Robot control method and robot

Abstract

The embodiment of the invention discloses a robot control method and a robot, and the method comprises the steps: carrying out the feature extraction of the image information of at least one physical examination person in a physical examination place, and obtaining the behavior features of each physical examination person; the image information of the at least one physical examination person is acquired in the physical examination place by using a camera of the robot; determining the type of each physical examination person based on the behavior characteristics of each physical examination person; the type represents the action ability of the physical examination personnel; based on the current queuing information of each physical examination item in the physical examination place and the type of each physical examination person, planning a physical examination process of each physical examination person to obtain a target physical examination process of each physical examination person; and based on the target physical examination process of each physical examination person, controlling the robot to carry out process guidance on at least one physical examination person.

Description

Technical Field

[0001] The present disclosure relates to but is not limited to the field of robotics technology, and in particular to a robot control method and the robot. Background Art

[0002] The medical examiner completes multiple physical examination items in the physical examination site based on the medical staff or volunteers' suggestions on the order of completing the physical examination items based on on-site observation. In the related art, the medical examiner is guided by the on-site observation and personal experience of the medical staff or volunteers to complete the examination of multiple physical examination items. This method is difficult to quickly respond to the needs of the medical examinees, especially in the peak of physical examinations, which is easy to cause congestion and chaos. In addition, manual guidance is difficult to provide each medical examinee with a personalized physical examination path, resulting in the medical examinee may not be able to complete all the examination items in the most reasonable order, increasing unnecessary movement and waiting time. Summary of the invention

[0003] In view of this, the embodiments of the present disclosure at least provide a robot control method and a robot.

[0004] The technical solution of the embodiment of the present disclosure is implemented as follows:

[0005] The present disclosure provides a robot control method, including:

[0006] Extracting features from image information of at least one person under physical examination in a physical examination site to obtain behavioral features of each person under physical examination; the image information of at least one person under physical examination is collected in the physical examination site by using a camera of a robot;

[0007] Based on the behavioral characteristics of each physical examinee, the type of each physical examinee is determined; the type represents the action ability of the physical examinee;

[0008] Based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination personnel, the physical examination process of each physical examination personnel is planned to obtain the target physical examination process of each physical examination personnel;

[0009] Based on the target physical examination process of each physical examination person, the robot is controlled to guide the process for at least one physical examination person.

[0010] The present disclosure provides a robot, which includes a feature extraction module, a first determination module, a planning module, and a first control module, wherein:

[0011] A feature extraction module is used to extract features from the image information of at least one person under examination in the physical examination site to obtain the behavioral features of each person under examination; the image information of at least one person under examination is collected in the physical examination site by using the camera of the robot;

[0012] The first determination module is used to determine the type of each physical examinee based on the behavioral characteristics of each physical examinee; the type represents the action ability of the physical examinee;

[0013] The planning module is used to plan the physical examination process of each physical examination personnel based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination personnel, and obtain the target physical examination process of each physical examination personnel;

[0014] The first control module is used to control the robot to guide the process of at least one physical examination person based on the target physical examination process of each physical examination person.

[0015] In the disclosed embodiment, based on the current queuing information of each physical examination item in the physical examination site and combined with the mobility represented by the behavioral characteristics of the physical examination personnel, the physical examination process of each physical examination personnel is planned with full consideration of the physical examination personnel with different mobility capabilities to improve the overall physical examination efficiency of each physical examination personnel.

[0016] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present disclosure and are used to illustrate the technical solutions of the present disclosure together with the specification.

[0018] Figure 1 A schematic diagram of the implementation process of a robot control method provided in the embodiment of the present disclosure Figure 1 ;

[0019] Figure 2 A schematic diagram of a process flow for implementing a physical examination process planning for a physical examination personnel provided in an embodiment of the present disclosure;

[0020] Figure 3 A schematic diagram of a process flow for controlling a robot to guide a physical examination person according to an embodiment of the present disclosure;

[0021] Figure 4 A schematic diagram of the implementation process of a robot control method provided in the embodiment of the present disclosure Figure 2 ;

[0022] Figure 5 A schematic diagram of the structure of a robot provided in an embodiment of the present disclosure;

[0023] Figure 6 A schematic diagram of a hardware entity of a robot provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present disclosure clearer, the technical solutions of the present disclosure are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present disclosure. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0025] In the following description, reference is made to “some embodiments”, which describe a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0026] The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific ordering of the objects. It is understandable that "first / second / third" can be interchanged with a specific order or sequence where permitted so that the embodiments of the present disclosure described herein can be implemented in an order other than that illustrated or described herein.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which the present disclosure belongs. The terms used herein are only for the purpose of describing the disclosure and are not intended to limit the disclosure.

[0028] The present disclosure provides a method for controlling a robot. Figure 1 A schematic diagram of the implementation process of a robot control method provided in the embodiment of the present disclosure Figure 1 ,like Figure 1 As shown, the method includes the following steps S101 to S104:

[0029] Step S101: extracting features from image information of at least one person under physical examination in a physical examination site to obtain behavioral features of each of the physical examination persons; the image information of the at least one person under physical examination is collected in the physical examination site by using a camera of the robot;

[0030] Here, the image information of the physical examinee includes but is not limited to at least one of facial information, posture information, and motion information of the physical examinee.

[0031] The behavior feature is obtained by extracting features from the image information of the physical examinee, that is, from at least one of the facial information, posture information, and action information of the physical examinee.

[0032] In some embodiments, the physical examination site may include at least one physical examination area, and each physical examination area may be on the same floor or on different floors.

[0033] In some embodiments, the robot patrols in the physical examination site and uses a camera installed on the robot to collect images of at least one physical examinee, including but not limited to collecting facial information, posture information, and motion information of each physical examinee to obtain image information of the physical examinee. Feature extraction is performed on the image information of the physical examinee to obtain behavioral features of at least one physical examinee, which may include whether the physical examinee has low mobility such as the elderly, pregnant women, children, and the disabled, and features of the physical examinee's interaction with the robot, for example, whether the physical examinee can quickly respond to the content displayed on the robot's interactive interface.

[0034] Step S102: determining the type of each of the physical examinees based on the behavioral characteristics of each of the physical examinees; the type represents the action ability of the physical examinee;

[0035] In some embodiments, when the behavioral characteristics of the physical examinee include characteristics of low mobility such as the elderly, pregnant women, children, and the disabled, the mobility of the physical examinee characterized by the type of the physical examinee is determined to be lower than a first ability threshold; when the behavioral characteristics of the physical examinee include not having characteristics of low mobility such as the elderly, pregnant women, children, and the disabled, the mobility of the physical examinee characterized by the type of the physical examinee is determined to be not lower than the first ability threshold.

[0036] In some embodiments, the mobility of the physical examinee is evaluated according to the behavioral characteristics of the physical examinee, and an evaluation value corresponding to the mobility of the physical examinee is obtained. Therefore, the mobility of the physical examinee can be measured according to the evaluation value corresponding to the mobility. For example, when the behavioral characteristics of the physical examinee include characteristics of low mobility such as the elderly, pregnant women, children, and the disabled, it is determined that the evaluation value corresponding to the mobility of the physical examinee represented by the type of the physical examinee is lower than the first capability threshold; when the behavioral characteristics of the physical examinee include not having characteristics of low mobility such as the elderly, pregnant women, children, and the disabled, it is determined that the evaluation value corresponding to the mobility of the physical examinee represented by the type of the physical examinee is not lower than the first capability threshold.

[0037] Step S103: planning the physical examination process of each physical examination person based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination person, and obtaining the target physical examination process of each physical examination person;

[0038] Here, the current queue information of each physical examination item is collected by using a plurality of monitoring devices installed in the physical examination site.

[0039] In some implementations, before planning the physical examination process for the examinee, the robot scans the physical examination site to obtain the examination location of each physical examination item in the physical examination site.

[0040] In some embodiments, the robot patrols the physical examination site, matches the identity information of the physical examinee through facial recognition, and obtains the completion status of each physical examination item of the physical examinee based on the identity information of the physical examinee.

[0041] According to the current queuing information of each physical examination item in the physical examination site, the mobility represented by the type of each physical examination personnel and the completion status of each physical examination item of the physical examination personnel, the physical examination process for special groups with low mobility is planned in priority to improve the overall efficiency of the physical examination.

[0042] For example, the priority of the first target physical examinee whose type represents the physical examinee's mobility lower than the first ability threshold is set to the first priority, and the priority of the third target physical examinee whose type represents the physical examinee's mobility not lower than the first ability threshold is set to the second priority, and the first priority is higher than the second priority; according to the current queuing information of each physical examination item, the physical examination process of the first target physical examinee is planned with the first priority and the walking time of the first target physical examinee between the examination locations of each physical examination item is reduced as much as possible, so as to obtain the target physical examination process of the first target physical examinee; according to the current queuing information of each physical examination item, the physical examination process of the third target physical examinee is planned with the second priority, so as to obtain the target physical examination process of the third target physical examinee.

[0043] In some embodiments, when it is detected that the person under examination is in an emergency situation, for example, the person under examination suffers from hypoglycemia, the person under examination may be given priority to undergo a pre-meal examination.

[0044] If it is detected that the medical examinee is in an emergency, the robot is controlled to interact with the medical examinee at the front of the queue and coordinate to give priority to the medical examinee in the emergency.

[0045] In response to the physical examinee's active inquiries, the physical examinee's identity information is matched through facial recognition, and the physical examination process of the physical examinee is planned, and the physical examinee is guided in the process.

[0046] In some embodiments, when the physical examination site includes multiple physical examination areas, multiple robots are active in the corresponding physical examination areas, and the activity areas of the robots can be adjusted according to the distribution of physical examination personnel in each physical examination area to achieve load balancing of the number of physical examination personnel corresponding to each robot, thereby improving the overall physical examination efficiency of each physical examination personnel. For example, the robot can move from a physical examination area with fewer physical examination personnel to a physical examination area with more physical examination personnel.

[0047] Step S104: Based on the target physical examination process of each of the physical examinees, control the robot to guide the process for at least one of the physical examinees.

[0048] In some embodiments, the control robot guides the physical examination personnel to complete the examination of each physical examination item according to the target physical examination process, that is, the examination order of each physical examination item of the physical examination personnel is determined according to the target physical examination process of the physical examination personnel, and the control robot completes the examination of each physical examination item according to the examination order of each physical examination item.

[0049] Determine the corresponding guidance mode for the physical examinee according to the behavioral characteristics of the physical examinee. For example, when the type of the physical examinee indicates that the physical examinee's mobility is lower than a first capability threshold, determine the corresponding guidance mode for the physical examinee as leading guidance; when the type of the physical examinee indicates that the physical examinee's mobility is not lower than the first capability threshold, determine the corresponding guidance mode for the physical examinee as map guidance;

[0050] According to the characteristics of the interaction between the physical examinee and the robot, the corresponding guidance method for the physical examinee is determined. For example, when the physical examinee can quickly respond to the content displayed on the robot's interactive interface, the corresponding guidance method for the physical examinee is determined to be map guidance; when the physical examinee cannot quickly respond to the content displayed on the robot's interactive interface, the corresponding guidance method for the physical examinee is determined to be leading guidance.

[0051] In some implementations, according to the target physical examination process of each physical examinee, the robot is controlled to guide the process for at least one physical examinee in a guidance manner corresponding to the physical examinee.

[0052] In the process of controlling the robot to guide the examinees, the current queue information of each physical examination item is monitored in real time, and the physical examination process of the examinees is dynamically optimized to improve the physical examination efficiency. For example, when the examinee walks to the inspection location of the next physical examination item, the number of people in the queue for the next physical examination item increases, and the physical examination process is re-planned for the examinee to go to the inspection location of the physical examination item with fewer people for inspection first.

[0053] In the disclosed embodiment, based on the current queuing information of each physical examination item in the physical examination site and combined with the mobility represented by the behavioral characteristics of the physical examination personnel, the physical examination process of each physical examination personnel is planned with full consideration of the physical examination personnel with different mobility capabilities to improve the overall physical examination efficiency of each physical examination personnel.

[0054] In some embodiments, the above-mentioned step S103, based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination personnel, plans the physical examination process of each physical examination personnel to obtain the target physical examination process of each physical examination personnel, which may include the following step S111:

[0055] Step S111: For each of the physical examinees, when the type of the physical examinee indicates that the physical examinee's ability to move is lower than a first ability threshold, determine the physical examinee as the first target physical examinee; based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, with the goal of minimizing the physical examination waiting time of the first target physical examinee, plan the physical examination process of the first target physical examinee to obtain the target physical examination process of the first target physical examinee.

[0056] In some embodiments, for the first target physical examinee whose mobility is lower than the first ability threshold, the first target physical examinee's mobility is inconvenient, resulting in low overall physical examination efficiency for each physical examinee. In order to improve the overall physical examination efficiency for each physical examinee, the physical examination process of the first target physical examinee is planned by minimizing the first target physical examination queuing time and walking time between the examination locations of each physical examination item.

[0057] In the embodiment of the present disclosure, for the first target physical examination personnel whose mobility is lower than the first ability threshold, the physical examination process of the first target physical examination personnel is planned according to the current queuing information of each physical examination item and the examination location of each physical examination item, with the goal of minimizing the physical examination waiting time of the first target physical examination personnel, thereby improving the overall physical examination efficiency of each physical examination personnel.

[0058] In some embodiments, the physical examination waiting time includes queuing time and walking time. Figure 2 A schematic diagram of a process flow for implementing a physical examination process planning for a physical examination personnel provided in an embodiment of the present disclosure, such as Figure 2 As shown, the above step S111, based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, takes minimizing the physical examination waiting time of the first target physical examination person as the goal, plans the physical examination process of the first target physical examination person, and obtains the target physical examination process of the first target physical examination person, which may include the following steps S121 to S123:

[0059] Step S121: estimating the queuing time of the first target physical examination person based on the current queuing information of each physical examination item;

[0060] In some implementations, the current queue information includes the number of people in the queue, and the queue time of the first target physical examination person is estimated based on the number of people in the queue for each physical examination item and the examination time for each physical examination item.

[0061] Step S122: based on the examination locations of the examination items, estimating the walking time of the first target physical examination person; the walking time is the walking time of the first target physical examination person between the examination locations of the examination items;

[0062] In some implementations, the walking time of the first target physical examination person is estimated according to the examination location of each physical examination item of the first target physical examination person and the walking speed of the first target physical examination person.

[0063] Step S123: Based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, the physical examination process of the first target physical examination person is planned with the goal of minimizing the queuing time and walking time of the first target physical examination person to obtain the target physical examination process of the first target physical examination person.

[0064] In some implementations, the physical examination efficiency of the first target physical examination personnel is improved by reducing the waiting time and walking time of the first target physical examination personnel as much as possible.

[0065] In some embodiments, based on the current queuing information of each physical examination item and the examination location of each physical examination item, the physical examination process of the first target physical examination person is planned with the goal of minimizing the queuing time of the first target physical examination person to obtain the target physical examination process of the first target physical examination person.

[0066] In the disclosed embodiment, the physical examination process of the first target physical examination personnel is planned by comprehensively considering the waiting time for each physical examination item and the walking time between the examination locations of each physical examination item, so as to improve the physical examination efficiency of the first target physical examination personnel and thus improve the overall efficiency of each physical examination personnel.

[0067] In some embodiments, the estimating of the queuing time of the first target physical examination person based on the current queuing information of each physical examination item described in step S121 may include the following step S131:

[0068] Step S131: For each of the physical examination items, based on the multiple examination locations corresponding to the physical examination item and the current position of the first target physical examination personnel, determine a target examination location from the multiple examination locations corresponding to the physical examination item; and estimate the walking time of the first target physical examination personnel between the target examination location and the examination location of the current physical examination item.

[0069] In some embodiments, in order to minimize the walking time of the first target physical examination person, when the physical examination item has multiple examination locations, the target examination location is selected based on the current position of the first target physical examination person with the goal of minimizing the walking time of the first target physical examination person, and the walking time of the first target physical examination person between the target examination location and the examination location of the current physical examination item is estimated.

[0070] In the embodiment of the present disclosure, when a physical examination item has multiple examination locations, the target examination location that minimizes the walking time of the first target physical examination person is selected based on the current position of the first target physical examination person and the multiple examination locations of the physical examination item, thereby further reducing the walking time of the first target physical examination person and improving the physical examination efficiency of the first target physical examination person.

[0071] In some embodiments, Figure 3 A schematic diagram of a process flow for controlling a robot to guide a physical examination person according to an embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the above step S104, based on the target physical examination process of each of the physical examination personnel, controls the robot to guide the process of at least one of the physical examination personnel, which may include the following step S141:

[0072] Step S141: for each of the physical examinees, based on the type of the physical examinee, determining a guidance method corresponding to the physical examinee;

[0073] In some embodiments, the guidance method corresponding to the examinee is determined according to the action ability of the examinee represented by the type of the examinee. The robot is controlled to guide the examinee in the guidance method corresponding to the examinee, which can improve the guidance efficiency of the examinee.

[0074] Step S142: planning a walking route of the physical examinee based on the target physical examination process of the physical examinee;

[0075] Step S143: Based on the walking route of the physical examinee, the robot is controlled to guide the physical examinee in a process in a guiding manner corresponding to the physical examinee.

[0076] In some embodiments, the examination location of the next physical examination item of the physical examination personnel is determined according to the physical examination personnel's walking route, and the robot is controlled to guide the physical examination personnel to the examination location of the next physical examination item for examination until all physical examination items are completed.

[0077] In the disclosed embodiment, for different types of physical examinees, a guidance method corresponding to the physical examinee is selected, and according to the walking route of the physical examinee, the robot is controlled to guide the physical examinee through the guidance method corresponding to the physical examinee, thereby improving the guidance efficiency of the physical examinee and thus improving the overall physical examination efficiency of each physical examinee.

[0078] In some embodiments, the step S141 of determining the guidance method corresponding to the physical examinee based on the type of the physical examinee may include at least one of the following steps S151 and S152:

[0079] Step S151: when the type of the physical examinee indicates that the mobility of the physical examinee is not less than the first capability threshold, determining that the guidance method corresponding to the physical examinee is map guidance;

[0080] In some embodiments, when the type of the physical examinee represents that the physical examinee's mobility is not lower than a first capability threshold, the physical examinee is a normal person with higher mobility, and a corresponding guidance map can be generated according to the physical examinee's walking route, and the robot can be controlled to display the guidance map on the interactive interface, so that the physical examinee can complete the examination of each physical examination item according to the guidance map. Therefore, it can be determined that the guidance method corresponding to the physical examinee is map guidance.

[0081] Step S152: when the type of the person under physical examination indicates that the mobility of the person under physical examination is lower than the first mobility threshold, determining that the guidance method corresponding to the person under physical examination is leading guidance.

[0082] In some embodiments, when the type of the physical examinee represents that the physical examinee's mobility is lower than a first capability threshold, the physical examinee is a special group of people with lower mobility, and a robot is required to lead the physical examinee to complete the examination of each physical examination item according to the physical examinee's walking route. Therefore, it can be determined that the guidance method corresponding to the physical examinee is leading guidance.

[0083] In the disclosed embodiment, the guidance method suitable for the physical examinee is determined according to the type of the physical examinee to characterize the different mobility of the physical examinee, thereby improving the efficiency of guiding the physical examinee.

[0084] In some embodiments, the above step S141, based on the walking route of the physical examinee, controlling the robot to guide the physical examinee in a guiding manner corresponding to the physical examinee, may include at least one of the following steps S153 and S154:

[0085] Step S153: When the guidance mode corresponding to the physical examinee is map guidance, based on the walking route of the physical examinee, controlling the robot to display a guidance map corresponding to the walking route of the physical examinee on an interactive interface;

[0086] In some implementations, a corresponding guide map is generated according to the physical examinee's walking route, and the guide map is displayed on the interactive interface. The physical examinee completes the examination of each physical examination item according to the guide map.

[0087] Step S154: When the guidance mode corresponding to the physical examinee is leading guidance, based on the walking route of the physical examinee, the robot is controlled to move so as to lead the physical examinee to complete the physical examination process.

[0088] In some embodiments, the inspection location of the next physical examination item is determined based on the physical examination personnel's walking route, a route from the physical examination personnel's current location to the inspection location of the next physical examination item is planned, and the physical examination personnel is led to the inspection location of the next physical examination item for inspection until all physical examination items are completed.

[0089] In the disclosed embodiments, the robot is controlled to guide the corresponding physical examinees in the process by using map guidance and leading guidance, thereby improving the guidance efficiency of each physical examinee.

[0090] In some embodiments, the above-mentioned step S151 and step S152, and step S153 and step S154 may be executed simultaneously, or at least one of them may be executed.

[0091] In some embodiments, the current queue information of the physical examination item includes the number of people queuing for the physical examination item; Figure 4 A schematic diagram of the implementation process of a robot control method provided in the embodiment of the present disclosure Figure 2 ,like Figure 4 As shown, the control method of the robot further includes steps S161 to S163:

[0092] Step S161: in response to the fact that the number of people queuing for the first physical examination item among the physical examination items is greater than a first number threshold, determining at least one candidate physical examination item based on current queuing information of the physical examination items;

[0093] In some embodiments, it is detected that there are too many people queuing for the first physical examination item, i.e., greater than a first number threshold, resulting in reduced physical examination efficiency. Therefore, the robot determines at least one candidate physical examination item with a smaller queue number for diversion based on the current queue information of each physical examination item.

[0094] Step S162: based on the type of at least one first physical examinee queued in the first physical examination item, determining at least one second target physical examinee from the at least one first physical examinee; the type of the second target physical examinee indicates that the action ability of the second target physical examinee is not less than the first ability threshold; the ranking sequence number of the second target physical examinee in the first physical examination item is greater than a preset sequence number threshold;

[0095] Here, the second target physical examinee is a normal person whose mobility is not lower than the first ability threshold, and the ranking sequence number of the second target physical examinee in the first physical examination item is greater than the preset sequence number threshold, that is, the second target physical examinee is a physical examinee with a later examination order in the first physical examination item.

[0096] Step S163: Control the robot to move to the location of each of the second target physical examination personnel based on the examination order of the second target physical examination personnel in the first physical examination items, and display each of the candidate physical examination items on the interactive interface so that each of the second target physical examination personnel can select the target physical examination item from the candidate physical examination items.

[0097] In some embodiments, the control robot moves to the position of each second target physical examinee in turn according to the examination order of the second target physical examinees, and interacts with the second target physical examinees so that the second target physical examinees voluntarily choose whether to undergo examination of candidate physical examination items with fewer queues.

[0098] In some implementations, the robot is controlled to patrol the area where the second target physical examinee is located, and interact with the second target physical examinee, so that the second target physical examinee voluntarily chooses whether to undergo an examination for a candidate physical examination item with a smaller queue.

[0099] If the second target physical examination person is willing to undergo the candidate physical examination items, the robot plans the physical examination process for the second target physical examination person according to the examination status of the current physical examination items of the second target physical examination person and the current queuing information of at least one candidate physical examination item.

[0100] In the disclosed embodiment, the second target physical examination personnel who queue up for the first physical examination item with a large number of people and whose mobility is not lower than the first ability threshold and whose sorting sequence number is greater than the sequence number threshold will be diverted to other physical examination items with a smaller number of people queuing, thereby reducing the queuing time of the physical examination personnel and improving the overall physical examination efficiency.

[0101] In some embodiments, the control method of the robot is applied to a first robot, the physical examination site includes a first physical examination area and a second physical examination area; the first robot moves in the first physical examination area, and the second robot moves in the second physical examination area; the step S104 may include steps S171 to S173:

[0102] Step S171: determining the next physical examination item of the physical examination person based on the target physical examination process of the physical examination person;

[0103] Step S172: When the current position of the physical examination person is in the first physical examination area, and the examination location of the next physical examination item is in the second physical examination area, controlling the first robot to guide the physical examination person so that the physical examination person moves to the handover position corresponding to the first physical examination area and the second physical examination area;

[0104] Here, the handover position is where the first robot active in the first physical examination area and the second robot active in the second physical examination area agree to conduct a handover of guidance for the physical examination personnel.

[0105] In some embodiments, when the current position of the examinee is not in the same examination area as the next physical examination item, the control robot guides the examinee to the handover position, so that the second robot guides the examinee from the handover position to the examination location where the next physical examination item is located. The first robot and the second robot may guide the examinee in ways that include, but are not limited to, leading guidance and / or map guidance.

[0106] Step S173: sending the target physical examination process of the physical examinee to the second robot, so that the second robot guides the physical examinee from the handover position based on the target physical examination process.

[0107] In some implementations, the first robot synchronizes the target physical examination process of the examinee with the second robot, or the second robot stores the target physical examination process of all examinees.

[0108] In some embodiments, the second robot matches the identity information of the physical examination person at the handover position, and guides the physical examination person to the examination location of the next physical examination item according to the target physical examination process.

[0109] In the embodiment of the present disclosure, when the current position of the examinee and the next physical examination item are not in the same physical examination area, the first robot guides the examinee to the handover position, and the second robot guides the process from the handover position according to the target physical examination process. In this way, it is possible to guide the examinee to perform cross-region physical examinations in different physical examination areas.

[0110] In some embodiments, the above robot control method is applied to a first robot, the physical examination site includes at least one physical examination area, at least one robot moves in the corresponding physical examination area, the at least one physical examination area includes a first physical examination area, and the first robot moves in the first physical examination area;

[0111] The robot control method may further include the following steps S181 to S183:

[0112] Step S181: in response to the number of people queuing in the first physical examination area being less than a second number threshold, obtaining current queuing information of each of the physical examination areas;

[0113] In some implementations, each robot active in each physical examination area may obtain current queue information of physical examination items in each physical examination area from a monitoring device.

[0114] Step S182: Based on the current queuing information of each of the physical examination areas, determining a first target physical examination area from each of the physical examination areas where the number of queued persons is greater than a third number threshold;

[0115] Step S183: Control the first robot to move to the first target physical examination area, and provide process guidance to each of the physical examination personnel.

[0116] In some embodiments, when it is detected that there are fewer people queuing in the first physical examination area, the first robot is controlled to move from the first physical examination area with fewer people queuing to the first target physical examination area with more people queuing.

[0117] In the disclosed embodiment, when it is detected that there are fewer people queuing in the first physical examination area, the first robot moves from the first physical examination area with fewer people queuing to the first target physical examination area with more people queuing, thereby increasing the number of robots in the first target physical examination area and improving the physical examination efficiency of each physical examination item in the first target physical examination area, thereby improving the overall physical examination efficiency of each physical examination person.

[0118] In some embodiments, the above robot control method is applied to a first robot, the physical examination site includes at least one physical examination area, at least one robot moves in the corresponding physical examination area, the at least one physical examination area includes a first physical examination area, and the first robot moves in the first physical examination area;

[0119] The robot control method may further include the following steps S191 to S193:

[0120] Step S191: in response to the number of people queuing in the first physical examination area being greater than a fourth number threshold, obtaining current queuing information of each of the physical examination areas;

[0121] Step S192: Based on the current queuing information of each of the physical examination areas, determine a second target physical examination area from each of the physical examination areas where the number of people queuing is less than a fifth number threshold; and determine a target robot active in the second target physical examination area;

[0122] Step S193: Sending a help signal to the target robot to enable the target robot to move to the first physical examination area and provide process guidance to each of the physical examination personnel.

[0123] In some embodiments, it is detected that there are a large number of people queuing in the current first physical examination area, and based on the current queuing information of each physical examination area, a signal for help is sent to a target robot active in a second target physical examination area with a smaller number of people queuing; the target robot responds to the signal for help, moves to the first physical examination area, and guides the process for the physical examination personnel in the first physical examination area.

[0124] In the disclosed embodiment, when there are a large number of people queuing in the first physical examination area, the robots active in the physical examination area with smaller queues are adjusted to the first physical examination area for process guidance, thereby increasing the number of robots in the first physical examination area and improving the inspection efficiency of each physical examination item in the first physical examination area, thereby improving the overall physical examination efficiency of each physical examination person.

[0125] In some embodiments, the above steps S181 to S183 and steps S191 to S193 may be executed simultaneously, or steps S181 to S183 or steps S191 to S193 may be executed alone.

[0126] The present disclosure provides a robot, Figure 5 A schematic diagram of the structure of a robot provided in an embodiment of the present disclosure is shown in FIG. Figure 5 As shown, the robot 200 includes a feature extraction module 201, a first determination module 202, a planning module 203, and a first control module 204, wherein:

[0127] The feature extraction module 201 is used to extract features from image information of at least one person under examination in the physical examination site to obtain behavioral features of each of the physical examination persons; the image information of the at least one person under examination is collected in the physical examination site by using the camera of the robot;

[0128] The first determination module 202 is used to determine the type of each of the physical examinees based on the behavioral characteristics of each of the physical examinees; the type represents the action ability of the physical examinee;

[0129] The planning module 203 is used to plan the physical examination process of each physical examination person based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination person, so as to obtain the target physical examination process of each physical examination person;

[0130] The first control module 204 is used to control the robot to guide at least one of the physical examinees based on the target physical examination process of each of the physical examinees.

[0131] In the disclosed embodiment, based on the current queuing information of each physical examination item in the physical examination site and combined with the mobility represented by the behavioral characteristics of the physical examination personnel, the physical examination process of each physical examination personnel is planned with full consideration of the physical examination personnel with different mobility capabilities to improve the overall physical examination efficiency of each physical examination personnel.

[0132] In some embodiments, the planning module is also used to: for each of the physical examinees, when the type of the physical examinee indicates that the physical examinee's ability to move is lower than a first ability threshold, determine the physical examinee as the first target physical examinee; based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, with the goal of minimizing the physical examination waiting time of the first target physical examinee, plan the physical examination process of the first target physical examinee to obtain the target physical examination process of the first target physical examinee.

[0133] In some embodiments, the waiting time for the physical examination includes the queuing time and the walking time; the planning module is also used to estimate the queuing time of the first target physical examination person based on the current queuing information of each of the physical examination items; estimate the walking time of the first target physical examination person based on the examination location of each of the examination items; the walking time is the walking time of the first target physical examination person between the examination locations of each of the physical examination items; based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, with the goal of minimizing the queuing time and walking time of the first target physical examination person, the physical examination process of the first target physical examination person is planned to obtain the target physical examination process of the first target physical examination person.

[0134] In some embodiments, the planning module is also used to: for each of the physical examination items, determine a target examination location from the multiple examination locations corresponding to the physical examination item based on the multiple examination locations corresponding to the physical examination item and the current position of the first target physical examination personnel; and estimate the walking time of the first target physical examination personnel between the target examination location and the examination location of the current physical examination item.

[0135] In some embodiments, the first control module is also used to: for each of the physical examinees, determine the guidance method corresponding to the physical examinee based on the type of the physical examinee; plan the walking route of the physical examinee based on the target physical examination process of the physical examinee; based on the walking route of the physical examinee, control the robot to guide the physical examinee in the process with the guidance method corresponding to the physical examinee.

[0136] In some embodiments, the first control module is further configured to:

[0137] In a case where the type of the physical examinee represents that the mobility of the physical examinee is not less than the first capability threshold, determining that the guidance mode corresponding to the physical examinee is map guidance;

[0138] When the type of the person under physical examination represents that the mobility of the person under physical examination is lower than the first capability threshold, it is determined that the guiding mode corresponding to the person under physical examination is leading guidance.

[0139] In some embodiments, the first control module is further configured to:

[0140] In the case where the guidance method corresponding to the physical examinee is map guidance, based on the walking route of the physical examinee, controlling the robot to display a guidance map corresponding to the walking route of the physical examinee on an interactive interface;

[0141] In the case that the guidance method corresponding to the physical examinee is leading guidance, the robot is controlled to move based on the walking route of the physical examinee to lead the physical examinee to complete the physical examination process.

[0142] In some embodiments, the current queue information of the physical examination item includes the number of people in the queue for the physical examination item; the robot further includes: a second determination module, a third determination module, and a second control module, wherein:

[0143] A second determination module is configured to determine at least one candidate physical examination item based on current queuing information of each of the physical examination items in response to the number of people queuing for a first physical examination item among the physical examination items being greater than a first number threshold;

[0144] A third determination module is used to determine at least one second target physical examinee from the at least one first physical examinee based on the type of at least one first physical examinee queued in the first physical examination item; the type of the second target physical examinee indicates that the action ability of the second target physical examinee is not less than the first ability threshold; the ranking sequence number of the second target physical examinee in the first physical examination item is greater than a preset sequence number threshold;

[0145] The second control module is used to control the robot to move to the location of each second target physical examination personnel based on the examination order of the second target physical examination personnel in the first physical examination items, and display each candidate physical examination item on the interactive interface so that each second target physical examination personnel can select a target physical examination item from each candidate physical examination item.

[0146] In some embodiments, the robot includes a first robot, the first control module includes a first determination unit, a first control unit and a sending unit, wherein:

[0147] A first determining unit, configured to determine a next physical examination item for the physical examinee based on a target physical examination process for the physical examinee;

[0148] A first control unit is used to control the first robot to guide the physical examiner in a process, so that the physical examiner moves to a handover position corresponding to the first physical examination area and the second physical examination area, when the current position of the physical examinee is in the first physical examination area and the examination location of the next physical examination item is in the second physical examination area;

[0149] The sending unit is used to send the target physical examination process of the physical examinee to the second robot, so that the second robot guides the physical examinee from the handover position based on the target physical examination process.

[0150] In some embodiments, the robot includes a first robot, the physical examination site includes at least one physical examination area, at least one robot moves in a corresponding physical examination area, the at least one physical examination area includes a first physical examination area, and the first robot moves in the first physical examination area;

[0151] The first robot includes a first acquisition module, a fourth determination module and a third control module, wherein:

[0152] The first acquisition module is configured to acquire current queuing information of each of the physical examination areas in response to the number of people queuing in the first physical examination area being less than a second number threshold;

[0153] The fourth determination module is used to determine, from among the physical examination areas, a first target physical examination area where the number of queued persons is greater than a third number threshold based on current queue information of the physical examination areas;

[0154] The third control module is used to control the first robot to move to the first target physical examination area and provide process guidance to each of the physical examination personnel.

[0155] In some embodiments, the robot includes a first robot, the physical examination site includes at least one physical examination area, at least one robot moves in a corresponding physical examination area, the at least one physical examination area includes a first physical examination area, and the first robot moves in the first physical examination area;

[0156] The first robot includes a second acquisition module, a fifth determination module and a sending module, wherein:

[0157] The second acquisition module is used for acquiring current queuing information of each of the physical examination areas in response to the number of people queuing in the first physical examination area being greater than a fourth number threshold;

[0158] The fifth determination module is used to determine, from each of the physical examination areas, a second target physical examination area where the number of queued persons is less than a fifth number threshold based on current queuing information of each of the physical examination areas; and determine a target robot active in the second target physical examination area;

[0159] The sending module is used to send a help signal to the target robot, so that the target robot moves to the first physical examination area and guides the process for each of the physical examination personnel.

[0160] The following describes the application of the embodiments of the present disclosure in actual scenarios.

[0161] With the advancement of Healthy China and the continuous improvement of national health awareness, the health examination industry has ushered in an opportunity for rapid development. In the relevant technology, medical staff or volunteers provide physical examination personnel with suggestions on the order of completing physical examination items based on on-site observations, and manually guide physical examination personnel to the corresponding location. Relying on the on-site observations and personal experience of medical staff or volunteers, it is difficult to quickly respond to the needs of physical examination personnel, especially in the peak of physical examinations, which is easy to cause congestion and chaos; manual guidance requires more human resources, which increases the operating cost of the physical examination center (corresponding to the physical examination site in the aforementioned embodiment) to a certain extent, and the efficiency will decrease due to excessive workload during peak hours; manual guidance is difficult to provide each physical examination person with a personalized physical examination path, resulting in the physical examination person may not be able to complete all the examination items in the most reasonable order, increasing unnecessary movement and waiting time; manual service is easily affected by personal emotions and status, and the service quality is uneven, and it is difficult to ensure that each physical examination person can get the same high-quality service experience; and in the process of manual guidance, information transmission may have errors, resulting in the physical examination person receiving wrong guidance or information, affecting the accuracy and efficiency of the physical examination.

[0162] Based on the above description, in the embodiment of the present disclosure, a robot-guided physical examination process planning method is proposed by integrating whole-house scanning, face recognition, intelligent path planning algorithm and multiple interactive technologies to automatically guide physical examination personnel to complete various tests. The method may include the following steps S301 to S305:

[0163] Step S301: The robot first scans the entire house, that is, the entire physical examination site, to obtain the examination location of each physical examination item;

[0164] Step S302: The robot faces the examinee and can perform face recognition based on its own camera to match the examinee's identity information and the completion status of the current examination item;

[0165] Step S303: the robot plans the physical examination path of the examinee (corresponding to the physical examination process in the above embodiment) according to the current queuing information of each physical examination item obtained from the monitoring device and the completion status of the current physical examination item; and guides the examinee according to the physical examination path;

[0166] The physical examination personnel are classified according to whether they are special groups with limited mobility, such as the elderly, pregnant women, children, etc., and the physical examination routes for special groups are planned in priority, and the corresponding guidance methods are matched. For example, for special groups, they are guided by robots to the inspection locations of various physical examination items; for ordinary people or young people with better mobility, the robot can display the map corresponding to the physical examination route on the interactive interface, and ordinary people or young people can go to the inspection locations of various physical examination items on their own according to the map, which can improve the efficiency of guiding each physical examination person.

[0167] The physical examination site can be divided into multiple physical examination areas. The queuing situation of all physical examination areas collected by the monitoring system can be synchronized with the queuing information of the robots in each physical examination area. According to the number of people queuing in each physical examination area, the robots in the physical examination areas with fewer people are controlled to move to the physical examination areas with more people queuing, and the robot's activity range is dynamically adjusted.

[0168] Physical examination venues can also cross floors, and appropriate cross-floor methods can be planned for special groups and the general population respectively.

[0169] Step S304: The robot patrols the physical examination site in the working state, and in combination with the queue status, waiting time, and detection time of each physical examination item, if there are too many people in the queue for the physical examination item, prompts the waiting physical examination personnel to complete other items first, optimizes the physical examination order, and guides the physical examination personnel to the location of the corresponding physical examination item;

[0170] Here, the location of the corresponding physical examination item is the location of the examination location of the physical examination item corresponding to the smaller number of people in line.

[0171] If there are too many people in the queue for a physical examination item, the physical examination personnel who are in the back of the queue can be prompted to go to the physical examination items with fewer people in the queue first. The prompting method can be through voice broadcasting, or it can be interacted with the physical examination personnel in the back of the queue in turn.

[0172] Step S305: During the robot patrol, if a medical examiner asks questions, the robot recognizes their identity information through facial recognition, obtains the completion status of the user's current test items, plans the optimal medical examination path, and guides the user. During the guidance process, the medical examination path is dynamically optimized.

[0173] During patrol, the robot determines whether the medical examiner is experiencing an emergency based on information obtained through facial recognition and provides special assistance based on the specific situation, for example, coordinating priority medical examinations for the medical examiner.

[0174] In the disclosed embodiments, by integrating robot whole-house scanning, face recognition, intelligent path planning algorithms and multiple interactive technologies, physical examination personnel are automatically guided to complete the inspection of various physical examination items. Compared with the related technology that relies on on-site observation and personal experience of medical staff or volunteers to plan the physical examination process, the disclosed embodiments can optimize the physical examination process based on more accurate and comprehensive queuing information, improve the overall physical examination efficiency of the physical examination items, and enhance the overall level of physical examination services.

[0175] It should be noted that Figure 6 is a schematic diagram of a hardware entity of a robot in an embodiment of the present disclosure, such as Figure 6 As shown, the hardware entity of the robot 200 includes: a processor 1001, a communication interface 1002 and a memory 1003, wherein:

[0176] The processor 1001 generally controls the overall operation of the robot 200 .

[0177] The communication interface 1002 enables the robot to communicate with other terminals or servers through the network.

[0178] The memory 1003 is configured to store instructions and applications executable by the processor 1001, and can also cache data to be processed or processed by the processor 1001 and each module in the robot 200 (for example, image data, audio data, voice communication data, and video communication data), which can be implemented by flash memory (FLASH) or random access memory (Random Access Memory, RAM). Data can be transmitted between the processor 1001, the communication interface 1002, and the memory 1003 through the bus 1004.

[0179] It should be understood that "one embodiment" or "an embodiment" mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, "in one embodiment" or "in an embodiment" appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present disclosure, the size of the serial numbers of the above-mentioned steps / processes does not mean the order of execution. The execution order of each step / process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The serial numbers of the embodiments of the present disclosure are for description only and do not represent the advantages and disadvantages of the embodiments.

[0180] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0181] In the several embodiments provided in the present disclosure, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0182] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units; they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, the functional units in the various embodiments of the present disclosure may all be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0183] A person skilled in the art can understand that all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM), magnetic disks or optical disks, etc., various media that can store program codes.

[0184] Alternatively, if the above-mentioned integrated unit of the present disclosure is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present disclosure can essentially or in other words, the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods of each embodiment of the present disclosure. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROMs, magnetic disks, or optical disks.

[0185] The above description is only an implementation mode of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure.

Claims

1. A robot control method, characterized in that: The method comprises: Extracting features from image information of at least one person under physical examination in a physical examination site to obtain behavioral features of each of the persons under physical examination; the image information of the at least one person under physical examination is collected in the physical examination site by using a camera of the robot; Determining the type of each of the physical examinees based on the behavioral characteristics of each of the physical examinees; the type represents the action ability of the physical examinee; Based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination person, a physical examination process for each physical examination person is planned to obtain a target physical examination process for each physical examination person; Based on the target physical examination process of each of the physical examinees, the robot is controlled to guide the process for at least one of the physical examinees.

2. The method according to claim 1, characterized in that The method of planning the physical examination process for each of the physical examination personnel based on the current queuing information of each physical examination item in the physical examination site and the type of each of the physical examination personnel to obtain the target physical examination process for each of the physical examination personnel includes: For each of the physical examinees, when the type of the physical examinee indicates that the physical examinee's ability to move is lower than a first ability threshold, the physical examinee is determined to be the first target physical examinee; based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, with the goal of minimizing the physical examination waiting time of the first target physical examinee, the physical examination process of the first target physical examinee is planned to obtain the target physical examination process of the first target physical examinee.

3. The method according to claim 2, characterized in that The waiting time for the physical examination includes the queuing time and the walking time; based on the current queuing information of each of the physical examination items and the examination location of each of the physical examination items, the physical examination process of the first target physical examination person is planned with the goal of minimizing the waiting time for the physical examination of the first target physical examination person, and the target physical examination process of the first target physical examination person is obtained, including: Based on the current queuing information of each of the physical examination items, estimating the queuing time of the first target physical examination person; Based on the examination locations of each of the examination items, estimating the walking time of the first target physical examination person; the walking time is the walking time of the first target physical examination person between the examination locations of each of the physical examination items; Based on the current queuing information of each physical examination item and the examination location of each physical examination item, the physical examination process of the first target physical examination person is planned with the goal of minimizing the queuing time and walking time of the first target physical examination person to obtain the target physical examination process of the first target physical examination person.

4. The method according to claim 3, characterized in that The estimating the walking time of the first target physical examination person based on the examination location of each examination item includes: For each of the physical examination items, based on the multiple examination locations corresponding to the physical examination item and the current position of the first target physical examination personnel, a target examination location is determined from the multiple examination locations corresponding to the physical examination item; and the walking time of the first target physical examination personnel between the target examination location and the examination location of the current physical examination item is estimated.

5. The method according to any one of claims 1 to 4, characterized in that The controlling the robot to guide at least one of the physical examinees based on the target physical examination process of each of the physical examinees includes: For each of the physical examinees, the guidance method corresponding to the physical examinee is determined based on the type of the physical examinee; the walking route of the physical examinee is planned based on the target physical examination process of the physical examinee; based on the walking route of the physical examinee, the robot is controlled to guide the physical examinee in the process with the guidance method corresponding to the physical examinee.

6. The method according to claim 5, characterized in that The determining, based on the type of the physical examinee, a guidance method corresponding to the physical examinee includes at least one of the following: In a case where the type of the physical examinee indicates that the mobility of the physical examinee is not less than the first capability threshold, determining that the guidance mode corresponding to the physical examinee is map guidance; In a case where the type of the physical examinee indicates that the physical examinee's mobility is lower than the first capability threshold, determining that the guidance method corresponding to the physical examinee is leading guidance; and / or, The controlling the robot to guide the physical examiner in a guiding manner corresponding to the physical examiner based on the walking route of the physical examiner includes at least one of the following: In the case where the guidance method corresponding to the physical examinee is map guidance, based on the walking route of the physical examinee, controlling the robot to display a guidance map corresponding to the walking route of the physical examinee on an interactive interface; In the case that the guidance method corresponding to the physical examinee is leading guidance, the robot is controlled to move based on the walking route of the physical examinee to lead the physical examinee to complete the physical examination process.

7. The method according to any one of claims 1 to 6, characterized in that The current queuing information of the physical examination items includes the number of people queuing for the physical examination items; the method further includes: In response to the fact that the number of people queuing for the first physical examination item among the physical examination items is greater than a first number threshold, determining at least one candidate physical examination item based on current queuing information of the physical examination items; Based on the type of at least one first medical examinee queued in the first medical examination item, at least one second target medical examinee is determined from the at least one first medical examinee; the type of the second target medical examinee indicates that the action ability of the second target medical examinee is not less than the first ability threshold; the ranking sequence number of the second target medical examinee in the first medical examination item is greater than a preset sequence number threshold; The robot is controlled to move to the location of each of the second target physical examination personnel based on the examination order of the second target physical examination personnel in the first physical examination items, and each of the candidate physical examination items is displayed on the interactive interface so that each of the second target physical examination personnel can select a target physical examination item from the candidate physical examination items.

8. The method according to any one of claims 1 to 7, characterized in that Applied to the first robot, the physical examination site includes a first physical examination area and a second physical examination area; the first robot moves in the first physical examination area, and the second robot moves in the second physical examination area; The controlling the robot to guide at least one of the physical examinees based on the target physical examination process of each of the physical examinees includes: Determining the next physical examination item of the physical examination person based on the target physical examination process of the physical examination person; When the current position of the physical examination person is in the first physical examination area, and the examination location of the next physical examination item is in the second physical examination area, controlling the first robot to guide the physical examination person so that the physical examination person moves to the handover position corresponding to the first physical examination area and the second physical examination area; The target physical examination process of the physical examinee is sent to the second robot, so that the second robot guides the physical examinee from the handover position based on the target physical examination process.

9. The method according to any one of claims 1 to 8, characterized in that Applied to a first robot, the physical examination site includes at least one physical examination area, at least one robot moves in the corresponding physical examination area, the at least one physical examination area includes a first physical examination area, and the first robot moves in the first physical examination area; the method further includes at least one of the following: In response to the number of people queuing in the first physical examination area being less than a second number threshold, obtaining current queuing information of each of the physical examination areas; based on the current queuing information of each of the physical examination areas, determining a first target physical examination area from each of the physical examination areas where the number of people queuing is greater than a third number threshold; controlling the first robot to move to the first target physical examination area, and guiding the process for each of the physical examination personnel; In response to the number of people queuing in the first physical examination area being greater than a fourth number threshold, obtaining current queuing information of each of the physical examination areas; Based on the current queuing information of each of the physical examination areas, determine a second target physical examination area from each of the physical examination areas where the number of queued persons is less than a fifth number threshold; and determine a target robot active in the second target physical examination area; A help signal is sent to the target robot to enable the target robot to move to the first physical examination area and guide the process for each of the physical examination personnel.

10. A robot, characterized in that: The robot includes a feature extraction module, a first determination module, a planning module, and a first control module, wherein: The feature extraction module is used to extract features from image information of at least one person under physical examination in the physical examination site to obtain behavioral features of each of the physical examination persons; the image information of the at least one person under physical examination is collected in the physical examination site by using the camera of the robot; The first determination module is used to determine the type of each of the physical examinees based on the behavioral characteristics of each of the physical examinees; the type represents the action ability of the physical examinee; The planning module is used to plan the physical examination process of each physical examination person based on the current queuing information of each physical examination item in the physical examination site and the type of each physical examination person, so as to obtain the target physical examination process of each physical examination person; The first control module is used to control the robot to guide at least one of the physical examinees based on the target physical examination process of each of the physical examinees.

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