CN112835365B - Method and device for setting robot delivery target point, robot and storage medium - Google Patents
Method and device for setting robot delivery target point, robot and storage medium Download PDFInfo
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- CN112835365B CN112835365B CN202011634578.4A CN202011634578A CN112835365B CN 112835365 B CN112835365 B CN 112835365B CN 202011634578 A CN202011634578 A CN 202011634578A CN 112835365 B CN112835365 B CN 112835365B
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- 238000012384 transportation and delivery Methods 0.000 title claims abstract description 59
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000001514 detection method Methods 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 abstract description 6
- 238000013439 planning Methods 0.000 description 6
- 235000012054 meals Nutrition 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 235000013305 food Nutrition 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 238000011895 specific detection Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention provides a method and a device for setting a robot delivery target point, a robot and a computer readable storage medium. The method is applicable to robots with multiple layers of trays, and comprises the following steps: automatically selecting trays to be provided with target points one by one at preset time intervals; and in the preset time interval after each tray selection, receiving an input target value for representing a target point, and assigning the target value to the currently selected tray. According to the invention, each tray is selected one by one automatically, namely, a target value which is input by an operator and used for representing a target point is received, and then the target value is assigned to the currently selected tray. The whole setting process is to automatically switch and select each tray, and only the operator inputs the corresponding target value, so that the operation is very simple, and the working efficiency and the use experience of the operator are improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of robots, in particular to a method and a device for setting a robot delivery target point, a robot and a computer readable storage medium.
Background
The cost pressure of logistics distribution enables the distribution robot to be gradually applied to various short-distance distribution scenes such as delivery, meal delivery and the like, the unmanned distribution mode can save labor cost, interesting experience of users can be improved, and the shopping privacy of the users is guaranteed to a certain extent, so that the distribution robot is necessarily widely applied in short-distance distribution.
In order to improve the distribution efficiency of the robot, the tray structure of the distribution robot is generally designed into multiple layers, articles such as dishes, cargoes and the like are respectively placed on each tray, the articles correspond to different target points, and then the distribution robot distributes the articles according to the set routes of the target points.
Before delivery, the target points corresponding to the articles to be delivered on the trays are required to be set, conventionally, one target point is set every time one tray is selected, then the next target point is selected, for example, the tray 1 is selected firstly, the target point 1 corresponding to the articles on the tray 1 is set, then the tray 2 is selected, the target point 2 corresponding to the articles on the tray 2 is set again, and the like until the target points corresponding to the articles on all the trays are set.
The setting method of the target point is complicated, influences the use experience of the user, and needs to be improved.
Disclosure of Invention
The technical problem to be solved by the embodiment of the invention is how to simplify the setting of the robot delivery target point of the multi-tray structure and improve the user experience.
An embodiment of the present invention provides a method for setting a robot delivery target point, including: automatically selecting trays to be provided with target points one by one at preset time intervals; and in the preset time interval after each tray selection, receiving an input target value for representing a target point, and assigning the target value to the currently selected tray.
The second aspect of the embodiment of the present invention further provides a device for setting a robot delivery target point, including: a selecting unit for automatically selecting the trays to be set with target points one by one at preset time intervals; and the assignment unit is used for receiving an input target value used for representing the target point in the preset time interval after each tray selection and assigning the target value to the currently selected tray.
A third aspect of an embodiment of the present invention further provides a robot, including: a memory and a processor; the memory stores executable program code; the processor coupled to the memory invokes the executable program code stored in the memory to perform the method of setting the robot dispensing target point according to the first aspect.
A fourth aspect of the embodiments of the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method for setting a robot dispensing target point according to the first aspect.
In the embodiment of the invention provided by the above aspects, by automatically selecting each tray one by one, selecting one tray information at a time, namely receiving a target value used for representing a target point and input by an operator, and then assigning the target value to the currently selected tray. The whole setting process is to automatically switch and select each tray, and only the operator inputs the corresponding target value, so that the operation is very simple, and the working efficiency and the use experience of the operator are improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are some embodiments of the invention and that other drawings can be obtained according to these drawings without inventive faculty for a person skilled in the art.
Fig. 1 is a flowchart of a method for setting a robot dispensing target point according to a first embodiment of the present invention;
fig. 2 is a schematic structural view of a tray part of a robot according to a first embodiment of the present invention;
fig. 3 is a flowchart illustrating a method for setting a robot dispensing target point according to a second embodiment of the present invention;
fig. 4 is a flowchart illustrating a method for setting a robot dispensing target point according to a third embodiment of the present invention;
fig. 5 is a block diagram showing an apparatus for setting a robot dispensing target point according to a fourth embodiment of the present invention;
FIG. 6 is a block diagram of selected cells provided by a fourth embodiment of the present invention;
fig. 7 is a block diagram of an assignment unit provided in a fourth embodiment of the present invention;
fig. 8 is a structural view showing an improvement of an apparatus for setting a robot dispensing target point according to a fourth embodiment of the present invention;
fig. 9 is a structural view showing another modification of the apparatus for setting a robot dispensing target point provided in the fourth embodiment of the present invention;
fig. 10 is a structural view showing still another modification of the apparatus for setting a robot dispensing target point provided in the fourth embodiment of the present invention;
fig. 11 is a schematic structural view of a robot according to a fifth embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The embodiment of the invention relates to setting of a robot delivery target point. Specifically, before the robot performs the delivery task, the target points corresponding to the objects to be delivered on the trays need to be preset, that is, the robot needs to convey the objects to the target points to complete the delivery task when the robot performs the task. For example, a meal delivery robot performs a meal delivery task, a corresponding table number needs to be set for dishes on each tray of the robot, and a hotel goods delivery robot needs to set a corresponding room number for objects on each tray of the robot when performing the goods delivery task.
Fig. 1 is a flowchart illustrating a method for setting a robot dispensing target point according to a first embodiment of the present invention. The setting method can be operated on a setting interface of the robot body to realize interaction with the robot, or operated on a setting interface of an intelligent terminal which uniformly sets target points for each robot, the intelligent terminal interacts with the robot, and the intelligent terminal can be a computer, a mobile phone or a wearable intelligent device and generally has structures such as an arithmetic unit, a controller, a memory, an input device, an output device and the like. As shown in fig. 1, the method specifically includes:
s101, automatically selecting the trays which need to be provided with target points one by one at preset time intervals.
The robot suitable for the invention is designed with a plurality of layers of trays, as shown in fig. 2, comprising a tray T1, a tray T2, a tray T3 and the like, wherein articles to be distributed are respectively placed on each tray, and the structure of the plurality of layers of trays can improve the distribution efficiency to a certain extent.
However, in reality, there is a high possibility that the target points to which the delivered articles on the trays should be delivered are different, and thus the target points corresponding to the trays of each layer should be set before delivery. In the invention, the target point represents a target place to which the article needs to be sent, for example, the target point corresponding to the food delivery robot of the restaurant can be an A6 table, a B9 table or the like, and the target point corresponding to the food delivery robot of the hotel can be a 1001 room, a 1215 room or the like.
As an implementation manner, the selected tray needs to be displayed on the setting interface, and only the currently selected tray can be displayed on the interface, or all the trays can be displayed on the interface at one time, and then the selected tray is displayed in a highlighting manner with different colors, brightness and the like. The display form of the tray may be the name of the tray, such as a first layer tray, a second layer tray, etc., or the symbol used for referring to the tray, such as "1", "2", "3" or "a", "b", "c", etc., or the combination of the graphic + name/symbol.
Since more than one layer of trays for dispensing the articles is required, each tray needs to be selected one by one so that the operator can input the information of the target point of each tray. The mode of selecting the tray information one by one is automatic one by one, namely, the trays are selected by automatic switching, so that the setting efficiency of operators is improved, and the operators can operate as little as possible manually.
There is a preset time interval between the two selected trays, the time interval is used for the operator to input the relevant information of the target point of the currently selected tray, for example, the time interval can be 3 seconds, and the user needs to complete the setting of the target point of the tray within the 3 seconds.
S102, in a preset time interval after each tray selection, receiving an input target value used for representing a target point, and assigning the target value to the currently selected tray.
The specific input mode can be manual input in an input box on the setting interface directly, or can be that all target points in the robot distribution range are displayed on the setting interface at the same time, and an operator selects a required target point from the target points.
As a preferred mode, the robot can also acquire all target points to be distributed, and can particularly acquire the target points through a restaurant ordering platform or a hotel distribution management platform, then display the target points to be distributed in a preset hierarchical division mode, then detect touch operation on the displayed target points, and when the touch operation of an operator is detected, assign the target value of the target point pointed by the touch operation to the currently selected tray.
The preset hierarchical dividing form is convenient for quickly finding out the target points to be distributed at this time, for example, the target points can be arranged in a matrix form, for the distribution of restaurants, the table numbers are displayed in a matrix form according to the rows and columns where the table numbers are actually located, for hotels, the room numbers of the rooms are displayed layer by layer, for example, all rooms of the nth building are sequentially displayed in the nth row in sequence,
the target value of the target point is characters, numerical values or characters which can be identified by the robot, and the numerical values and the characters are used as unique identification of the target point, so that the input of operators is facilitated from the viewpoint of manual input, and the numerical values or characters can be preferably adopted.
After receiving the input target value, the target value is assigned to the currently selected tray in an associated mode. When the robot dispenses the articles on the tray, the robot is controlled to run to the position of the target point according to the target value assigned to the tray.
Further, as a preferred implementation, if the operator inputs the target value multiple times within the preset time interval, the input that is the correct target value of the last input, that is, the input that defaults to be the error of the target value input before, is ignored. When the preset time interval expires, the target value input last time is assigned to the currently selected tray.
In addition, for the case of manual input by an operator, an unrecognizable target point may be input by mistake, at this time, a step of legitimacy recognition may be added, after the input target value for representing the target point is received, whether the target value is included in a preset legal target value set is further required to be confirmed, if yes, the target value is assigned to the currently selected tray, if not, the error is reported and the target value is prompted to be input again. For example, the user enters "room number 1510" but the absence of this room number in the hotel is obviously a result of an entry error, at which point "room number 1510" is considered not to be included in the preset set of legal targets.
The whole setting process will now be described by taking the case of meal delivery as an example: the corresponding tray is displayed on the setting interface so that an operator can input the corresponding table number, meanwhile, a plurality of table numbers for supporting the forward-going robots are built in the setting software, the operator is allowed to input the tray, and meanwhile, the tray displayed on the setting interface defaults to select the first layer. Firstly, an operator firstly places objects to be distributed on corresponding trays on a robot, then sequentially selects a table number to which a first layer of trays need to go, then the table number selected by the operator is assigned to the currently selected tray by set software (the first layer of trays are selected by default), and then the selected tray is automatically jumped to the next layer of trays; the operator selects a second table number again, the setting software pays the table number selected by the operator to the currently selected tray (the second layer tray), and then the next tray (the third layer tray) is selected automatically; the operator selects the third table number again, the setting software pays the table number selected by the operator to the currently selected tray (the third layer of tray), and so on until the last layer of tray. Because the last layer of trays has no next layer of trays, the logic of automatically selecting the trays ends at this point, and the operator inputs the table number again, and only modifies the table number of the currently selected tray (the last layer).
According to the method for setting the robot delivery target point, which is provided by the first embodiment of the invention, each tray is selected one by one automatically, one tray information is selected each time, namely, a target value used for representing the target point and input by an operator is received, and then the target value is assigned to the currently selected tray. The whole setting process is to automatically switch and select each tray, and only the operator inputs the corresponding target value, so that the operation is very simple, and the working efficiency and the use experience of the operator are improved.
Further, considering that in a real scene, the robot may not always place the objects to be distributed on each layer of trays, or some objects may be suitable for being placed on a lower layer of trays, for example, large-size and heavy objects or liquid objects are placed on the lower layer of trays, so that the robot can be ensured to stably run and liquid cannot be splashed out, and light-weight or small-size objects are more suitable for being placed on a higher layer of trays. Even when the height designs of the trays of the respective layers are different, operators often place the trays of the respective heights according to the thickness of the articles when placing the articles. The above scenarios determine that the operator is likely to have discrete trays for items, such as items on tier 1, 2, and 4 trays, with tier 3 trays empty. As described above, it is also necessary to recognize whether or not the tray is empty when selecting the tray setting target point.
Based on the above considerations, the above step S101 includes:
in step S1011, it is detected whether or not the next tray is placed with the articles to be dispensed at each time interval.
In step S1011, if it is detected that the next tray is placed with the articles to be dispensed, the next tray is selected after the current time interval expires.
And S1011, if the fact that the articles to be distributed are not placed on the next tray is detected, continuing to detect other trays according to a preset detection sequence until the tray on which the articles to be distributed are placed is detected, and selecting the tray on which the articles to be distributed are placed after the current time interval expires.
The specific detection process can be based on detection of a weight sensor, for example, a weight sensor is arranged on each layer of tray, when the detection data of the weight sensor is larger than the weight of the empty tray, the tray is considered to be placed with the articles, and when the detection data of the weight sensor is equal to the weight of the empty tray, the tray is considered to be empty. It can also be detected by machine vision techniques, particularly without limitation.
In addition, the method also comprises an error correction step, which specifically comprises the following steps of: in response to an instruction to modify a target value, reselecting a tray designated by the instruction; and receiving an input target value for representing the target point, and reassigning the target value to the currently selected tray.
Specifically, the tray identifier to be modified to the target value can be directly input in the error correction column, or each tray graph can be correspondingly configured with an error correction touch icon, and the user can directly touch the corresponding error correction icon.
On the basis of the first embodiment, fig. 3 shows a flow of a method for setting a robot dispensing target point according to a second embodiment of the present invention, and after step S101 and step S102, the method further includes:
step S1031, determining whether all the trays requiring setting of the target point have completed assignment.
In step S1032, if yes, a delivery route plan with the shortest total route is generated according to the positions of the target points so as to control the delivery sequence of the robot.
After assignment of the trays, the robot has knowledge of the location to which the articles on each tray are to be directed, and when the target points are more discrete, the robot can be planned in several travel directions. To save the journey, the objects of the table A6 and the table A7 can be planned in the same journey direction, for example, the objects of the table A6 and the table A7 can be planned in one journey direction, so that the robot can distribute the objects of the table A6 and the table A7 in one journey direction, for example, the room numbers 1101, 1103 and 1105 are all at the left side of the elevator, and the objects of the rooms can be planned in the same journey direction. And then dispensing with the target point in the travel direction as a unit.
On the basis of the first embodiment, fig. 4 shows a flow of a method for setting a robot dispensing target point according to a third embodiment of the present invention, and after step S101 and step S102, the method further includes:
in step S1041, it is determined whether all the trays requiring setting of the target point have been assigned.
In step S1042, if yes, the target values corresponding to the target points are sent to the server.
Step S1043, receiving the delivery paths of other robots at the target points queried by the server.
It should be understood that the delivery path of the other robot focused in this step at each target point refers to the delivery path of the other robot during the delivery period of the robot, and does not require focusing during this delivery period.
Step S1044, generating a current distribution path for the robot according to the distribution paths of other robots at the target points; wherein, the delivery path of this time and the delivery paths of other robots do not have meeting points.
The embodiment mainly considers the situation that a plurality of distribution robots are arranged in the same restaurant or the same hotel, but the path between restaurant seats or the corridor of the hotel may be narrower, two robots cannot pass through at the same time, and if the two robots are simultaneously arranged on the same path, the problems of avoiding and waiting are involved. Therefore, in order to avoid the travel collision of each robot, after assignment is completed, the server needs to query the delivery paths of other robots, and then the delivery paths of the present robot and the delivery paths of other robots are generated according to the delivery paths, so that the present delivery paths of the present robot and the delivery paths of other robots have no meeting points and do not interfere with each other to deliver.
The third embodiment may be combined with the second embodiment as well, and the delivery stroke may be shortened as much as possible on the premise of ensuring no collision with the delivery of other robots.
Fig. 5 shows a structure of an apparatus for setting a robot dispensing target point provided in a fourth embodiment of the present invention, and only parts related to the present invention are shown for convenience of description.
Referring to fig. 5, the apparatus includes a selection unit 51 and an assignment unit 52, wherein the selection unit 51 is configured to automatically select trays, on which target points need to be set, one by one at preset time intervals; the assignment unit 52 is configured to receive an input target value for characterizing a target point in a time interval after each tray selection, and assign the target value to a currently selected tray.
Further, as shown in fig. 6, the selecting unit 51 further includes a detecting module 511 and a selecting module 512, where the detecting module 511 is configured to detect whether an article to be dispensed is placed on a next tray in each time interval, and further configured to continue detecting other trays according to a preset detecting sequence until a tray on which an article to be dispensed is placed is detected when it is detected that an article to be dispensed is not placed on the next tray. The selection module 512 is configured to select a next tray or other tray in which the items to be dispensed are placed if the current time interval expires.
Further, the assignment unit 52 may further obtain all target points to be distributed, specifically, may obtain the target points through a dining platform of a restaurant or a distribution management platform of a hotel, then display the target points to be distributed in a preset hierarchical division form, then detect a touch operation on the displayed target points, and when detecting that there is a touch operation of an operator, assign a target value of the target point pointed by the touch operation to a currently selected tray.
Further, as shown in fig. 7, the assignment unit 52 further includes a receiving module 521 and an assignment module 522, where the receiving module 521 is configured to receive an input target value for characterizing the target point. The assignment module 522 is configured to determine whether the target value is included in a preset legal target value set, if yes, assign the target value to the currently selected tray, and if no, report an error and prompt to reenter the target value.
For details of the technical principles of the above modules, please refer to the description of the above embodiments, and the details are not repeated here.
According to the device for setting the robot delivery target point, which is provided by the fourth embodiment of the invention, each tray is selected one by one automatically, one tray information is selected each time, namely, a target value used for representing the target point and input by an operator is received, and then the target value is assigned to the currently selected tray. The whole setting process is to automatically switch and select each tray, and only the operator inputs the corresponding target value, so that the operation is very simple, and the working efficiency and the use experience of the operator are improved.
Further, as shown in fig. 8, the apparatus further includes a modifying unit 53, where the modifying unit 53 is configured to, in response to an instruction for modifying the target value, reselect the tray specified by the instruction, and then the assigning unit 52 receives the input target value for characterizing the target point again, and reassigns the target value to the currently selected tray. Specifically, the tray identifier to be modified to the target value can be directly input in the error correction column, or each tray graph can be correspondingly configured with an error correction touch icon, and the user can directly touch the corresponding error correction icon.
Further, as shown in fig. 9, the apparatus further includes a first delivery route planning unit 54, where the delivery route planning unit 54 is configured to first confirm whether all trays requiring setting of target points are assigned, and if so, generate a delivery route plan with the shortest total route according to the positions of the target points to control the delivery sequence of the robot. After assignment of the trays, the robot has knowledge of the location to which the articles on each tray are to be directed, and when the target points are more discrete, the robot can be planned in several travel directions. To save the journey, the objects of the table A6 and the table A7 can be planned in the same journey direction, for example, the objects of the table A6 and the table A7 can be planned in one journey direction, so that the robot can distribute the objects of the table A6 and the table A7 in one journey direction, for example, the room numbers 1101, 1103 and 1105 are all at the left side of the elevator, and the objects of the rooms can be planned in the same journey direction. And then dispensing with the target point in the travel direction as a unit.
Further, as shown in fig. 10, the apparatus further includes a second delivery route planning unit 55, where the second delivery route planning unit 55 is configured to first confirm whether all the trays requiring setting of target points are assigned, and if so, send target values corresponding to the target points to the server; then receiving the distribution paths of other robots at the target points, which are inquired by the server, and generating a current distribution path for the robot according to the distribution paths of the other robots at the target points; wherein, the delivery path of this time and the delivery paths of other robots do not have meeting points. The design of the second delivery route planning unit 55 mainly considers the situation that the same restaurant or the same hotel has a plurality of delivery robots, but the path between the restaurant seats or the hotel corridor may be narrower, and the two robots cannot be passed through at the same time, so that the second delivery route planning unit 55 can avoid the collision of the delivery paths of the robots.
As shown in fig. 11, the fifth embodiment of the present invention further provides a robot including a memory 100 and a processor 200, and the processor 200 may be the assignment unit 52 in the apparatus for setting a robot dispensing target point in the above-described embodiment. Memory 100, such as a hard drive memory, a non-volatile memory (e.g., flash memory or other electronically programmable limited delete memory used to form a solid state drive, etc.), a volatile memory (e.g., static or dynamic random access memory, etc.), and the like, embodiments of the present invention are not limited.
Memory 100 stores executable program code; the processor 200 coupled to the memory 100 invokes the executable program code stored in the memory to perform the robot dispensing target point setting method as described above.
Further, the sixth embodiment of the present invention further provides a computer readable storage medium, which may be provided in the rf host in the above embodiments, and the computer readable storage medium may be the memory 100 in the embodiment shown in fig. 11. The computer-readable storage medium has stored thereon a computer program which, when executed by a processor, implements the robot dispensing target point setting method described in the embodiments shown in the foregoing fig. 1 to 4. Further, the computer-readable medium may be any medium capable of storing a program code, such as a usb (universal serial bus), a removable hard disk, a Read-Only Memory (ROM), a RAM, a magnetic disk, or an optical disk.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The foregoing describes a method, apparatus, robot, and computer readable storage medium for setting a robot dispensing target point according to the present invention, and the present invention should not be construed as limited to the specific embodiments and application ranges given by the person skilled in the art based on the concepts of the embodiments of the present invention.
Claims (10)
1. A method for setting a robot delivery target point, characterized in that the robot has a multi-layered tray; the setting method comprises the following steps:
automatically selecting trays to be provided with target points one by one at preset time intervals;
receiving an input target value used for representing a target point in the preset time interval after each tray selection, and assigning the target value to the currently selected tray;
in response to an instruction to modify a target value, reselecting a tray designated by the instruction; and receiving an input target value for representing the target point, and reassigning the target value to the currently selected tray.
2. The setting method according to claim 1, wherein the automatically selecting the trays to be set with the target points one by one at preset time intervals includes:
detecting whether the articles to be distributed are placed on the next tray or not in each time interval;
if the fact that the articles to be distributed are placed on the next tray is detected, selecting the next tray after the current time interval expires;
if the fact that the articles to be distributed are not placed on the next tray is detected, other trays are continuously detected according to a preset detection sequence until the tray on which the articles to be distributed are placed is detected, and the tray on which the articles to be distributed are placed is selected after the current time interval expires.
3. The setting method according to claim 1, wherein the receiving the input target value for characterizing the target point and assigning the target value to the currently selected tray includes:
receiving an input target value for characterizing a target point;
and confirming whether the target value is contained in a preset legal target value set, if so, assigning the target value to the currently selected tray, otherwise, reporting errors and prompting to reenter the target value.
4. A setting method according to any one of claims 1 to 3, wherein said receiving an input target value for characterizing a target point and assigning said target value to a currently selected tray comprises:
acquiring all target points to be distributed;
displaying all the target points to be distributed in a preset hierarchical division mode;
and detecting touch operation on the displayed target point, and assigning the target value of the target point pointed by the touch operation to the currently selected tray.
5. The setting method according to claim 1, characterized by further comprising:
confirming whether all trays needing to be provided with target points are assigned;
if so, generating a delivery route plan with the shortest total route according to the positions of the target points so as to control the delivery sequence of the robot.
6. The setting method according to claim 1, characterized by further comprising:
confirming whether all trays needing to be provided with target points are assigned;
if so, sending target values corresponding to the target points to a server;
receiving distribution paths of other robots at the target points, which are inquired by a server;
generating a current delivery path for the robot according to delivery travel paths of other robots at the target points; wherein, the delivery path of this time and the delivery paths of other robots do not have meeting points.
7. An apparatus for setting a robot dispensing target point, comprising:
a selecting unit for automatically selecting the trays to be set with target points one by one at preset time intervals;
the assignment unit is used for receiving an input target value used for representing a target point in the preset time interval after each tray selection and assigning the target value to the currently selected tray;
and the modifying unit is used for responding to an instruction for modifying the target value, reselecting the tray designated by the instruction, and then, the assigning unit receives the input target value used for representing the target point again and reassigns the target value to the currently selected tray.
8. The apparatus of claim 7, wherein the selected unit comprises:
the detection module is used for detecting whether the to-be-delivered object is placed on the next tray or not in each time interval, and is also used for continuously detecting other trays according to a preset detection sequence until the to-be-delivered object is detected to be placed on the next tray;
and the selecting module is used for selecting the next tray or other trays with articles to be distributed when the current time interval expires.
9. A robot, comprising:
a memory and a processor;
the memory stores executable program code;
the processor coupled with the memory, invoking the executable program code stored in the memory, performing the robot dispensing target point setting method according to any one of claims 1 to 6.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when executed by a processor, implements the method of setting a robot dispensing target point according to any one of claims 1 to 6.
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| CN113936654B (en) * | 2021-09-17 | 2024-11-19 | 上海擎朗智能科技有限公司 | A control method, a food delivery robot and a computer-readable storage medium |
| CN113936653B (en) * | 2021-09-17 | 2024-11-15 | 上海擎朗智能科技有限公司 | Control method, food delivery robot and computer readable storage medium |
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