice, such as "Master, I'm here, master, follow me", etc. The sweeping robot can also remind the user when it detects an obstacle. The following is a detailed step-by-step description:

[0110] Step 1: Use VR glasses to search for nearby sweeping robots via Bluetooth or WIFI.

[0111] Step 2: After searching, the VR glasses are connected to the sweeping robot. Specifically, the VR glasses can be connected to the robot and communicated with via Bluetooth, WIFI or other short-term communication methods.

[0112] Step 3: Query the robot status. A robot that supports the guide mode needs to provide its current status information, such as charging, cleaning, idle, navigating, etc. If the VR glasses find that the robot status is idle, they will communicate with the robot and send a navigation preparation command.

[0113] Step 4. After receiving the command to prepare for navigation, the robot will give a voice prompt (such as "Master, I am here, ready to navigate for you at any time"). At the same time, the robot will update its current status. If there is a screen on the robot, it will display "Navigating" on the screen. In this way, when a second VR glasses comes to query, it will obtain the navigating status and cannot be linked to it. Or when other users send cleaning instructions to the robot, if the current status is "Navigating", the cleaning task will not be performed.

[0114] Step 5: Navigation. After the user hears the voice prompt of the sweeping robot, "Master, I'm here, ready to guide you," they can use it for navigation. For example, if the user says "I want to go to the bathroom," the sweeping robot will automatically plan the route with the SLAM map, and then give a voice prompt, "OK, master, please follow me." At the same time, the sweeping robot can use laser radar or camera to detect the user. When it detects that the user is too far away from it, it will automatically walk to the user's side and give a voice reminder, "Master, I'm here, please follow me."

[0115] Step 6. You can add an automatically retractable traction rope and handle to the sweeping robot (similar to a pet retractable traction rope and handle, or other types of traction methods) to make it easier to guide.

[0116] (2) Multi-robot collaborative guidance

[0117] In some large venues, such as libraries, there are many floors, and each floor has more than one sweeping robot. The following takes the library environment as an example to explain in detail:

[0118] Step 1: Connect the sweeping robot to the Internet. All sweeping robots in the library can be connected to the Internet through communication methods such as WIFI or 5G.

[0119] Step 2: VR glasses and multiple robots form a guide system. The guide system stitches together the SLAM maps of the areas that each robot is responsible for cleaning to form a SLAM map of the entire library. The maps are stitched together and marked. For example, the map of the robot responsible for the first-floor bathroom is marked as the first-floor bathroom, and the map of the robot responsible for the reading room on the second floor is marked as the second-floor reading room. The guide system obtains the status and location information of each robot in real time.

[0120] Step 3: Cross-area navigation. For example, after entering the library, the user says "Hello, I want to go to the reading room". The user is at the door of the library. For example, the reading room is in a room on the second floor. To get to the reading room from the door, the user needs to pass through other areas that are in charge of the sweeping robot. For example, the user needs to pass through the lobby on the first floor and the corridor on the second floor before reaching the reading room. This path has three areas in total, and three sweeping robots are needed.

[0121] Step 4: After receiving the destination, plan the route first. For example, the above route spans three areas.

[0122] Step 5: After planning the route, the status of each robot on the route will be queried. The status of the robot will appear in the following situations:

[0123] A. All robots on the route are in idle state;

[0124] B. Some robots on the route are in idle state, and some are in cleaning state;

[0125] C. Some robots on the route are idle, some are cleaning, and some are charging;

[0126] D. Some robots on the route are idle, some are cleaning, some are charging, and some are offline (power out or faulty).

[0127] E. Some robots on the route are idle, some are cleaning, some are charging, some are offline, and some are navigating;

[0128] F. Change situation: the robot is in one state when it is queried, and when the user walks to that area, the robot's state changes.

[0129] For case A, all robots are in idle state:

[0130] Step a: The VR glasses arrange the robots on the route to navigate in sequence and give voice prompts to the user about the route;

[0131] Step b, simultaneously monitoring the position of the robot in navigation in real time;

[0132] Step c: When the robot is about to reach the end point, the VR glasses send instructions to the next robot, and the next robot prepares for navigation (goes to the starting point to wait for the user) and updates its own status to navigating at the same time;

[0133] Step d: After each robot guides the user to the destination and completes navigation, it will send navigation completion information to the VR glasses, give the user a voice prompt, and update its own status to idle at the same time;

[0134] Step e: The VR glasses receive the navigation completion information and send a start navigation instruction to the next robot;

[0135] Step f: When the next robot receives the start navigation command, it starts navigating (there will be voice prompts, and if there is a display screen, the navigation status will be displayed);

[0136] Step g: In addition to receiving the location and navigation status information reported by the robot, the VR glasses also receive and respond to the user's instructions.

[0137] Here is a specific example: VR glasses will give voice prompts to users about the route after planning the route: for example, "Hello, the route to the reading room is through the lobby, to the elevator room, up to the second floor, through the corridor to the reading room, and there are three robots navigating for you." VR glasses send instructions to the robot in the lobby on the first floor, and the robot will come to the door and give voice prompts, such as "Master, I'm here, follow me", and then take the user to the elevator entrance and give voice prompts, such as "Master, the reading room is in the second gear, this is the elevator, please be careful, please call the system to continue navigating for you after exiting the elevator." VR glasses will also monitor the status of the lobby robot to obtain location information in real time. After the user exits the elevator, he makes a voice "I'm out of the elevator", and VR glasses will send instructions to the corridor robot and obtain the location information of the corridor robot in real time. When the corridor robot arrives at the elevator entrance, it will give voice prompts, such as "Master, I'm here, follow me". When VR glasses detect that the corridor robot is about to reach the destination, it will send a navigation preparation instruction to the reading room robot. After receiving the navigation preparation instruction, the reading room robot will update its status to navigating and walk towards the door of the reading room. After the corridor robot brings the user to the door of the reading room, it will send information to the VR glasses. After receiving the information, the VR glasses will send a start navigation instruction to the reading room robot. After receiving the instruction, the reading room robot will give a voice prompt, such as "Master, I'm here, follow me."

[0138] For situation B, some robots on the route are idle and some are cleaning. There are several possible responses:

[0139] The administrator can set up a specific strategy to stop the cleaning robot and give priority to navigation, or ask an idle robot in the nearest area to provide support.

[0140] For case C, part of the robot is idle, part is cleaning, and part is charging on the route:

[0141] In this case, the cleaning robot can adopt the strategy of situation B;

[0142] For a robot that is charging, the VR glasses will first query the robot's battery status. If the battery level is sufficient for navigation (the battery level threshold can be set, for example, some robots have large batteries, 30% of the battery is sufficient for navigation, while some robots have small batteries and 60% of the battery is sufficient for navigation), a command can be sent to stop charging for navigation. If the battery level is not sufficient for navigation, an idle robot in the nearest area can be asked to come for support. If there is no idle robot nearby, a robot that is charging but has sufficient battery level for navigation can be asked to come for support.

[0143] For situation D, some offline robots are added on the basis of situation C. The robot system in the offline state will directly call nearby robots that are idle, charging or cleaning for support.

[0144] For situation E, a robot in navigation is added, and the robot VR glasses in navigation can also directly call nearby robots that are idle, charging, or cleaning for support.

[0145] Situation F is more complicated. You can first set a default priority for the robot call:

[0146] When you need to call for support, you can call them according to the following priorities: idle robots take precedence over cleaning robots take precedence over charging robots. Offline and navigating robots cannot be called. This is the default priority. Priorities can be set. For example, if the administrator thinks that charging robots have a higher priority than cleaning robots based on actual conditions, they can adjust the priority. Therefore, for changing situations F, dynamic scheduling can be performed according to the above priorities.

[0147] During this process, if all robots are unavailable, human assistance will be called to guide the user to the destination.

[0148] In another embodiment, the service robot can also be a robot dog. The robot dog adds a blind mode, adds a traction rope, sets the blind mode, and connects to the VR glasses through Bluetooth / WIFI, etc. The VR glasses obtain the user's voice command and transmit the command to the robot dog. Or the VR glasses are connected to a dedicated guide robot dog, obtain the robot dog's navigation information and give voice prompts, thereby assisting the user in navigation or free walking.

[0149] In another embodiment, the business robot can also be a drone. The drone adds a navigation mode, and the drone is connected to the VR glasses through short-range communication technologies such as Bluetooth / WIFI. The drone turns on the navigation mode. In this mode, the drone's flight altitude is adjusted to the same height as the user's height or 20 cm above the user according to the user's height. The drone receives the route information of the VR glasses and flies according to the route. The drone is connected to a handle through a rope, and the user grabs the handle or ties the rope to the user's arm. The drone flies according to the navigation route, and the user walks according to the handle or rope pulling direction, and cooperates with the voice prompts of the VR glasses. For example, when turning right, the rope will be pulled to the right, and the VR glasses will voice prompt to turn right, as well as obstacle detection and traffic light detection of the VR glasses.

[0150] The technical solution of the embodiment of the present invention allows business robots (shopping mall service robots, order-taking service robots, sweeping robots, etc.) in various indoor places to change their identities during idle time and perform the guide function while keeping their main functions unchanged, thereby improving the utilization efficiency of the business robots, facilitating the lives of the blind, bringing convenience to the blind, and providing a more humane setting.

[0151] Embodiment 2

[0152] Figure 2 is a schematic diagram of the structure of a blind-guiding device in an embodiment of the present invention. This embodiment is applicable to the case of blind-guiding. The device can be implemented in software and / or hardware. The device can be integrated in any device that provides the blind-guiding function, such as Figure 2 As shown, the blind guide device specifically includes: a navigation matching module 201, a standby instruction generating module 202 and a standby instruction sending module 203.

[0153] The navigation matching module 201 is configured to execute a navigation request in response to a target object, perform navigation matching with a target robot in at least one service robot, and obtain a navigation matching result, wherein the service robot is a robot having both a preset service function and a blind guide function, and the target robot is a robot in the service robot that is currently in a blind guide state;

[0154] A standby instruction generating module 202 is configured to generate a navigation standby instruction when the navigation matching result indicates a successful match;

[0155] The standby instruction sending module 203 is configured to execute sending a navigation standby instruction to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object.

[0156] Optionally, the navigation matching module 201 includes:

[0157] A search unit, configured to search for the service robot within a preset search range in response to the navigation request, and obtain robot search results;

[0158] The first navigation matching unit is used to perform navigation matching with the target robot to obtain a navigation matching result when the preset search result indicates that the service robot exists within the preset search range.

[0159] Optionally, the navigation matching module 201 further includes:

[0160] a communication and sending unit, configured to communicate with a blind guide function server and send the navigation request to the blind guide function server when the robot search result indicates that the service robot does not exist within the robot search range and the service robot has a corresponding blind guide function server, so that the blind guide function server determines the target robot from the service robots based on the navigation request and sends a movement instruction to the target robot, wherein the movement instruction is used to instruct the target robot to move to the position of the target object;

[0161] The second navigation matching unit is used to perform navigation matching with the target robot to obtain a navigation matching result when the distance between the target robot and the target object is less than a preset distance.

[0162] Optionally, the navigation request carries the current object position and navigation target identifier of the target object, and the communication and sending unit is specifically used for:

[0163] When the robot search result indicates that the business robot does not exist within the preset search range and the business robot has a corresponding guide function server, communicate with the guide function server corresponding to the business robot and send the navigation request to the guide function server, so that the server plans a navigation route based on the current object position and the navigation target identifier, obtains a first navigation route, and determines the target robot based on the first navigation route.

[0164] Optionally, when the preset search range is a near field communication range, the first navigation matching unit is specifically configured to:

[0165] Generate a first state acquisition instruction;

[0166] Sending the first state acquisition instruction to the service robot, so that the service robot responds to the first state acquisition instruction and acquires the first service state;

[0167] When the first service state indicates that the service robot is in a state capable of guiding the blind, the service robot is used as the target robot for navigation matching to obtain a navigation matching result.

[0168] Optionally, when the preset search range is a network communication range, the first navigation matching unit includes:

[0169] A generating subunit, used for generating a map information acquisition instruction;

[0170] A sending subunit, used for sending the map information acquisition instruction to the service robot, so that the service robot responds to the map information acquisition instruction and acquires the area map;

[0171] An acquisition and splicing subunit, used for receiving the area map sent by the service robot, and splicing the area map to obtain a target map;

[0172] A navigation route planning subunit, used to plan a navigation route through the target map to obtain a second navigation route;

[0173] The navigation matching subunit is used to perform navigation matching with the target robot along the second navigation route to obtain a navigation matching result.

[0174] Optionally, the navigation matching subunit is specifically used for:

[0175] Generate a second state acquisition instruction;

[0176] Sending the second state acquisition instruction to the service robots along the second navigation route, so that the service robots along the second navigation route respond to the second state acquisition instruction and acquire the second service state;

[0177] When the second service status indicates that the service robots along the second navigation route are in a state capable of guiding the blind, the service robots along the second navigation route are taken as the target robots for navigation matching to obtain a navigation matching result.

[0178] Optionally, when the target robot does not have a voice interaction function, the device further includes:

[0179] A sending and receiving module, configured to send a navigation start instruction to the target robot in response to a voice instruction of the target object, and receive obstacle information from the target robot in real time;

[0180] A voice prompt information generating module, used for generating voice prompt information based on the obstacle information;

[0181] The playing module is used to play the voice prompt information to the target object.

[0182] Optionally, the guiding state includes an idle state and a target charging state, and the target charging state is a state in which the current power of the service robot is greater than or equal to a preset power threshold.

[0183] The above-mentioned product can execute the blind guiding method provided by any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0184] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0185] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A blind guiding method, characterized in that: The method comprises: In response to a navigation request of the target object, a navigation match is performed with a target robot among at least one service robot to obtain a navigation match result, wherein the service robot is a robot having a preset service function and a blind guide function, and the target robot is a robot among the service robots that is currently in a blind guide state; If the navigation matching result indicates that the match is successful, generating a navigation standby instruction; A navigation standby instruction is sent to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object.

2. The method according to claim 1, characterized in that The step of performing navigation matching with a target robot in at least one service robot in response to a navigation request of the target object to obtain a navigation matching result comprises: In response to the navigation request, searching for the business robot within a preset search range to obtain robot search results; When the preset search result indicates that the service robot exists within the preset search range, navigation matching is performed with the target robot to obtain a navigation matching result.

3. The method according to claim 2, characterized in that After the step of searching the service robot within a preset search range in response to the navigation request to obtain robot search results, the method further includes: When the robot search result indicates that the service robot does not exist within the robot search range, and the service robot has a corresponding guide function server, communicating with the guide function server, sending the navigation request to the guide function server, so that the guide function server determines the target robot from the service robots based on the navigation request, and sends a movement instruction to the target robot, wherein the movement instruction is used to instruct the target robot to move to the position of the target object; When the distance between the target robot and the target object is less than a preset distance, navigation matching is performed with the target robot to obtain a navigation matching result.

4. The method according to claim 3, characterized in that The navigation request carries the current object position and the navigation target identifier of the target object. When the robot search result indicates that the service robot does not exist within the robot search range and the service robot has a corresponding blind guide function server, the step of communicating with the blind guide function server and sending the navigation request to the blind guide function server comprises: When the robot search result indicates that the business robot does not exist within the preset search range and the business robot has a corresponding guide function server, communicate with the guide function server corresponding to the business robot and send the navigation request to the guide function server, so that the server plans a navigation route based on the current object position and the navigation target identifier, obtains a first navigation route, and determines the target robot based on the first navigation route.

5. The method according to claim 2, characterized in that: When the preset search range is a near field communication range, and when the preset search result indicates that the service robot exists within the preset search range, performing navigation matching with the target robot to obtain a navigation matching result comprises: Generate a first state acquisition instruction; Sending the first state acquisition instruction to the service robot, so that the service robot responds to the first state acquisition instruction and acquires the first service state; When the first service state indicates that the service robot is in a state capable of guiding the blind, the service robot is used as the target robot for navigation matching to obtain a navigation matching result.

6. The method according to claim 2, characterized in that In the case where the preset search range is a network communication range, and in the case where the preset search result indicates that the service robot exists within the preset search range, performing navigation matching with the target robot to obtain a navigation matching result includes: Generate map information acquisition instructions; Sending the map information acquisition instruction to the business robot, so that the business robot responds to the map information acquisition instruction and acquires the area map; Receiving the area map sent by the business robot, and splicing the area map to obtain a target map; Performing navigation route planning through the target map to obtain a second navigation route; Perform navigation matching with the target robot along the second navigation route to obtain a navigation matching result.

7. The method according to claim 6, characterized in that The step of performing navigation matching with the target robot along the second navigation route to obtain a navigation matching result comprises: Generate a second state acquisition instruction; Sending the second state acquisition instruction to the service robots along the second navigation route, so that the service robots along the second navigation route respond to the second state acquisition instruction and acquire the second service state; When the second service status indicates that the service robots along the second navigation route are in a state capable of guiding the blind, the service robots along the second navigation route are taken as the target robots for navigation matching to obtain a navigation matching result.

8. The method according to claim 1, characterized in that In the case where the target robot does not have a voice interaction function, after the step of sending a navigation standby instruction to the target robot, the method further includes: In response to the voice command of the target object, sending a navigation start command to the target robot, and receiving obstacle information from the target robot in real time; Based on the obstacle information, generate voice prompt information; Play the voice prompt information to the target object.

9. The method according to any one of claims 1 to 8, characterized in that: The guiding state includes an idle state and a target charging state, and the target charging state is a state in which the current power of the service robot is greater than or equal to a preset power threshold.

10. A blind guide device, characterized in that: The device comprises: A navigation matching module is configured to execute a navigation request in response to a target object, perform navigation matching with a target robot among at least one service robot, and obtain a navigation matching result, wherein the service robot is a robot having both a preset service function and a blind guide function, and the target robot is a robot among the service robots that is currently in a blind guide state; a standby instruction generating module, configured to generate a navigation standby instruction when the navigation matching result indicates a successful match; The standby instruction sending module is configured to execute sending a navigation standby instruction to the target robot, so that the target robot responds to the navigation standby instruction, starts the auxiliary traction structure, and waits to guide the target object.

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