WO2019018958A1

WO2019018958A1 - Method for robot processing remote instruction, and robot

Info

Publication number: WO2019018958A1
Application number: PCT/CN2017/093967
Authority: WO
Inventors: 徐斌; 苏红
Original assignee: 深圳市萨斯智能科技有限公司
Priority date: 2017-07-22
Filing date: 2017-07-22
Publication date: 2019-01-31

Abstract

A method for a robot processing a remote instruction, and a robot; the method comprises: a robot receiving a remote instruction that is sent by a remote communication device, the remote instruction carrying identification information of a target item and position information of a target position to which the target item needs to be transported; the robot identifying the target position according to the position information, and acquiring a historical transportation position of the target item; the robot determining whether the target position is the historical transportation position; if the target position is the historical transport position, then executing the remote instruction and transporting the target item to the target position. The method may improve the safety performance of a robot.

Description

Method for processing remote command by robot and robot

Technical field

The present invention relates to the field of robot technology, and in particular, to a robot processing method and robot for remote commands.

Background technique

As the mainstream technology products of the current society, robots have won people's love and application. Robots are currently used in many scenes or fields, such as detonation robots for detonating scenes, item transport robots in warehouse scenes, and so on.

The current robot is mainly controlled remotely by the user to command the robot to perform a specific action with a remote command. However, there are many illegal users such as network viruses or network hackers in the current society, so that the robot may face the non-operation of illegal users. It can be seen that the security performance of the robot is relatively low.

Summary of the invention

Embodiments of the present invention provide a method and a robot for processing a remote command by a robot to solve the problem that the safety performance of the robot is relatively low.

Embodiments of the present invention provide a method for processing a remote command by a robot, including:

Receiving, by the robot, a remote command sent by the remote communication device, the remote command carrying the identification information of the target item and the location information of the target location that the target item needs to be transported;

The robot identifies the target location according to the location information, and acquires a historical transport location of the target item;

The robot determines whether the target position is the historical carrying position;

If the target location is the historical transport location, the remote command is executed and the target item is transported to the target location.

Preferably, the remote command further carries a verification parameter, and after the step of the robot receiving the remote command sent by the remote communication device, the robot identifies the target location according to the location information, and acquires a history of the target item. Before the step of transporting the location, the method further includes:

The robot matches the verification parameter with a reference parameter pre-stored by the robot;

And if the verification parameter matches the reference parameter pre-stored by the robot, performing the step of the robot identifying the target position according to the position information and acquiring a historical carrying position of the target item.

Preferably, if the target location is the historical transport location, executing the remote command and transporting the target item to the target location comprises:

The robot identifies a security level of the target item;

If the security level of the target item is within a preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identification information of the target item;

If the robot receives the confirmation message returned by the target device, the robot executes the remote command and carries the target item to the target location.

The robot identifies a security level of the target item;

And if the security level of the target item is within a preset security level range, the robot identifies a device identifier of the remote communication device;

Determining, by the robot, whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

If the device identifier is in a pre-stored white list corresponding to the preset security level range, the robot executes the remote command and transports the target item to the target location.

Preferably, after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the method further includes:

If the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identifier of the target item. Information and the device identification;

An embodiment of the present invention further provides a robot, including:

a receiving module, configured to receive a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported;

An acquiring module, configured to identify the target location according to the location information, and acquire a historical carrying location of the target item;

a first determining module, configured to determine whether the target location is the historical carrying location;

And a handling module, configured to execute the remote command and carry the target item to the target position if the target position is the historical carrying position.

Preferably, the remote command further carries a verification parameter, and the robot further includes:

a matching module, configured to match the verification parameter with a reference parameter pre-stored by the robot;

And the carrying module is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify the target location according to the location information, and acquire a historical transport location of the target item.

Preferably, the handling module is configured to: the robot identifies a security level of the target item, and if the security level of the target item is within a preset security level, sending a command message to the pre-bound target device, The command message carries identification information of the target item; and if the robot receives an acknowledgement message returned by the target device, executing the remote command and transporting the target item to the target location.

Preferably, the handling module is configured to identify a security level of the target item, and if the security level of the target item is within a preset security level range, identify a device identifier of the remote communication device, and determine the Whether the device identifier is in a pre-stored white list corresponding to the preset security level range, and if the device identifier is in a pre-stored white list corresponding to the preset security level range, executing the remote command And transporting the target item to the target location.

Preferably, the robot further comprises:

a sending module, configured to send, by the robot, a command message to the pre-bound target device, if the device identifier is not in a pre-stored white list corresponding to the preset security level range, where the command message carries The identification information of the target item and the device identifier;

The handling module is further configured to: if the robot receives the confirmation message returned by the target device, the robot executes the remote command and transports the target item to the target location.

In the embodiment of the present invention, the robot receives a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported; The robot identifies the target location according to the location information, and acquires a historical transport location of the target item; the robot determines whether the target location is the historical transport location; if the target location is the history The handling position executes the remote command and transports the target item to the target location. Thereby the safety performance of the robot can be improved.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.

1 is a schematic flowchart of a method for processing a remote command by a robot according to an embodiment of the present invention;

2 is a schematic structural diagram of a robot according to an embodiment of the present invention;

3 is a schematic structural diagram of another robot according to an embodiment of the present invention;

4 is a schematic structural diagram of another robot according to an embodiment of the present invention;

FIG. 5 is a schematic structural diagram of another robot according to an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The robot provided by the embodiment of the present invention may include: a chassis, a wheel, a crawler, a rechargeable battery, and a mechanical arm mounted on the chassis. The robotic arm can include a boom, a telescopic arm, an arm, a mechanical jaw, and a lumbar rotation system. And a video system may also be included. The video system may include a camera mounted in different locations, and may also include a walking system. The walking system may be a 6×6 all-wheel drive, and the boom lift may be driven by a dual electric strut and a balance bar installed. In addition, the control system may be controlled by a central system and a control box, etc. In addition, the robot and the control system may be wired or wirelessly controlled and may transmit the video information of the robot end to the control hall or the command vehicle through wireless radiation, and Remote control robot. In addition, in the embodiment of the present invention, the robot may be a robot that can be used for the robot to be grasped and transported, such as a robot or a warehouse handling robot, which is not limited in this embodiment of the present invention.

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of a method for processing a remote command by a robot according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:

Step 101: The robot receives a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported.

Step 102: The robot identifies the target location according to the location information, and acquires a historical transport location of the target item.

Step 103: The robot determines whether the target location is the historical transport location.

Step 104: If the target location is the historical transport location, execute the remote command and transport the target item to the target location.

In an optional implementation manner, the remote command further carries a verification parameter, and after the step of the robot receiving the remote command sent by the remote communication device, the robot identifies the target location according to the location information, and acquires Before the step of the historical carrying position of the target item, the method further includes:

In this embodiment, the safety performance of the robot can be further improved.

In an optional implementation manner, if the target location is the historical transport location, executing the remote command and transporting the target item to the target location includes:

The robot identifies a security level of the target item;

In an optional implementation manner, if the target location is the historical handling location, Executing the remote command and transporting the target item to the target location, including:

The robot identifies a security level of the target item;

As an optional implementation manner, after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the method further includes:

In the embodiment of the present invention, the robot receives a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported; the robot identifies the location according to the location information. Determining a target position, and acquiring a historical carrying position of the target item; the robot determining whether the target position is the historical carrying position; and if the target position is the historical carrying position, executing the remote command, And transporting the target item to the target location. Thereby the safety performance of the robot can be improved.

Referring to FIG. 2, FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention. As shown in FIG. 2, the method includes:

The receiving module 201 is configured to receive a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported;

The obtaining module 202 is configured to identify the target location according to the location information, and acquire a historical transport location of the target item;

The first determining module 203 is configured to determine whether the target location is the historical carrying location;

The transport module 204 is configured to execute the remote command and transport the target item to the target position if the target position is the historical transport position.

As an optional implementation manner, as shown in FIG. 3, the robot further includes:

a matching module 205, configured to match the verification parameter with a reference parameter pre-stored by the robot;

The carrying module 204 is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify the target location according to the location information, and acquire a historical transport location of the target item.

As an optional implementation manner, the handling module 204 is configured to: the robot identifies a security level of the target item, and if the security level of the target item is within a preset security level range, pre-binding The target device sends a command message carrying the identification information of the target item; and if the robot receives the confirmation message returned by the target device, executing the remote command, and the target item Handling to the target location.

As an optional implementation manner, the handling module 204 is configured to identify a security level of the target item, and if the security level of the target item is within a preset security level range, identify the remote communication device. a device identifier, and determining whether the device identifier is in a pre-stored whitelist corresponding to the preset security level range, if the device identifier is in a pre-stored white list corresponding to the preset security level range And executing the remote command and transporting the target item to the target location.

As an optional implementation manner, as shown in FIG. 4, the robot further includes:

The sending module 206 is configured to: if the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries Identification information of the target item and the device identifier;

The handling module 204 is further configured to: if the robot receives the confirmation message returned by the target device, the robot executes the remote command and transports the target item to the target location.

In the embodiment of the present invention, the robot receives a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported; the robot identifies the location according to the location information. Determining a target position, and acquiring a historical carrying position of the target item; the robot determining whether the target position is the historical carrying position; The target position is the historical carrying position, the remote command is executed, and the target item is transported to the target position. Thereby the safety performance of the robot can be improved.

Referring to FIG. 5, FIG. 5 is a structural diagram of another robot according to an embodiment of the present invention. As shown in FIG. 5, the robot includes a processor 501, a memory 502, a network interface 504, and a user interface 503. The various components in the robot are coupled together by a bus system 505. The bus system 505 includes a power bus, a control bus, and a status signal bus in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 505 in FIG.

The user interface 503 may include a display, a keyboard, or a pointing device (eg, a mouse, a track ball, a touch pad, or a touch screen, etc.).

It is to be understood that the memory 502 in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (Erasable PROM, EPROM), or an electric Erase programmable read only memory (EEPROM) or flash memory. The volatile memory can be a Random Access Memory (RAM) that acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (Synchronous DRAM). SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synchronous Connection Dynamic Random Access Memory (SDRAM) And direct memory bus random access memory (DRRAM). Memory 502 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.

In some implementations, memory 502 stores elements, executable modules or data structures, or a subset thereof, or their extended set: operating system 5021 and application 5022.

The operating system 5021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 5022 includes various applications, such as a media player (Media Player), a browser (Browser), etc., for implementing various application services. A program for implementing the method of the embodiment of the present invention may be included in the application 5022. in.

In the embodiment of the present invention, by calling the program or instruction stored in the memory 502, specifically, the program or instruction stored in the application 5022, the processor 501 is configured to:

Receiving a remote command sent by the remote communication device, where the remote command carries identification information of the target item and location information of the target location that the target item needs to be transported;

Identifying the target location according to the location information, and acquiring a historical transport location of the target item;

Determining whether the target location is the historical handling location;

The method disclosed in the foregoing embodiments of the present invention may be applied to the processor 501 or implemented by the processor 501. Processor 501 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 501 or an instruction in a form of software. The processor 501 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a Field Programmable Gate Array (FPGA), or the like. Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention may be implemented or carried out. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. The steps of the method disclosed in the embodiments of the present invention may be directly implemented by the hardware decoding processor, or may be performed by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 502, and the processor 501 reads the information in the memory 502 and completes the steps of the above method in combination with its hardware.

It will be appreciated that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processing (DSP), Digital Signal Processing Equipment (DSP Device, DSPD), programmable Logic Device (PLD), Field Programmable Gate Array (Field-Programmable Gate Array, FPGA), general purpose processor, controller, microcontroller, microprocessor, other electronic unit for performing the functions described herein, or a combination thereof.

For a software implementation, the techniques described herein can be implemented by modules (eg, procedures, functions, and so on) that perform the functions described herein. The software code can be stored in memory and executed by the processor. The memory can be implemented in the processor or external to the processor.

In an optional implementation manner, the remote command further carries a verification parameter, and after the step of the robot receiving the remote command sent by the remote communication device, the robot identifies the target location according to the location information, and acquires Before the step of the historical carrying position of the target item, the processor 501 is further configured to:

Matching the verification parameter with a reference parameter pre-stored by the robot;

Identifying a security level of the target item;

And if the security level of the target item is within a preset security level, sending a command message to the pre-bound target device, where the command message carries the identification information of the target item;

Identifying a security level of the target item;

Identifying a device identifier of the remote communication device if a security level of the target item is within a preset security level range;

Determining whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

As an optional implementation manner, after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the processor 501 is further configured to:

And if the device identifier is not in the pre-stored white list corresponding to the preset security level range, sending a command message to the pre-bound target device, where the command message carries the identifier information and the location of the target item. Device identifier

And if the robot receives the confirmation message returned by the target device, executing the remote command and transporting the target item to the target location.

It should be noted that, in the embodiment, the robot may be a robot in any of the embodiments of the method in the embodiment of the present invention, and any implementation manner of the robot in the method embodiment in the embodiment of the present invention may be used in the embodiment. The above-mentioned robots are implemented, and the same beneficial effects are achieved, and will not be described again here.

Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.

A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.

In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. You can choose some or all of them according to actual needs. The unit is used to achieve the objectives of the embodiments of the present invention.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

The functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including The instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

A method for processing a remote command by a robot, comprising:

Receiving, by the robot, a remote command sent by the remote communication device, the remote command carrying the identification information of the target item and the location information of the target location that the target item needs to be transported;

The robot identifies the target location according to the location information, and acquires a historical transport location of the target item;

The robot determines whether the target position is the historical carrying position;

If the target location is the historical transport location, the remote command is executed and the target item is transported to the target location.
The method of claim 1 wherein said remote command further carries verification parameters, said robot identifying said target based on said location information after said step of receiving a remote command transmitted by said remote communication device Before the step of acquiring the historical carrying position of the target item, the method further includes:

The robot matches the verification parameter with a reference parameter pre-stored by the robot;

And if the verification parameter matches the reference parameter pre-stored by the robot, performing the step of the robot identifying the target position according to the position information and acquiring a historical carrying position of the target item.
The method of claim 2, wherein if the target location is the historical transport location, executing the remote command and transporting the target item to the target location comprises:

The robot identifies a security level of the target item;

If the security level of the target item is within a preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identification information of the target item;

If the robot receives the confirmation message returned by the target device, the robot executes the remote command and carries the target item to the target location.
The method of claim 2, wherein if the target location is the historical transport location, executing the remote command and transporting the target item to the target location comprises:

The robot identifies a security level of the target item;

And if the security level of the target item is within a preset security level range, the robot identifies a device identifier of the remote communication device;

Determining, by the robot, whether the device identifier is in a pre-stored white list corresponding to the preset security level range;

If the device identifier is in a pre-stored white list corresponding to the preset security level range, the robot executes the remote command and transports the target item to the target location.
The method of claim 4, wherein the method further comprises: after the step of determining, by the robot, that the device identifier is in a pre-stored whitelist corresponding to the preset security level range, the method further comprising:

If the device identifier is not in a pre-stored white list corresponding to the preset security level range, the robot sends a command message to the pre-bound target device, where the command message carries the identifier of the target item. Information and the device identification;

If the robot receives the confirmation message returned by the target device, the robot executes the remote command and carries the target item to the target location.
A robot characterized by comprising:

a receiving module, configured to receive a remote command sent by the remote communication device, where the remote command carries the identification information of the target item and the location information of the target location that the target item needs to be transported;

An acquiring module, configured to identify the target location according to the location information, and acquire a historical carrying location of the target item;

a first determining module, configured to determine whether the target location is the historical carrying location;

And a handling module, configured to execute the remote command and carry the target item to the target position if the target position is the historical carrying position.
The robot according to claim 6, wherein the remote command further carries a verification parameter, and the robot further comprises:

a matching module, configured to match the verification parameter with a reference parameter pre-stored by the robot;

And the carrying module is configured to: if the verification parameter matches a reference parameter pre-stored by the robot, identify the target location according to the location information, and acquire a historical transport location of the target item.
The robot according to claim 7, wherein the handling module is configured to identify a safety level of the target item by the robot, and if a safety level of the target item is within a preset safety level range, The pre-bound target device sends a command message, the command message carrying the identification information of the target item; and if the robot receives the confirmation message returned by the target device, executing the remote command, and The target item is transported to the target location.
The robot according to claim 7, wherein said handling module is configured to identify a security level of said target item, and if said security level of said target item is within a preset security level range, identifying said remote a device identifier of the communication device, and determining whether the device identifier is in a pre-stored white list corresponding to the preset security level range, if the device identifier is pre-stored corresponding to the preset security level range Within the white list, the remote command is executed and the target item is carried to the target location.
The robot of claim 9, wherein the robot further comprises:

a sending module, configured to send, by the robot, a command message to the pre-bound target device, if the device identifier is not in a pre-stored white list corresponding to the preset security level range, where the command message carries The identification information of the target item and the device identifier;

The handling module is further configured to: if the robot receives the confirmation message returned by the target device, the robot executes the remote command and transports the target item to the target location.