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

Abstract

The application discloses a robot early warning method and device, a storage medium and a program product, and relates to the technical field of robots. The method comprises the following steps: determining the repositioning pose of a robot based on a positioning two-dimensional code in an external environment in which the robot is located; acquiring the current pose of the robot when the robot scans the positioning two-dimensional code, and determining the pose difference between the repositioning pose and the current pose; if the pose difference meets preset early warning conditions, outputting early warning information and performing early warning response processing. The application compares the repositioning pose and the current pose in real time to obtain the pose difference, and performs early warning based on the pose difference, thereby achieving the discovery and correction of positioning deviation, ensuring that the robot can also maintain accurate navigation and positioning in a complex environment, improving the autonomous navigation capability of the robot, enhancing the accuracy of robot positioning, and thereby improving the safety and reliability of the robot in an actual application scenario.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to robot early warning methods, devices, storage media, and program products. Background Technology

[0002] With the continuous development of technology, robots are being used more and more widely in various fields. For example, in service venues such as hotels, robots, with their efficiency and convenience, have become important tools for replacing human labor and improving service quality. During robot service operations, robots need to navigate various complex environments, such as long corridors and staircases. To accurately navigate and locate in these environments, robots typically use QR code-assisted positioning. By scanning and recognizing QR codes preset in the environment, the robot can determine its position and direction, thus achieving precise navigation. However, due to factors such as QR code pose correction errors or drastic environmental changes, robot positioning based on QR codes may experience positioning deviations, leading to inaccurate navigation and potentially causing safety accidents such as falls, thus affecting the robot's safety.

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

[0004] The main purpose of this application is to provide a robot early warning method, device, storage medium, and program product, which aims to solve the technical problem that inaccurate robot navigation and positioning leads to an impact on robot safety.

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

[0006] The robot's repositioning pose is determined based on the positioning QR code in the robot's external environment.

[0007] Obtain the current pose of the robot when it scans the positioning QR code, and determine the pose difference between the repositioning pose and the current pose;

[0008] If the positional difference meets the preset warning conditions, then the warning information is output and the warning response is processed.

[0009] In one embodiment, the pose difference includes a position difference and an angle difference; the step of outputting a warning message and performing a warning response if the pose difference meets a preset warning condition 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 pose difference meets the preset warning condition, the first warning information is output, and the repositioning pose is determined as the current pose, 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 range and the angle difference is within the first angle range, and the second duration reaches the second preset duration, then it is determined that the pose difference meets the preset warning condition, the second warning information is output, and the current pose is updated based on the repositioning pose. Here, the upper limit of the first distance range is the first distance threshold, the upper limit of the first angle range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance range and the angle difference is within the first angle range.

[0012] In one embodiment, the current pose is determined based on multiple sensors; the step of updating the current pose based on the repositioning pose includes:

[0013] If the position difference is within the range of the second distance and the angle difference is within the range of the second angle, and the second duration reaches the second preset duration, then the current positioning score corresponding to each of the sensors is determined, 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] The target weighting is determined based on the current positioning score of each of the sensors, wherein the target weighting includes the weighted weight corresponding to each of the sensors, and the order of the weighted weight of each sensor is consistent with the order of the current positioning score of each sensor.

[0015] The updated pose is obtained by weighted summation of the robot poses corresponding to each sensor through the target weight reassembly, and the updated pose is determined as the current pose.

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

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

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

[0019] In one embodiment, the step of outputting a warning message and performing a warning response if the pose difference meets a preset warning condition includes:

[0020] If the position difference is greater than the preset yaw angle difference value, and the third duration for which the position difference is greater than the preset yaw angle difference value reaches the third preset duration, then it is determined that the position difference meets the preset warning condition.

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

[0022] In one embodiment, an image sensor is installed on the robot; prior to the step of determining the robot's repositioning pose based on the positioning QR code in the robot's external environment, the method further includes:

[0023] If an early warning command is received, the robot will collect current image data of its current environment using the image sensor and detect whether a location QR code exists in the current environment based on the current image data.

[0024] If the positioning QR code exists, then the step of determining the robot's repositioning pose based on the positioning QR code in the robot's external environment is executed.

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

[0026] If the location QR code does not exist, then the robot's location information in the current environment is determined;

[0027] Based on the robot's location information and the QR code location information of each preset QR code, the QR code with the shortest QR code distance is determined from each preset QR code, and the QR code with the shortest QR code distance is determined as the target QR code, wherein the QR code distance is the distance between the location of the preset QR code and the location of the robot.

[0028] The pose determined based on the target QR code is used as the repositioning pose, and the pose of the robot when scanning the target QR code is determined as the current pose. The step of determining the pose difference between the repositioning pose and the current pose is then performed.

[0029] In addition, to achieve the above objectives, this application also proposes a robot early warning device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the quantum bit calibration method as described above.

[0030] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the robot early warning method described above.

[0031] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the robot early warning method described above.

[0032] In this application, the robot's repositioning pose is determined based on a positioning QR code in the robot's external environment; the current pose of the robot when scanning the positioning QR code is obtained, and the pose difference between the repositioning pose and the current pose is determined. The repositioning pose represents the position and attitude the robot should ideally be in, while the current pose is the position and attitude measured and calculated by the robot in real time, reflecting the robot's instantaneous state in the actual environment. The pose difference between the repositioning pose and the current pose actually represents the difference between the position and attitude determined by the robot based on its internal positioning system and the external QR code, and can reflect the degree of deviation in QR code positioning.

[0033] If the positional difference meets the preset warning conditions, it indicates that the degree of deviation in robot positioning has affected the robot's operational safety. At this time, outputting warning information and making warning response processing can prevent the robot from deviating further from the expected position or posture.

[0034] Therefore, by comparing the repositioning pose with the current pose in real time, this application enables the detection and correction of positioning deviations, ensuring that the robot can maintain accurate navigation and positioning even in complex environments. This improves the robot's autonomous navigation capabilities, enhances the robot's positioning accuracy, and thus improves the robot's safety and reliability in practical application scenarios. Attached Figure Description

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

[0036] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is a flowchart illustrating an embodiment of the robot early warning method of this application.

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

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

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

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

[0042] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the robot early warning method in the embodiments of this application.

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

[0044] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.

[0045] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0046] The main solution of this application embodiment is: to determine the repositioning pose of the robot based on the positioning QR code in the robot's external environment; to obtain the current pose of the robot when scanning the positioning QR code, and to determine the pose difference between the repositioning pose and the current pose; if the pose difference meets the preset warning conditions, to output the warning information and perform the warning response processing.

[0047] With the continuous development of technology, robots are being used more and more widely in various fields. For example, in service venues such as hotels, robots, with their efficiency and convenience, have become important tools for replacing human labor and improving service quality. During robot service operations, robots need to navigate various complex environments, such as long corridors and staircases. To accurately navigate and locate in these environments, robots typically use QR code-assisted positioning. By scanning and recognizing QR codes preset in the environment, the robot can determine its position and direction, thus achieving precise navigation. However, due to factors such as QR code pose correction errors or drastic environmental changes, robot positioning based on QR codes may experience positioning deviations, leading to inaccurate navigation and potentially causing safety accidents such as falls, thus affecting the robot's safety.

[0048] This application provides a solution that obtains the pose difference by comparing the repositioning pose with the current pose in real time, and performs early warning and response processing based on the pose difference. This enables the detection and correction of positioning deviations, ensuring that the robot can maintain accurate navigation and positioning even in complex environments. It improves the robot's autonomous navigation capability, enhances the accuracy of robot positioning, and thus improves the safety and reliability of the robot in practical application scenarios.

[0049] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or robot capable of performing the above functions. The following description uses a robot as an example to illustrate this embodiment and the subsequent embodiments.

[0050] Based on this, embodiments of this application provide a robot early warning method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the robot early warning method of this application.

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

[0052] Step S10: Determine the robot's repositioning pose based on the positioning QR code in the robot's external environment;

[0053] QR code localization refers to determining a robot's position and orientation in three-dimensional space, i.e., its pose, by recognizing and analyzing QR code images in the environment. The robot's external environment may contain multiple pre-set QR codes for localization (hereinafter referred to as preset QR codes for distinction). Each preset QR code contains specific information, which can be the robot's pose or information that can be mapped to the robot's pose. In this embodiment, the preset QR code indicating the robot's current position in the external environment is referred to as the localization QR code.

[0054] The robot uses its built-in image sensor to scan a positioning QR code to determine its theoretical pose in the external environment, i.e., the repositioning pose. In a specific implementation, if the positioning QR code carries a pose, scanning and parsing it yields the repositioning pose; if it does not carry a pose, scanning and parsing the QR code information and mapping it to the robot's pose results in the repositioning pose. The specific process is not limited here and can be configured according to actual needs.

[0055] Step S20: Obtain the current pose of the robot when scanning the positioning QR code, and determine the pose difference between the repositioning pose and the current pose;

[0056] The current pose refers to the robot's actual pose determined by the sensors inside the robot when it is scanning the positioning QR code. There are no restrictions on the sensors used for positioning inside the robot, such as LiDAR, infrared sensors, image sensors, and inertial sensors. The specific sensors can be set according to actual needs.

[0057] The pose difference refers to the difference between the repositioned pose and the current pose. In specific implementations, the pose difference includes position deviation and / or attitude deviation. Position deviation can be represented by different types of indicators, such as the distance between the position corresponding to the repositioned pose and the position corresponding to the current pose, or the coordinate difference between the coordinates corresponding to the repositioned pose and the coordinates corresponding to the current pose. Similarly, attitude deviation can also be represented by different types of indicators, such as the difference between the yaw angle of the repositioned pose and the current pose, or the difference between the roll angle of the repositioned pose and the current pose. There are no specific restrictions here, and the values ​​can be set according to actual needs.

[0058] The method for determining the pose difference is not limited here. The specific process can be as follows: determine the target index representing the pose difference, such as distance, coordinate difference, yaw angle difference, etc.; determine the first index value of the target index based on the repositioned pose, and determine the second index value of the target index based on the current pose; define the difference between the first and second index values ​​as the pose difference. It is understandable that by comparing the repositioned pose and the current pose, deviations in robot localization can be detected 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 position difference meets the preset warning conditions, then output the warning information and perform the warning response processing.

[0060] It should be noted that the preset warning conditions are usually the conditions that trigger the robot's warning based on the robot's application scenario and safety requirements. These conditions may include threshold judgment conditions, etc., and are not limited here.

[0061] If the pose difference meets these conditions, it indicates that the robot's localization has deviated significantly 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 movement, repositioning, and issuing an alarm.

[0062] In some feasible implementations, the warning conditions may include multiple sub-conditions. Different sub-conditions represent different degrees of pose deviation. When different sub-conditions are triggered, different warning measures can be taken. This implementation can realize hierarchical warnings so that engineers can quickly determine the degree of robot yaw and take different responses, thereby improving the efficiency of robot warnings.

[0063] In one embodiment, an image sensor is installed on the robot; before step S10: determining the repositioning pose of the robot based on the positioning QR code in the robot's external environment, the method further includes:

[0064] Step S01: If an early warning command is received, the robot collects current image data of the current environment in which it is located through the image sensor, and detects whether a positioning QR code exists in the current environment based on the current image data.

[0065] Preset QR codes are placed in different locations in the robot's working environment. When the robot receives a warning command, the location may or may not have a preset QR code. Therefore, before determining the repositioning pose based on the preset QR code, it is necessary to determine whether a QR code exists at the location where the robot is located when it receives the command, so as to carry out subsequent warning operations.

[0066] In a specific implementation, the external environment in which the robot is located when it receives a warning command is referred to as the current environment. If a warning command is received, the robot checks whether a positioning QR code exists in the current environment. The specific method for detecting the presence of a positioning QR code is not limited here. For example, the carrier of the preset QR code may carry a positioning system. The robot's internal positioning sensors interact with the positioning system to obtain the positioning information of each preset QR code. Based on the positioning information, the robot checks whether a preset QR code exists within a preset location range. If it exists, the preset QR code within that preset range is identified as a positioning QR code. Alternatively, the carrier of the preset QR code may not carry a positioning system. In this case, the robot's internal image sensors can collect image data of the current environment, and the image data can be analyzed to determine whether a positioning QR code exists.

[0067] In this embodiment, image data of the current environment (hereinafter referred to as current image data) is collected by an image sensor. The current image data is then analyzed using an image processing algorithm. If a preset QR code exists in the current image data, that QR code is identified as a positioning QR code. The specific image processing algorithm is not limited here; it can be used through feature matching, object detection models, etc., and can be set according to actual needs. Compared to determining the positioning QR code through a positioning system, this embodiment eliminates the need for a positioning system for preset QR codes. QR codes already set in the robot's working environment do not need to be replaced, reducing the cost of robot early warning.

[0068] Step S02: If the positioning QR code exists, then the step of determining the robot's repositioning pose based on the positioning QR code in the robot's external environment is executed.

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

[0070] Understandably, by determining the repositioning pose upon detecting the positioning QR code, the robot's adaptability and stability in complex or dynamic environments are improved, thus enhancing the robot's safety.

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

[0072] Step S03: If the positioning QR code does not exist, determine the robot's location information in the current environment;

[0073] If the positioning QR code is not detected in the current image data, the robot needs to go to the preset QR code that can be used to determine the repositioning pose. This allows the robot to continue to perform subsequent robot warning steps even when the positioning QR code cannot be directly detected, thus improving the robustness of the robot warning.

[0074] Specifically, the robot's position information in the current environment is determined. This can be estimated by the robot's internal sensors (such as IMU, wheel encoder, lidar, etc.) or determined by comparing it with information from other known positions. No restrictions are imposed here.

[0075] Step S04: Based on the robot's position information and the QR code position information of each preset QR code, determine the QR code with the shortest QR code distance from each preset QR code, and determine the QR code with the shortest QR code distance as the target QR code, wherein the QR code distance is the distance between the position of the preset QR code and the position of the robot.

[0076] It should be noted that the location information of each preset QR code is pre-stored. When searching for a QR code that can be used to determine the repositioning pose, the distance between the location of each preset QR code and the location of the robot is calculated based on the QR code location information and the robot's location information. The preset QR code with the shortest distance is selected as the target QR code for subsequent determination of the repositioning pose.

[0077] In one feasible implementation, when determining the target QR code, the robot's preset working path can be obtained, and unfinished working paths within the preset working path that the robot has not yet traversed can be identified. Based on the position information of each QR code, candidate QR codes matching the unfinished working paths are selected from the preset QR codes. These candidate QR codes are those whose vertical distance from the unfinished working path is less than a preset distance; for example, they could be preset QR codes located on the unfinished working path. The QR code distance between the robot and each candidate QR code is determined based on the robot's position information and the position information of each QR code. The QR code with the shortest distance among the candidate QR codes is then identified as the target QR code. This implementation avoids the robot having to return to obtain repositioning pose information when a robot warning occurs, thus improving the robot's working efficiency.

[0078] Step S05: The pose determined based on the target QR code is used as the repositioning pose, and the pose of the robot when scanning the target QR code is determined as the current pose. Then, the step of determining the pose difference between the repositioning pose and the current pose is executed.

[0079] After identifying the target QR code, the robot moves to its location and scans it. The pose determined based on the target QR code is used as the repositioning pose. Simultaneously, the robot's internal sensors record its pose in real time while scanning the target QR code, and this pose is used as the current positioning position. The pose difference is then calculated, and based on this difference, a decision is made on whether to output a warning message or perform other response processing.

[0080] Understandably, by finding the target QR code and determining the pose difference based on the target QR code, this implementation method can achieve robot early warning even when there is no positioning QR code in the robot's current environment, thereby improving the robustness of robot early warning and enhancing the safety and reliability of the robot.

[0081] In one feasible implementation, upon receiving a warning command, the robot's current environment may contain multiple preset QR codes (hereinafter referred to as environmental QR codes for distinction). At this time, a permanent QR code whose current position matches its initial position is determined from among the environmental QR codes. The initial position refers to the initial setting position of the preset QR code in the robot's external environment, and the current position refers to the actual position of the preset QR code in the current environment. The pose determined based on the permanent QR code is used as the repositioning pose, and the pose of the robot when scanning the permanent QR code is determined as the current pose. The step of determining the pose difference between the repositioning pose and the current pose is then performed. The process of determining the permanent QR code is not limited here; it can involve traversing each environmental QR code, determining the similarity between the current position and the initial position of the environmental QR code, and then determining the QR code with the highest similarity as the permanent QR code. It should be noted that the form of the current position and the initial position is not limited; for example, it can be coordinates, orientation descriptions, etc. Different forms of current position and initial position can correspond to different calculation methods to determine the similarity, which will not be elaborated here.

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

[0083] If the positional difference meets the preset warning conditions, it indicates that the degree of deviation in robot positioning has affected the robot's operational safety. At this time, outputting warning information and making warning response processing can prevent the robot from deviating further from the expected position or posture.

[0084] Therefore, this embodiment achieves the detection and correction of positioning deviations by comparing the repositioning pose and the current pose in real time, ensuring that the robot can maintain accurate navigation and positioning even in complex environments, improving the robot's autonomous navigation capability, enhancing the robot's positioning accuracy, and thus improving the robot's safety and reliability in practical application scenarios.

[0085] Based on the first embodiment of this application, in the second embodiment of this application, the content that is the same as or similar to that in the first embodiment can be referred to the above description, and will not be repeated hereafter. Based on this, the pose difference includes position difference and angle difference; step S30: if the pose difference meets the preset warning conditions, the step of outputting warning information includes:

[0086] Step S301: If 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 the first preset duration, determine that the pose difference meets the preset warning condition, output the first warning information and determine the repositioning pose as the current pose, 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 pose difference includes position difference and angle difference. Position difference represents the difference in position between the repositioned pose and the current pose, such as distance or coordinate difference, which is not limited here. Angle difference represents the difference in direction between the repositioned pose and the current pose. In this embodiment, the preset warning conditions consider both position difference and angle difference, and introduce a time dimension judgment condition, which can improve the accuracy of the warning results.

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

[0089] Understandably, by simultaneously considering positional differences, angular differences, and duration, the impact of unforeseen circumstances on the robot's warnings is avoided, thereby improving the accuracy and reliability of the warnings. Furthermore, by establishing the repositioning pose as the current pose, large positioning deviations can be quickly corrected, improving the robot's navigation accuracy.

[0090] In one feasible implementation, a second distance threshold and a second angle threshold can 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 pose and the current pose is too large. At this time, the deviation cannot be corrected by the robot's automatic warning response, and a fourth warning message can 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 the first preset duration, it is determined that the pose difference meets the preset warning condition, the first warning message is output, and the repositioned pose is determined as the current pose.

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

[0092] In this embodiment, a first distance value range and a 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. Furthermore, this embodiment introduces a second duration for which the position difference and the angle difference are both within the first distance value range, i.e., a second duration, to determine the warning condition. Specifically, 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, then it is determined that the pose difference meets the preset warning condition, a second warning message is output, and the current pose is updated based on the repositioning pose.

[0093] Understandably, by considering the range and duration of position and angle differences, the state of pose difference can be judged more precisely, improving the sensitivity of early warning. Different early warning information and processing strategies provide robots with more flexible ways to respond and adapt to different positioning deviations.

[0094] In one embodiment, the current pose is determined based on multiple sensors; step S302: updating the current pose based on the repositioning pose includes:

[0095] Step S3021: If the position difference is within the range of the second distance and the angle difference is within the range of the second angle, and the second duration reaches the 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 pose is determined based on sensor data collected by multiple sensors. Specifically, the data collected by each sensor is converted into a transformed pose, and the transformed poses corresponding to each sensor are weighted and summed using the weights corresponding to each sensor in a preset weighted set to obtain the current pose. It should be noted that the multiple sensors include at least an image sensor for acquiring the repositioning pose.

[0097] In this embodiment, the process of adjusting the current pose can be as follows: calculate a current positioning score for each sensor. 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: Determine the target weighting reorganization based on the current positioning scores of each of the sensors, wherein the target weighting reorganization includes the weighted weights corresponding to each of the sensors, and the order of the weighted weights of each sensor is consistent with the order of the current positioning scores of each sensor.

[0099] A target weighted reassembly is determined based on the current positioning scores of each sensor. In specific implementations, this can be achieved by generating the weights corresponding to each sensor based on the current positioning scores, or by adjusting the weights in a preset weighted reassembly based on the current positioning scores. The specific method is not limited here and can be set according to actual needs. It should be noted that the order of the weights corresponding to each sensor in the target weighted reassembly is consistent with the order of the sensors' current positioning scores. That is, sensors with higher positioning scores will be assigned larger weights, thus playing a greater role in subsequent positioning calculations.

[0100] Step S3023: The robot poses corresponding to each sensor are weighted and summed through the target weighting process to obtain the updated pose, and the updated pose is determined as the current pose.

[0101] By using target weighting recombination, the robot pose corresponding to each sensor is weighted and summed. Through weighted summation, a more accurate and reliable updated pose can be obtained. The updated pose is determined as the robot's current pose. At the same time, the robot will also output environmental image data of its surrounding environment for further monitoring and analysis.

[0102] It is understandable that by using weighted summation, the positioning data from each sensor can be fully utilized to improve positioning accuracy and reliability, thereby enhancing the robot's operational safety.

[0103] For example, assuming the robot's internal sensors include infrared sensors, radar, and inertial sensors, the infrared sensor is assigned a high current positioning score if its detected heat source distribution highly matches the expected theoretical data (such as a pre-drawn heat source map); the radar data (such as distance information, obstacle positions) has the second highest matching degree with the expected theoretical data (such as obstacle positions in the environment map), and the inertial sensor is assigned the second highest current positioning score; the inertial sensor data differs significantly from the theoretical data (such as position information corrected by other sensors), and is assigned the lowest current positioning score. Based on the current positioning scores of these sensors, the robot determines a target weighting reassembly. In this reassembly, the infrared sensor is assigned the highest weight, followed by the radar, and then the inertial sensor. The target weighting reassembly is used to weight the robot pose provided by each sensor. Specifically, based on the weighted value of each sensor, the pose information provided by each sensor is weighted and averaged to obtain an updated pose.

[0104] In one feasible embodiment, an inertial sensor is installed on the robot; step S20: determining the pose difference between the repositioning pose and the current pose, includes:

[0105] Step S201: Determine the first adjacent frame yaw angle difference between two adjacent frames of the repositioning pose, and determine the second adjacent frame yaw angle difference between two adjacent frames of the inertial pose, wherein the inertial pose is the robot pose determined based on the inertial sensor.

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

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

[0108] Step S202: The difference between the yaw angle difference of the first adjacent frame and the yaw angle difference of the second adjacent frame is determined as the pose difference between the repositioning pose and the current pose.

[0109] The yaw angle difference between the first adjacent frame and the yaw angle difference between the second adjacent frame are compared. The difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference is determined as the pose difference between the repositioning pose and the current pose. It is 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 early warning and response processing.

[0110] In one embodiment, step S30: if the pose difference meets a preset warning condition, then outputting a warning message and performing a warning response process includes:

[0111] Step S303: If the position and pose difference is greater than the preset yaw angle difference value, and the third duration for which the position and pose difference is greater than the preset yaw angle difference value reaches the third preset duration, then it is determined that the position and pose difference meets the preset warning condition.

[0112] If the position-to-attitude difference is greater than the preset yaw angle difference, and this state persists for a third preset duration, then the position-to-attitude difference is determined to meet the warning conditions. It is understandable that by simultaneously considering both the magnitude and duration of the position-to-attitude difference, the accuracy and reliability of the warning are improved, avoiding false alarms caused by instantaneous fluctuations or noise.

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

[0114] When the pose difference meets the warning conditions, a third warning message will be output to alert the operator or system. Simultaneously, robot inertial data collected by the inertial sensors will be output for further analysis and diagnosis. Understandably, by outputting warning messages, positioning deviations can be detected and addressed promptly, ensuring the safe operation of the robot. Furthermore, the output inertial data provides crucial information for subsequent fault analysis and localization.

[0115] This embodiment achieves the detection and correction of positioning deviations by comparing the repositioning pose with the current pose in real time, ensuring that the robot can maintain accurate navigation and positioning even in complex environments. This improves the robot's autonomous navigation capability, enhances the accuracy of robot positioning, and thus improves the safety and reliability of the robot in practical application scenarios.

[0116] For example, to help understand the implementation process of the robot early warning method obtained in this embodiment combined with the above embodiment one, please refer to... Figure 2 , Figure 2A schematic diagram of the modules involved in a robot early warning method is provided, specifically including: a mobile robot localization module, used to estimate the robot's pose, including position and orientation (i.e., current pose), in a known environmental map; a QR code recognition module (recognize apriltag), used to scan QR codes in the scene; a QR code localization module (qr code localization), used to parse the QR code to obtain the robot's localization (i.e., repositioning pose); a log service module (log and bag server), used to collect, organize, and provide access logs and data packets; a log recording module, used to record pose and other related information during the robot's early warning process for subsequent analysis, debugging, or monitoring of the robot's operating status; a log directory, used to list the contents or sections of the directory; and a server, used to store log records.

[0117] Based on the above structure, please refer to Figure 4 The process for robot early warning based on position and angle differences can be as follows: After receiving a repositioning request, the mobile robot localization module obtains the robot's current pose, and the QR code recognition module scans the QR code in the environment to obtain the repositioning pose. The mobile robot localization module compares the robot's current pose with the repositioning pose to obtain the position and angle differences. If the position difference is less than 0.5m and the angle difference is less than 20°, no update is performed and no data is collected. If the position difference is greater than 2m or the angle difference is greater than 30° and the conditions are met for three consecutive frames, the repositioning pose will be directly assigned to the current pose, triggering the host computer to save the image and triggering a 1005D type error. If the position difference is in the range of [0.5m, 2m] and the angle difference is in the range of [20°, 30°], it is considered that there is a slight deviation in the robot's current pose. The repositioning pose and the current pose will be fused using a formula, triggering the host computer to save the image and triggering a 1004D type error.

[0118] Based on the above structure, please refer to Figure 4 The process of robot early warning based on yaw angle difference can be as follows: After the mobile robot positioning module receives the repositioning topic, it acquires the robot's inertial sensor data, determines the first adjacent frame yaw angle difference between two adjacent frames of the repositioning pose, and determines the second adjacent frame yaw angle difference between two adjacent frames of inertial pose. If the difference between the first adjacent frame yaw angle difference and the second adjacent frame yaw angle difference is greater than 15 degrees and the condition is met for three consecutive frames, then the image storage packet (error code 1012) is triggered, and the image storage packet is notified to upload to the server; no processing is performed in other cases.

[0119] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the robot early warning method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.

[0120] This application also provides a robot early warning device; please refer to... Figure 5 The robot early warning device includes:

[0121] The first determining module 10 is used to determine the repositioning pose of the robot based on the positioning QR code in the external environment where the robot is located.

[0122] The second determining module 20 is used to obtain the current pose of the robot when it scans the positioning QR code, and to determine the pose difference between the repositioning pose and the current pose.

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

[0124] Optionally, the pose 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 pose difference meets the preset warning condition, the first warning information is output, and the repositioning pose is determined as the current pose, 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 range and the angle difference is within the first angle range, and the second duration reaches the second preset duration, then it is determined that the pose difference meets the preset warning condition, the second warning information is output, and the current pose is updated based on the repositioning pose. Here, the upper limit of the first distance range is the first distance threshold, the upper limit of the first angle range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance range and the angle difference is within the first angle range.

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

[0128] If the position difference is within the range of the second distance and the angle difference is within the range of the second angle, and the second duration reaches the second preset duration, then the current positioning score corresponding to each of the sensors is determined, 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] The target weighting is determined based on the current positioning score of each of the sensors, wherein the target weighting includes the weighted weight corresponding to each of the sensors, and the order of the weighted weight of each sensor is consistent with the order of the current positioning score of each sensor.

[0130] The updated pose is obtained by weighted summation of the robot poses corresponding to each sensor through the target weight reassembly, and the updated pose is determined as the current pose.

[0131] Optionally, the robot is equipped with inertial sensors; the second determining module 20 is further configured to:

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

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

[0134] Optionally, the early warning module 30 is further configured to:

[0135] If the position difference is greater than the preset yaw angle difference value, and the third duration for which the position difference is greater than the preset yaw angle difference value reaches the third preset duration, then it is determined that the position difference meets the preset warning condition.

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

[0137] Optionally, an image sensor is provided on the robot; the device further includes a detection module for:

[0138] If an early warning command is received, the robot will collect current image data of its current environment using the image sensor and detect whether a location QR code exists in the current environment based on the current image data.

[0139] If the positioning QR code exists, then the step of determining the robot's repositioning pose based on the positioning QR code in the robot's external environment is executed.

[0140] Optionally, the detection module is further configured to:

[0141] If the location QR code does not exist, then the robot's location information in the current environment is determined;

[0142] Based on the robot's location information and the QR code location information of each preset QR code, the QR code with the shortest QR code distance is determined from each preset QR code, and the QR code with the shortest QR code distance is determined as the target QR code, wherein the QR code distance is the distance between the location of the preset QR code and the location of the robot.

[0143] The pose determined based on the target QR code is used as the repositioning pose, and the pose of the robot when scanning the target QR code is determined as the current pose. The step of determining the pose difference between the repositioning pose and the current pose is then performed.

[0144] The robot early warning device provided in this application, employing the robot early warning method in the above embodiments, can solve the technical problem that inaccurate robot navigation and positioning leads to compromised robot safety. Compared with the prior art, the beneficial effects of the robot early warning device provided in this application are the same as those of the robot early warning method provided in the above embodiments, and other technical features in the robot early warning device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0145] This 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 to enable the at least one processor to perform the robot early warning method in the above embodiments.

[0146] The following is for reference. Figure 6 The diagram illustrates a structural schematic suitable for implementing the robot warning device in the embodiments of this application. The robot warning device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 6 The robot early warning device shown is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this application.

[0147] like Figure 6As shown, the robot warning device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the robot warning device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the robot warning device to communicate wirelessly or wiredly with other devices to exchange data. While the figure shows robot warning devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0148] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.

[0149] The robot early warning device provided in this application, employing the robot early warning method in the above embodiments, can solve the technical problem that inaccurate robot navigation and positioning leads to compromised robot safety. Compared with the prior art, the beneficial effects of the robot early warning device provided in this application are the same as those of the robot early warning method provided in the above embodiments, and other technical features of this robot early warning device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

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

[0151] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

[0152] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the robot warning method in the above embodiments.

[0153] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.

[0154] The aforementioned computer-readable storage medium may be included in the robot early warning device; or it may exist independently and not be assembled into the robot early warning device.

[0155] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the robot early warning device, enable the robot early warning device to implement the robot early warning methods of the above embodiments.

[0156] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, and C++, and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0157] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0158] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.

[0159] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described robot early warning method. This addresses the technical problem of inaccurate robot navigation and positioning, which affects robot safety. Compared to the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the robot early warning method provided in the above embodiments, and will not be elaborated upon here.

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

[0161] The computer program product provided in this application can solve the technical problem that inaccurate robot navigation and positioning leads to compromised robot safety. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the robot early warning method provided in the above embodiments, and will not be repeated here.

[0162] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.

Claims

1. A robot early warning method, characterized in that, The robot early warning method includes: The robot's repositioning pose is determined based on the positioning QR code in the robot's external environment. The repositioning pose is the theoretical pose of the robot in an ideal state. The robot acquires its current pose when scanning the positioning QR code and determines the pose difference between the repositioning pose and the current pose, wherein an inertial sensor is installed on the robot; the step of determining the pose difference between the repositioning pose and the current pose includes: Determine the first adjacent frame yaw angle difference between two adjacent frames of the repositioning pose, and determine the second adjacent frame yaw angle difference between two adjacent frames of the inertial pose, wherein the inertial pose is the robot pose determined based on the inertial sensor. The difference between the yaw angle difference of the first adjacent frame and the yaw angle difference of the second adjacent frame is determined as the pose difference between the repositioning pose and the current pose. If the pose difference meets the preset warning conditions, then a warning message is output and a warning response is performed, wherein the pose difference includes a position difference and an angle difference; the step of outputting a warning message and performing a warning response if the pose difference meets the preset warning conditions includes: If the position difference is greater than the first distance threshold and the angle difference is greater than the first angle threshold, and the conditions are met for three consecutive frames and the first duration reaches the first preset duration, then it is determined that the pose difference meets the preset warning conditions, the first warning information is output, and the repositioning pose is determined as the current pose, 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 range and the angle difference is within the first angle range, and the second duration reaches the second preset duration, then it is determined that the pose difference meets the preset warning condition, the second warning information is output, and the current pose is updated based on the repositioning pose. Here, the upper limit of the first distance range is the first distance threshold, the upper limit of the first angle range is the first angle threshold, and the second duration is the duration during which the position difference is within the first distance range and the angle difference is within the first angle range. When an early warning is triggered, the host computer is synchronously controlled to collect environmental images and record log data, which is then uploaded to the server.

2. The robot early warning method as described in claim 1, characterized in that, The current pose is determined based on multiple sensors; the step of updating the current pose based on the repositioned pose includes: Determine the current positioning score for 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; The target weighting is determined based on the current positioning score of each of the sensors, wherein the target weighting includes the weighted weight corresponding to each of the sensors, and the order of the weighted weight of each sensor is consistent with the order of the current positioning score of each sensor. The updated pose is obtained by weighted summation of the robot poses corresponding to each sensor through the target weight reorganization, and the updated pose is determined as the current pose.

3. The robot early warning method as described in claim 1, characterized in that, The step of outputting a warning message and performing a warning response if the pose difference meets the preset warning conditions includes: If the position difference is greater than the preset yaw angle difference value, and the third duration for which the position difference is greater than the preset yaw angle difference value reaches the third preset duration, then it is determined that the position difference meets the preset warning condition. Output the third warning information and the robot inertial data collected by the inertial sensor.

4. The robot early warning method as described in any one of claims 1 to 3, characterized in that, The robot is equipped with an image sensor; prior to the step of determining the robot's repositioning pose based on the positioning QR code in the robot's external environment, the method further includes: If an early warning command is received, the robot will collect current image data of its current environment using the image sensor and detect whether a location QR code exists in the current environment based on the current image data. If the positioning QR code exists, then the step of determining the robot's repositioning pose based on the positioning QR code in the robot's external environment is executed.

5. The robot early warning method as described in claim 4, characterized in that, The method further includes: If the location QR code does not exist, then the robot's location information in the current environment is determined; Based on the robot's location information and the QR code location information of each preset QR code, the QR code with the shortest QR code distance is determined from each preset QR code, and the QR code with the shortest QR code distance is determined as the target QR code, wherein the QR code distance is the distance between the location of the preset QR code and the location of the robot. The pose determined based on the target QR code is used as the repositioning pose, and the pose of the robot when scanning the target QR code is determined as the current pose. The step of determining the pose difference between the repositioning pose and the current pose is then performed.

6. A robot early warning device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the robot warning method as described in any one of claims 1 to 5.

7. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the robot early warning method as described in any one of claims 1 to 5.

8. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, implements the steps of the robot early warning method as described in any one of claims 1 to 5.

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