CN112171663A

CN112171663A - Robot state prompting system, method and device and electronic equipment

Info

Publication number: CN112171663A
Application number: CN202010915368.6A
Authority: CN
Inventors: 张晓龙
Original assignee: Shanghai Jiangge Robot Co Ltd
Current assignee: Shanghai Jiangge Robot Co Ltd
Priority date: 2020-09-03
Filing date: 2020-09-03
Publication date: 2021-01-05
Also published as: JP6883898B1; JP2022042918A

Abstract

The application discloses a robot state prompting system, method and device and electronic equipment, belongs to the technical field of robots, and can solve the problem that in the prior art, a worker in logistics storage is difficult to acquire the position and the working state of a robot. The method comprises the following steps: the state management device determines the working state type of the target robot based on the working state information of the target robot; the state management device sends a target warning instruction corresponding to the working state type of the target robot to the target robot based on the corresponding relation between the working state type of the robot and the warning instruction; and the target robot controls the warning equipment of the target robot to send state prompt information according to the target warning instruction based on the target warning instruction.

Description

Robot state prompting system, method and device and electronic equipment

Technical Field

The application belongs to the technical field of robots, and particularly relates to a robot state prompting system, method and device and electronic equipment.

Background

With the rapid development of the logistics industry, the demand of the market on the logistics storage robot is increasing, and the automation and the intellectualization of the management system of the logistics storage robot are perfecting.

The logistics storage robot is often used for replacing manpower, so that the labor cost can be saved, the injury to a human body in the manual carrying process can be reduced, and the working efficiency of the logistics storage system is improved. When the logistics storage robot performs a task in the warehouse, the logistics storage robot often needs to cooperate with workers in the warehouse to complete a goods picking process, namely, a process of picking goods from a storage position of the logistics storage robot and transporting the goods to an area to be assembled according to a task order.

In the process of realizing the application, the inventor finds that the position of the logistics storage robot is difficult to be quickly determined by workers in the warehouse, and the working state of the logistics storage robot is difficult to be acquired, so that the workers can neglect the logistics storage robot which is idle, faulty or suddenly stopped in the warehouse, and the cooperation efficiency of the logistics storage robot and the workers is reduced.

Disclosure of Invention

The embodiment of the application aims to provide a robot state prompting system, a robot state prompting method, a robot state prompting device and electronic equipment, and the problem that in the prior art, a worker in logistics storage is difficult to acquire the position and the working state of a robot can be solved.

In order to solve the technical problem, the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a robot status prompting system, where the system includes a status management device and a plurality of robots, where:

a controller and external warning equipment are respectively arranged in the plurality of robots;

the controllers of the robots are used for acquiring the working state information of the robots and respectively sending the working state information of the robots to the state management device;

the state management device is used for respectively determining the working state types of the robots based on the working state information of the robots, and respectively sending warning instructions corresponding to the working state types of the robots to the robots based on the corresponding relations between the working state types of the robots and the warning instructions;

and the controllers of the robots respectively control the respective warning equipment to send out state prompt information according to the warning instructions corresponding to the working state types of the robots based on the warning instructions corresponding to the working state types of the robots.

In a second aspect, an embodiment of the present application provides a robot status prompting method, which is applied to the robot status prompting system according to the first aspect, and the method includes:

the state management device determines the working state type of the target robot based on the working state information of the target robot from the controller of the target robot;

the state management device sends a target warning instruction corresponding to the working state type of the target robot to the target robot based on the corresponding relation between the working state type of the robot and the warning instruction;

the target robot controls warning equipment of the target robot to send state prompt information according to the target warning instruction based on the target warning instruction;

wherein the operation state type of the target robot includes at least one of a fault state, an emergency stop state, an idle state, a maintenance state, a busy state, a turning and walking state, and a charging state.

In a third aspect, an embodiment of the present application further provides a robot state prompting device, where the device includes:

state management means for determining a type of an operating state of a target robot based on operating state information of the target robot from a controller of the target robot;

the state management device is also used for sending a target warning instruction corresponding to the working state type of the target robot to the target robot based on the corresponding relation between the working state type of the robot and the warning instruction;

the target robot is used for controlling warning equipment of the target robot to send state prompt information according to the target warning instruction based on the target warning instruction;

In a fourth aspect, an embodiment of the present application provides an electronic device, including:

a processor; and

a memory arranged to store computer executable instructions that, when executed, cause the processor to:

In a fifth aspect, embodiments of the present application provide a computer-readable storage medium storing one or more programs that, when executed by an electronic device that includes a plurality of application programs, cause the electronic device to perform operations comprising:

and the target robot controls the warning equipment of the target robot to send state prompt information according to the target warning instruction based on the target warning instruction.

In a sixth aspect, the present application provides a chip, where the chip includes a processor and a communication interface, where the communication interface is coupled to the processor, and the processor is configured to execute a program or instructions to implement the method according to the second aspect.

In the embodiment of the present application, a robot status prompting system includes a status management device and a plurality of robots, wherein: a controller and external warning equipment are respectively arranged in the plurality of robots; the controller of the multiple robots is used for acquiring the working state information of the multiple robots and respectively sending the working state information of the multiple robots to the state management device; the state management device is used for determining the working state types of the robots respectively based on the working state information of the robots, and sending warning instructions corresponding to the working state types to the robots respectively based on the corresponding relations between the working state types of the robots and the warning instructions; and the controllers of the robots respectively control the warning devices to send out state prompt information according to the warning instructions corresponding to the working state types of the robots based on the warning instructions corresponding to the working state types of the robots.

Therefore, the state management device can acquire the working state of the robot in real time and send out corresponding warning instructions in time, so that when a user cannot see the robot, the user still can send out state prompt information through the warning equipment to acquire the position and the working state of the robot, the user and the robot can cooperate closely, and the cooperation efficiency between the robot and the user is improved.

Drawings

Fig. 1 is a schematic structural diagram of a robot state prompting system according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a robot in a robot state prompting system provided in an embodiment of the present application;

fig. 3 is a schematic view of communication connection between modules of a robot in a robot status prompting system according to an embodiment of the present disclosure;

fig. 4 is a schematic flow chart illustrating an implementation of a robot state prompting method according to an embodiment of the present application;

fig. 5 is a schematic flow chart of the robot state prompting method applied to an actual scene according to the embodiment of the present application;

fig. 6 is a schematic structural diagram of a robot state prompting device according to an embodiment of the present application;

fig. 7 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The terms first, second and the like in the description and in the claims of the present application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that embodiments of the application may be practiced in sequences other than those illustrated or described herein, and that the terms "first," "second," and the like are generally used herein in a generic sense and do not limit the number of terms, e.g., the first term can be one or more than one. In addition, "and/or" in the specification and claims means at least one of connected objects, a character "/" generally means that a preceding and succeeding related objects are in an "or" relationship.

The robot status prompting system provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.

Fig. 1 is a schematic structural diagram of a robot state indicating system according to an embodiment of the present disclosure. The system comprises a state management device 11 and a plurality of robots 12, wherein:

the plurality of robots 12 are respectively internally provided with a controller 121 and externally provided with warning equipment 122;

a plurality of robot controllers 121 for acquiring operation state information of the plurality of robots 12 and transmitting the operation state information of the plurality of robots 12 to the state management device 11;

a state management device 11, configured to determine the operating state types of the multiple robots 12 based on the operating state information of the multiple robots 12, respectively, and send warning instructions corresponding to the operating state types to the multiple robots 12 based on the corresponding relationships between the operating state types of the robots 12 and the warning instructions, respectively;

the controllers 121 of the plurality of robots respectively control the warning devices 122 to issue status prompt messages according to the warning commands corresponding to the operating status types thereof, based on the warning commands corresponding to the operating status types thereof.

It should be understood that the state management device 11 and the plurality of robots 12 may be connected in a wired or wireless communication manner, so that the state management device 11 can transmit instructions to the plurality of robots 12, the plurality of robots 12 can transmit information such as the operating states of the respective plurality of robots 12 to the state management device 11, and the controllers 121 of the plurality of robots can respond to and control the plurality of robots 12 to execute the instructions from the state management device 11.

Fig. 2 is a schematic structural diagram of a robot in the robot state prompting system according to the embodiment of the present application. As shown in fig. 2, the plurality of robots 12 may respectively have a controller 121 and an external warning device 122 built therein, where the warning device 122 may include a searchlight 1221, a generator 1222, a first warning light strip 1223, a second warning light strip 1224, a third warning light strip 1225, a fourth warning light strip 1226, a visible light communication light 1227, and other devices.

As shown in fig. 2(a), a searchlight 1221 may be disposed on the top of the robot 12 to project light onto an indoor top surface where the robot 12 is located, so that a user who cannot directly see the robot 12 can determine the position of the robot 12 from the light projected by the searchlight 1221.

Generator 1222 is able to generate sound to alert the user of the working status and location of robot 12, therefore, generator 1222 may be disposed on the surface of the housing of robot 12 or inside robot 12, as long as the user can obtain the sound generated by generator 1222.

Fig. 2(b) is a cross-sectional view of the robot 12 at a-a position in fig. 2 (a). The first warning light strip 1223, the second warning light strip 1224, the third warning light strip 1225 and the fourth warning light strip 1226 are arranged on the surface of the shell of the robot 12 in a surrounding manner, so that a user can observe light in the warning light strips from any angle and determine the working state of the robot 12.

The visible light communication lamp 1227 can be arranged at the top of the robot 12, and the visible light communication lamp 1227 can be used for sending a visible light signal according to a preset frequency and a preset brightness when the controller 121 of the robot cannot be in communication connection with the state management device 11, so that a camera arranged indoors where the robots 12 are located can acquire the visible light signal sent by the visible light communication lamp 1227.

In addition, the controller 121 is respectively connected to the searchlight 1221, the generator 1222, the first warning light strip 1223, the second warning light strip 1224, the third warning light strip 1225, the fourth warning light strip 1226, the visible light communication light 1227, and the like, so that the controller 121 can control the warning devices 122 to send out the status prompt information.

In one embodiment, instead of separately providing the visible light communication lamp 1227, the warning light strips 1223 to 1226 are used to implement the function of sending visible light signals from the visible light communication lamp 1227, thereby saving cost.

Alternatively, as shown in fig. 2(a), the front surfaces of the multiple robots 12 may be respectively provided with a first camera 123, the top surfaces of the multiple robots 12 may be respectively provided with a second camera 124, and the bottom surfaces of the multiple robots 12 may be respectively provided with collision sensors 125, wherein:

the first camera 123 may acquire objects and people within a preset range around the robot 12;

the second camera 124 may acquire a position information pattern of a top portion of the room where the robot 12 is located, where the position information pattern is a pattern for indicating a location of the room, and a plurality of position information patterns arranged in an array-type layout may be disposed on the top portion of the room, where the plurality of position information patterns may be different from each other, and each position information pattern corresponds to a position coordinate;

the collision sensor 125 may acquire collision information when the robot 12 collides, and the collision information may include a collided part of the robot 12 and an acting force of the collision on the robot 12;

the collision sensor 125 may include an airbag and a pressure sensor, when the robot 12 collides with an object, the collision may generate pressure on the airbag, and then the gas in the airbag may transmit the pressure to the pressure sensor wrapped in the airbag after being squeezed, so that the pressure sensor may obtain the collided part and the acting force of the robot 12.

For example, when the robot 12 is charging through the charging post, a charging plug of the robot 12 may be exposed, and if the first camera 123 captures that a hand approaches the charging plug of the robot 12, the controller 121 of the robot controls the robot 12 to stop charging and controls the warning device 122 to send a status prompt message to prompt the hand not to approach the charging plug.

And/or, the plurality of robots 12 may be further provided with touch sensors at partial positions, respectively, for sensing whether a human body part touches a high voltage part of the plurality of robots 12. As described above, when the robot 12 is charged through the charging post, if the touch sensor located at the charging plug of the robot 12 and the vicinity thereof senses that the hand touches the charging plug and the vicinity thereof, the controller 121 of the robot may control the robot 12 to cut off the voltage and stop the charging.

Optionally, a passive reflection device may be disposed on the surface of the robot 12, and when the room where the robot 12 is located is not powered and the battery power of the robot 12 is insufficient, and when light rays such as light rays emitted by a flashlight held by a worker or moonlight are irradiated on the passive reflection device, the passive reflection device may reflect the light rays, so that the worker can easily find the location of the robot 12 through the reflected light rays. The passive reflection device includes a reflection device made of a light reflecting material such as a fluorescent light reflecting material.

Optionally, as shown in fig. 3, the communication connection diagram of each module of a robot in the robot state prompting system provided in the embodiment of the present application is shown. The multiple robots 12 in the robot status prompting system provided in the embodiment of the present application further include a navigation module 126, a security module 127, a communication module 128, and a motion control module 129, respectively, where:

the navigation module 126, the safety module 127, the communication module 128 and the motion control module 129 can be respectively connected with the controller 121 of the robot;

the navigation module 126 may be configured to generate a walking path of the robot 12 based on scene information acquired by the laser radar, the position coordinates of the robot 12, and the destination coordinates of the robot 12, where the scene information may include the position of an obstacle and the position of a road in the room where the robot 12 is located;

the safety module 127 may be used to acquire safety information of the robot 12, where the safety information of the robot 12 includes communication safety information of the robot 12, system safety information, hardware safety information, safety information of objects and workers around the robot 12, and the like, for example, collision information acquired by the collision sensor 125.

The communication module 128 may be used to connect the status management device 11 and the controller 121 of the robot, and detect the communication status of the robot 12;

the motion control module 129 includes a motor and a driver, and the driver of the motion module can obtain a motion command from the controller 121 of the robot and drive the motor to rotate at a preset rotation speed based on the walking speed and the walking direction in the motion command.

In order to solve the problem that in the prior art, a worker in logistics storage is difficult to acquire the position and the working state of a robot, the embodiment of the application further provides a robot state prompting method.

In the robot state presentation method provided in the embodiment of the present application, the execution main body may be a robot state presentation device, or a control module of the robot state presentation device for executing the method for presenting the robot state. In the embodiment of the present application, a robot state presentation device provided in the embodiment of the present application will be described by taking an example in which a robot state presentation device executes a robot state presentation method.

The robot status prompting method provided by the embodiment of the present application is described in detail below with reference to the accompanying drawings through specific embodiments and application scenarios thereof. Fig. 4 is a schematic flow chart illustrating an implementation process of a robot state prompting method according to an embodiment of the present application.

Step 401, the state management device determines the working state type of the target robot based on the working state information of the target robot from the controller of the target robot;

wherein the working state types of the target robot comprise: at least one of a fault state, an emergency stop state, an idle state, a maintenance state, a busy state, a turning walk state, and a charging state.

It should be understood that one state management apparatus may acquire information of a plurality of robots and may transmit instructions to the plurality of robots, and the target robot may be any one of the plurality of robots.

It should be understood that in the prior art, the robot may be applied to a logistics storage scenario, that is, the robot may transport goods in a warehouse according to task information. In general, firstly, a worker for allocating tasks allocates a plurality of transportation tasks to the robot according to the actual order condition; secondly, the robot walks to the side of the target shelf according to the position of the target shelf recorded in the transportation task; then, after the staff in charge of the target goods shelf finds that the robot reaches the goods shelf in charge of the staff, goods specified by the task information are taken out of the target goods shelf according to the task information displayed by the robot and are placed in a goods frame of the robot; and finally, the robot transports the specified goods to a goods picking area, and waits for goods picking workers to take the specified goods out of the goods frame of the robot, so that goods are delivered out of the warehouse.

Because the number of the goods shelves in the warehouse is large, the goods shelves are high, when the robot walks in the warehouse, a user cannot directly see the position of the robot, and cannot directly observe the working state of the robot, so that the collision of the robot and the user is easy to happen, and the robot cannot be overhauled in time when in fault. The user refers to a worker in the warehouse and the like who needs to acquire the working state of the robot or needs to work in cooperation with the robot.

Alternatively, in order to be able to acquire the operating state, the hardware state, and the like of the target robot, the conditions of the target robot itself and its surroundings may be acquired by various cameras or sensors.

Specifically, a position information pattern of the top of the room where the target robot is located can be acquired through a second camera on the top of the target robot, and the acquired position information pattern is sent to a controller of the target robot, so that the controller of the target robot can determine the position coordinate of the target robot according to the corresponding relation between the position information pattern and the position coordinate;

the position information pattern is a pattern for indicating the position, a plurality of position information patterns arranged in an array type layout can be arranged on the top of one room, the plurality of position information patterns can be different from each other, and each position information pattern corresponds to one position coordinate.

Specifically, the positive first camera of accessible target robot acquires object or staff all around the target robot to make the controller of target robot obtain the image back from first camera, can control the target robot in time dodge object and staff.

Specifically, if the target robot collides with surrounding objects or workers, collision information may be acquired by the collision sensor, and the collision information may include a collided part of the robot and an acting force of the collision on the robot.

For example, when the robot is charging through charging pile, the charging plug of the robot may be exposed, at this time, if the first camera captures the charging plug that the hand is close to the robot, the controller of the robot controls the robot to stop charging, and controls the warning device to send out the state prompt information, for example, the control generator sends out the prompt voice such as "please notice high voltage" to prompt the hand not to be close to the charging plug.

For another example, when the robot collides with an object, the collision may generate pressure on an airbag of the collision sensor, and then the gas in the airbag may transmit the pressure to the pressure sensor wrapped in the airbag after being squeezed, so that the pressure sensor may acquire the collided part and the acting force of the robot.

Specifically, in the method provided in this embodiment of the present application, the navigation module of the target robot may generate the walking path of the robot according to the scene information from the laser radar, the position coordinates of the target robot, and the destination coordinates of the target robot, where the scene information may include the position of the obstacle and the position of the road in the room where the target robot is located.

The safety module of the target robot can acquire safety information of the target robot, and the safety information of the target robot includes communication safety information, system safety information, hardware safety information of the target robot, safety information of objects and workers around the target robot, and the like, such as collision information acquired through a collision sensor.

The communication module of the target robot can be used for transmitting data between the state management device and the target robot ground controller and detecting the communication state of the target robot.

The motion control module of the target robot can acquire a motion instruction from the controller of the target robot, and drives the motor in the motion control module to rotate according to a preset rotating speed based on the walking speed and the walking direction in the motion instruction.

It should be understood that the information obtained by the above-mentioned devices or modules can be sent to the controller of the target robot, so that the state management means can more accurately determine the type of the working state of the target robot based on the information from the controller of the target robot.

Optionally, the state management device can acquire the working state information of the target robot in real time and send a warning instruction to the target robot in time, so that the robot can send new state prompt information immediately when changing the working state.

Specifically, before the state management device determines the type of the working state of the target robot based on the working state information of the target robot, the method provided by the embodiment of the present application further includes:

a controller of the target robot acquires working state information of the target robot;

the controller of the target robot transmits the operating state information of the target robot to the state management device.

It should be understood that the controller of the target robot can be used to control the main actions of the target robot, and thus, the controller can acquire the operating state information of the target robot in real time.

Alternatively, the state management device may actively acquire the operating state information of the target robot from the controller of the target robot, and may wait for the target robot to change the operating state, and the controller may transmit the new operating state information of the target robot to the state management device.

The working state information may include, among other things, whether the target robot is walking, whether a task is being performed, and the position of the target robot.

Alternatively, in order to enable the user to determine the specific working state of the target robot through the warning device of the target robot, the state management means may determine which state of all possible working states the target robot is in based on the working state information of the target robot.

Step 402, the state management device sends a target warning instruction corresponding to the working state type of the target robot to the target robot based on the corresponding relation between the working state type of the robot and the warning instruction;

it should be appreciated that one type of operating state may correspond to one type of alert command.

Specifically, the state management device sends a target warning instruction to the controller of the target robot, so that the controller can control the warning device of the target robot to send state prompt information based on the target warning instruction.

And step 403, controlling the warning equipment of the target robot to send state prompt information according to the target warning instruction based on the target warning instruction.

It should be understood that the warning device of the target robot may include multiple types of devices, and thus, the multiple types of warning devices may emit different status indications, such as lights, sounds, etc., that are accessible to the user.

Optionally, the warning device of the target robot may comprise a plurality of warning light strips, such that the user can determine the operating state of the target robot by observing the display states of the plurality of warning light strips.

Specifically, in the method that this application embodiment provided, the warning equipment of target robot includes a plurality of warning lamp areas, and the target robot is based on target warning instruction, and the warning equipment of control target robot sends state prompt information according to target warning instruction, includes:

the controller of the target robot determines the display modes of the warning lamp belts based on the target warning instruction;

the controller of target robot controls a plurality of warning light areas of target robot, and state prompt information is sent according to the display mode in a plurality of warning light areas.

Wherein, as shown in fig. 2(b), a plurality of warning light areas can be set up on the shell surface of target robot in the form of surrounding all around for when the user can see the robot, just can acquire the state prompt information that a plurality of warning light areas sent.

The display modes of the warning lamp belts can comprise display colors, display states, display brightness and the like, the display states can comprise breathing states (namely display states of gradually alternating light and light between light and shade), normally-on states, flashing states and the like, and different display states can represent different working states of the target robot.

For example, if the target robot is performing a task normally, the warning light strips can be displayed as blue and normally bright lights at the same time; if the target robot walks in an idle state or is in a normal standby state, the plurality of warning lamp belts can simultaneously display green and normally bright lights; if the target robot is in failure or the target robot is forbidden to work, the target robot is pressed down by a user to press an emergency stop button, and a plurality of warning lamp belts can be displayed as red and flashing light at the same time; if the target robot detects the fault or stops working automatically, the plurality of warning lamp belts can display yellow and twinkling light at the same time.

In addition, if the target robot is about to turn when walking, the warning lamp belts positioned on the same side of the turning direction of the target robot in the plurality of warning lamp belts can be displayed as yellow and flashing lights at the same time; if the target robot is being upgraded or maintained, the plurality of warning lamp belts can display white and normally bright light; if the target robot is charging, then a plurality of warning light areas can show as yellow, the light of breathing state.

Alternatively, the warning device of the target robot may include a searchlight, so that the user can acquire light projected by the searchlight from an indoor ceiling in the warehouse even when the sight line toward the target robot is obstructed by an article such as a shelf, thereby determining the position of the target robot.

Specifically, target robot's warning equipment includes the searchlight, and target robot is based on target warning instruction, and control target robot's warning equipment sends state prompt message according to target warning instruction, includes:

the controller of the target robot determines the display mode of the searchlight based on the target warning instruction;

the controller of the target robot controls the searchlight of the target robot, and the display mode of the searchlight sends state prompt information, so that the searchlight of the robot projects light to the indoor top surface where the robot is located.

In which, as shown in fig. 2(a), the searchlight may be provided on the top of the target robot so that the light emitted from the searchlight can be projected to the top surface (i.e., ceiling) of the warehouse without obstacles.

It should be understood that the light projected by the searchlight is used for indicating the position of the target robot, so that when a user is in the warehouse, the searchlight can be always kept in a normally-on state, and the situation that the user cannot timely acquire the position of the target robot is avoided.

Under the general condition, the color of the light projected by the searchlight can not change, namely, the light projected by the searchlight always maintains the same display color, and the aim of indicating the position of the target robot can still be fulfilled.

Optionally, the warning device of the target robot may include a generator, and the target robot may be able to emit a warning sound in case of emergency or turning, so that the user may still be able to acquire the operating state of the target robot even if the user fails to observe the light emitted by the target robot in time.

Specifically, in the method that this application embodiment provided, the warning equipment of target robot includes the sounder, and the target robot is based on target warning instruction, and the warning equipment of control target robot sends state prompt information according to target warning instruction, includes:

the controller of the target robot determines the sounding state of the sounder based on the target warning instruction;

the controller of the target robot controls the sounder of the target robot and sends state prompt information according to the sounding state of the sounder.

Wherein, as shown in fig. 2(a), the sounder may be provided inside or on an outer surface of the target robot, and the sounder may include at least one of a buzzer and a speaker.

For example, if the target robot is about to turn, the sound generator can continuously generate sound until the target robot completes the turning action, so that the user can avoid the turning route of the target robot according to the sound generated by the sound generator, and the target robot is prevented from colliding with the user; if the target robot is walking normally, the sounder can give out prompt sound indicating that the target robot is walking; if the target robot reaches the target shelf, the generator can send out prompt tones indicating the target shelf to be reached, so that the user can timely know that the target robot reaches the target shelf.

Optionally, in order to avoid that the target robot cannot communicate with the state management device, resulting in that the warning device of the target robot cannot timely send out a prompt to the worker according to the warning instruction, the warning device of the target robot may include a visible light communication lamp.

Specifically, the warning equipment of target robot includes visible light communication lamp, and the method that this application embodiment provided still includes:

when the unable communication of target robot and state management device is connected, and/or when the hardware of target robot takes place to damage, the visible light communication lamp of target robot is controlled to the controller of target robot, sends state prompt message according to frequency of predetermineeing and predetermineeing luminance for state management device is through setting up the camera in target robot place indoor, acquires the state prompt message that the visible light communication of target robot etc. sent.

It should be understood that the visible light signal may contain modulated specific information, and therefore, the state management means may acquire the modulated specific information through the camera and determine the type of the operation state of the target robot.

In one embodiment, since many devices can emit visible light signals, a visible light communication lamp is not separately provided, but a warning lamp is used to realize the function of emitting visible light signals by the visible light communication lamp, thereby saving the cost.

Optionally, in order to enable the target robot to take timely measures for part of the emergency event to ensure the safety of the working personnel, the approach of the working personnel can be sensed through the first camera or the touch sensor of the target robot, so as to determine whether the behavior of the target robot threatens the personal safety of the working personnel.

Specifically, the target robot includes touch sensor and/or first camera, and the method that this application embodiment provided still includes:

if the target robot is in a state of inputting or outputting voltage, and the touch sensor and/or the first camera of the target robot detect that a user is in a preset range centered on the target robot, the controller of the target robot controls the target robot to cut off the voltage input or output.

Wherein, the user can be a worker in the logistics storage, etc.; the preset range centered on the target robot may be a circular area centered on the target robot and having a radius of 20 cm.

It should be understood that if the camera scope of first camera is limited, in order to avoid leading to unable comprehensive circumstances of acquireing target robot all around because of the camera dead angle of first camera, can have near highly compressed local position at target robot to set up touch sensor to the accurate contact site who acquires staff and target robot.

Alternatively, when the target robot fails or the like, in order to reduce the loss, the controller of the target robot may control the warning device to send out the state prompt information, and may control the target robot to immediately respond, and stop the loss.

For example, if the controller of the target robot acquires the power shortage signal from the power supply, the controller of the target robot can control the warning device of the target robot to consume less power to prolong the service time of the power supply power when the working state of the target robot is unchanged or the target robot is in a state waiting for receiving the command. For example, the searchlight and the warning light strip of the target robot can be controlled to reduce the display brightness, or the generator can be controlled to reduce the decibel of the sound or reduce the sound production time, and the like.

Fig. 5 is a schematic flow chart illustrating the application of the robot state prompting method provided in the embodiment of the present application to an actual scene. The following describes, with reference to fig. 5, a method provided in an embodiment of the present application, which specifically includes:

step 501, a state management device acquires working state information of a target robot from a controller of the target robot in a plurality of robots;

step 502, the state management device sends a target warning instruction to a controller of the target robot based on the working state type of the target robot and the corresponding relation between the working state type and the warning instruction;

step 503, controlling a plurality of warning lamp belts of the target robot to emit light corresponding to the working state type of the target robot by a controller of the target robot based on the target warning instruction;

step 504, the target robot controller controls a searchlight of the target robot to project light to the top surface of the room where the target robot is located based on the target warning instruction;

and 505, controlling a sounder of the target robot to send out a prompt tone corresponding to the working state type of the target robot by the controller of the target robot based on the target warning instruction.

The embodiment of the present application further provides a robot state prompting apparatus 600, as shown in fig. 6, including a state management apparatus 601 and a target robot 602, wherein:

the state management device 601 is used for determining the working state type of the target robot based on the working state information of the target robot from the controller of the target robot;

the state management device 601 is further configured to send a target warning instruction corresponding to the working state type of the target robot to the target robot based on the corresponding relationship between the working state type of the robot and the warning instruction;

the target robot 602 is configured to control, based on the target warning instruction, warning equipment of the target robot to send state prompt information according to the target warning instruction;

Optionally, in an embodiment, the controller 5021 of the target robot is configured to:

determining the display modes of the warning lamp belts based on the target warning instruction;

and controlling a plurality of warning lamp belts of the target robot, and sending state prompt information according to the display modes of the warning lamp belts.

Optionally, in an embodiment, the controller 6021 of the target robot is configured to:

determining a display mode of the searchlight based on the target warning instruction;

and controlling a searchlight of the target robot, wherein a display mode of the searchlight sends state prompt information, so that the searchlight of the robot projects light to the indoor top surface where the robot is located.

determining the sound production state of the sounder based on the target warning instruction;

and controlling the sounder of the target robot, and sending state prompt information according to the sounding state of the sounder.

Optionally, in an embodiment, the controller 6021 of the target robot is further configured to:

when the target robot with the unable communication of state management device is connected, and/or when the hardware of target robot takes place to damage, control the visible light communication lamp of target robot sends state prompt message according to frequency of predetermineeing and predetermineeing luminance, makes state management device is through setting up the indoor camera in target robot place acquires the state prompt message that the visible light communication of target robot etc. sent.

Optionally, in an embodiment, the target and robot controller 6021 is further configured to:

and if the target robot is in a state of inputting or outputting voltage, and the touch sensor and/or the first camera of the target robot detect that a user is in a preset range with the target robot as the center, controlling the target robot to cut off the input or output voltage.

The robot state prompting device in the embodiment of the present application may be a device, or may be a component, an integrated circuit, or a chip in a terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a notebook computer, a palm top computer, a vehicle-mounted electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a Television (TV), a teller machine or a self-service machine, and the like, and the embodiments of the present application are not particularly limited.

The robot state prompting device provided in the embodiment of the application can implement each process implemented by the method embodiments of fig. 4 to 5, and is not described here again to avoid repetition.

Fig. 7 is a schematic structural diagram of an electronic device provided in an embodiment of the present specification. Referring to fig. 6, at a hardware level, the electronic device includes a processor, and optionally further includes an internal bus, a network interface, and a memory. The Memory may include a Memory, such as a Random-Access Memory (RAM), and may further include a non-volatile Memory, such as at least 1 disk Memory. Of course, the electronic device may also include hardware required for other services.

The processor, the network interface, and the memory may be connected to each other via an internal bus, which may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one double-headed arrow is shown in FIG. 7, but this does not indicate only one bus or one type of bus.

And the memory is used for storing programs. In particular, the program may include program code comprising computer operating instructions. The memory may include both memory and non-volatile storage and provides instructions and data to the processor.

The processor reads the corresponding computer program from the nonvolatile memory to the memory and then runs the computer program to form the robot state prompting device on the logic level. The processor is used for executing the program stored in the memory and is specifically used for executing the following operations:

the state management device determines the working state type of the target robot based on the working state information of the target robot;

The robot status prompting method disclosed in the embodiment of fig. 4 in this specification can be applied to a processor, or implemented by the processor. The processor may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components. The various methods, steps and logic blocks disclosed in one or more embodiments of the present specification may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with one or more embodiments of the present disclosure may be embodied directly in hardware, in a software module executed by a hardware decoding processor, or in a combination of the hardware and software modules executed by a hardware decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.

The electronic device may further execute the robot status prompting method of fig. 4, which is not described herein again.

Of course, besides the software implementation, the electronic device in this specification does not exclude other implementations, such as logic devices or a combination of software and hardware, and the like, that is, the execution subject of the following processing flow is not limited to each logic unit, and may also be hardware or logic devices.

In short, the above description is only a preferred embodiment of the present disclosure, and is not intended to limit the scope of the present disclosure. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of one or more embodiments of the present disclosure should be included in the scope of protection of one or more embodiments of the present disclosure.

The systems, devices, modules or units illustrated in the above embodiments may be implemented by a computer chip or an entity, or by a product with certain functions. One typical implementation device is a computer. In particular, the computer may be, for example, a personal computer, a laptop computer, a cellular telephone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.

While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims

1. A robot status presentation system comprising a status management device and a plurality of robots, wherein:

2. A robot status presentation method applied to the robot status presentation system according to claim 1, comprising:

3. The method according to claim 2, wherein the warning device of the target robot comprises a plurality of warning light strips, and the target robot controls the warning device of the target robot to send out state prompting information according to the target warning command based on the target warning command, and the method comprises the following steps:

the controller of the target robot controls a plurality of warning light belts of the target robot and sends state prompt information according to the display modes of the warning light belts.

4. The method of claim 2, wherein the warning device of the target robot comprises a searchlight, and the target robot controls the warning device of the target robot to send out state prompting information according to the target warning instruction based on the target warning instruction, and comprises:

and the controller of the target robot controls a searchlight of the target robot and sends state prompt information according to the display mode of the searchlight, so that the searchlight of the target robot projects lamplight to the indoor top surface where the target robot is located.

5. The method according to claim 2, wherein the warning device of the target robot comprises a sounder, and the target robot controls the warning device of the target robot to send out state prompting information according to the target warning instruction based on the target warning instruction, comprising:

and the controller of the target robot controls the sounder of the target robot and sends state prompt information according to the sounding state of the sounder.

6. The method of claim 2, wherein the warning device of the target robot comprises a visible light communication light, the method further comprising:

when the target robot with the unable communication of state management device is connected, and/or when the hardware of target robot takes place to damage, the controller control of target robot the visible light communication lamp of target robot sends state prompt information according to frequency of predetermineeing and predetermineeing luminance, makes state management device is in through setting up the indoor camera in target robot place acquires the state prompt information that the visible light communication of target robot etc. sent.

7. The method of claim 2, wherein the target robot comprises a touch sensor and/or a first camera, the method further comprising:

8. A robot status prompting apparatus, characterized in that the apparatus comprises:

9. An electronic device, comprising:

a processor; and

10. A computer-readable storage medium storing one or more programs that, when executed by an electronic device including a plurality of application programs, cause the electronic device to: