Pet robot following control method and system and electronic equipment

Abstract

The invention relates to the technical field of pet robots, and provides a pet robot following control method and system and electronic equipment. The method comprises the steps of controlling the pet robot to move according to a destination or a preset route; when the vehicle is at the intersection, acquiring information of landmark objects around the intersection; determining an advancing route based on the information of the landmark object; and controlling the pet robot to continuously move based on the advancing route. According to the pet robot following control method provided by the embodiment of the invention, the pet robot is utilized to serve the visual impairment crowd, the travel convenience of the visual impairment crowd is improved, the application range of the pet robot is expanded, and the intelligent degree of the pet robot is improved.

Description

Technical Field

[0001] The present application relates to the field of pet robot technology, and in particular to a pet robot following control method, system and electronic equipment. Background Art

[0002] Pet robots are products that combine artificial intelligence and robotics technologies to provide users with companionship and interactive experiences. These robots usually have the ability to simulate pet behavior and can interact with their owners through voice, movement, and even emotional responses. Pet robots are widely used in the fields of home, elderly care, and children's education.

[0003] The number of people with visual impairment is increasing every year. At present, most people with visual impairment rely on guide sticks when going out. However, the unreasonable setting of the blind paths and the occupation of the blind paths by bicycles make it extremely inconvenient for people with visual impairment to go out.

[0004] Therefore, using pet robots to serve the visually impaired is a viable development direction. That is to say, the application scope of pet robots in related technologies is relatively narrow, and their intelligence level needs to be improved. Summary of the invention

[0005] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a pet robot following control method, system and electronic device.

[0006] According to the first aspect of the present application, the pet robot following control method includes:

[0007] Controlling the pet robot to move according to a destination or a preset route;

[0008] When at an intersection, obtain information about landmark objects around the intersection;

[0009] Determine the route based on the information of landmark objects;

[0010] Based on the travel route, the pet robot is controlled to continue moving.

[0011] According to one embodiment of the present application, the step of determining the travel route based on the information of the landmark object includes:

[0012] Based on the information of the landmark object, determine the location of the landmark object;

[0013] Determine the route based on the location of landmark objects.

[0014] According to one embodiment of the present application, the step of determining the travel route based on the position of the landmark object includes:

[0015] Based on the position of the landmark object, determining the distance and orientation between the pet robot and the landmark object;

[0016] The travel route is determined based on the distance and direction between the pet robot and the landmark object.

[0017] According to an embodiment of the present application, the landmark objects include buildings, shops and road signs, and the information of the landmark objects includes text information and image information.

[0018] According to one embodiment of the present application, when at an intersection, the method further includes:

[0019] Controlling the pet robot to send directions information to passers-by;

[0020] Determine the route based on the response information of passers-by;

[0021] Based on the travel route, the pet robot is controlled to continue moving.

[0022] According to one embodiment of the present application, the step of controlling the pet robot to send a direction-asking message to a passerby includes:

[0023] The pet robot is controlled to send destination information to passers-by.

[0024] According to an embodiment of the present application, the step of determining the travel route based on the reply information of the passerby includes:

[0025] Determine the route based on the gestures of passers-by.

[0026] The pet robot according to the second aspect of the present application includes a control component, which is used to execute the above-mentioned pet robot following control method.

[0027] According to the third aspect of the present application, a pet robot following control device includes:

[0028] A first control module, used to control the pet robot to move according to a destination or a preset route;

[0029] An acquisition module, used to acquire information of landmark objects around the intersection when the user is at the intersection;

[0030] A determination module, used for determining a travel route based on information of landmark objects;

[0031] The second control module is used to control the pet robot to continue moving based on the travel route.

[0032] According to the electronic device of the fourth aspect embodiment of the present application, it includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned pet robot following control method when executing the computer program.

[0033] According to the non-transitory computer-readable storage medium of the fifth aspect embodiment of the present application, the non-transitory computer-readable storage medium includes a computer program, and when the computer program is executed by the processor, the above-mentioned pet robot following control method is implemented.

[0034] According to the computer program product of the sixth aspect of the present application, the computer program product includes a computer program, and when the computer program is executed by the processor, the above-mentioned pet robot following control method is implemented.

[0035] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0037] Figure 1 It is a flow chart of the pet robot following control method of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the pet robot following control device provided by the present invention;

[0039] Figure 3 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0040] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] The embodiments of the present application provide an embodiment of a pet robot following control method. It should be noted that, although the logical order is shown in the flow chart, under certain data, the steps shown or described may be completed in an order different from that shown here.

[0042] Before introducing the pet robot following control method of the embodiment of the present application, the application scenario of the pet robot following control method is explained first. The pet robot following control method of the present application can be applied to smart terminals such as smart phones, tablets and computers, and can also be applied to servers. The present application does not make any special limitations here, as long as it can carry and implement the pet robot following control method of the present application.

[0043] The following description will be given by applying the pet robot following control method to the server side, but it should be understood that the pet robot following control method is not limited to being applied only to the server side.

[0044] Elderly people and children often need special people to accompany them when they go out. This application improves the intelligence of pet robots so that pet robots can automatically locate and lock users, thus achieving follow-up and accompanying of users.

[0045] Combine the following Figures 1 to 3 The pet robot following control method, system and electronic device of the present application are described.

[0046] According to the embodiment of the first aspect of the present application, Figure 1 As shown, the pet robot following control method includes:

[0047] Step 101, controlling the pet robot to move according to a destination or a preset route;

[0048] It is understandable that the route can be planned according to the destination to control the movement of the pet robot, or the preset route can be directly sent to the pet robot to control the pet robot to move along the preset route.

[0049] Step 102: When at an intersection, obtain information about landmark objects around the intersection;

[0050] It is understandable that the pet robot is equipped with a camera, and whether the pet robot is at an intersection can be determined based on the camera's shooting image.

[0051] Step 103: Determine the travel route based on the information of the landmark object;

[0052] It is understandable that in order to avoid taking the wrong path at an intersection, when at an intersection, the route of travel will be determined based on the map information of the intersection and the information of landmark objects, thereby improving the accuracy of the pet robot's actions.

[0053] For example, when the pet robot needs to turn left at an intersection, but there are two adjacent left-turn lanes, the landmark object can be used as a reference to determine which of the two adjacent left-turn lanes is the correct one. For example, in the map navigation information, the correct left-turn lane is the one that is farther from the landmark object among the two left-turn lanes. Based on the captured image of the pet robot, the landmark object can be used as a reference to determine the distance between the two left-turn lanes and the landmark object, and then the correct left-turn lane can be determined.

[0054] Step 104: Based on the travel route, control the pet robot to continue moving.

[0055] According to the pet robot following control method of the embodiment of the present application, when a visually impaired user wants to go out, the pet robot is controlled to move according to the destination or preset route, so that the pet robot can play the role of leading the way, and the user can just follow the pet robot. When reaching an intersection, in order to ensure the accuracy of the pet robot leading the way, the information of the landmark objects around the intersection is obtained, and the route is determined based on the information of the landmark objects, and then the pet robot is controlled to continue moving according to the route, which can effectively avoid the situation where the pet robot goes the wrong way at the intersection. In this way, the use of pet robots to serve people with visual impairments is realized, the travel convenience of people with visual impairments is improved, the application scope of pet robots is increased, and the intelligence level of pet robots is improved.

[0056] In one embodiment of the present application, the step of determining the travel route based on the information of the landmark object includes:

[0057] Based on the information of the landmark object, determine the location of the landmark object;

[0058] Determine the route based on the location of landmark objects.

[0059] It is understandable that the information of the landmark object may be the shape, color, shape, name, number or any other identifiable information of the landmark object. According to the information of the landmark object, the position of the landmark object can be determined, and then the route can be determined with reference to the landmark object.

[0060] For example, the landmark object is a store. Then, the store location can be determined based on the store name, and the travel route can be determined with the store location as a reference. Specifically, assuming that you need to turn right at an intersection, but there are two adjacent right-turn intersections, you can use the store location as a reference to determine which right-turn intersection is correct. For example, according to map navigation information, the correct right-turn intersection is the one closer to the store of the two right-turn intersections, and then the travel route can be determined, so that the pet robot can accurately turn right from the right-turn intersection closer to the store.

[0061] In one embodiment of the present application, the step of determining the travel route based on the position of the landmark object includes:

[0062] Based on the position of the landmark object, determining the distance and orientation between the pet robot and the landmark object;

[0063] The travel route is determined based on the distance and direction between the pet robot and the landmark object.

[0064] It can be understood that the distance and direction between the pet robot and the landmark object can be determined based on the position of the landmark object.

[0065] Suppose the pet robot needs to walk to point A at the intersection. According to the map data of the intersection (provided in the navigation software), the distance and direction between the landmark object and point A can be determined, and then the distance and direction between the pet robot and point A can be determined. Then the route can be determined, and the pet robot can be controlled to move according to the route, ensuring that the pet robot can move to point A.

[0066] In some examples, the landmark objects include buildings, stores, and road signs, and the information of the landmark objects includes text information and image information.

[0067] In one embodiment of the present application, when at an intersection, the method further includes:

[0068] Controlling the pet robot to send directions information to passers-by;

[0069] Determine the route based on the response information of passers-by;

[0070] Based on the travel route, the pet robot is controlled to continue moving.

[0071] It is understandable that when at an intersection, in addition to determining the route based on landmark objects, you can also determine the route by asking passers-by for help.

[0072] Specifically, when at an intersection, the pet robot is controlled to send a message asking for directions to passers-by, and the route is determined based on the passers-by's reply, and then the pet robot is controlled to continue moving according to the route.

[0073] In some examples, the information about asking for directions can be sent to passers-by through voice broadcast or displayed to passers-by through the display screen of the pet robot.

[0074] In some examples, the reply information of the passerby can be delivered by speaking to the pet robot, or by input components (such as buttons, touch screen) on the pet robot.

[0075] In one embodiment of the present application, the step of controlling the pet robot to send a direction-asking message to a passerby comprises:

[0076] The pet robot is controlled to send destination information to passers-by.

[0077] It is understandable that the destination information is directly sent to passers-by so that the passers-by can give directions based on the destination information.

[0078] In one embodiment of the present application, the step of controlling the pet robot to send a direction-asking message to a passerby comprises:

[0079] When the distance between the destination and the current position of the pet robot exceeds a first preset distance, a landmark building between the destination and the current position of the pet robot is determined as a target location, wherein the distance between the target location and the current position of the pet robot is less than a third preset distance;

[0080] The pet robot is controlled to send target location information to passers-by.

[0081] It is understandable that when the distance between the destination and the current position of the pet robot exceeds the first preset distance, it means that the distance between the pet robot and the destination is far, and passers-by may not know how to get to the destination. Then, a landmark building is selected between the destination and the current position of the pet robot as the destination, and the distance between the destination and the current position of the pet robot is less than the third preset distance, so as to maximize the possibility that passers-by know how to get to the destination. Then the pet robot is controlled to send the destination information to the passers-by.

[0082] In one embodiment of the present application, the step of determining the travel route based on the reply information of the passerby includes:

[0083] Determine the route based on the gestures of passers-by.

[0084] It can be understood that by acquiring the gesture image of the passerby, the gesture of the passerby is recognized, the direction of the gesture of the passerby is determined, and then the travel route is determined.

[0085] In one embodiment of the present application, the step of determining the travel route based on the reply information of the passerby includes:

[0086] Determine the route based on the responses of passers-by.

[0087] It is understandable that keywords, such as forward, right, left, etc., are identified from the reply utterances of passers-by to determine the travel route according to the keywords.

[0088] In one embodiment of the present application, the step of controlling the pet robot to send a direction-asking message to a passerby comprises:

[0089] The pet robot is controlled to send a direction-asking message to a target passerby, wherein the moving speed of the target passerby is lower than a preset speed, and the distance between the target passerby and the pet robot is less than a second preset distance.

[0090] It is understandable that choosing a passerby whose moving speed is less than a preset speed to ask for directions can improve the success rate of asking for directions. Choosing a passerby whose distance is less than a second preset distance to ask for directions can improve the success rate of asking for directions.

[0091] In one embodiment of the present application, when there is an obstacle in the direction of travel of the pet robot, the control replans the route;

[0092] Based on the replanned route, the movement of the pet robot is controlled.

[0093] It is understandable that when there is an obstacle in the direction of travel of the pet robot, the route will be replanned to avoid the obstacle.

[0094] In one embodiment of the present application, after the step of controlling the movement of the pet robot, the following steps are included:

[0095] Determining that the distance between the pet robot and the user exceeds a preset value;

[0096] The pet robot is controlled to send out a warning message.

[0097] It is understandable that when the distance between the pet robot and the user exceeds a preset value, it means that the distance between the pet robot and the user is too far, and the pet robot may be at risk of losing the user, so the pet robot is controlled to send a warning message to remind the user.

[0098] It is understandable that the warning information can be issued in the form of voice broadcast or sent to a terminal carried by the user.

[0099] In one embodiment of the present application, after the step of controlling the movement of the pet robot, the following steps are included:

[0100] When the user cannot be locked within the preset time, a prompt message is issued to remind the user to stop moving or move towards the pet robot.

[0101] It is understandable that when the pet robot fails to lock the user within the preset time, that is, the user is not recognized in the real-time images around the pet robot within the preset time, it means that the user has left the pet robot's sight. Then the pet robot is controlled to send a prompt message to prompt the user to stop moving or move towards the pet robot to prevent the pet robot from losing the user.

[0102] It is understandable that when the pet robot fails to lock onto the user within the preset time, it can send a prompt message to remind the user to stop moving. Then the pet robot determines the search direction based on the user's movement direction when the user was last locked. The pet robot moves according to the search direction until it locks onto the user again.

[0103] In one embodiment of the present application, after the step of issuing the prompt information, the method further includes: obtaining a picture taken by a body-worn camera, wherein the body-worn camera is installed on the user;

[0104] Determine the user's location based on the image captured by the body-worn camera;

[0105] Based on the user's position, the pet robot is controlled to move.

[0106] It is understandable that when the pet robot fails to lock the user within the preset time, that is, loses the user, it can obtain the shooting picture of the body camera on the user to determine the user's location based on the shooting picture of the body camera, and then control the pet robot to move towards the user based on the user's location, so that the pet robot locks the user again. For example, a landmark building can be determined from the shooting picture of the body camera, and then combined with map information, the user's location can be determined.

[0107] Specifically, the step of determining the user's location based on the image captured by the body-worn camera includes:

[0108] Acquire an image of the surroundings of the pet robot;

[0109] The user's location is determined based on the images captured by the portable camera and the images around the pet robot.

[0110] It can be understood that when determining the user's position based on the footage captured by the body-mounted camera, images around the pet robot are obtained, and then the footage captured by the body-mounted camera and the images around the pet robot are compared to determine the user's position.

[0111] When the pet robot just loses its user, the distance between the pet robot and the user will not be too far, so the images around the pet robot and the images taken by the portable camera will overlap, and the approximate location of the user can be determined based on the overlapping parts.

[0112] For example, the images captured by the body camera and the images around the pet robot are compared to obtain overlapping buildings, and then based on the overlapping buildings, the approximate location of the user can be determined.

[0113] For example, when the user and the pet robot are in a place with a large space and a large flow of people, such as a square or a station, the pet robot is likely to lose the user. In this case, the overlapping images can be determined based on the images around the pet robot and the images taken by the body-carrying camera, and then the position between the user and the pet robot can be determined. Furthermore, landmark buildings, such as shop names, can be determined from the overlapping images. Based on the images taken by the body-carrying camera, the angle or direction at which the body-carrying camera took the shop name can be determined, and then the user's position can be accurately determined.

[0114] In some embodiments, the step of controlling the pet robot to move according to the destination or the preset route includes:

[0115] When receiving a guide instruction, determine the route according to the destination;

[0116] The pet robot is controlled to move according to the travel route.

[0117] It can be understood that when the pet robot receives a lead instruction, it means that the user needs the pet robot to lead the way, so the route is determined according to the destination, and the pet robot is controlled to move according to the route.

[0118] It is understandable that the guide instruction can carry destination information, and the destination information can also be sent to the pet robot separately.

[0119] It is understandable that when a user who is unfamiliar with the road conditions or has visual impairments needs to go out, he or she can send a lead instruction to the pet robot and use the pet robot to lead the way, ensuring that the user can travel smoothly.

[0120] In one embodiment of the present application, the step of determining the travel route according to the destination includes:

[0121] The travel route is determined according to the destination and the user's mobility, wherein the user's mobility includes whether the user can walk and whether the user can go up and down stairs.

[0122] It is understandable that when determining a route based on a destination, the route is determined based on the destination and the user's mobility to ensure that the route is acceptable to the user.

[0123] For example, when the user is unable to go up and down stairs, the route that requires taking the stairs will be excluded when determining the route, to ensure that the user can smoothly reach the destination along the route.

[0124] It will be appreciated that the user's mobility capabilities may be pre-set.

[0125] In one embodiment of the present application, after the step of controlling the movement of the pet robot according to the travel route, the following steps are included:

[0126] When the distance between the pet robot and the user exceeds a preset value, the pet robot is controlled to reduce the moving speed or stop moving.

[0127] It can be understood that when it is determined that the distance between the pet robot and the user exceeds the preset value, it means that the distance between the pet robot and the user is too far, and then the pet robot is controlled to reduce the moving speed or stop moving to shorten the distance between the user and the pet robot, avoiding the user from losing the pet robot, and ensuring that the pet robot can continue to play the role of leading the way.

[0128] In one embodiment of the present application, after the step of controlling the movement of the pet robot according to the travel route, the following steps are included:

[0129] determining a standard travel direction according to the travel route;

[0130] When the deviation between the user's traveling direction and the standard traveling direction is greater than a threshold, the pet robot is controlled to issue a prompt message to remind the user to adjust the traveling direction.

[0131] It is understandable that the standard travel direction can be determined based on the travel route, and the user's travel direction can be compared with the standard travel direction to determine whether the deviation between the user's travel direction and the standard travel direction is greater than a threshold. When it is determined that the deviation between the user's travel direction and the standard travel direction is greater than the threshold, it means that the user's travel direction has deviated at this time, and the pet robot is controlled to issue a prompt message to remind the user to adjust the travel direction, thereby ensuring that the user can travel in the correct direction.

[0132] Specifically, according to the travel route and the current position, the standard travel direction of the current position can be determined, and then it can be judged whether the user's travel direction is correct.

[0133] In one embodiment of the present application, after the step of controlling the movement of the pet robot according to the travel route, the following steps are included:

[0134] When traveling to a traffic light intersection, obtain the traffic light status;

[0135] Determining a travel strategy based on the traffic light status;

[0136] Based on the movement strategy, the movement of the pet robot is controlled.

[0137] It is understandable that, based on the captured images of the pet robot, it can be determined whether the pet robot has reached a traffic light intersection. When it is determined that the pet robot has reached a traffic light intersection, the traffic light status is obtained to determine whether the traffic light is in a passable state. According to the traffic light status, the travel strategy is determined: if the traffic light is in a passable state, the pet robot is controlled to continue moving; if the traffic light is in an impassable state, the pet robot is controlled to stop moving until the traffic light switches to a passable state. This allows the user to safely pass through the traffic light intersection with the pet robot, ensuring the user's safety.

[0138] In some examples, the traffic light status can be obtained by controlling the pet robot to take a photo of the traffic light, and the traffic light status can be determined by analyzing the photo. When the traffic light is a networked traffic light, the status of the traffic light can also be directly determined by obtaining the networked data of the traffic light.

[0139] In some embodiments, the pet robot includes a main body and a lifting plate, and the lifting plate can move up and down relative to the main body; after the step of controlling the pet robot to perform the following operation, the method includes:

[0140] When receiving a user instruction, the pet robot is controlled to stop moving, and the lifting plate is controlled to move upward relative to the main body.

[0141] It is understandable that when a user instruction is received, it means that the user needs to use the lifting platform at this time, so the pet robot is controlled to stop moving, and the lifting platform is controlled to move upward relative to the main body to facilitate user use.

[0142] It is understandable that the user can use the lifting flat panel as a desktop or as a stool, which improves the convenience of the user when going out.

[0143] Exemplarily, when the user needs to use the lifting platform as a tabletop, a first user instruction is sent to the pet robot. After receiving the first user instruction, the pet robot controls the lifting platform to move upward a distance A. When the user needs to use the lifting platform as a stool, a second user instruction is sent to the pet robot. After receiving the second user instruction, the pet robot controls the lifting platform to move upward a distance B, wherein distance A is greater than distance B.

[0144] In some embodiments, when it is determined that the pet robot has lost its user, the pet robot is controlled to obtain image data of people sitting around it;

[0145] Based on the current image information, determine image data of the user in a sitting position;

[0146] The user is locked based on the image data of the surrounding people in a sitting position and the image data of the user in a sitting position.

[0147] It is understandable that when the user cannot be recognized in the captured image of the pet robot, it is determined that the pet robot has lost the user.

[0148] The current image information of the user obtained by the pet robot is generally in a standing posture, and the user is basically in a standing posture when going out. Therefore, the pet robot mainly locates the user by identifying standing people to improve the locking speed.

[0149] At this time, the pet robot is controlled to obtain image data of people sitting around it, and determine image data of the user sitting based on current image information, and then compare the image data of people sitting around it with the image data of the user sitting, and then lock the user.

[0150] According to the embodiment of the second aspect of the present application, the pet robot following control device and the pet robot following control method correspond to each other. Figure 2 As shown, the pet robot following control device includes:

[0151] The first control module 201 is used to control the pet robot to move according to a destination or a preset route;

[0152] An acquisition module 202 is used to acquire information of landmark objects around the intersection when the user is at the intersection;

[0153] A determination module 203, used to determine a travel route based on information of the landmark object;

[0154] The second control module 204 is used to control the pet robot to continue moving based on the travel route.

[0155] According to an embodiment of the third aspect of the present application, the pet robot includes a control component, which is used to execute the above-mentioned pet robot following control method.

[0156] In some embodiments, the pet robot further comprises a body, a traction rope and a winding member, wherein the winding member is mounted on the body, and the connecting end of the traction rope is connected to the winding member. The winding member can be switched between a forward rotation state and a reverse rotation state, wherein in the forward rotation state, the winding member winds up the traction rope, and in the reverse rotation state, the winding member releases the traction rope.

[0157] It is understandable that the user can follow the pet robot by grasping the traction rope, especially the visually impaired user. The winding member can be used to wind the traction rope. When the user needs to use the traction rope, the user pulls the traction rope, so that the winding member is in a reverse rotation state, and the winding member releases the traction rope. When the user does not need to use the traction rope, the user no longer pulls the traction rope, and the winding member is in a forward rotation state, and the winding member winds up the traction rope to achieve automatic winding of the traction rope.

[0158] In some embodiments, the body is formed with a mounting groove, the traction rope includes a traction end and a connection end that are relatively arranged, and when the winding member winds up the traction rope, the traction end of the traction rope is located in the mounting groove.

[0159] It can be understood that by providing a mounting groove for placing the traction rope, the traction rope can be stored and prevented from protruding from the pet robot.

[0160] In some embodiments, when controlling the pet robot, if it is determined that the user needs to use a leash, the pet robot is controlled to issue guidance information based on the position of the user's hand and the position of the leash to guide the user's hand to move toward the leash.

[0161] It is understandable that the position of the user's hand is determined by acquiring an image of the user's hand. Based on the position of the user's hand and the position of the traction rope, the orientation and distance between the user's hand and the traction rope can be determined, and then according to the orientation and distance between the user's hand and the traction rope, the pet robot is controlled to send guidance information to guide the user's hand to move toward the traction rope, so that the user can quickly grasp the traction rope.

[0162] According to an embodiment of the fourth aspect of the present application, Figure 3 As shown, the electronic device may include: a processor 310, a communication interface 320, a memory 330 and a communication bus 340, wherein the processor 310, the communication interface 320 and the memory 330 communicate with each other through the communication bus 340. The processor 310 may call the logic instructions in the memory 330 to execute the pet robot following control method, which includes:

[0163] Controlling the pet robot to move according to a destination or a preset route;

[0164] When at an intersection, obtain information about landmark objects around the intersection;

[0165] Determine the route based on the information of landmark objects;

[0166] Based on the travel route, the pet robot is controlled to continue moving.

[0167] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0168] On the other hand, the present application also provides a computer program product, the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, when the program instructions are executed by a computer, the computer can execute the pet robot following control method provided by the above methods, the method comprising:

[0169] Controlling the pet robot to move according to a destination or a preset route;

[0170] When at an intersection, obtain information about landmark objects around the intersection;

[0171] Determine the route based on the information of landmark objects;

[0172] Based on the travel route, the pet robot is controlled to continue moving.

[0173] According to an embodiment of the fifth aspect of the present application, the present application also includes a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the pet robot following control method provided above is implemented, and the method includes:

[0174] Controlling the pet robot to move according to a destination or a preset route;

[0175] When at an intersection, obtain information about landmark objects around the intersection;

[0176] Determine the route based on the information of landmark objects;

[0177] Based on the travel route, the pet robot is controlled to continue moving.

[0178] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Those of ordinary skill in the art may understand and implement it without creative effort.

[0179] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods of each embodiment or some parts of the embodiment.

[0180] Finally, it should be noted that the above implementation modes are only used to illustrate the present application, rather than to limit the present application. Although the present application is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent substitutions of the technical solutions of the present application do not depart from the spirit and scope of the technical solutions of the present application, and should be included in the scope of the claims of the present application.

Claims

1. A pet robot following control method, characterized in that: include: Controlling the pet robot to move according to a destination or a preset route; When at an intersection, obtain information about landmark objects around the intersection; Determine the route based on the information of landmark objects; Based on the travel route, the pet robot is controlled to continue moving.

2. The pet robot following control method according to claim 1, characterized in that: The step of determining the route based on the information of the landmark object comprises: Based on the information of the landmark object, determine the location of the landmark object; Determine the route based on the location of landmark objects.

3. The pet robot following control method according to claim 2, characterized in that: The step of determining the route based on the position of the landmark object comprises: Based on the position of the landmark object, determining the distance and orientation between the pet robot and the landmark object; The travel route is determined based on the distance and direction between the pet robot and the landmark object.

4. The pet robot following control method according to claim 1, characterized in that: The landmark objects include buildings, shops and road signs, and the information of the landmark objects includes text information and image information.

5. The pet robot following control method according to claim 1, characterized in that: When at an intersection, the method further includes: Controlling the pet robot to send directions information to passers-by; Determine the route based on the response information of passers-by; Based on the travel route, the pet robot is controlled to continue moving.

6. The pet robot following control method according to claim 5, characterized in that: The step of controlling the pet robot to send a direction-asking message to a passerby comprises: The pet robot is controlled to send destination information to passers-by.

7. The pet robot following control method according to claim 5, characterized in that: The step of determining the travel route based on the reply information of the passerby includes: Determine the route based on the gestures of passers-by.

8. A pet robot, characterized in that: It comprises a control component, and the control component is used to execute the pet robot following control method as described in any one of claims 1 to 7.

9. A pet robot following control device, characterized in that: include: A first control module, used to control the pet robot to move according to a destination or a preset route; An acquisition module, used to acquire information of landmark objects around the intersection when the user is at the intersection; A determination module, used for determining a travel route based on information of landmark objects; The second control module is used to control the pet robot to continue moving based on the travel route.

10. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the pet robot following control method according to any one of claims 1 to 7 is implemented.

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