Humanoid robot behavior labeling method, device, system and humanoid robot

Abstract

The application discloses a humanoid robot behavior marking method, device, system and humanoid robot, and the method comprises the following steps: acquiring target position information of a current humanoid robot; judging whether the current humanoid robot is located within a set working area range according to the target position information; if the current humanoid robot is located within the set working area range, keeping a current role mode of the humanoid robot; and if the current humanoid robot is not located within the set working area range, stopping the current role mode of the humanoid robot. The application acquires target position information of a current humanoid robot, and judges whether the current humanoid robot is located within a working area or leaves the working area by using the target position information. The role mode of the current humanoid robot is changed through the judgment, so that the humanoid robot is prevented from being in a state of being at a loss because of changes in application scenarios. The application is mainly used in the technical field of humanoid robots.

Description

Technical Field

[0001] This invention relates to the field of humanoid robot technology, specifically to a humanoid robot behavior marking method, device, system, and humanoid robot. Background Technology

[0002] Humanoid robots are robots that mimic the structure and movement of the human body. They typically possess a head, torso, arms, and legs, designed to walk, manipulate tools, and perform various tasks in human environments, much like humans. Current technologies aim to apply humanoid robots to diverse fields. Existing technologies generally employ a fixed approach, assigning specific application scenarios to humanoid robots. This method is ineffective; when situations outside these scenarios arise, the humanoid robot easily becomes disoriented. Therefore, existing technologies still have inherent problems that urgently require industry solutions. Summary of the Invention

[0003] The present invention provides a method, apparatus, system and humanoid robot behavior marking method, to solve one or more technical problems existing in the prior art, and at least provides a beneficial option or creates conditions.

[0004] This invention provides a method for marking the behavior of a humanoid robot, comprising: acquiring the current position information of the humanoid robot and recording the position information as target position information; determining whether the current humanoid robot is within a set working area based on the target position information; if the current humanoid robot is within the set working area, maintaining the current role mode of the humanoid robot; and if the current humanoid robot is not within the set working area, stopping the current role mode of the humanoid robot.

[0005] Furthermore, obtaining the current position information of the humanoid robot specifically includes: obtaining the current position coordinates from the position sensors installed on the humanoid robot, marking the position coordinates as the target position coordinates, and using the target position coordinates as the current position information of the humanoid robot.

[0006] Furthermore, determining whether the current humanoid robot is within the set working area based on the target location information specifically includes: obtaining the coordinate set of the set working area from the storage unit, comparing the target location coordinates with the coordinate set of the area; if the target location coordinates belong to a sub-coordinate of the coordinate set of the area, then the current humanoid robot is considered to be within the set working area; if the target location coordinates do not belong to a sub-coordinate of the coordinate set of the area, then the current humanoid robot is considered not to be within the set working area.

[0007] Furthermore, the position sensor includes: a GPS position sensor, a BeiDou navigation system position sensor, or a mobile internet base station positioning sensor.

[0008] Furthermore, obtaining the current position information of the humanoid robot specifically includes: obtaining the distance value between the current humanoid robot and the set moving beacon from the distance sensor installed on the humanoid robot, recording the distance value as the target distance value, and recording the target distance value as the current position information of the humanoid robot.

[0009] Furthermore, determining whether the current humanoid robot is within the set working area based on the target location information specifically includes: obtaining the distance range set between the set moving beacon and the current humanoid robot from the storage unit; The target distance value is compared with the distance range set; if the target distance value belongs to a sub-distance of the distance range set, the target location information is considered to be within the set working area range; if the target distance value does not belong to a sub-distance of the distance range set, the target location information is considered to be not within the set working area range.

[0010] Furthermore, the humanoid robot behavior marking method also includes: when it is determined that the target location information is not within the set working area, an alarm signal is issued.

[0011] On the other hand, a humanoid robot behavior marking device is provided, comprising: a processor and a memory, wherein the memory is used to store a computer-readable program; when the computer-readable program is executed by the processor, the processor causes the processor to implement the humanoid robot behavior marking method as described in any of the above technical solutions.

[0012] On the other hand, a humanoid robot behavior labeling system is provided, including: an acquisition module and a judgment module; The acquisition module is used to: acquire the current position information of the humanoid robot and record the position information as the target position information; The judgment module is used to: determine whether the current humanoid robot is within the set working area based on the target location information; if the current humanoid robot is within the set working area, maintain the current role mode of the humanoid robot; if the current humanoid robot is not within the set working area, stop the current role mode of the humanoid robot.

[0013] On the other hand, a humanoid robot is provided, including the humanoid robot behavior marking system described in the above technical solution.

[0014] The present invention has at least the following beneficial effects: The method of the present invention acquires the target position information of the current humanoid robot and uses the target position information to determine whether the current humanoid robot is in or has left the work area. This determination changes the current role mode of the humanoid robot, thus avoiding a situation where the humanoid robot becomes disoriented due to changes in the application scenario. Simultaneously, the present invention also provides corresponding devices, systems, and humanoid robots, the beneficial effects of which are similar to the method and will not be repeated here. The present invention is mainly applicable to the field of humanoid robot technology. Attached Figure Description

[0015] The accompanying drawings are provided to further understand the technical solutions of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the technical solutions of the present invention, and do not constitute a limitation on the technical solutions of the present invention.

[0016] Figure 1 This is a flowchart of the steps involved in the humanoid robot behavior labeling method; Figure 2 This is a schematic diagram of the structure of a humanoid robot behavior marking device; Figure 3 This is the hardware structure of a humanoid robot behavior marking device according to another embodiment; Figure 4 This is a schematic diagram of the system connection structure of a humanoid robot behavior marking system. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0018] It should be noted that although functional modules are divided in the system diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0019] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.

[0020] Humanoid robots are robots that mimic the structure and movement of the human body. They typically have a head, torso, arms, and legs, and are designed to walk, operate tools, and perform various tasks in human environments, just like humans.

[0021] The main objective of this invention is to provide a behavior labeling scheme for humanoid robots, in order to address the problem that the application scenarios of humanoid robots are not clearly defined in existing related technologies, which can easily lead to the humanoid robots becoming disoriented.

[0022] Please refer to Figure 1 , Figure 1 This is a flowchart of the steps involved in the humanoid robot behavior labeling method.

[0023] To achieve this technical goal, this application discloses a humanoid robot behavior labeling method. The labeling method can be executed by a software program, and when the software program is executed, the steps it implements include: Step 1: Obtain the current location information of the humanoid robot and record the location information as the target location information.

[0024] The software program establishes a connection with the humanoid robot's control system through an interface, thereby obtaining the robot's current location information. For ease of description, this location information is referred to as target location information. The location information refers to information reflecting the humanoid robot's current spatial location within a specific marked area. This specific marked area includes, but is not limited to, a geographical area, an administrative area, or a custom area. A geographical area refers to an area based on geographic space. An administrative area refers to an area based on an administrative region. A custom area refers to a self-defined area limited by electronic fences.

[0025] Step 2: Determine whether the current humanoid robot is within the set work area based on the target location information; if the current humanoid robot is within the set work area, maintain the current role mode of the humanoid robot; if the current humanoid robot is not within the set work area, stop the current role mode of the humanoid robot.

[0026] Once the software program determines the target location information (which reflects the current position of the humanoid robot), it will determine whether the humanoid robot's position is within the set work area. The result of this determination will determine the change in the humanoid robot's current role mode. This change in role mode can be either maintained or stopped. If the determination shows that the humanoid robot is within the set work area, it will maintain its current role mode. If the determination shows that the humanoid robot is not within the set work area, it will stop its current role mode.

[0027] Taking a humanoid robot with a security role mode as an example, in some related technologies, humanoid robots with a security role mode are also called security robots. For ease of description, the humanoid robot with a security role mode will be referred to as a security robot below.

[0028] The software program determines the target location information of the security robot. When the target location is within the designated work area—for example, a campus area—the robot will perform its pre-set security tasks, such as patrolling and standing guard. However, if the target location is outside the designated work area—for instance, if the robot leaves the campus for some reason—its current role will cease, and it will not perform its pre-set security tasks.

[0029] This invention acquires the target location information of a humanoid robot and uses this information to determine whether the robot is currently within or has left the work area. This determination allows for the adjustment of the robot's role mode, thus preventing the robot from becoming disoriented due to changes in the application scenario.

[0030] Humanoid robots are equipped with various sensors. When the software program needs to obtain location information, in some further specific embodiments, obtaining the humanoid robot's current location information specifically includes: the software program accessing the position sensors installed on the humanoid robot through an interface, and obtaining the current location coordinates through the position sensors. These position sensors include: GPS position sensors, BeiDou navigation system position sensors, or mobile internet base station positioning sensors. The software program obtains the humanoid robot's current location information through these position sensors. This location information is presented in the form of location coordinates. For ease of description, these location coordinates are referred to as target location coordinates.

[0031] To determine whether the humanoid robot is currently within its working area, the software program accesses the robot's storage unit, which is pre-set with a coordinate set for the current working area. The software program compares the target position coordinates with this coordinate set to determine if the target position coordinates belong to a sub-coordinate within the working area coordinate set. If the target position coordinates are determined to be a sub-coordinate within the working area coordinate set, the humanoid robot is considered to be within the defined working area. If the target position coordinates are determined not to be a sub-coordinate within the working area coordinate set, the humanoid robot is considered not to be within the defined working area.

[0032] A common application scenario for using coordinate values ​​as location information is the use of security robots at fixed posts. In this scenario, a fixed area is defined, such as a specific gate area. In some embodiments, this area is typically defined as the gate area, extending outwards by 2 to 5 meters from the gate. Generally, the coordinates of various points within this gate area are collected to form a coordinate set of the working area. This coordinate set is stored in the humanoid robot's storage unit. When the security robot is in operation, it is placed within the gate area. At this time, the robot's position sensors acquire its target position coordinates. These target position coordinates are compared with the pre-stored coordinate set of the gate area to determine whether the security robot is within the gate area's boundaries.

[0033] Of course, a fixed work area can be determined using coordinates. For a non-fixed work area, the distance to a designated moving beacon is used. In this type of application scenario with a non-fixed work area, the location information is represented by distance values.

[0034] In this application scenario, obtaining the current position information of the humanoid robot specifically includes: obtaining the distance value between the current humanoid robot and the set moving beacon from the distance sensor set on the humanoid robot, recording the distance value as the target distance value, and recording the target distance value as the current position information of the humanoid robot.

[0035] To determine whether the humanoid robot is currently within its working area, the software program accesses the robot's storage unit, which is pre-configured with a set of distance ranges between the robot and designated moving beacons. The software program compares the target distance value with this set of distance ranges to determine if the target distance value belongs to any of the ranges. If the target distance value belongs to a sub-distance of the set, the target location is considered to be within the designated working area, meaning the humanoid robot is considered to be within the designated working area. If the target distance value does not belong to a sub-distance of the set, the target location is considered to be outside the designated working area, meaning the humanoid robot is considered to be outside the designated working area.

[0036] A common application scenario for using distance values ​​as location information is the use of non-fixed-position security robots (bodyguard robots). In this scenario, there is no fixed working area. The working area is generally defined by the range of a moving beacon. In some embodiments, the area extending outward from the moving beacon for 2 to 5 meters is defined as the following area. Distance ranges exist between each point in the following area and the moving beacon; these ranges form a distance range set and are stored in the humanoid robot's storage unit. Typically, the target object that the humanoid robot (bodyguard robot) needs to follow can be equipped with a moving beacon. The distance between the humanoid robot (bodyguard robot) and the moving beacon (target object) is obtained through distance sensors, yielding the target distance value. This target distance value is then compared with the pre-stored distance range set to determine whether the bodyguard robot is within the range of the target object it needs to follow.

[0037] To facilitate awareness that the humanoid robot has left its work area, in some further embodiments, the humanoid robot behavior marking method further includes: issuing an alarm signal when it is determined that the target location information is not within the set work area range. The alarm signal issued includes, but is not limited to: audible and visual alerts, and signals pushed to specific smart devices.

[0038] refer to Figure 2 , Figure 2This is a schematic diagram of the structure of a humanoid robot behavior marking device.

[0039] On the other hand, a humanoid robot behavior marking device is provided, comprising: a processor and a memory, the memory being used to store a computer-readable program. When the computer-readable program is executed by the processor, the processor causes the processor to implement the humanoid robot behavior marking method as described in any of the above specific embodiments.

[0040] Those skilled in the art will understand that all or some of the steps and systems in the methods disclosed above can be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components can be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software can be distributed on a computer-readable medium, which can include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. As is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0041] Please see Figure 3 , Figure 3 This is another embodiment of the hardware structure of a humanoid robot behavior marking device. The humanoid robot behavior marking device includes: a processor 901, a memory 902, an input / output interface 903, a communication interface 904, and a bus 905.

[0042] The processor 901 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the humanoid robot behavior marking method provided in the embodiments of this application.

[0043] The memory 902 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 902 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 902 and is called and executed by the processor 901 using the methods described in the embodiments of this application.

[0044] The input / output interface 903 is used to implement information input and output.

[0045] The communication interface 904 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, Ethernet cable, etc.) or wireless means (such as mobile network, Wi-Fi, Bluetooth, etc.).

[0046] Bus 905 transmits information between various components of the device, such as processor 901, memory 902, input / output interface 903, and communication interface 904.

[0047] The processor 901, memory 902, input / output interface 903, and communication interface 904 are connected to each other within the device via bus 905.

[0048] refer to Figure 4 , Figure 4 This is a schematic diagram of the system connection structure of a humanoid robot behavior marking system.

[0049] A humanoid robot behavior labeling system is provided, including: an acquisition module and a judgment module; The acquisition module is used to: acquire the current position information of the humanoid robot and record the position information as the target position information.

[0050] The acquisition module establishes a connection with the humanoid robot's control system via an interface to obtain the robot's current location information. For ease of description, this location information is referred to as target location information. The location information refers to information reflecting the humanoid robot's current spatial location within a specific marked area. This specific marked area includes, but is not limited to, a geographical area, an administrative area, or a custom area. A geographical area refers to an area based on geographic space. An administrative area refers to an area based on an administrative region. A custom area refers to a self-defined area defined using electronic fences.

[0051] The judgment module is used to: determine whether the current humanoid robot is within the set working area based on the target location information; if the current humanoid robot is within the set working area, maintain the current role mode of the humanoid robot; if the current humanoid robot is not within the set working area, stop the current role mode of the humanoid robot.

[0052] Once the judgment module determines the target location information (which reflects the current position of the humanoid robot), it will determine whether the humanoid robot's position is within the set work area. The result of this judgment determines the change in the humanoid robot's current role mode. This change in role mode includes two possibilities: maintain or stop. If the judgment determines that the humanoid robot is within the set work area, it maintains its current role mode. If the judgment determines that the humanoid robot is not within the set work area, it stops its current role mode.

[0053] Taking a humanoid robot with a security role mode as an example, in some related technologies, humanoid robots with a security role mode are also called security robots. For ease of description, the humanoid robot with a security role mode will be referred to as a security robot below.

[0054] The judgment module determines the target location information of the security robot. When the target location information is within the set work area, for example, if the set work area is a campus area, the security robot will normally perform its internally set security-related tasks, such as patrolling and standing guard. When the target location information is not within the set work area, for example, if the security robot leaves the campus area for some reason, the current role mode of the security robot will stop, and the security robot will not perform its internally set security-related tasks.

[0055] Humanoid robots are equipped with various sensors. When the acquisition module needs to obtain location information, in some further specific embodiments, obtaining the current location information of the humanoid robot specifically includes: the acquisition module accessing the position sensors installed on the humanoid robot through an interface, and obtaining the current location coordinates through the position sensors. The position sensors include: GPS position sensors, BeiDou navigation system position sensors, or mobile internet base station positioning sensors. The software program obtains the current location information of the humanoid robot through the position sensors. This location information is presented in the form of position coordinates. For ease of description, these position coordinates are referred to as target position coordinates.

[0056] To determine whether the humanoid robot is currently within its working area, the judgment module accesses the robot's storage unit, which is pre-set with a coordinate set for the current working area. The judgment module compares the target position coordinates with this coordinate set to determine if the target position coordinates belong to a sub-coordinate within the working area coordinate set. If the target position coordinates are determined to be a sub-coordinate within the working area coordinate set, the humanoid robot is considered to be within the defined working area. If the target position coordinates are determined not to be a sub-coordinate within the working area coordinate set, the humanoid robot is considered not to be within the defined working area.

[0057] A common application scenario for using coordinate values ​​as location information is the use of security robots at fixed posts. In this scenario, a fixed area is defined, such as a specific gate area. In some embodiments, this area is typically defined as the gate area, extending outwards by 2 to 5 meters from the gate. Generally, the coordinates of various points within this gate area are collected to form a coordinate set of the working area. This coordinate set is stored in the humanoid robot's storage unit. When the security robot is in operation, it is placed within the gate area. At this time, the robot's position sensors acquire its target position coordinates. These target position coordinates are compared with the pre-stored coordinate set of the gate area to determine whether the security robot is within the gate area's boundaries.

[0058] Of course, a fixed work area can be determined using coordinates. For a non-fixed work area, the distance to a designated moving beacon is used. In this type of application scenario with a non-fixed work area, the location information is represented by distance values.

[0059] In this application scenario, obtaining the current position information of the humanoid robot specifically includes: obtaining the distance value between the current humanoid robot and the set moving beacon from the distance sensor set on the humanoid robot, recording the distance value as the target distance value, and recording the target distance value as the current position information of the humanoid robot.

[0060] To determine whether the humanoid robot is currently within its working area, the judgment module accesses the robot's storage unit, which is pre-set with a set of distance ranges between the current humanoid robot and a designated moving beacon. The judgment module compares the target distance value with this set of distance ranges to determine whether the target distance value belongs to the set. If the target distance value is determined to be a sub-distance of the set, the target location is considered to be within the designated working area, meaning the current humanoid robot is considered to be within the designated working area. If the target distance value is determined not to be a sub-distance of the set, the target location is considered not to be within the designated working area, meaning the current humanoid robot is considered to be outside the designated working area.

[0061] A common application scenario for using distance values ​​as location information is the use of non-fixed-position security robots (bodyguard robots). In this scenario, there is no fixed working area. The working area is generally defined by the range of a moving beacon. In some embodiments, the area extending outward from the moving beacon for 2 to 5 meters is defined as the following area. Distance ranges exist between each point in the following area and the moving beacon; these ranges form a distance range set and are stored in the humanoid robot's storage unit. Typically, the target object that the humanoid robot (bodyguard robot) needs to follow can be equipped with a moving beacon. The distance between the humanoid robot (bodyguard robot) and the moving beacon (target object) is obtained through distance sensors, yielding the target distance value. This target distance value is then compared with the pre-stored distance range set to determine whether the bodyguard robot is within the range of the target object it needs to follow.

[0062] To facilitate awareness that the humanoid robot has left its work area, in some further embodiments, the humanoid robot behavior marking system also includes an alarm module. This alarm module is used to issue an alarm signal when it is determined that the target location information is not within the designated work area. The alarm signals issued include, but are not limited to, audible and visual alerts, and signals pushed to specific smart devices.

[0063] On the other hand, a humanoid robot is provided, which integrates the humanoid robot behavior marking system described in any of the above specific embodiments.

[0064] On the other hand, a computer-readable storage medium is provided, wherein a processor-executable program is stored, which, when executed by a processor, is used to implement the humanoid robot behavior labeling method as described in any of the above specific embodiments.

[0065] This application also discloses a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. The processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the humanoid robot behavior marking method as described in any of the preceding embodiments.

[0066] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented, for example, in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatuses.

[0067] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0068] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0069] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0070] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0071] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0072] Although the description of this application has been quite detailed and particularly focused on several of the described embodiments, it is not intended to limit itself to any of these details or embodiments or any particular embodiment. Rather, it should be considered as effectively covering the intended scope of this application by referring to the appended claims and taking into account the prior art, which provides for a broad possible interpretation of these claims. Furthermore, the foregoing description of this application with respect to embodiments foreseeable by the inventors is intended to provide a useful description, and non-substantial modifications to this application that have not yet been foreseen may still represent equivalent modifications.

[0073] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.

Claims

1. A method for marking the behavior of a humanoid robot, characterized in that, include: Obtain the current position information of the humanoid robot and record the position information as the target position information; Based on the target location information, determine whether the current humanoid robot is within the set work area; if the current humanoid robot is within the set work area, maintain the current role mode of the humanoid robot and execute the task corresponding to its current role mode; If the humanoid robot is not currently within the designated work area, then stop the humanoid robot's current role mode and stop executing the tasks corresponding to its current role mode; The role mode is a security mode, and the tasks corresponding to the security mode include patrolling and guarding. Specifically, obtaining the current position information of the humanoid robot includes: obtaining the distance value between the current humanoid robot and the set moving beacon from the distance sensor installed on the humanoid robot, recording the distance value as the target distance value, and recording the target distance value as the current position information of the humanoid robot; The set mobile beacon is worn by the target object being followed by the humanoid robot, which is a bodyguard robot whose working area is a dynamically generated following area centered on the mobile beacon. The following area extends outward from the moving beacon by 2 to 5 meters. Determining whether the current humanoid robot is within the set working area based on the target location information specifically includes: obtaining the set of distance ranges between the set mobile beacon and the current humanoid robot from the storage unit; The target distance value is compared with the distance range set; if the target distance value belongs to a sub-distance of the distance range set, the target location information is considered to be within the set working area range; if the target distance value does not belong to a sub-distance of the distance range set, the target location information is considered to be not within the set working area range.

2. The humanoid robot behavior labeling method according to claim 1, characterized in that, Obtaining the current position information of the humanoid robot specifically includes: obtaining the current position coordinates from the position sensors installed on the humanoid robot, marking the position coordinates as the target position coordinates, and using the target position coordinates as the current position information of the humanoid robot.

3. The humanoid robot behavior marking method according to claim 2, characterized in that, Determining whether the current humanoid robot is within the set working area based on the target location information specifically includes: obtaining the coordinate set of the set working area from the storage unit, comparing the target location coordinates with the coordinate set of the area; if the target location coordinates belong to a sub-coordinate of the coordinate set of the area, then the current humanoid robot is considered to be within the set working area; if the target location coordinates do not belong to a sub-coordinate of the coordinate set of the area, then the current humanoid robot is considered not to be within the set working area.

4. The humanoid robot behavior marking method according to claim 2, characterized in that, The location sensors include: GPS location sensors, BeiDou navigation system location sensors, or mobile internet base station positioning sensors.

5. The method for marking humanoid robot behavior according to claim 1, characterized in that, Also includes: Once it is determined that the target location information is not within the set working area, an alarm signal is issued.

6. A humanoid robot behavior marking device, characterized in that, include: processor; Memory, used to store computer-readable programs; When the computer-readable program is executed by the processor, the processor implements the humanoid robot behavior labeling method as described in any one of claims 1 to 5.

7. A humanoid robot behavior marking system, characterized in that, include: Acquisition module and judgment module; The acquisition module is used to: acquire the current position information of the humanoid robot and record the position information as the target position information; The judgment module is used to: determine whether the current humanoid robot is within the set work area based on the target location information; if the current humanoid robot is within the set work area, then maintain the current role mode of the humanoid robot and execute the task corresponding to its current role mode; If the humanoid robot is not currently within the designated work area, then stop the humanoid robot's current role mode and stop executing the tasks corresponding to its current role mode; Specifically, obtaining the current position information of the humanoid robot includes: obtaining the distance value between the current humanoid robot and the set moving beacon from the distance sensor installed on the humanoid robot, recording the distance value as the target distance value, and recording the target distance value as the current position information of the humanoid robot; The set mobile beacon is worn by the target object being followed by the humanoid robot, which is a bodyguard robot whose working area is a dynamically generated following area centered on the mobile beacon. The following area extends outward from the moving beacon by 2 to 5 meters. Determining whether the current humanoid robot is within the set working area based on the target location information specifically includes: obtaining the set of distance ranges between the set mobile beacon and the current humanoid robot from the storage unit; The target distance value is compared with the distance range set; if the target distance value belongs to a sub-distance of the distance range set, the target location information is considered to be within the set working area range; if the target distance value does not belong to a sub-distance of the distance range set, the target location information is considered to be not within the set working area range.

8. A humanoid robot, characterized in that, Includes the humanoid robot behavior marking system as described in claim 7.

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