Method, device and equipment for distributing office supplies by robot, storage medium and program product
By using the robot to carry lidar to build a real-time office map and map semantic information, the problem of robots distributing office supplies in complex scenarios in traditional technology is solved, and efficient and accurate delivery of office supplies is achieved.
Patent Information
- Application Number
- CN202510501574.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-21
- Publication Date
- 2025-07-08
AI Technical Summary
Traditional technology cannot support robots to efficiently deliver office supplies in complex scenarios such as multi-floor or multi-room offices.
The robot is equipped with lidar to build a real-time office map, identify target objects with obvious geometric features, and map them based on the semantic information of the office layout diagram, and control the robot movement to distribute office supplies.
The robot can efficiently distribute office supplies in complex scenarios across floors or rooms, improve distribution efficiency and accuracy, and reduce labor costs.
Smart Images
Figure CN120276443A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of intelligent distribution of office supplies, and particularly to a method, device, computer device, storage medium, and computer program product for a robot to distribute office supplies. Background Art
[0002] The intelligent distribution of office supplies can be achieved by robots. The robots can deliver office supplies to designated locations, reducing labor costs. However, when robots distribute office supplies in an office, some offices include multiple floors or multiple rooms, which requires the robots to complete the distribution in such complex scenarios. Traditional technologies can only support robots to distribute in relatively simple scenarios, restricting the application of robot distribution in complex scenarios. Summary of the Invention
[0003] Based on this, it is necessary to provide a method, device, computer device, storage medium, and computer program product for a robot to distribute office supplies in response to the above technical problems.
[0004] This application provides a method for a robot to distribute office supplies, and the method includes:
[0005] During the process of a robot loaded with office supplies moving in an office, obtain a real-time map of the office constructed by the robot using a lidar.
[0006] When a target object is recognized in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, map the semantic information in the office layout map to the real-time map of the office; the target object includes an object in the office that has obvious geometric features in both the real-time map of the office and the office layout map.
[0007] Control the robot to move according to the semantic information carried by the real-time map, so as to deliver the office supplies to the target location.
[0008] In one embodiment, the method further includes:
[0009] When no target object is recognized in the real-time map of the office, obtain the trajectory line of the real-time movement trajectory of the robot in the earth coordinate system.
[0010] According to the conversion relationship between the earth coordinate system and the office layout map coordinate system, convert the trajectory line of the real-time movement trajectory in the earth coordinate system to obtain the trajectory line of the real-time movement trajectory in the office layout map coordinate system.
[0011] Obtain the trajectory line of the real-time movement trajectory in the robot coordinate system.
[0012] Register the trajectory line of the real-time motion trajectory in the coordinate system of the office layout map and the trajectory line in the robot coordinate system, so as to map the semantic information in the office layout map to the office real-time map.
[0013] In one embodiment, registering the trajectory line of the real-time motion trajectory in the coordinate system of the office layout map and the trajectory line in the robot coordinate system, so as to map the semantic information in the office layout map to the office real-time map, includes:
[0014] Register the trajectory line of the real-time motion trajectory in the coordinate system of the office layout map and the trajectory line in the robot coordinate system, to obtain the conversion relationship between the robot coordinate system and the office layout map coordinate system;
[0015] According to the conversion relationship, map the semantic information in the office layout map to the office real-time map.
[0016] In one embodiment, obtaining the trajectory line of the real-time motion trajectory of the robot in the earth coordinate system includes:
[0017] Obtain the real-time position reported by the GPS locator carried by the robot during the movement of the robot;
[0018] According to the real-time position reported by the GPS locator, obtain the trajectory line of the real-time motion trajectory of the robot in the earth coordinate system.
[0019] In one embodiment, obtaining the trajectory line of the real-time motion trajectory in the robot coordinate system includes:
[0020] Obtain the real-time motion information recorded by the inertial measurement unit carried by the robot during the movement of the robot;
[0021] According to the real-time motion information, obtain the trajectory line of the real-time motion trajectory in the robot coordinate system.
[0022] In one embodiment, mapping the semantic information in the office layout map to the office real-time map based on the position of the target object in the office real-time map and the position of the target object in the office layout map includes:
[0023] Based on the position of the target object in the office real-time map and the position of the target object in the office layout map, determine the conversion relationship between the robot coordinate system where the office real-time map is located and the office layout map coordinate system;
[0024] According to the conversion relationship, map the semantic information in the office layout diagram to the office real-time map.
[0025] This application provides a device for a robot to deliver office supplies. The device includes:
[0026] A real-time map acquisition module, configured to acquire the office real-time map constructed by the robot through lidar during the movement of the robot carrying office supplies in the office;
[0027] A mapping processing module, configured to, when a target object is recognized in the office real-time map, map the semantic information in the office layout diagram to the office real-time map based on the position of the target object in the office real-time map and the position of the target object in the office layout diagram; the target object includes an object in the office that has obvious geometric features in both the office real-time map and the office layout diagram;
[0028] A movement control module, configured to control the robot to move according to the semantic information carried by the real-time map, so as to deliver the office supplies to the target location.
[0029] This application provides a computer device, including a memory and a processor, where the memory stores a computer program, and the processor executes the above method.
[0030] This application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is executed by the processor to execute the above method.
[0031] This application provides a computer program product, on which a computer program is stored, and the computer program is executed by the processor to execute the above method.
[0032] The above-mentioned method, device, computer equipment, storage medium and computer program product for robot to deliver office supplies. During the process of the robot loaded with office supplies moving in the office, the robot obtains the real-time map of the office constructed by the lidar; when a target object is recognized in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, the semantic information in the office layout map is mapped to the real-time map of the office; the target object includes the objects in the office that have obvious geometric features in both the real-time map of the office and the office layout map; the robot is controlled to move according to the semantic information carried by the real-time map so as to deliver the office supplies to the target location. In the solution provided by this application, the robot constructs the real-time map of the office through the lidar, which can support the robot to perform deliveries in complex scenarios such as across floors or across rooms; moreover, with the help of the semantic information in the office layout map, when a target object is recognized in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, the semantic information is mapped to the real-time map of the office, thereby enabling the real-time map of the office to carry semantic information and allowing the robot to deliver the office supplies to the target location, further promoting the application of robot delivery in complex scenarios. BRIEF DESCRIPTION OF THE DRAWINGS
[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the drawings required for use in the description of the embodiments or related technologies. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.
[0034] Figure 1 It is a schematic flowchart of the method for a robot to deliver office supplies in an embodiment;
[0035] Figure 2 It is a schematic flowchart of mapping semantic information through real-time motion trajectory in an embodiment;
[0036] Figure 3 It is a schematic flowchart of mapping semantic information according to the coordinate system conversion relationship in an embodiment;
[0037] Figure 4 It is a structural block diagram of the device for a robot to deliver office supplies in an embodiment;
[0038] Figure 5 It is an internal structure diagram of a computer device in an embodiment. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0039] To make the objectives, technical solutions and advantages of this application more clear and understandable, the following further elaborates on this application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely used to explain this application and are not used to limit this application.
[0040] The method for a robot to deliver office supplies provided by this application can be executed by a computer device. This method includes Figure 1 the steps shown.
[0041] Step S101, during the process of a robot loaded with office supplies moving in the office, obtain the real-time map of the office constructed by the robot through a lidar.
[0042] After obtaining the office supply requirement form of an employee, the office supply requirement form can be parsed to determine the categories and quantities of office supplies required by the employee; control the robot to pick up the corresponding office supplies in the warehouse according to the categories and quantities and place them in the storage grid of the robot. Thus, the robot is loaded with office supplies.
[0043] After the robot is loaded with office supplies, it can deliver the office supplies to the target location recorded in the office supply requirement form. During the delivery process, the robot can move autonomously in the office. During the movement of the robot, it can construct a real-time map of the office according to the point cloud data collected by the lidar carried on the robot, in combination with the SLAM and VSLAM fusion positioning and navigation technologies. Among them, the full English name of SLAM is Simultaneous Localization and Mapping, and the Chinese is simultaneous localization and mapping; the full English name of VSLAM is Visual Simultaneous Localization and Mapping, and the Chinese is visual simultaneous localization and mapping.
[0044] The real-time map of the office constructed according to the point cloud data collected by the lidar lacks semantic information in some scenarios. For example, if there is no "Finance Department" sign on the door of the finance department, it is difficult to identify the door belonging to the finance department based on the point cloud data of the door of the finance department, resulting in the robot being difficult to autonomously deliver office supplies to locations lacking semantic information such as the finance department.
[0045] Step S102, when a target object is recognized in the real-time map of the office, map the semantic information in the office layout plan to the real-time map of the office based on the position of the target object in the real-time map of the office and the position of the target object in the office layout plan.
[0046] The target object includes objects in the office that have obvious geometric features in both the real-time map of the office and the office layout plan.
[0047] The target objects are, for example, the corners, doors, large office furniture, etc. in the office. Through manual analysis, these objects have obvious geometric features in the real-time office map and the office layout map. Therefore, these objects can be used as target objects. The obviousness of the geometric features of a certain object in the office in the real-time office map and the office layout map can be determined by the corresponding personnel based on their own experience.
[0048] The office layout map annotates what each location in the office belongs to, and this annotation information can be called the semantic information of the office layout map.
[0049] Taking the target object including the office door as an example. After obtaining the real-time office map, the real-time office map can be recognized to determine whether the real-time office map includes the office door; if so, based on the position of the door in the real-time office map and the position of the door in the office layout map, the semantic information in the office layout map can be mapped to the real-time office map. Specifically, the office layout map can be rotated, translated, scaled, etc., so that the position of the door in the office layout map matches the position of the door in the real-time office map. When the match is achieved, the semantic information in the office layout map can be mapped to the real-time office map, thereby enabling the real-time office map to carry semantic information.
[0050] Step S103, control the robot to move according to the semantic information carried by the real-time map, so as to deliver office supplies to the target location.
[0051] After the processing in step S102, the real-time office map can carry semantic information. Control the robot to move according to the semantic information carried by the real-time map, so as to deliver office supplies to the target location.
[0052] In the above method for a robot to deliver office supplies, during the process of the robot loaded with office supplies moving in the office, a real-time map of the office constructed by the robot using lidar is obtained; when a target object is identified in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, the semantic information in the office layout map is mapped into the real-time map of the office; the target object includes an object in the office that has obvious geometric features in both the real-time map of the office and the office layout map; the robot is controlled to move according to the semantic information carried by the real-time map so as to deliver the office supplies to the target location. In the solution provided by this application, the robot constructs a real-time map of the office through lidar, which can support the robot to perform deliveries in complex scenarios such as across floors or across rooms; moreover, by means of the semantic information in the office layout map, when a target object is identified in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, the semantic information is mapped into the real-time map of the office, thereby enabling the real-time map of the office to carry semantic information and allowing the robot to deliver office supplies to the target location, further promoting the application of robot delivery in complex scenarios.
[0053] In one embodiment, the method provided by this application further includes Figure 2 the steps shown:
[0054] Step S201, when no target object is identified in the real-time map of the office, obtain the trajectory line of the robot's real-time motion trajectory in the geodetic coordinate system; Step S202, according to the conversion relationship between the geodetic coordinate system and the office layout map coordinate system, convert the trajectory line of the real-time motion trajectory in the geodetic coordinate system to obtain the trajectory line of the real-time motion trajectory in the office layout map coordinate system; Step S203, obtain the trajectory line of the real-time motion trajectory in the robot coordinate system; Step S204, register the trajectory line of the real-time motion trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system to map the semantic information in the office layout map into the real-time map of the office.
[0055] Taking the target object including the door of the office as an example. After obtaining the real-time map of the office, the real-time map of the office can be identified to determine whether the real-time map of the office includes the door of the office; if not, then step S201 of this embodiment can be entered.
[0056] When no target object is identified in the real-time map of the office, obtain the trajectory line of the robot's real-time motion trajectory in the geodetic coordinate system. The geodetic coordinate system starts from the perspective of the earth and mainly describes the positions of objects on the earth. Each object on the earth has a corresponding position description in the geodetic coordinate system.
[0057] In the geodetic coordinate system, several points with known coordinates near the office are selected. These points can be the corners of buildings, road intersections, etc., and the coordinates of these points on the office layout plan can also be clearly identified. According to the coordinates of these points in the office layout plan coordinate system and in the geodetic coordinate system, the conversion relationship between the geodetic coordinate system and the office layout plan coordinate system can be determined. The office layout plan coordinate system starts from the perspective of the office and mainly describes the positions of objects within the office; in this embodiment, the positions of points near the office can also be described in the office layout plan coordinate system.
[0058] After obtaining the conversion relationship between the geodetic coordinate system and the office layout plan coordinate system, according to this conversion relationship, the trajectory line of the real-time motion trajectory in the geodetic coordinate system can be converted to obtain the trajectory line of the real-time motion trajectory in the office layout plan coordinate system.
[0059] Obtain the trajectory line of the real-time motion trajectory in the robot coordinate system. The robot coordinate system starts from the perspective of the robot and describes the positions of other objects relative to the robot.
[0060] Next, with the goal of matching the trajectory line of the real-time motion trajectory in the office layout plan coordinate system with the trajectory line in the robot coordinate system, the trajectory line of the real-time motion trajectory in the office layout plan coordinate system and the trajectory line in the robot coordinate system are registered, so as to map the semantic information in the office layout plan to the office real-time map, whereby the office real-time map can carry semantic information.
[0061] In this embodiment, when the target object is not recognized in the office real-time map, through the corresponding relationship between the trajectory lines of the robot's real-time motion trajectory in multiple coordinate systems, the semantic information in the office layout plan is mapped to the office real-time map, providing another path for the mapping of semantic information and ensuring that the robot autonomously delivers office supplies to the target location.
[0062] In one embodiment, registering the trajectory line of the real-time motion trajectory in the office layout plan coordinate system and the trajectory line in the robot coordinate system to map the semantic information in the office layout plan to the office real-time map includes Figure 3 the steps shown:
[0063] Step S301, registering the trajectory line of the real-time motion trajectory in the office layout plan coordinate system and the trajectory line in the robot coordinate system to obtain the conversion relationship between the robot coordinate system and the office layout plan coordinate system; Step S302, according to the conversion relationship, map the semantic information in the office layout plan to the office real-time map.
[0064] Specifically, operations such as rotation and translation can be performed on the office layout coordinate system to make the trajectory line of the real-time motion trajectory in the office layout map coordinate system match the trajectory line in the robot coordinate system; according to the rotation amount and translation amount that occur in the office layout coordinate system during matching, the conversion relationship between the robot coordinate system and the office layout map coordinate system can be obtained. According to the conversion relationship, the semantic information in the office layout map is mapped to the office real-time map.
[0065] In this embodiment, by registering the trajectory line of the real-time motion trajectory in the office layout map coordinate system with the trajectory line in the robot coordinate system, a relatively accurate conversion relationship between the robot coordinate system and the office layout map coordinate system can be obtained, so that the semantic information in the office layout map can be mapped to the office real-time map relatively accurately.
[0066] In one embodiment, obtaining the trajectory line of the robot's real-time motion trajectory in the earth coordinate system includes:
[0067] Obtaining the real-time position reported by the GPS locator carried by the robot during the movement of the robot; according to the real-time position reported by the GPS locator, obtaining the trajectory line of the robot's real-time motion trajectory in the earth coordinate system.
[0068] The robot can carry a GPS locator. The full English name of GPS is Global Positioning System, and the Chinese is Global Positioning System. The GPS locator can report the real-time position during the movement of the robot, and this real-time position is described based on the earth coordinate system. After obtaining a number of real-time positions reported by the GPS locator, the trajectory line of the robot's real-time motion trajectory in the earth coordinate system can be formed according to the real-time positions.
[0069] In this embodiment, through the real-time positions reported by the GPS locator carried by the robot, a trajectory line with relatively high accuracy of the real-time motion trajectory in the earth coordinate system can be obtained.
[0070] In one embodiment, obtaining the trajectory line of the real-time motion trajectory in the robot coordinate system includes:
[0071] Obtaining the real-time motion information recorded by the inertial measurement unit carried by the robot during the movement of the robot; according to the real-time motion information, obtaining the trajectory line of the real-time motion trajectory in the robot coordinate system.
[0072] The inertial measurement unit can record real-time motion information such as angular velocity information and acceleration information during the movement of the robot. According to the starting position of the robot's movement and the real-time motion information recorded by the inertial measurement unit, the trajectory line of the real-time motion trajectory in the robot coordinate system can be obtained.
[0073] In this embodiment, based on the real-time position reported by the inertial measurement unit mounted on the robot, a trajectory line with a relatively high accuracy in the robot coordinate system can be obtained for the real-time motion trajectory.
[0074] In one embodiment, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout diagram, the semantic information in the office layout diagram is mapped to the real-time map of the office, including:
[0075] Based on the position of the target object in the real-time map of the office and the position of the target object in the office layout diagram, determine the conversion relationship between the robot coordinate system where the real-time map of the office is located and the coordinate system of the office layout diagram; according to the conversion relationship, map the semantic information in the office layout diagram to the real-time map of the office.
[0076] Taking the target object including the door of the office as an example. The office layout diagram can be rotated, translated, scaled, etc., so that the position of the door in the office layout diagram matches the position of the door in the real-time map of the office. When the matching is achieved, the conversion relationship between the robot coordinate system and the coordinate system of the office layout diagram can be determined. According to the conversion relationship, the semantic information in the office layout diagram is converted, so as to map the semantic information to the real-time map of the office, making the real-time map of the office carry the semantic information of the office layout diagram.
[0077] In this embodiment, when the target object is recognized in the real-time map of the office, the position of the target object in the real-time map of the office and the position of the target object in the office layout diagram can be used to obtain a relatively accurate conversion relationship between the robot coordinate system and the coordinate system of the office layout diagram, so that the semantic information in the office layout diagram can be accurately mapped to the real-time map of the office.
[0078] To better understand the above method, the following details an application example of the method for the robot of the present application to deliver office supplies.
[0079] This application example involves a robot, an intelligent navigation system, an intelligent elevator control system, and a central dispatching system, and realizes the autonomous delivery of office supplies by the robot in complex scenarios of crossing floors and rooms. The robot can autonomously identify the environment, plan the path, avoid obstacles, and automatically dock with facilities such as elevators and access controls, ensuring that the office supplies are accurately and efficiently delivered to the designated location, improving the delivery efficiency and accuracy, reducing the labor cost, and enhancing the user experience.
[0080] Among them, the intelligent navigation system belongs to a high-precision navigation system, which adopts the fusion positioning and navigation technology of lidar, SLAM and VSLAM, enabling the robot to realize autonomous mapping, navigation and obstacle avoidance in complex indoor environments. This technology can be quickly deployed without sticking codes and is applicable to diversified scenarios, including narrow passages and semi-outdoor environments.
[0081] Intelligent elevator control system: The robot is equipped with a wireless docking system, which can interact with the elevator controller to realize autonomous elevator riding. The docking process includes steps such as the robot running to the elevator entrance, sending a request to enter the elevator signal, the elevator responding and running to the designated floor, opening and closing the door, and floor conversion, ensuring the safe and efficient cross-floor movement of the robot.
[0082] The central dispatching system is responsible for the unified management and dispatching of multiple robots. According to factors such as the priority of the delivery task, item type, floor and room information, it intelligently assigns tasks to the most suitable robot. At the same time, the central dispatching system real-time monitors the position and status of the robot to ensure that the task can be completed on time.
[0083] The robot can be configured with a large-capacity storage compartment: The robot is designed with a large-capacity storage compartment to meet the needs of continuous delivery of multiple orders at a time. The inside of the storage compartment adopts a flexible partition design, which can be adjusted according to the size and shape of different office supplies, improving the space utilization rate.
[0084] The delivery process involved in this application example mainly includes:
[0085] First, task reception and assignment: The central dispatching system receives the delivery request from the employee and intelligently assigns the task to the most suitable robot according to the current status and position information of the robot.
[0086] Second, path planning and navigation: The robot autonomously plans the path according to the task information, avoids obstacles, and goes to the pickup point.
[0087] Third, pickup and loading: After the robot arrives at the pickup point, it confirms the office supply information through the recognition system and automatically loads it into the storage space.
[0088] Fourth, cross-floor movement: The robot uses the intelligent elevator control system to autonomously take the elevator to the target floor.
[0089] Fifth, indoor navigation and delivery: After the robot arrives at the target floor, it continues indoor navigation using the intelligent navigation system and goes to the designated room.
[0090] Sixth, Goods Delivery and Confirmation: After the robot arrives at the designated room, it confirms the consignee information through the recognition system, automatically unloads office supplies and delivers them to the consignee. After the consignee confirms the receipt, the robot returns to the standby state.
[0091] In the process of delivering office supplies to the target location, the robot can specifically include the following steps:
[0092] During the movement of the robot loaded with office supplies in the office, obtain the real-time map of the office constructed by the robot through lidar;
[0093] When the target object is recognized in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, determine the conversion relationship between the robot coordinate system where the real-time map of the office is located and the office layout map coordinate system; according to the conversion relationship, map the semantic information in the office layout map to the real-time map of the office; the target object includes objects in the office with obvious geometric features in both the real-time map of the office and the office layout map;
[0094] When the target object is not recognized in the real-time map of the office, obtain the real-time position reported by the GPS locator carried by the robot during the movement of the robot, and according to the real-time position reported by the GPS locator, obtain the trajectory line of the real-time movement trajectory of the robot in the geodetic coordinate system;
[0095] According to the conversion relationship between the geodetic coordinate system and the office layout map coordinate system, convert the trajectory line of the real-time movement trajectory in the geodetic coordinate system to obtain the trajectory line of the real-time movement trajectory in the office layout map coordinate system;
[0096] Obtain the real-time movement information recorded by the inertial measurement unit carried by the robot during the movement of the robot, and according to the real-time movement information, obtain the trajectory line of the real-time movement trajectory in the robot coordinate system;
[0097] Register the trajectory line of the real-time movement trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system to obtain the conversion relationship between the robot coordinate system and the office layout map coordinate system; according to the conversion relationship, map the semantic information in the office layout map to the real-time map of the office.
[0098] Control the robot to move according to the semantic information carried by the real-time map to deliver office supplies to the target location.
[0099] In terms of security guarantee and privacy protection, this application example also provides some processing methods, specifically including:
[0100] 1. Physical anti-collision strips: Physical anti-collision strips are equipped in the front and rear of the robot to ensure that it will not collide with pedestrians or other obstacles during driving.
[0101] 2. Real-time monitoring and management: The central dispatching system monitors the position and status information of the robot in real time. Administrators can conduct full-process monitoring and management through the central dispatching system to ensure the safety and reliability of the delivery process.
[0102] 3. Data encryption and privacy protection: For office supplies involving sensitive information, the robot uses data encryption technology to ensure the security of information during transmission and storage. At the same time, the robot is equipped with a privacy protection mechanism to prevent unauthorized access and use.
[0103] This application example can achieve efficient delivery of office supplies by the robot in complex scenarios such as across floors or regions, reducing manual operations; it can also perform real-time data monitoring to improve transportation efficiency and safety; Huakeyi conducts intelligent delivery and reminders to enhance the user experience.
[0104] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are shown in sequence according to the arrows, these steps do not necessarily have to be executed in the order indicated by the arrows. Unless there is a clear description in this article, the execution of these steps has no strict order limit, and these steps can be executed in other orders. Moreover, at least some of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages do not necessarily have to be executed at the same time, but can be executed at different times. The execution order of these steps or stages does not necessarily have to be sequential, but can be executed alternately or alternately with at least some of the steps or stages in other steps or other steps.
[0105] Based on the same inventive concept, the embodiments of the present application also provide a device for robot delivery of office supplies for implementing the method for robot delivery of office supplies involved above. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more of the following embodiments of the device for robot delivery of office supplies can refer to the limitations on the method for robot delivery of office supplies in the above text, and will not be repeated here.
[0106] In one embodiment, as Figure 4 shown, a device for robot delivery of office supplies is provided, including:
[0107] A real-time map acquisition module 401, configured to acquire a real-time map of the office constructed by the robot through lidar during the process of the robot loaded with office supplies moving in the office;
[0108] A mapping processing module 402, configured to, when a target object is recognized in the real-time office map, map the semantic information in the office layout map to the real-time office map based on the position of the target object in the real-time office map and the position of the target object in the office layout map; the target object includes an object in the office that has obvious geometric features in both the real-time office map and the office layout map.
[0109] A movement control module 403, configured to control the robot to move according to the semantic information carried by the real-time map, so as to deliver the office supplies to the target location.
[0110] In one embodiment, the mapping processing module 402 is further configured to:
[0111] When the target object is not recognized in the real-time office map, obtain the trajectory line of the real-time movement trajectory of the robot in the earth coordinate system; according to the conversion relationship between the earth coordinate system and the office layout map coordinate system, convert the trajectory line of the real-time movement trajectory in the earth coordinate system to obtain the trajectory line of the real-time movement trajectory in the office layout map coordinate system; obtain the trajectory line of the real-time movement trajectory in the robot coordinate system; register the trajectory line of the real-time movement trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system, so as to map the semantic information in the office layout map to the real-time office map.
[0112] In one embodiment, the mapping processing module 402 is further configured to:
[0113] Register the trajectory line of the real-time movement trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system to obtain the conversion relationship between the robot coordinate system and the office layout map coordinate system; according to the conversion relationship, map the semantic information in the office layout map to the real-time office map.
[0114] In one embodiment, the mapping processing module 402 is further configured to:
[0115] Obtain the real-time position reported by the GPS locator carried by the robot during the movement of the robot; according to the real-time position reported by the GPS locator, obtain the trajectory line of the real-time movement trajectory of the robot in the earth coordinate system.
[0116] In one embodiment, the mapping processing module 402 is further configured to:
[0117] Obtain the real-time motion information recorded by the inertial measurement unit carried by the robot during the movement of the robot; according to the real-time motion information, obtain the trajectory line of the real-time motion trajectory in the robot coordinate system.
[0118] In one embodiment, the movement control module 403 is further configured to:
[0119] Based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, determine the conversion relationship between the robot coordinate system where the real-time map of the office is located and the coordinate system of the office layout map; according to the conversion relationship, map the semantic information in the office layout map to the real-time map of the office.
[0120] Each module in the above device for a robot to deliver office supplies can be implemented in whole or in part by software, hardware, and their combination. The above modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above modules.
[0121] In an exemplary embodiment, a computer device is provided, and its internal structural diagram can be as Figure 5 shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the data involved in the above method. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with external terminals through a network connection. When the computer program is executed by the processor, it implements a method for a robot to deliver office supplies.
[0122] Those skilled in the art can understand that Figure 5 the structure shown in
[0123] In one embodiment, a computer device is provided, which includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps in the above-mentioned method embodiments are implemented.
[0124] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.
[0125] In one embodiment, a computer program product is provided, on which a computer program is stored. The computer program is executed by a processor to implement the steps in the above-mentioned method embodiments.
[0126] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use, and processing of relevant data need to comply with relevant regulations.
[0127] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.
[0128] The technical features of the above embodiments can be combined arbitrarily. For the sake of concise description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in the present application.
[0129] The above-described embodiments merely represent several implementation manners of the present application. The description is relatively specific and detailed, but it should not be construed as a limitation on the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims
1. A method for a robot to deliver office supplies, characterized in that, The method includes: During the process of a robot loaded with office supplies moving in an office, obtaining a real-time map of the office constructed by the robot using a lidar; When a target object is recognized in the real-time map of the office, based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, mapping the semantic information in the office layout map to the real-time map of the office; the target object includes an object in the office that has obvious geometric features in both the real-time map of the office and the office layout map; Controlling the robot to move according to the semantic information carried by the real-time map so as to deliver the office supplies to the target location.
2. The method according to claim 1, characterized in that The method further includes: When no target object is recognized in the real-time map of the office, obtaining the trajectory line of the real-time movement trajectory of the robot in the earth coordinate system; According to the conversion relationship between the earth coordinate system and the office layout map coordinate system, converting the trajectory line of the real-time movement trajectory in the earth coordinate system to obtain the trajectory line of the real-time movement trajectory in the office layout map coordinate system; Obtaining the trajectory line of the real-time movement trajectory of the robot in the robot coordinate system; Registering the trajectory line of the real-time movement trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system so as to map the semantic information in the office layout map to the real-time map of the office.
3. The method according to claim 2, wherein Registering the trajectory line of the real-time movement trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system so as to map the semantic information in the office layout map to the real-time map of the office, including: Registering the trajectory line of the real-time movement trajectory in the office layout map coordinate system and the trajectory line in the robot coordinate system to obtain the conversion relationship between the robot coordinate system and the office layout map coordinate system; According to the conversion relationship, mapping the semantic information in the office layout map to the real-time map of the office.
4. The method according to claim 2, characterized in that, Obtaining the trajectory line of the real-time movement trajectory of the robot in the earth coordinate system includes: Obtaining the real-time position reported by a GPS locator carried by the robot during the movement of the robot; According to the real-time position reported by the GPS locator, obtaining the trajectory line of the real-time movement trajectory of the robot in the earth coordinate system.
5. The method according to claim 2, wherein Obtaining the trajectory line of the real-time movement trajectory of the robot in the robot coordinate system includes: Obtaining the real-time movement information recorded by an inertial measurement unit carried by the robot during the movement of the robot; According to the real-time movement information, obtaining the trajectory line of the real-time movement trajectory of the robot in the robot coordinate system.
6. The method according to claim 1, wherein Based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, mapping the semantic information in the office layout map to the real-time map of the office, including: Based on the position of the target object in the real-time map of the office and the position of the target object in the office layout map, determining the conversion relationship between the robot coordinate system where the real-time map of the office is located and the office layout map coordinate system; According to the conversion relationship, map the semantic information in the office layout diagram to the office real-time map.
7. A device for a robot to deliver office supplies, characterized in that, The device includes: A real-time map acquisition module, configured to acquire the office real-time map constructed by the robot through lidar during the movement of the robot loaded with office supplies in the office; A mapping processing module, configured to, when a target object is recognized in the office real-time map, map the semantic information in the office layout diagram to the office real-time map based on the position of the target object in the office real-time map and the position of the target object in the office layout diagram; the target object includes an object in the office that has obvious geometric features in both the office real-time map and the office layout diagram; A movement control module, configured to control the robot to move according to the semantic information carried by the real-time map, so as to deliver the office supplies to the target location.
8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the method described in any one of claims 1 to 6 is implemented.
9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the method described in any one of claims 1 to 6 is implemented.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, the method described in any one of claims 1 to 6 is implemented.