Robot object conveying method, device and equipment and medium

Abstract

The invention discloses a robot object conveying method, device and equipment and a medium. The method comprises the following steps: detecting the closing state of a target door at a destination address according to laser characteristics; determining whether the current waiting time is within a time threshold value of the distribution task according to the closed state; and waiting for a cabin door opening button of the robot to be triggered within the time threshold, and executing object conveying interaction operation. By adopting the embodiment of the invention, the state of the target door is judged in the delivery interaction process through the recognition of the robot on the laser features, and the flow of the robot for executing the delivery task is further adjusted; the contact of the user with the robot in the object delivery interaction process is reduced, and the risk of cross infection is reduced. And meanwhile, when the laser features are not detected, a conventional object conveying interaction mode is compatible, so that the robot can flexibly and autonomously adjust the object conveying process according to different detection results, the object conveying operation of the robot is simplified, and the object conveying efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of artificial intelligence technology, and in particular to a robot object delivery method, device, equipment and medium. Background Art

[0002] When the robot in the hotel environment performs delivery tasks, the robot often requires the user to manually touch the human-computer interaction interface of the robot to pick up items when it arrives at the delivery address. When there are many tasks in the environment, the robot needs to be scheduled to perform multiple delivery tasks. For the robot, this way of delivering items will inevitably cause the robot to come into contact with users in multiple rooms, which increases the risk of cross-infection to a certain extent. In addition, during the delivery interaction between the user and the robot, if the user does not respond after receiving the robot's pick-up message, or does not open the door to perform the pick-up operation within a reasonable time, it is easy to cause the robot to be occupied, resulting in a waste of resources. It can be seen that how to optimize the robot's delivery process to improve delivery efficiency has become a problem that needs to be solved urgently. Summary of the invention

[0003] The present invention provides a robot delivery method, device, equipment and medium, which solves the problem of a complex delivery process for the robot, realizes the operation of automatically responding to opening or closing the door according to the door status of the user during the delivery interaction, and reduces the risk of cross infection.

[0004] According to a first aspect of the present invention, a robot delivery method is provided, the method comprising:

[0005] At the destination address, the closed state of the target door is detected according to the laser characteristics;

[0006] Determining whether the current waiting time is within the time threshold of the delivery task according to the closed state;

[0007] Wait within the time threshold for the door opening button of the robot to be triggered, and perform the object delivery interaction operation.

[0008] According to a second aspect of the present invention, there is provided a robot delivery device, the device comprising:

[0009] A first detection module is configured to detect a closed state of a target door at a destination address according to a laser feature;

[0010] a determination module configured to determine whether the current waiting time is within a time threshold of the delivery task according to the closed state;

[0011] The interaction module is configured to wait for the door opening button of the robot to be triggered within the time threshold and perform the object delivery interaction operation.

[0012] According to a third aspect of the present invention, there is provided an electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements a robot delivery method as described in any embodiment of the present invention.

[0013] According to a fourth aspect of the present invention, a computer-readable storage medium is provided, wherein the computer instructions are used to cause the computer to execute a robot delivery method as described in any embodiment of the present invention.

[0014] The present invention discloses a robot delivery method, device, equipment and medium. The method comprises: detecting the closed state of the target door at the destination address according to the laser feature; determining whether the current waiting time is within the time threshold of the delivery task according to the closed state; waiting for the robot's door opening button to be triggered within the time threshold, and performing the delivery interaction operation. According to the embodiment of the present invention, the robot can identify the laser feature, judge the state of the target door during the delivery interaction, and further adjust the process of the robot to perform the delivery task; reduce the user's contact with the robot during the delivery interaction, and reduce the risk of cross infection. At the same time, when the laser feature is not detected, it is compatible with conventional delivery interaction methods, so that the robot can flexibly and autonomously adjust the delivery process according to different detection results, simplify the robot's delivery operation, and improve the delivery efficiency.

[0015] 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

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0017] Figure 1 is a schematic diagram of an application scenario in which a robot delivery method according to an embodiment of the present invention can be implemented;

[0018] Figure 2 is a schematic flow chart of a robot object delivery method provided according to an embodiment of the present invention;

[0019] Figure 3 is a schematic structural diagram of a robot object delivery device provided according to an embodiment of the present invention;

[0020] Figure 4 The block diagram of an electronic device used to implement a robot delivery method according to an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application 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 interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] Figure 1 A schematic diagram of an application scenario of a robot delivery method that can implement an embodiment of the present invention is provided. Figure 1 As shown, the computing device 110 can control the robot to: detect the closed state of the target door at the destination address according to the laser feature; determine whether the current waiting time is within the time threshold of the delivery task according to the closed state; wait for the robot's door opening button to be triggered within the time threshold, and perform the delivery interaction operation. It is worth noting that: Figure 1 The application scenario shown is an example of a robot delivery method based on an embodiment of the present invention, but is not limiting.

[0024] It should be noted that the above-mentioned computing device 110 can be hardware or software. When the computing device 110 is hardware, it can be implemented as a distributed cluster consisting of multiple servers or terminal devices, or it can be implemented as a single server or a single terminal device. When the computing device 110 is embodied as software (for example, a program or system for controlling a robot), it can be installed in the hardware devices listed above. It can be implemented as multiple software or software modules for providing distributed services, for example, or it can be implemented as a single software or software module. No specific limitation is made here.

[0025] It should be understood that Figure 1 The number of computing devices in the embodiment is only illustrative. Any number of computing devices may be provided according to implementation requirements.

[0026] Embodiment 1

[0027] According to an embodiment of the present application, a robot delivery method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here. Figure 2 As shown, the robot delivery method includes the following steps: S210, S220 and S230.

[0028] S210: Detect the closed state of the target door at the destination address according to the laser characteristics.

[0029] Optionally, based on detecting that the target door is in an unclosed state, it is determined that the user has opened the door; the corresponding door of the robot is opened to guide the user to take an item.

[0030] Exemplarily, the robot determines that the door is opened by the user based on detecting the laser feature, and identifies that the user has opened the door. The robot automatically opens the door containing the item. At the same time, the light signal in the door is triggered, and the user is guided to take the item through voice broadcast.

[0031] Furthermore, after opening the corresponding hatch of the robot and guiding the user to pick up the item, it also includes: detecting the opening and closing state of the target door according to the laser feature; judging whether the delivery task has timed out according to the opening and closing state; if it has timed out, closing the hatch; if it has not timed out, waiting for the hatch closing button of the robot to be triggered.

[0032] S220. Determine whether the current waiting time is within the time threshold of the delivery task according to the closed state.

[0033] Optionally, when the door opening button is not triggered within the time threshold, if it is detected according to the laser feature that the target door is converted from a closed state to an open state, it is determined that the user has opened the door.

[0034] In fact, after the robot determines that the user has opened the door, it is equivalent to detecting that the target door is not closed, so the robot can automatically open the corresponding door and guide the user to take the item. Specifically, the robot cabin lights up and voice broadcasts the corresponding pick-up prompt.

[0035] S230: Wait for the door opening button of the robot to be triggered within the time threshold, and perform an object delivery interaction operation.

[0036] It should be noted that when the robot detects that the target door is in a closed state, the robot will not automatically open the door and issue a prompt to guide the user to pick up the item. Instead, the robot will wait for the user to manually trigger the door opening button on the robot's human-machine interaction interface within the time threshold, and then issue the prompt to guide the user to pick up the item. In this way, the robot automatically opens the door before the user opens the door to pick up the item, which may cause the item to be lost. The delivery process is flexibly adjusted to a conventional delivery method in which the user triggers the door opening button to pick up the item. Errors caused by user uncertainty during the delivery task are avoided, and the safety of the item is improved. The delivery process is further simplified, and the delivery efficiency is improved. There is no need to verify the user's fingerprint, and delivery can be achieved based only on the laser detection of the opening and closing state of the target door.

[0037] Furthermore, when the delivery task has not timed out and the door closing button has not been triggered, if it is detected according to the laser feature that the target door is converted from an open state to a closed state, it is determined that the user has closed the door.

[0038] Exemplarily, the opening and closing state is that the door is open, which is equivalent to the target door being in a non-closed state, indicating that the door is detected to be continuously in an open state; further determine whether the current delivery task of the robot has timed out, and if so, close the door; if not, continue to determine whether the door closing button of the human-computer interaction interface of the robot is triggered. It is worth noting that after taking the item, the user may manually trigger the human-computer interaction interface to control the robot to close the door; or leave the robot. Therefore, after the robot determines that the door closing button is triggered, it closes the door. If the robot fails to detect that the door closing button is triggered without timeout, the robot detects whether the target door is converted from a non-closed state to a closed state according to the laser feature. After determining that the state of the target door has changed, it is identified that the user closes the door after completing the object collection, and the robot automatically closes the door.

[0039] Furthermore, the method also includes closing the hatch when the delivery task has not timed out and the hatch closing button is triggered.

[0040] Optionally, if the delivery task is not within the time threshold, the robot performs a non-pickup operation.

[0041] The unpicked operation includes canceling the current delivery task of the robot, controlling it to return to the initial position, sending a message notification of delivery cancellation to the user, and releasing the items in the hatch. That is, when the user fails to pick up the item within the time limit, the robot adjusts the state occupied by the current delivery task, and can continue to perform a new delivery task or perform the unfinished delivery task at the last moment again according to the user's response.

[0042] Optionally, if the laser feature cannot be obtained at the destination address, the object delivery interaction operation is performed. If the laser feature is not obtained, the robot does not automatically open the hatch, but uses a conventional object delivery interaction method to determine whether the hatch opening button or the hatch closing button is triggered, and then performs the corresponding hatch opening operation or hatch closing operation.

[0043] Optionally, the robot performs remaining tasks in the task queue after closing the cabin door.

[0044] The present invention discloses a robot delivery method. The method comprises: detecting the closed state of the target door at the destination address according to the laser feature; determining whether the current waiting time is within the time threshold of the delivery task according to the closed state; waiting for the door opening button of the robot to be triggered within the time threshold, and performing the delivery interaction operation. According to the embodiment of the present invention, the robot can identify the laser feature, judge the state of the target door during the delivery interaction, and further adjust the process of the robot to perform the delivery task; reduce the user's contact with the robot during the delivery interaction, and reduce the risk of cross infection. At the same time, when the laser feature is not detected, it is compatible with conventional delivery interaction methods, so that the robot can flexibly and autonomously adjust the delivery process according to different detection results, simplify the robot's delivery operation, and improve the delivery efficiency.

[0045] Embodiment 2

[0046] According to an embodiment of the present invention, a schematic diagram of the structure of a robot delivery device is provided, and the device can execute a robot delivery method provided in the above embodiment 1. Figure 3 As shown, the device includes: a first detection module 310, a determination module 320 and an interaction module 330. Among them:

[0047] The first detection module 310 is configured to detect the closing state of the target door at the destination address according to the laser feature.

[0048] The determination module 320 is configured to determine whether the current waiting time is within the time threshold of the delivery task according to the closed state.

[0049] The interaction module 330 is configured to wait for the door opening button of the robot to be triggered within the time threshold and perform the object delivery interaction operation.

[0050] Optionally, the device further comprises:

[0051] A first judgment module is configured to determine that the user has opened the door according to detecting that the door is in an unclosed state;

[0052] The guidance module is configured to open the corresponding hatch of the robot and guide the user to pick up the item.

[0053] Furthermore, after the guidance module, it also includes:

[0054] A second detection module is configured to detect the opening and closing state of the target door according to the laser feature;

[0055] A second judgment module is configured to judge whether the delivery task has timed out according to the opening and closing state;

[0056] a first response module configured to close the door if a timeout occurs;

[0057] The second response module is configured to wait for the robot's door closing button to be triggered if it has not timed out.

[0058] Optionally, the device is also used to determine that the user has opened the door if it is detected according to the laser feature that the target door is converted from a closed state to an open state within the time threshold when the door opening button is not triggered.

[0059] Optionally, the device is also used to determine that the user has closed the door if it is detected according to the laser feature that the target door has been converted from an open state to a closed state when the delivery task has not timed out and the door closing button has not been triggered.

[0060] Further, when the delivery task has not timed out and the hatch closing button is triggered, the hatch is closed.

[0061] Optionally, the determination module 320 further includes: if the delivery task is not within the time threshold, the robot performs a non-pickup operation.

[0062] Optionally, if the laser feature cannot be obtained at the destination address, the object delivery interaction operation is performed. Further, the robot performs the remaining tasks in the task queue after closing the door. It should be noted that when the robot fails to obtain the laser feature at the destination address, the robot performs a conventional object delivery interaction operation, and does not determine whether the robot automatically closes the door based on the laser feature judgment method.

[0063] The present invention discloses a robot delivery device. The device comprises: a first detection module, configured to detect the closed state of the target door at the destination address according to the laser feature; a determination module, configured to determine whether the current waiting time is within the time threshold of the delivery task according to the closed state; an interaction module, configured to wait for the robot's door opening button to be triggered within the time threshold, and perform the delivery interaction operation. According to the embodiment of the present invention, the robot can identify the laser feature, judge the state of the target door during the delivery interaction, and further adjust the process of the robot to perform the delivery task; reduce the user's contact with the robot during the delivery interaction, and reduce the risk of cross infection. At the same time, when the laser feature is not detected, it is compatible with conventional delivery interaction methods, so that the robot can flexibly and autonomously adjust the delivery process according to different detection results, simplify the robot's delivery operation, and improve the delivery efficiency.

[0064] Embodiment 3

[0065] Reference below Figure 4 , which shows a block diagram of an electronic device 400 suitable for implementing an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0066] like Figure 4 As shown, the electronic device 400 may include a processing device 410, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 420 or a program loaded from a storage device 480 into a random access memory (RAM) 430. The processing device 410 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processing device 410 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processing device 410 performs the various methods and processes described above.

[0067] In the RAM 430, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 410, the ROM 420, and the RAM 430 are connected to each other through a bus 440. An input / output (I / O) interface 450 is also connected to the bus 440.

[0068] Typically, the following devices may be connected to the I / O interface 450: an input device 460 including, for example, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 470 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 480 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 490. The communication device 490 may allow the electronic device 400 to communicate with other devices wirelessly or by wire to exchange data. Although Figure 4 The electronic device 400 is shown with various devices, but it should be understood that it is not required to implement or possess all the devices shown. More or fewer devices may be implemented or possessed instead.

[0069] In particular, according to an embodiment of the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a non-transitory computer-readable medium, and the computer program contains a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device 490, or installed from the storage device 480, or installed from the ROM 420. When the computer program is executed by the processing device 410, the above functions defined in the method of the embodiment of the present invention are executed. Alternatively, in other embodiments, the processing device 410 can be configured to execute the method in any other appropriate manner (for example, by means of firmware): detecting the closed state of the target door at the destination address according to the laser feature; determining whether the current waiting time is within the time threshold of the delivery task according to the closed state; waiting for the door opening button of the robot to be triggered within the time threshold, and performing the delivery interaction operation.

[0070] Embodiment 4

[0071] The computer-readable medium of the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0072] In some embodiments, the client and the server may communicate using any currently known or future developed network protocol such as HTTP (HyperText Transfer Protocol), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), an internet (e.g., the Internet), and a peer-to-peer network (e.g., an ad hoc peer-to-peer network), as well as any currently known or future developed network.

[0073] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0074] The above-mentioned computer-readable medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: detects the closing state of the target door at the destination address according to the laser characteristics; determines whether the current waiting time is within the time threshold of the delivery task according to the closing state; waits for the robot's door opening button to be triggered within the time threshold, and performs the delivery interaction operation.

[0075] Computer program code for performing the operations of the present invention may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0076] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0077] The modules involved in the embodiments of the present invention may be implemented by software or hardware, wherein the name of a module does not limit the module itself in some cases.

[0078] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip systems (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof, etc.

[0079] The program code for implementing the method of the present invention can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code can be executed entirely on the machine, partially on the machine, partially on the machine as a stand-alone software package and partially on a remote machine, or entirely on a remote machine or server.

[0080] In the context of the present invention, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0081] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0082] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0083] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services. The server may also be a server of a distributed system, or a server combined with a blockchain.

[0084] Artificial intelligence is a discipline that studies how to use computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.). It includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, machine learning / deep learning technology, big data processing technology, knowledge graph technology, and other major directions.

[0085] Cloud computing refers to a technology system that uses network access to elastically scalable shared physical or virtual resource pools. Resources can include servers, operating systems, networks, software, applications, and storage devices, and can be deployed and managed on demand and in a self-service manner. Cloud computing technology can provide efficient and powerful data processing capabilities for technical applications such as artificial intelligence and blockchain, as well as model training.

[0086] 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 provided by the present invention can be achieved, and this document does not limit this.

[0087] 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 robot delivery method, characterized in that: The method comprises: At the destination address, the closed state of the target door is detected according to the laser characteristics; Determining whether the current waiting time is within the time threshold of the delivery task according to the closed state; Wait within the time threshold for the door opening button of the robot to be triggered, and perform the object delivery interaction operation.

2. The method according to claim 1, characterized in that The method further comprises: Determining that the user has opened the door based on detecting that the target door is in an unclosed state; The corresponding hatch of the robot is opened to guide the user to take the item.

3. The method according to claim 2, characterized in that After the corresponding hatch of the robot is opened to guide the user to take the item, the method further includes: Detecting the opening and closing state of the target door according to the laser feature; Determining whether the delivery task has timed out according to the opening and closing state; If the timeout period is exceeded, the hatch is closed; If it has not timed out, wait for the robot's door closing button to be triggered.

4. The method according to claim 1, characterized in that: When the door opening button is not triggered within the time threshold, if it is detected according to the laser feature that the target door is converted from a closed state to an open state, it is determined that the user has opened the door.

5. The method according to claim 3, characterized in that: When the delivery task has not timed out and the door closing button has not been triggered, if it is detected according to the laser feature that the target door is converted from an open state to a closed state, it is determined that the user has closed the door.

6. The method according to claim 5, characterized in that The method further includes closing the hatch when the delivery task has not timed out and the hatch closing button is triggered.

7. The method according to claim 1, characterized in that If the delivery task is not within the time threshold, the robot performs a non-pickup operation.

8. The method according to claim 1, characterized in that If the laser feature cannot be acquired at the destination address, the object delivery interaction operation is performed.

9. The method according to claim 3 or 6, characterized in that: The robot performs the remaining tasks in the task queue after closing the cabin door.

10. A robot delivery device, characterized in that: The device comprises: A first detection module is configured to detect a closed state of a target door at a destination address according to a laser feature; a determination module configured to determine whether the current waiting time is within a time threshold of the delivery task according to the closed state; The interaction module is configured to wait for the door opening button of the robot to be triggered within the time threshold and perform the object delivery interaction operation.

11. The device according to claim 10, characterized in that The device also includes: A first judgment module is configured to determine that the user has opened the door according to detecting that the door is in an unclosed state; The guidance module is configured to open the corresponding hatch of the robot and guide the user to pick up the item.

12. The device according to claim 11, characterized in that After the guidance module, it also includes: A second detection module is configured to detect the opening and closing state of the target door according to the laser feature; A second judgment module is configured to judge whether the delivery task has timed out according to the opening and closing state; a first response module configured to close the door if a timeout occurs; The second response module is configured to wait for the robot's door closing button to be triggered if it has not timed out.

13. The device according to claim 10, characterized in that When the door opening button is not triggered within the time threshold, if it is detected according to the laser feature that the target door is converted from a closed state to an open state, it is determined that the user has opened the door.

14. An electronic device comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor implements the method as described in any one of claims 1-9.

15. A computer-readable storage medium, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-9.

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