Robot early warning method and device, storage medium and program product

Abstract

The invention discloses a robot early warning method and device, a storage medium and a program product, and relates to the technical field of robots, and the method comprises the steps: determining a repositioning pose of a robot based on a positioning two-dimensional code in an external environment where the robot is located; obtaining a current pose when the robot scans and positions the two-dimensional code, and determining a pose difference between the repositioning pose and the current pose; and if the pose difference meets a preset early warning condition, outputting early warning information and performing early warning response processing. The pose difference is obtained by comparing the repositioning pose and the current pose in real time, and early warning is performed based on the pose difference, so that the positioning deviation is found and corrected, it is ensured that the robot can maintain accurate navigation and positioning in a complex environment, the autonomous navigation ability of the robot is improved, the positioning accuracy of the robot is enhanced, and the positioning accuracy of the robot is improved. Therefore, the safety and the reliability of the robot in an actual application scene are improved.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot early warning method, device, storage medium and program product. Background Art

[0002] With the continuous development of science and technology, robots are being used more and more widely in various fields. For example, in service places such as hotels, robots have become an important tool to replace manpower and improve service quality due to their high efficiency and convenience. In the process of robot service, robots need to face a variety of complex environments, such as long corridors and stairs. In order to accurately navigate and locate in these environments, robots usually use QR code assisted positioning. By scanning and identifying the QR code preset in the environment, the robot can determine its position and direction, thereby achieving precise navigation. However, due to reasons such as QR code posture correction or drastic environmental changes, the robot may have positioning deviations based on QR code positioning, resulting in inaccurate robot navigation, which may cause safety accidents such as robot falls, affecting the safety of the robot.

[0003] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0004] The main purpose of this application is to provide a robot early warning method, device, storage medium and program product, aiming to solve the technical problem that the robot's safety is affected by inaccurate robot navigation and positioning.

[0005] To achieve the above objectives, the present application proposes a robot early warning method, the method comprising:

[0006] Determine the relocation posture of the robot based on the positioning QR code in the external environment where the robot is located;

[0007] Obtaining a current posture of the robot when scanning the positioning QR code, and determining a posture difference between the repositioning posture and the current posture;

[0008] If the posture difference meets the preset warning condition, the warning information is output and the warning response processing is performed.

[0009] In one embodiment, the posture difference includes a position difference and an angle difference; if the posture difference meets a preset warning condition, the step of outputting warning information and performing warning response processing includes:

[0010] If the position difference is greater than a first distance threshold and the angle difference is greater than a first angle threshold, and the first duration reaches a first preset duration, it is determined that the posture difference meets a preset warning condition, a first warning message is output, and the repositioning posture is determined as the current posture, wherein the first duration is the duration during which the position difference is greater than the first distance threshold and the angle difference is greater than the first angle threshold;

[0011] If the position difference is within the first distance value range and the angle difference is within the first angle value range, and the second duration reaches a second preset duration, it is determined that the posture difference meets the preset warning condition, a second warning message is output, and the current posture is updated based on the repositioning posture, wherein the upper limit of the first distance value range is the first distance threshold, the upper limit of the first angle value range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance value range and the angle difference is within the first angle value range.

[0012] In one embodiment, the current posture is determined based on a plurality of sensors; and the step of updating the current posture based on the repositioned posture comprises:

[0013] If the position difference is within the second distance value range and the angle difference is within the second angle value range, and the second duration reaches a second preset duration, then determining a current positioning score corresponding to each of the sensors, wherein the current positioning score is used to characterize the similarity between the actual sensor data collected by the sensor and the preset theoretical sensor data;

[0014] Determine a target weight group based on the current positioning scores of each of the sensors, wherein the target weight group includes weighted values ​​corresponding to each of the sensors, and the order of the weighted values ​​of each of the sensors is consistent with the order of the current positioning scores of each of the sensors;

[0015] The robot postures corresponding to the sensors are weighted and summed up by the target weight group to obtain an updated posture, and the updated posture is determined as the current posture.

[0016] In one embodiment, an inertial sensor is provided on the robot; the step of determining the posture difference between the repositioning posture and the current posture comprises:

[0017] Determine a first adjacent frame yaw angle difference between the repositioning postures of two adjacent frames, and determine a second adjacent frame yaw angle difference between two adjacent frames of inertial postures, wherein the inertial posture is a robot posture determined based on the inertial sensor;

[0018] The difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference is determined as the posture difference between the repositioning posture and the current posture.

[0019] In one embodiment, if the posture difference meets the preset warning condition, the step of outputting warning information and performing warning response processing includes:

[0020] If the posture difference is greater than the preset yaw angle difference, and the third duration for which the posture difference is greater than the preset yaw angle difference reaches a third preset duration, it is determined that the posture difference meets the preset warning condition;

[0021] Output the third warning information, and output the robot inertial data collected by the inertial sensor.

[0022] In one embodiment, the robot is provided with an image sensor; before the step of determining the relocation posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located, the step further includes:

[0023] If a warning instruction is received, current image data of the current environment in which the robot is located is collected by the image sensor, and based on the current image data, whether a positioning QR code exists in the current environment is detected;

[0024] If the positioning two-dimensional code exists, the step of determining the repositioning posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located is performed.

[0025] In one embodiment, the method further comprises:

[0026] If the positioning QR code does not exist, determining the robot position information of the robot in the current environment;

[0027] Based on the robot position information and the two-dimensional code position information of each preset two-dimensional code, determine the two-dimensional code with the shortest two-dimensional code distance from each preset two-dimensional code, and determine the two-dimensional code with the shortest two-dimensional code distance as the target two-dimensional code, wherein the two-dimensional code distance is the distance between the position of the preset two-dimensional code and the position of the robot;

[0028] The posture determined based on the target two-dimensional code is used as the repositioning posture, and the posture of the robot when scanning the target two-dimensional code is determined as the current posture, and the step of determining the posture difference between the repositioning posture and the current posture is performed.

[0029] In addition, to achieve the above-mentioned purpose, the present application also proposes a robot early warning device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the quantum bit calibration method described above.

[0030] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the robot early warning method described above are implemented.

[0031] In addition, to achieve the above-mentioned purpose, the present application also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, it implements the steps of the robot early warning method described above.

[0032] In this application, the repositioning posture of the robot is determined based on the positioning QR code in the external environment where the robot is located; the current posture of the robot when scanning the positioning QR code is obtained, and the posture difference between the repositioning posture and the current posture is determined. The repositioning posture represents the position and posture that the robot should be in an ideal state. The current posture is the position and posture measured and calculated by the robot in real time, reflecting the immediate state of the robot in the actual environment. The posture difference between the repositioning posture and the current posture actually represents the difference between the position and posture determined by the robot according to its internal positioning system and the external QR code, which can reflect the degree of deviation in the positioning of the QR code.

[0033] If the posture difference meets the preset warning condition, it indicates that the deviation degree of the robot positioning has affected the safe operation of the robot. At this time, outputting warning information and making warning response processing can prevent the robot from further deviating from the expected position or posture.

[0034] Therefore, the present application realizes the discovery and correction of positioning deviations by comparing the repositioning posture and the current posture in real time, ensuring that the robot can maintain accurate navigation and positioning in complex environments, improving the robot's autonomous navigation capability, and enhancing the robot's positioning accuracy, thereby improving the robot's safety and reliability in actual application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0036] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 A flowchart of the first embodiment of the robot early warning method of the present application is provided;

[0038] Figure 2 A schematic diagram of modules involved in a robot early warning method provided in an embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of an application process for performing robot early warning based on position difference and angle difference according to an embodiment of the present application;

[0040] Figure 4 This is a schematic diagram of an application process of performing robot early warning based on yaw angle according to an embodiment of the present application;

[0041] Figure 5 This is a schematic diagram of the module structure of the robot early warning device according to an embodiment of the present application;

[0042] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the robot early warning method in the embodiment of the present application.

[0043] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0044] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0045] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The main solution of the embodiment of the present application is: determine the repositioning posture of the robot based on the positioning QR code in the external environment where the robot is located; obtain the current posture of the robot when scanning the positioning QR code, and determine the posture difference between the repositioning posture and the current posture; if the posture difference meets the preset warning condition, output the warning information and perform warning response processing.

[0047] With the continuous development of science and technology, robots are being used more and more widely in various fields. For example, in service places such as hotels, robots have become an important tool to replace manpower and improve service quality due to their high efficiency and convenience. In the process of robot service, robots need to face a variety of complex environments, such as long corridors and stairs. In order to accurately navigate and locate in these environments, robots usually use QR code assisted positioning. By scanning and identifying the QR code preset in the environment, the robot can determine its position and direction, thereby achieving precise navigation. However, due to reasons such as QR code posture correction or drastic environmental changes, the robot may have positioning deviations based on QR code positioning, resulting in inaccurate robot navigation, which may cause safety accidents such as robot falls, affecting the safety of the robot.

[0048] The present application provides a solution, which obtains the posture difference by comparing the repositioning posture and the current posture in real time, issues an early warning based on the posture difference and makes an early warning response, thereby realizing the discovery and correction of positioning deviations, ensuring that the robot can maintain accurate navigation and positioning in complex environments, improving the robot's autonomous navigation capability, and enhancing the accuracy of the robot's positioning, thereby improving the robot's safety and reliability in actual application scenarios.

[0049] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a robot, etc. The following takes a robot as an example to illustrate this embodiment and the following embodiments.

[0050] Based on this, the present application embodiment provides a robot early warning method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the robot early warning method of the present application.

[0051] In this embodiment, the robot early warning method includes steps S10 to S30:

[0052] Step S10, determining the relocation posture of the robot based on the positioning QR code in the external environment where the robot is located;

[0053] QR code positioning refers to determining the position and direction of the robot in three-dimensional space, i.e., posture, by identifying and analyzing the QR code image in the environment. There may be multiple pre-set QR codes for positioning in the external environment where the robot is located (hereinafter referred to as preset QR codes for distinction), each preset QR code contains specific information, and the information carried by the preset QR code can be the posture of the robot, or it can be information that can be mapped to the posture of the robot. In this embodiment, the preset QR code of the current position of the robot in the external environment is called the positioning QR code.

[0054] The robot can determine the theoretical position of the robot in the external environment, that is, the repositioning position, by scanning the positioning QR code through the built-in image sensor. In a specific implementation, if the positioning QR code carries the position, the repositioning position can be obtained by scanning the positioning QR code and parsing it. If the positioning QR code does not carry the position, the positioning QR code is scanned and parsed to obtain the QR code information, and the QR code information is mapped to the robot position to obtain the repositioning position. The specific process is not limited here and can be set according to actual needs.

[0055] Step S20, obtaining the current posture of the robot when scanning the positioning QR code, and determining the posture difference between the repositioning posture and the current posture;

[0056] The current posture refers to the actual posture of the robot determined based on the sensors inside the robot when the robot is in the position of scanning the positioning QR code. The sensors inside the robot used for positioning are not limited here, and can be, for example, lidar, infrared sensor, image sensor, inertial sensor, etc., which can be set according to actual needs.

[0057] The posture difference refers to the difference between the relocated posture and the current posture. In a specific implementation, the posture difference includes position deviation and / or attitude deviation. The position deviation can be represented by different types of indicators, such as the distance between the position corresponding to the relocated posture and the position corresponding to the current posture, the coordinate difference between the coordinates corresponding to the relocated posture and the coordinates corresponding to the current posture, and other indicators. Similarly, the attitude deviation can also be represented by different types of indicators, such as the difference between the yaw angle (yaw angle) of the relocated posture and the current posture, and the difference between the Roll angle (roll angle) of the relocated posture and the current posture. There is no specific limitation here and it can be set according to actual needs.

[0058] The method of determining the posture difference is not limited here, and the specific process can be: determining the target index that characterizes the posture difference, such as distance, coordinate difference, yaw angle difference, etc.; determining the first index value of the target index based on the repositioned posture, and determining the second index value of the target index based on the current posture; and determining the difference between the first index value and the second index value as the posture difference. It can be understood that by comparing the repositioned posture and the current posture, deviations in robot positioning can be discovered in a timely manner, providing a basis for subsequent early warning decisions, and helping to improve the safety and accuracy of robot navigation.

[0059] Step S30: If the posture difference meets the preset warning condition, the warning information is output and the warning response processing is performed.

[0060] It should be noted that the preset warning conditions are usually conditions for triggering robot warnings set according to the application scenarios and safety requirements of the robot, which may include threshold judgment conditions, etc., and are not limited here.

[0061] If the posture difference meets these conditions, it indicates that there is a significant deviation in the positioning of the robot and early warning measures need to be taken. At this time, the robot will output early warning information and perform corresponding early warning response processing, such as stopping moving, repositioning, and issuing an alarm.

[0062] In some feasible implementations, the warning conditions may include multiple sub-conditions, and different sub-conditions represent different degrees of posture deviation. When the posture difference triggers different sub-conditions, different warning measures can be taken. This implementation can achieve graded warnings so that engineers can quickly determine the degree of robot yaw and make different responses, thereby improving the efficiency of robot warnings.

[0063] In one embodiment, the robot is provided with an image sensor; before the step S10: determining the relocation posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located, the step further includes:

[0064] Step S01, if an early warning instruction is received, current image data of the current environment in which the robot is located is collected by the image sensor, and based on the current image data, whether there is a positioning QR code in the current environment is detected;

[0065] The preset QR codes in the robot working scene are set at different positions. When the robot receives the early warning instruction, there may be no preset QR code at the position where the robot is located, or there may be a preset QR code. Therefore, before determining the repositioning posture based on the preset QR code, it is necessary to determine whether there is a QR code at the position where the robot is located when receiving the execution, so as to perform subsequent early warning operations.

[0066] In a specific implementation, the external environment in which the robot is located when receiving the early warning instruction is referred to as the current environment. If the early warning instruction is received, it is detected whether there is a positioning QR code in the current environment. The specific method of detecting whether there is a positioning QR code is not limited here. For example, the carrier of the preset QR code may carry a positioning system, and the positioning information of each preset QR code is obtained by interacting with the positioning system through the positioning sensor inside the robot. Based on each positioning information, it is detected whether there is a preset QR code within the preset position range of the robot. If so, the preset QR code within the preset range is determined as the positioning QR code. For another example, the carrier of the preset QR code may not carry a positioning system. At this time, the image data of the current environment can be collected by the image sensor inside the robot, and the image data can be analyzed to determine whether there is a positioning QR code.

[0067] In this embodiment, the image data of the current environment (hereinafter referred to as the current image data for distinction) is collected by an image sensor, and the current image data is analyzed by an image processing algorithm. If a preset QR code exists in the current image data, the QR code is determined as a positioning QR code. The specific image processing algorithm is not limited here, and it can be processed by feature matching, target detection model, etc., and can be set according to actual needs. Compared with determining the positioning QR code through a positioning system, the preset QR code in this embodiment does not need to set a positioning system, and the QR code that has been set in the robot working scene does not need to be replaced, which reduces the cost of robot early warning.

[0068] Step S02: If the positioning two-dimensional code exists, the step of determining the repositioning posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located is executed.

[0069] If the positioning QR code is successfully detected in the image data of the current environment, the robot will continue to execute the steps of determining its repositioning posture based on these positioning QR codes. That is, the robot will use the decoded QR code information to map this information to the robot's internal environment model or map through a predetermined algorithm or lookup table, thereby determining the robot's repositioning posture.

[0070] It can be understood that by determining the relocation posture when the positioning QR code is detected, the adaptability and stability of the robot in complex or dynamic environments are improved, and the safety of the robot is enhanced.

[0071] In one embodiment, the method further comprises:

[0072] Step S03, if the positioning QR code does not exist, determining the robot position information of the robot in the current environment;

[0073] If the positioning QR code is not detected in the current image data, the robot needs to first go to the preset QR code that can be used to determine the repositioning posture. In this way, when the positioning QR code cannot be directly detected, the robot can continue to execute subsequent robot warning steps, thereby improving the robustness of the robot warning.

[0074] Specifically, determine the position information of the robot in the current environment, that is, the robot position information, which can be estimated by the robot's internal sensors (such as IMU, wheel encoder, lidar, etc.), or determine the position information by comparing with other known position information, without limitation here.

[0075] Step S04, based on the robot position information and the two-dimensional code position information of each preset two-dimensional code, determining the two-dimensional code with the shortest two-dimensional code distance from each preset two-dimensional code, and determining the two-dimensional code with the shortest two-dimensional code distance as the target two-dimensional code, wherein the two-dimensional code distance is the distance between the position of the preset two-dimensional code and the position of the robot;

[0076] It should be noted that the QR code position information of each preset QR code is pre-stored. When searching for a QR code that can be used to determine the relocation posture, the QR code distance between the position of each preset QR code and the position of the robot is calculated based on the QR code position information and the robot position information, and the preset QR code with the shortest QR code distance is used as the target QR code to subsequently determine the relocation posture.

[0077] In a feasible implementation, when determining the target QR code, the preset working path of the robot can be obtained, and the unfinished working path that the robot has not yet traveled in the preset working path can be determined. Based on the position information of each QR code, a candidate QR code matching the unfinished working path can be screened from each preset QR code, wherein the candidate QR code matching the unfinished working path refers to a QR code whose vertical distance from the unfinished working path is less than a preset distance among each preset QR code, for example, it can be a preset QR code on the unfinished working path, and the QR code distance between the robot and each candidate QR code is determined based on the robot position information and each QR code position information, and the QR code with the shortest QR code distance among each candidate QR code is determined as the target QR code. This implementation can avoid the robot returning to obtain repositioning posture information when the robot is warned, thereby improving the work efficiency of the robot.

[0078] Step S05, taking the posture determined based on the target two-dimensional code as the repositioning posture, and determining the posture of the robot when scanning the target two-dimensional code as the current posture, and executing the step of determining the posture difference between the repositioning posture and the current posture.

[0079] After determining the target QR code, the robot is controlled to move to the position of the target QR code and scan the target QR code, and the posture determined based on the target QR code is used as the repositioning posture. At the same time, the robot's internal sensor records the robot's posture when scanning the target QR code in real time, and determines the robot's posture when scanning the target QR code as the current positioning position, and then determines the posture difference, and decides whether to output warning information or perform other response processing based on this posture difference.

[0080] It can be understood that by searching for the target QR code and determining the posture difference based on the target QR code, this embodiment can achieve robot early warning when there is no positioning QR code in the current environment of the robot, thereby improving the robustness of the robot early warning and thus enhancing the safety and reliability of the robot.

[0081] In a feasible implementation, when receiving the early warning instruction, there may be multiple preset two-dimensional codes (hereinafter referred to as environmental two-dimensional codes for distinction) in the current environment where the robot is located. At this time, a resident two-dimensional code whose current position is consistent with the initial position is determined from each environmental two-dimensional code, wherein the initial position refers to the initial setting position of the preset two-dimensional code in the external environment where the robot is located, and the current position refers to the actual position of the preset two-dimensional code in the current environment. The posture determined based on the resident two-dimensional code is used as the relocation posture, and the posture of the robot when scanning the resident two-dimensional code is determined as the current posture, and the step of determining the posture difference between the relocation posture and the current posture is performed. Among them, the process of determining the resident two-dimensional code is not limited here, and it can be traversing each environmental two-dimensional code, determining the similarity between the current position and the initial position of the environmental two-dimensional code, and then determining the two-dimensional code with the highest similarity as the resident two-dimensional code. It should be noted that the form of the current position and the initial position is not limited, for example, it can be in the form of coordinates, azimuth description, etc., and the current position and the initial position in different forms can correspond to different calculation methods to determine the similarity, which will not be repeated here.

[0082] In this embodiment, the repositioning posture of the robot is determined based on the positioning QR code in the external environment where the robot is located; the current posture of the robot when scanning the positioning QR code is obtained, and the posture difference between the repositioning posture and the current posture is determined. The repositioning posture represents the position and posture that the robot should be in an ideal state. The current posture is the position and posture measured and calculated by the robot in real time, reflecting the instantaneous state of the robot in the actual environment. The posture difference between the repositioning posture and the current posture actually represents the difference between the position and posture determined by the robot according to its internal positioning system and the external QR code, which can reflect the degree of deviation in the positioning of the QR code.

[0083] If the posture difference meets the preset warning condition, it indicates that the deviation degree of the robot positioning has affected the safe operation of the robot. At this time, outputting warning information and making warning response processing can prevent the robot from further deviating from the expected position or posture.

[0084] Therefore, this embodiment realizes the discovery and correction of positioning deviations by comparing the repositioning posture and the current posture in real time, ensuring that the robot can maintain accurate navigation and positioning in complex environments, improving the robot's autonomous navigation capability, and enhancing the robot's positioning accuracy, thereby improving the robot's safety and reliability in actual application scenarios.

[0085] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated later. On this basis, the posture difference includes position difference and angle difference; the step S30: if the posture difference meets the preset warning condition, the step of outputting the warning information includes:

[0086] Step S301, if the position difference is greater than a first distance threshold and the angle difference is greater than a first angle threshold, and the first duration reaches a first preset duration, it is determined that the posture difference meets a preset warning condition, a first warning message is output and the repositioning posture is determined as the current posture, wherein the first duration is the duration during which the position difference is greater than the first distance threshold and the angle difference is greater than the first angle threshold;

[0087] The posture difference includes position difference and angle difference. The position difference indicates the difference in position between the relocated posture and the current posture, such as distance, coordinate difference, etc., which are not limited here; the angle difference indicates the difference in direction between the relocated posture and the current posture. In this embodiment, the preset warning condition takes into account both the position difference and the angle difference, and introduces the judgment condition of the time dimension, which can improve the accuracy of the warning result.

[0088] Specifically, if the position difference is greater than the set first distance threshold, and the angle difference is greater than the set first angle threshold, and the duration of this state (i.e., the first duration) reaches the preset first preset duration, then it is considered that the posture difference meets the preset warning condition. At this time, the first warning information will be output, and the repositioning posture will be directly determined as the current posture to quickly correct the positioning deviation. In this embodiment, the first warning information may include environmental data of the external environment collected by the robot's internal sensor, such as image data, infrared data, etc., which are not limited here. The environmental data can be used as a basis for subsequent engineers to perform maintenance and log records. It should be noted that the first duration can be determined by accumulating the duration, or it can be characterized by the number of continuous frames detected. It is not limited here and can be set according to actual needs. For example, in a feasible implementation, if the position difference is greater than the set first distance threshold, and the number of continuous frames in which the angle difference is greater than the set first angle threshold is greater than the preset number of frames, it is determined that the first duration has reached the preset first preset duration.

[0089] It can be understood that by considering the position difference, angle difference and duration at the same time, the influence of occasional situations on the robot early warning is avoided, thereby improving the accuracy and reliability of the early warning. In addition, by determining the repositioning posture as the current posture, large positioning deviations can be quickly corrected, improving the navigation accuracy of the robot.

[0090] In one feasible implementation, a second distance threshold and a second angle threshold may be set, wherein the second distance threshold is greater than the first distance threshold, and the second angle threshold is greater than the first angle threshold. If the position difference is greater than the second distance threshold and the angle difference is greater than the second angle threshold, it indicates that the deviation between the repositioned posture and the current posture is too large. At this time, the deviation cannot be corrected through the robot's automatic warning response, and a fourth warning message may be output to notify the engineer to perform robot maintenance. In this implementation, if the position difference is less than or equal to the second distance threshold and the angle difference is less than or equal to the second angle threshold, and the position difference is greater than the first distance threshold and the angle difference is greater than the first angle threshold, and the first duration reaches a first preset duration, it is determined that the posture difference meets the preset warning condition, the first warning message is output, and the repositioned posture is determined as the current posture.

[0091] Step S302: If the position difference is within the first distance value range and the angle difference is within the first angle value range, and the second duration reaches a second preset duration, it is determined that the posture difference meets the preset warning condition, a second warning message is output, and the current posture is updated based on the repositioning posture, wherein the upper limit of the first distance value range is the first distance threshold, the upper limit of the first angle value range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance value range and the angle difference is within the first angle value range.

[0092] In this embodiment, the first distance value range and the first angle value range are preset, wherein the upper limit of the first distance value range is the first distance threshold, and the upper limit of the first angle value range is the first angle threshold, and in this embodiment, the duration of the position difference being in the first distance value range and the angle difference being in the first angle value range, that is, the second duration, is introduced for early warning judgment. Specifically, if the position difference is in the first distance value range and the angle difference is in the first angle value range, and the second duration reaches the second preset duration, it is determined that the posture difference meets the preset early warning condition, the second early warning information is output, and the current posture is updated based on the repositioned posture.

[0093] It is understandable that by considering the value range and duration of the position difference and angle difference, the posture difference can be judged more accurately and the sensitivity of the warning can be improved. Different warning information and processing strategies provide the robot with more flexible response methods and adapt to different positioning deviation situations.

[0094] In one embodiment, the current posture is determined based on multiple sensors; the step S302: the step of updating the current posture based on the repositioned posture comprises:

[0095] Step S3021: if the position difference is within the second distance value range and the angle difference is within the second angle value range, and the second duration reaches a second preset duration, then determine the current positioning score corresponding to each of the sensors, wherein the current positioning score is used to characterize the similarity between the actual sensor data collected by the sensor and the preset theoretical sensor data;

[0096] In this embodiment, the current posture is determined based on sensor data collected by multiple sensors. Specifically, the data collected by each sensor is converted into a transformed posture, and the current posture is obtained by weighted summing up the transformed postures corresponding to each sensor through the weights corresponding to each sensor in the preset weight group. It should be noted that the multiple sensors include at least an image sensor for collecting repositioning postures.

[0097] In this embodiment, the process of adjusting the current posture can be: calculating a current positioning score for each sensor, and the current positioning score is used to characterize the similarity between the actual sensor data collected by the sensor and the preset theoretical sensor data. The higher the similarity, the more reliable the positioning data of the sensor.

[0098] Step S3022, determining a target weight group based on the current positioning scores of the sensors, wherein the target weight group includes weighted values ​​corresponding to the sensors, and the order of the weighted values ​​of the sensors is consistent with the order of the current positioning scores of the sensors;

[0099] A target weight group is determined according to the current positioning score of each sensor. In a specific implementation, the target weight group can be obtained by generating the weights corresponding to each sensor according to the current positioning score, or the target weight group can be obtained by adjusting the weights in the preset weight group based on the current positioning score. There is no specific limitation here and it can be set according to actual needs. It should be noted that the size order of the weights corresponding to each sensor in the target weight group is consistent with the size order of the current positioning score of the sensor, that is, sensors with high positioning scores will be assigned larger weights, so that they will play a greater role in subsequent positioning calculations.

[0100] Step S3023, performing weighted sum processing on the robot postures corresponding to the sensors through the target weight group to obtain an updated posture, and determining the updated posture as the current posture.

[0101] The target weight group is used to perform weighted summation processing on the robot posture corresponding to each sensor. Through the weighted summation processing, a more accurate and reliable updated posture can be obtained. The updated posture is determined as the current posture of the robot. At the same time, the robot will also output the environmental image data of its external environment for further monitoring and analysis.

[0102] It can be understood that through weighted summation processing, the positioning data of each sensor can be fully utilized to improve the positioning accuracy and reliability, thereby improving the working safety of the robot.

[0103] Exemplarily, it is assumed that the internal sensors of the robot include infrared sensors, radars and inertial sensors, wherein the heat source distribution detected by the infrared sensor is highly matched with the expected theoretical data (such as the heat source map drawn in advance), then the infrared sensor is assigned a higher current positioning score; the radar data (such as distance information, obstacle position) is second to the expected theoretical data (such as the obstacle position in the environment map), then the radar is assigned the second highest current positioning score; the inertial sensor data is greatly different from the theoretical data (such as the position information corrected by other sensors), then the inertial sensor is assigned the lowest current positioning score. Based on the current positioning scores of the above sensors, the robot will determine a target weight group, in which the infrared sensor is assigned the largest weighted weight, followed by the radar, and then the inertial sensor. The target weight group is used to weight the robot posture provided by each sensor. Specifically, according to the weighted weight of each sensor, the posture information provided by it is weighted averaged to obtain an updated posture.

[0104] In one feasible implementation, an inertial sensor is provided on the robot; the step S20: determining the posture difference between the repositioning posture and the current posture comprises:

[0105] Step S201, determining a first adjacent frame yaw angle difference between two adjacent frames of the repositioning posture, and determining a second adjacent frame yaw angle difference between two adjacent frames of inertial posture, wherein the inertial posture is a robot posture determined based on the inertial sensor;

[0106] The yaw angle difference of the first adjacent frames refers to the yaw angle difference between two adjacent frames of repositioning posture data frames. The yaw angle difference of the first adjacent frames reflects the stability of the repositioning algorithm between consecutive frames. The yaw angle difference of the second adjacent frames refers to the yaw angle difference between two adjacent frames of inertial posture data frames. The yaw angle difference of the second adjacent frames reflects the measurement stability of the inertial sensor between consecutive frames.

[0107] Specifically, for each frame of repositioning posture, the yaw angle difference between it and the previous frame is calculated to obtain the yaw angle difference sequence of the first adjacent frames; for each frame of inertial posture, the yaw angle difference between it and the previous frame is also calculated to obtain the yaw angle difference sequence of the second adjacent frames.

[0108] Step S202: Determine the difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference as the posture difference between the repositioning posture and the current posture.

[0109] The first adjacent frame yaw angle difference is compared with the second adjacent frame yaw angle difference, and the difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference is determined as the posture difference between the repositioning posture and the current posture. It can be understood that this embodiment provides an intuitive method to evaluate the deviation between the repositioning algorithm and the inertial sensor, providing a basis for subsequent warning and response processing.

[0110] In one embodiment, the step S30: if the posture difference meets the preset warning condition, the step of outputting warning information and performing warning response processing includes:

[0111] Step S303, if the posture difference is greater than the preset yaw angle difference, and the third duration of the posture difference being greater than the preset yaw angle difference reaches a third preset duration, it is determined that the posture difference meets the preset warning condition;

[0112] If the posture difference is greater than the preset yaw angle difference, and this state lasts for a third preset time, it is determined that the posture difference meets the warning condition. It can be understood that by considering both the size and duration of the posture difference, the accuracy and reliability of the warning are improved, and false alarms caused by instantaneous fluctuations or noise are avoided.

[0113] Step S304: output the third warning information and the robot inertial data collected by the inertial sensor.

[0114] When the posture difference meets the warning condition, the third warning information will be output to alert the operator or system, and the robot inertial data collected by the inertial sensor will be output for further analysis and diagnosis. It can be understood that by outputting warning information, positioning deviation problems can be discovered and handled in a timely manner to ensure the safe operation of the robot, and the output of inertial data provides an important basis for subsequent fault analysis and positioning.

[0115] This embodiment realizes the discovery and correction of positioning deviations by comparing the repositioning posture and the current posture in real time, ensuring that the robot can maintain accurate navigation and positioning in complex environments, improving the robot's autonomous navigation capability, and enhancing the accuracy of the robot's positioning, thereby improving the robot's safety and reliability in actual application scenarios.

[0116] For example, in order to help understand the implementation process of the robot early warning method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 2 , Figure 2The invention provides a schematic diagram of modules involved in a robot early warning method, which specifically includes: a mobile robot positioning module, which is used for a mobile robot to estimate its own posture in a known environment map, including position and direction (i.e., current posture); a two-dimensional code recognition module (recognize apriltag), which is used for scanning a two-dimensional code in a scene; a two-dimensional code positioning module (qr code localization), which is used for parsing the two-dimensional code to obtain the robot positioning (i.e., repositioning posture); a log service module (log and bag serrver), which is used for collecting, collating and providing access logs and data packets; a log recording module, which is used for recording relevant information such as posture during the robot early warning process, so as to facilitate subsequent analysis, debugging or monitoring of the robot's operating status; a log directory, which is used for listing the contents or chapters of the directory; and a server, which is used for storing log records.

[0117] Based on the above structure, please refer to Figure 4 , the process of robot early warning based on position difference and angle difference can be: after the mobile robot positioning module receives the relocation topic, it obtains the current posture of the robot, and the QR code recognition module scans the QR code in the environment to obtain the relocation posture; the mobile robot positioning module compares the current posture of the robot with the relocation posture to obtain the position difference and angle difference. If the position difference is less than 0.5m and the angle difference is less than 20°, it will not be updated and data collection will not be performed; if the position difference is greater than 2m or the angle difference is greater than 30° and three consecutive frames meet the conditions, the relocation posture will be directly assigned to the current posture and trigger the host computer storage image and 1005D type error; if the position difference is in [0.5m, 2m], and the angle difference is in [20°, 30°], it is considered that there is a slight deviation in the current posture of the robot, and the relocation posture and the current posture will be fused through the formula and the host computer storage image and 1004D type error will be triggered.

[0118] Based on the above structure, please refer to Figure 4 The process of robot early warning based on yaw angle difference can be: after the mobile robot positioning module receives the relocation topic, it obtains the inertial sensor data of the robot, determines the first adjacent frame yaw angle difference between the relocation postures of two adjacent frames, and determines the second adjacent frame yaw angle difference between the inertial postures of two adjacent frames. If the difference between the yaw angle difference of the first adjacent frame and the yaw angle difference of the second adjacent frame is greater than 15 degrees and three consecutive frames meet the conditions, the storage record package (error code 1012) is triggered, and the storage record package is notified to upload to the server; other situations are not processed.

[0119] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the robot early warning method of the present application. More simple transformations based on this technical concept are all within the scope of protection of the present application.

[0120] This application also provides a robot early warning device, please refer to Figure 5 , the robot early warning device comprises:

[0121] A first determination module 10 is used to determine the relocation posture of the robot based on the positioning QR code in the external environment where the robot is located;

[0122] A second determination module 20 is used to obtain the current posture of the robot when scanning the positioning QR code, and determine the posture difference between the repositioning posture and the current posture;

[0123] The warning module 30 is used to output warning information and perform warning response processing if the posture difference meets the preset warning condition.

[0124] Optionally, the posture difference includes a position difference and an angle difference; the early warning module 30 is further used for:

[0125] If the position difference is greater than a first distance threshold and the angle difference is greater than a first angle threshold, and the first duration reaches a first preset duration, it is determined that the posture difference meets a preset warning condition, a first warning message is output, and the repositioning posture is determined as the current posture, wherein the first duration is the duration during which the position difference is greater than the first distance threshold and the angle difference is greater than the first angle threshold;

[0126] If the position difference is within the first distance value range and the angle difference is within the first angle value range, and the second duration reaches a second preset duration, it is determined that the posture difference meets the preset warning condition, a second warning message is output, and the current posture is updated based on the repositioning posture, wherein the upper limit of the first distance value range is the first distance threshold, the upper limit of the first angle value range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance value range and the angle difference is within the first angle value range.

[0127] Optionally, the current posture is determined based on multiple sensors; the early warning module 30 is further used for:

[0128] If the position difference is within the second distance value range and the angle difference is within the second angle value range, and the second duration reaches a second preset duration, then determining a current positioning score corresponding to each of the sensors, wherein the current positioning score is used to characterize the similarity between the actual sensor data collected by the sensor and the preset theoretical sensor data;

[0129] Determine a target weight group based on the current positioning scores of each of the sensors, wherein the target weight group includes weighted values ​​corresponding to each of the sensors, and the order of the weighted values ​​of each of the sensors is consistent with the order of the current positioning scores of each of the sensors;

[0130] The robot postures corresponding to the sensors are weighted and summed up by the target weight group to obtain an updated posture, and the updated posture is determined as the current posture.

[0131] Optionally, an inertial sensor is provided on the robot; and the second determination module 20 is further used for:

[0132] Determine a first adjacent frame yaw angle difference between the repositioning postures of two adjacent frames, and determine a second adjacent frame yaw angle difference between two adjacent frames of inertial postures, wherein the inertial posture is a robot posture determined based on the inertial sensor;

[0133] The difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference is determined as the posture difference between the repositioning posture and the current posture.

[0134] Optionally, the early warning module 30 is further used for:

[0135] If the posture difference is greater than the preset yaw angle difference, and the third duration for which the posture difference is greater than the preset yaw angle difference reaches a third preset duration, it is determined that the posture difference meets the preset warning condition;

[0136] Output the third warning information, and output the robot inertial data collected by the inertial sensor.

[0137] Optionally, an image sensor is provided on the robot; and the device further comprises a detection module, which is used to:

[0138] If a warning instruction is received, current image data of the current environment in which the robot is located is collected by the image sensor, and based on the current image data, whether a positioning QR code exists in the current environment is detected;

[0139] If the positioning two-dimensional code exists, the step of determining the repositioning posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located is performed.

[0140] Optionally, the detection module is further used for:

[0141] If the positioning QR code does not exist, determining the robot position information of the robot in the current environment;

[0142] Based on the robot position information and the two-dimensional code position information of each preset two-dimensional code, determine the two-dimensional code with the shortest two-dimensional code distance from each preset two-dimensional code, and determine the two-dimensional code with the shortest two-dimensional code distance as the target two-dimensional code, wherein the two-dimensional code distance is the distance between the position of the preset two-dimensional code and the position of the robot;

[0143] The posture determined based on the target two-dimensional code is used as the repositioning posture, and the posture of the robot when scanning the target two-dimensional code is determined as the current posture, and the step of determining the posture difference between the repositioning posture and the current posture is performed.

[0144] The robot early warning device provided by the present application adopts the robot early warning method in the above embodiment, which can solve the technical problem that the robot navigation and positioning is inaccurate, resulting in the safety of the robot being affected. Compared with the prior art, the beneficial effects of the robot early warning device provided by the present application are the same as the beneficial effects of the robot early warning method provided by the above embodiment, and the other technical features of the robot early warning device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0145] The present application provides a robot early warning device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the robot early warning method in the above-mentioned embodiment.

[0146] Reference below Figure 6 , which shows a schematic diagram of the structure of a robot early warning device suitable for implementing the embodiment of the present application. The robot early warning device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The robot early warning device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0147] like Figure 6As shown, the robot early warning device may include a processing device 1001 (such as a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the robot early warning device are also stored. The processing device 1001, ROM1002 and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the robot early warning device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a robot early warning device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0148] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0149] The robot early warning device provided by the present application adopts the robot early warning method in the above embodiment, which can solve the technical problem that the robot navigation and positioning is inaccurate, resulting in the safety of the robot being affected. Compared with the prior art, the beneficial effects of the robot early warning device provided by the present application are the same as the beneficial effects of the robot early warning method provided by the above embodiment, and the other technical features in the robot early warning device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0150] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0151] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0152] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the robot early warning method in the above-mentioned embodiment.

[0153] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of computer-readable storage media may 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: Random Access Memory), a read-only memory (ROM: Read Only Memory), an erasable programmable read-only memory (EPROM: Erasable Programmable Read Only Memory or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM: CD-Read Only Memory), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency: Radio Frequency), etc., or any suitable combination of the above.

[0154] The above-mentioned computer-readable storage medium may be included in the robot early warning device; or it may exist independently without being assembled into the robot early warning device.

[0155] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the robot early warning device, the robot early warning device implements the robot early warning method of each of the above embodiments.

[0156] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including 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 the case of 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).

[0157] 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 application. 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 a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0158] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0159] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned robot early warning method, and can solve the technical problem that the robot navigation and positioning is inaccurate, resulting in the safety of the robot being affected. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the robot early warning method provided by the above-mentioned embodiment, and will not be repeated here.

[0160] The present application also provides a computer program product, including a computer program, which implements the steps of the robot early warning method as described above when executed by a processor.

[0161] The computer program product provided by the present application can solve the technical problem that the robot's safety is affected by inaccurate robot navigation and positioning. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as the beneficial effects of the robot early warning method provided by the above embodiment, and will not be repeated here.

[0162] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A robot early warning method, characterized in that: The robot early warning method comprises: Determine the relocation posture of the robot based on the positioning QR code in the external environment where the robot is located; Obtaining a current posture of the robot when scanning the positioning QR code, and determining a posture difference between the repositioning posture and the current posture; If the posture difference meets the preset warning condition, the warning information is output and the warning response processing is performed.

2. The robot early warning method according to claim 1, characterized in that: The posture difference includes a position difference and an angle difference; if the posture difference meets a preset warning condition, the step of outputting warning information and performing warning response processing includes: If the position difference is greater than a first distance threshold and the angle difference is greater than a first angle threshold, and the first duration reaches a first preset duration, it is determined that the posture difference meets a preset warning condition, a first warning message is output, and the repositioning posture is determined as the current posture, wherein the first duration is the duration during which the position difference is greater than the first distance threshold and the angle difference is greater than the first angle threshold; If the position difference is within the first distance value range and the angle difference is within the first angle value range, and the second duration reaches a second preset duration, it is determined that the posture difference meets the preset warning condition, a second warning message is output, and the current posture is updated based on the repositioning posture, wherein the upper limit of the first distance value range is the first distance threshold, the upper limit of the first angle value range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance value range and the angle difference is within the first angle value range.

3. The robot early warning method according to claim 2, characterized in that: The current posture is determined based on a plurality of sensors; and the step of updating the current posture based on the repositioning posture comprises: Determine a current positioning score corresponding to each of the sensors, wherein the current positioning score is used to represent the similarity between actual sensor data collected by the sensor and preset theoretical sensor data; Determine a target weight group based on the current positioning scores of each of the sensors, wherein the target weight group includes weighted values ​​corresponding to each of the sensors, and the order of the weighted values ​​of each of the sensors is consistent with the order of the current positioning scores of each of the sensors; The robot postures corresponding to the sensors are weighted and summed up by the target weight group to obtain an updated posture, and the updated posture is determined as the current posture.

4. The robot early warning method according to claim 1, characterized in that: An inertial sensor is provided on the robot; and the step of determining the posture difference between the repositioning posture and the current posture comprises: Determine a first adjacent frame yaw angle difference between the repositioning postures of two adjacent frames, and determine a second adjacent frame yaw angle difference between two adjacent frames of inertial postures, wherein the inertial posture is a robot posture determined based on the inertial sensor; The difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference is determined as the posture difference between the repositioning posture and the current posture.

5. The robot early warning method according to claim 4, characterized in that: If the posture difference meets the preset warning condition, the step of outputting warning information and performing warning response processing includes: If the posture difference is greater than the preset yaw angle difference, and the third duration for which the posture difference is greater than the preset yaw angle difference reaches a third preset duration, it is determined that the posture difference meets the preset warning condition; Output the third warning information, and output the robot inertial data collected by the inertial sensor.

6. The robot early warning method according to any one of claims 1 to 5, characterized in that: The robot is provided with an image sensor; before the step of determining the relocation posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located, it also includes: If a warning instruction is received, current image data of the current environment in which the robot is located is collected by the image sensor, and based on the current image data, whether a positioning QR code exists in the current environment is detected; If the positioning two-dimensional code exists, the step of determining the repositioning posture of the robot based on the positioning two-dimensional code in the external environment where the robot is located is performed.

7. The robot early warning method according to claim 6, characterized in that: The method further comprises: If the positioning QR code does not exist, determining the robot position information of the robot in the current environment; Based on the robot position information and the two-dimensional code position information of each preset two-dimensional code, determine the two-dimensional code with the shortest two-dimensional code distance from each preset two-dimensional code, and determine the two-dimensional code with the shortest two-dimensional code distance as the target two-dimensional code, wherein the two-dimensional code distance is the distance between the position of the preset two-dimensional code and the position of the robot; The posture determined based on the target two-dimensional code is used as the repositioning posture, and the posture of the robot when scanning the target two-dimensional code is determined as the current posture, and the step of determining the posture difference between the repositioning posture and the current posture is performed.

8. A robot early warning device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the robot early warning method according to any one of claims 1 to 7.

9. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the robot early warning method according to any one of claims 1 to 7 are implemented.

10. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the robot early warning method according to any one of claims 1 to 7 are implemented.

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