Intelligent interaction method for distribution robot

Abstract

The invention relates to the technical field of intelligent control, in particular to an intelligent interaction method for a distribution robot, and the method comprises the steps: uploading the internal path distribution information of a shopping mall, constructing an internal available path model of the shopping mall according to the internal path distribution information of the shopping mall, and loading the internal available path of the shopping mall into a built-in mobile control system of the distribution robot; setting a circulating moving path of the distribution robot in a region corresponding to the available path model in the shopping mall, and enabling the distribution robot to continuously run based on the circulating moving path; according to the invention, through planning of the moving path, the control effect of circulating movement of the distribution robot in the designated area is realized, in the moving process of the distribution robot, based on pushing of retail commodities, the economic effect of the application scene of the distribution robot is improved, the intelligent service degree of the application scene of the distribution robot is greatly improved, and the user experience is improved. And more comprehensive services are brought to the users in the scene, so that the service requirements of the users in the scene can be met more easily, and the consumption experience is better.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to an intelligent interaction method for a delivery robot. Background Art

[0002] Delivery robots are advanced intelligent logistics devices, typically equipped with autonomous navigation, route planning, and cargo handling capabilities. They can precisely deliver items within a specific area according to pre-set instructions, effectively improving delivery efficiency and reducing labor costs. They can also operate 24 / 7 and are widely used in campuses, communities, office buildings, and other scenarios.

[0003] The invention conversion rate application with application number 202110264539.8 discloses a delivery robot for human-computer interaction, wherein the delivery robot includes an identification layer and a control layer, and the identification layer includes a laser sensor installed on the delivery robot, a front camera installed in front of the delivery robot, and a processor; the laser sensor is used to detect the obstacle distance information in front of the delivery robot: the front camera is used to capture the obstacle image information in front of the delivery robot; the processor is used to judge the obstacle type based on the obstacle image information, and send the obstacle distance information and the obstacle type to the control layer through WebSocket; the control layer is used to control the movement and interaction mode of the delivery robot according to the task delivery information, the obstacle distance information and the obstacle type.

[0004] The application aims to solve the problem that "current building delivery robots can already perform delivery tasks stably, but in the complex scenario of densely populated office buildings during the lunch rush hour, the robot is very likely to encounter pedestrians watching, blocking, teasing, etc. At this time, the delivery robot needs to take some proactive actions to ensure that the delivery task can continue to be carried out smoothly in a timely manner, or communicate with pedestrians to achieve interactive effects."

[0005] Currently, the function of the customer rest area in shopping malls is limited to providing services such as charging, reading, and rest and relaxation after long shopping. The application of delivery robots in such areas is still manually controlled to perform designated tasks and cannot generate greater economic benefits. Summary of the Invention

[0006] In view of the above-mentioned shortcomings of the prior art, the present invention provides an intelligent interaction method for a delivery robot, which solves the technical problems raised in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions: A smart interaction method for a delivery robot, comprising: Upload the internal path distribution information of the mall, build an available path model inside the mall based on the internal path distribution information, and load the available paths inside the mall into the built-in mobile control system of the delivery robot; set the circular movement path of the delivery robot in the corresponding area of the available path model inside the mall, so that the delivery robot can run continuously based on the circular movement path; based on the circular movement path, the delivery robot obtains the image data collected by the monitoring equipment installed on the circular movement path in real time, and analyzes the pedestrian density of each section on the circular movement path based on the image data; place retail goods inside the delivery robot, burn the interactive program in the delivery robot, and use the camera equipped with the delivery robot to capture dynamic targets on the circular movement path in real time, and evaluate the busyness of the dynamic targets; determine non-busy dynamic targets based on the busyness evaluation results of the dynamic targets, and use the interactive program of the delivery robot to push goods to the dynamic targets; after the delivery robot pushes the goods to the dynamic targets based on the interactive program, it generates a product order summary message in real time based on the product order, and the management user of the delivery robot reads the order summary message in real time in the delivery robot control background.

[0008] Furthermore, the mall internal path distribution information is composed of a plurality of sets of three-dimensional position coordinates. After the mall internal path distribution information is uploaded, the mall internal path model is constructed based on the interconnection of the three-dimensional position coordinates in the mall internal path distribution information. The user terminal selects a specified road segment in the mall internal path model to construct the mall internal available path model using the specified road segment. Among them, during the construction stage of the internal path model of the shopping mall, when connecting the three-dimensional position coordinates to each other, they are connected in sequence according to the upload sequence of each three-dimensional position coordinate. After the internal available path model of the shopping mall is completed, any position on the internal available path model of the shopping mall is selected to configure the real coordinates and scale. The corresponding real coordinates of any position on the internal available path model of the shopping mall are determined by referring to the configured real coordinates and scale.

[0009] Furthermore, the cyclic movement path is customized by the user terminal in the available path model within the shopping mall, and the movement speed applied by the delivery robot when running in the cyclic movement path is also customized by the user terminal; During the operation of the delivery robot based on the circular movement path, the delivery robot monitors in real time the percentage of power required for one operation based on the circular movement path, calculates in real time the average of the power percentages, and simultaneously obtains its own remaining power information. When the remaining power of the delivery robot is less than the calculated average power percentage, the delivery robot returns to the cabin based on the circular movement path for charging. When the remaining power reaches 100%, the delivery robot leaves the cabin, moves to the original position on the circular movement path, and continues to operate according to the circular movement path. Among them, the cabin used for charging the delivery robot is deployed on a circular moving path.

[0010] Furthermore, the delivery robot and the monitoring equipment installed on the circulation path perform real-time interaction of monitoring image data via a wireless network or a local area network; The pedestrian flow density of each section on the circular moving path is calculated based on any one of a background subtraction algorithm, a target detection algorithm based on a convolutional neural network, and an optical flow method.

[0011] Furthermore, after the pedestrian density of each section on the circular moving path is calculated, the moving speed of the delivery robot is reconfigured based on the calculated pedestrian density of each section; When reconfiguring the moving speed of the delivery robot, the delivery robot follows the following rules: the greater the crowd density, the slower the moving speed of the delivery robot, and vice versa, the faster the moving speed of the delivery robot; Among them, the delivery robot is set with a moving speed control range. During the process of reconfiguring the moving speed of the delivery robot, the moving speed always remains within the moving speed control range.

[0012] Furthermore, the delivery robot is internally installed with a position sensor, the cyclical movement path is represented in a model of available paths within the mall, the model of available paths within the mall is represented in any computer device with real-world functions, and the real-time position information of the delivery robot on the cyclical movement path is dynamically represented in the computer device; Among them, the real-time location information of the delivery robot dynamically displayed on the computer device is updated in real time based on the refresh frequency preset by the user end.

[0013] Furthermore, the busyness of the dynamic target is evaluated using a target detection algorithm based on deep learning. During the evaluation stage, the movement frequency of the dynamic target is identified, the busyness of the dynamic target is evaluated based on the movement frequency, and the dynamic target busyness determination interval is set synchronously. The dynamic target busyness evaluation result is compared with the dynamic target busyness determination interval to determine the dynamic target in a non-busy state.

[0014] Furthermore, when the goods placed inside the delivery robot are pre-ordered goods, a delivery path is created based on the real-time positioning and circular movement path of the delivery order placement device to execute the delivery of the pre-ordered goods.

[0015] Furthermore, there is not only one delivery robot running in the circular moving path. When any delivery robot generates a transaction order based on the interactive program and the corresponding retail goods placed inside are sold out, the retail goods corresponding to the transaction order are transmitted to the nearby delivery robots in sequence, and the transaction order generated by the current robot is continued to be executed by its nearby delivery robots.

[0016] Furthermore, the order summary message includes: order name, order transaction volume, and order transaction time; Among them, the order summary message comes from each delivery robot, and the order summary message is synchronously updated based on any newly generated product orders.

[0017] Compared with the known public technology, the technical solution provided by the present invention has the following beneficial effects: The present invention provides an intelligent interaction method for a delivery robot. During the execution of the method, the method stably realizes the control effect of the circular movement of the delivery robot in a specified area through the planning of the movement path. During the movement of the delivery robot, based on the push of retail goods, the economic effect of the application scenario of the delivery robot is effectively improved, and the intelligent service level of the delivery robot application scenario is greatly improved, and more comprehensive services are brought to users in the scenario, thereby ensuring that the user service needs in this type of scenario are easier to be met and the consumer experience is better. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive effort.

[0019] Figure 1 A flowchart of an intelligent interaction method for a delivery robot. DETAILED DESCRIPTION

[0020] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0021] The present invention will be further described below with reference to the embodiments.

[0022] Example 1: This embodiment is a method for intelligent interaction of a delivery robot, such as Figure 1 Shown, including: Upload the mall's internal path distribution information, build a mall's internal available path model based on the mall's internal path distribution information, and load the mall's internal available paths into the delivery robot's built-in mobile control system; Setting a cyclic movement path for the delivery robot in the area corresponding to the available path model inside the mall, so that the delivery robot can operate continuously based on the cyclic movement path; The delivery robot uses a circular movement path to obtain real-time image data collected by monitoring equipment installed on the circular movement path, and analyzes the pedestrian density of each section of the circular movement path based on the image data; Place retail merchandise inside the delivery robot, program the interaction program into the delivery robot, and use the robot's onboard camera to capture dynamic targets along the cyclical path in real time and assess their level of activity. Determine a non-busy dynamic target based on the busyness evaluation results of the dynamic target, and use the delivery robot's interactive program to push products to the dynamic target; After the delivery robot pushes the product to the dynamic target based on the interactive program, it generates a product order summary message in real time based on the product order. The management user of the delivery robot reads the order summary message in real time in the delivery robot control background; The delivery robot and the monitoring equipment installed on the circulation path conduct real-time interaction of monitoring image data through a wireless network or local area network; The pedestrian density of each section on the cyclic movement path is calculated based on any one of the algorithms: background subtraction algorithm, target detection algorithm based on convolutional neural network, and optical flow method; After the pedestrian density of each section on the circular movement path is calculated, the movement speed of the delivery robot is reconfigured based on the calculated pedestrian density of each section; When reconfiguring the moving speed, the delivery robot follows the following rules: the greater the crowd density, the slower the delivery robot moves, and vice versa. Among them, the delivery robot is set with a moving speed control range. During the process of reconfiguring the moving speed of the delivery robot, the moving speed always remains within the moving speed control range.

[0023] In this embodiment, by constructing a model of available paths inside the shopping mall, a circular moving path is provided for the delivery robot, and an interactive program is further burned into the delivery robot to realize the commodity selling function when the delivery robot is running in the circular moving path. At the same time, during the commodity selling stage, further interaction can be established with the monitoring equipment on the circular moving path, thereby realizing the accurate capture of sales promotion targets and ultimately realizing the economy of the rest area inside the shopping mall.

[0024] Example 2: In terms of specific implementation, based on Example 1, this example refers to Figure 1 The intelligent interaction method for a delivery robot in Example 1 is further described in detail: The mall's internal path distribution information consists of several sets of three-dimensional position coordinates. After the mall's internal path distribution information is uploaded, the three-dimensional position coordinates in the mall's internal path distribution information are interconnected to construct a mall's internal path model. The user terminal selects a specific road segment in the mall's internal path model and uses the specified road segment to construct a mall's internal available path model. Among them, during the construction stage of the internal path model of the shopping mall, when connecting the three-dimensional position coordinates to each other, they are connected in sequence according to the upload sequence of each three-dimensional position coordinate. After the internal available path model of the shopping mall is completed, any position on the internal available path model of the shopping mall is selected to configure the real coordinates and scale. The corresponding real coordinates of any position on the internal available path model of the shopping mall are determined by referring to the configured real coordinates and scale.

[0025] Through the above settings, further execution data support is provided for the execution of the method in Example 1, thereby ensuring the stable execution of the method in Example 1.

[0026] like Figure 1 As shown, the cyclic movement path is customized by the user in the available path model inside the shopping mall, and the movement speed applied by the delivery robot when running in the cyclic movement path is also customized by the user; During the operation of the delivery robot along the circular movement path, the delivery robot monitors in real time the percentage of power required for one operation along the circular movement path, calculates the average power percentage in real time, and simultaneously obtains its own remaining power information. When its own remaining power is less than the calculated average power percentage, the delivery robot returns to the cabin along the circular movement path for charging. When the remaining power reaches 100%, it leaves the cabin, moves to its original position along the circular movement path, and continues to operate along the circular movement path. Among them, the cabin used for charging the delivery robot is deployed on a circular moving path.

[0027] Through the above settings, the delivery robot is provided with further self-maintenance services, ensuring that the robot can adaptively achieve charging and continuous service.

[0028] like Figure 1 As shown, the delivery robot is equipped with a position sensor, the cyclic moving path is represented in the available path model inside the mall, the available path model inside the mall is represented in any computer device with real functions, and the real-time position information of the delivery robot on the cyclic moving path is dynamically represented in the computer device; Among them, the real-time location information of the delivery robot dynamically displayed on the computer device is updated in real time based on the refresh frequency preset by the user end.

[0029] Through the above settings, visualization conditions are provided for the background management of the delivery robot.

[0030] Example 3: In terms of specific implementation, based on Example 1, this example refers to Figure 1 The intelligent interaction method for a delivery robot in Example 1 is further described in detail: The busyness of dynamic targets is evaluated using a target detection algorithm based on deep learning. During the evaluation phase, the movement frequency of dynamic targets is identified, and the busyness of dynamic targets is evaluated based on the movement frequency. The busyness determination interval of dynamic targets is set simultaneously. The evaluation results of the busyness of dynamic targets are compared with the busyness determination interval of dynamic targets to determine the dynamic targets in a non-busy state.

[0031] Through the above settings, a specified decision logic is provided for the busy status of the dynamic target.

[0032] like Figure 1 As shown, when the goods placed inside the delivery robot are pre-ordered goods, a delivery path is created based on the real-time positioning and circular movement path of the delivery order placement device to execute the delivery of the pre-ordered goods.

[0033] Based on the above settings, the delivery robot is further provided with adaptive expansion of operating functions and logic.

[0034] like Figure 1 As shown, there is not only one delivery robot running in the circular moving path. After any delivery robot generates a transaction order based on the interactive program and the corresponding retail goods placed inside are sold out, the retail goods corresponding to the transaction order are transmitted to the nearby delivery robots in sequence. The transaction order generated by the current robot will be continued to be executed by its nearby delivery robots.

[0035] Through the above settings, conditions are provided for the delivery robots to interact with each other, thereby improving the robustness of the delivery robots in dealing with the problem of sold-out goods during operation.

[0036] like Figure 1 As shown, the order summary message includes: order name, order volume, and order transaction time; Among them, the order summary message comes from each delivery robot, and the order summary message is synchronously updated based on any newly generated product orders.

[0037] Through the above settings, the specific content of the order summary message is further limited based on the generation logic.

[0038] In summary, during the execution of the method in the above embodiment, the control effect of the circular movement of the delivery robot in the specified area is stably achieved through the planning of the movement path. During the movement of the delivery robot, based on the push of retail goods, the economic effect of the application scenario of the delivery robot is effectively improved, and the intelligent service level of the application scenario of the delivery robot is greatly improved, and more comprehensive services are brought to users in the scenario, thereby ensuring that the user service needs in this type of scenario are easier to be met and the consumer experience is better.

[0039] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements will not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A smart interaction method for a delivery robot, characterized in that: include: Upload the mall's internal path distribution information, build a mall's internal available path model based on the mall's internal path distribution information, and load the mall's internal available paths into the delivery robot's built-in mobile control system; Setting a cyclic movement path for the delivery robot in the area corresponding to the available path model inside the mall, so that the delivery robot can operate continuously based on the cyclic movement path; The delivery robot uses a circular movement path to obtain real-time image data collected by monitoring equipment installed on the circular movement path, and analyzes the pedestrian density of each section of the circular movement path based on the image data; Place retail merchandise inside the delivery robot, program the interaction program into the delivery robot, and use the robot's onboard camera to capture dynamic targets along the cyclical path in real time and assess their level of activity. Determine a non-busy dynamic target based on the busyness evaluation results of the dynamic target, and use the delivery robot's interactive program to push products to the dynamic target; After the delivery robot pushes the goods to the dynamic target based on the interactive program, it generates a product order summary message in real time based on the product order. The management user of the delivery robot reads the order summary message in real time in the delivery robot control background.

2. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: The mall internal path distribution information is composed of a plurality of sets of three-dimensional position coordinates. After the mall internal path distribution information is uploaded, the mall internal path model is constructed based on the interconnection of the three-dimensional position coordinates in the mall internal path distribution information. The user terminal selects a specified road segment in the mall internal path model to construct an available path model for the mall internal path using the specified road segment. Among them, during the construction stage of the internal path model of the shopping mall, when connecting the three-dimensional position coordinates to each other, they are connected in sequence according to the upload sequence of each three-dimensional position coordinate. After the internal available path model of the shopping mall is completed, any position on the internal available path model of the shopping mall is selected to configure the real coordinates and scale. The corresponding real coordinates of any position on the internal available path model of the shopping mall are determined by referring to the configured real coordinates and scale.

3. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: The cyclic movement path is customized by the user terminal in the available path model within the shopping mall, and the movement speed applied by the delivery robot when running in the cyclic movement path is also customized by the user terminal; During the operation of the delivery robot based on the circular movement path, the delivery robot monitors in real time the percentage of power required for one operation based on the circular movement path, calculates in real time the average of the power percentages, and simultaneously obtains its own remaining power information. When the remaining power of the delivery robot is less than the calculated average power percentage, the delivery robot returns to the cabin based on the circular movement path for charging. When the remaining power reaches 100%, the delivery robot leaves the cabin, moves to the original position on the circular movement path, and continues to operate according to the circular movement path. Among them, the cabin used for charging the delivery robot is deployed on a circular moving path.

4. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: The delivery robot and the monitoring equipment installed on the circulation path perform real-time interaction of monitoring image data via a wireless network or a local area network; The pedestrian flow density of each section on the circular moving path is calculated based on any one of a background subtraction algorithm, a target detection algorithm based on a convolutional neural network, and an optical flow method.

5. The intelligent interaction method for a delivery robot according to claim 4, characterized in that: After calculating the pedestrian density of each section on the circular moving path, reconfiguring the moving speed of the delivery robot based on the calculated pedestrian density of each section; When reconfiguring the moving speed of the delivery robot, the delivery robot follows the following rules: the greater the crowd density, the slower the moving speed of the delivery robot, and vice versa, the faster the moving speed of the delivery robot; Among them, the delivery robot is set with a moving speed control range. During the process of reconfiguring the moving speed of the delivery robot, the moving speed always remains within the moving speed control range.

6. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: The delivery robot is equipped with a position sensor, and the cyclical movement path is represented in a model of available paths within the mall. The model of available paths within the mall is represented in any computer device with real-world functions, and the real-time position information of the delivery robot on the cyclical movement path is dynamically represented in the computer device. Among them, the real-time location information of the delivery robot dynamically displayed on the computer device is updated in real time based on the refresh frequency preset by the user end.

7. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: The busyness of the dynamic target is evaluated using a target detection algorithm based on deep learning. During the evaluation phase, the movement frequency of the dynamic target is identified, the busyness of the dynamic target is evaluated based on the movement frequency, and the dynamic target busyness determination interval is set synchronously. The dynamic target busyness evaluation result is compared with the dynamic target busyness determination interval to determine the dynamic target in a non-busy state.

8. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: When the goods placed inside the delivery robot are scheduled goods, a delivery path is created based on the real-time positioning and circular movement path of the delivery order placement device to execute the delivery of the scheduled goods.

9. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: There is not only one delivery robot running in the circular moving path. When any delivery robot generates a transaction order based on the interactive program and the corresponding retail goods placed inside are sold out, the retail goods corresponding to the transaction order are transmitted to the nearby delivery robots in sequence. The transaction order generated by the current robot will be continued to be executed by its nearby delivery robots.

10. The intelligent interaction method for a delivery robot according to claim 1, characterized in that: The order summary message includes: order name, order volume, and order transaction time; Among them, the order summary message comes from each delivery robot, and the order summary message is synchronously updated based on any newly generated product orders.

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