CN112757252B - Robot movement intention display method, robot, and storage medium - Google Patents
Robot movement intention display method, robot, and storage mediumDownload PDFInfo
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- CN112757252B CN112757252BCN202110084296.XACN202110084296ACN112757252BCN 112757252 BCN112757252 BCN 112757252BCN 202110084296 ACN202110084296 ACN 202110084296ACN 112757252 BCN112757252 BCN 112757252B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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Abstract
Description
Technical Field
The invention relates to the field of robots, in particular to a robot motion intention display method, a robot and a storage medium.
Background
With the development of science and technology, robots are more and more widely applied in various industries. For example, there are robots that can deliver articles, robots that transport goods, and the like.
In the indoor motion scene in the prior art, the coexistence time of the man-machine is very much. For example, in a meal delivery scene, a robot, a customer and a store employee coexist, however, when the robot moves, if the motion state of the robot is not prompted, a person may block the motion of the robot or collide with the robot, and thus the safety is low, and the user experience is poor.
Disclosure of Invention
The embodiment of the invention provides a robot movement intention display method, a robot and a storage medium, and aims to solve the problem that the safety of robot movement is low.
A robot movement intention display method includes:
receiving a robot running instruction; the robot running instruction comprises an initial position, a target position and an initial running route determined according to the initial position and the target position;
detecting the movement intention of the robot in real time in the process that the robot drives from the initial position to the target position according to the initial driving route;
and displaying the movement intention through a display device installed on the robot.
A robot comprising a memory, a processor and a computer program stored in said memory and executable on said processor, characterized in that said processor implements the steps of the robot movement intention display method described above when executing said computer program.
A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned robot movement intention display method.
The robot movement intention display method, the robot and the storage medium, wherein the method receives a robot driving instruction; the robot running instruction comprises an initial position, a target position and an initial running route determined according to the initial position and the target position; detecting the movement intention of the robot in real time in the process that the robot drives from the initial position to the target position according to the initial driving route; and displaying the movement intention through a display device installed on the robot. According to the invention, all movement intentions of the robot in the whole initial driving route are detected, and the movement intentions are displayed through the display device arranged on the robot, so that pedestrians can notice the movement intentions of the robot in advance to avoid the robot, the collision between the robot and the pedestrians is reduced, and the safety is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive labor.
Fig. 1 is a schematic diagram of an application environment of a method for displaying a robot movement intention according to an embodiment of the present invention;
FIG. 2 is a flowchart of a method for displaying a robot movement intention according to an embodiment of the present invention;
FIG. 3 is a flowchart of step S30 of the robot movement intention display method according to an embodiment of the present invention;
FIG. 4 is a flowchart of step S302 of the method for displaying the robot movement intention according to an embodiment of the present invention;
FIG. 5 is a flowchart of step S20 of the robot movement intention display method according to an embodiment of the present invention;
fig. 6 is another flowchart of step S30 in the robot movement intention display method according to an embodiment of the present invention;
fig. 7 is another flowchart of step S30 in the robot movement intention display method according to an embodiment of the invention;
fig. 8 is another flowchart of step S30 in the robot movement intention display method according to an embodiment of the invention;
FIG. 9 is a schematic diagram of a computer device according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
The robot movement intention display method provided by the embodiment of the invention can be applied to the application environment shown in fig. 1. Specifically, the robot movement intention display method is applied to a robot movement intention display system, the robot movement intention display system comprises a client and a server as shown in fig. 1, and the client and the server are communicated through a network and used for solving the problem that the safety of robot movement during driving is low. The client is also called a user side, and refers to a program corresponding to the server and providing local services for the client. The client may be installed on, but is not limited to, various personal computers, laptops, smartphones, tablets, and portable wearable devices. The server may be implemented as a stand-alone server or as a server cluster comprised of multiple servers.
In an embodiment, as shown in fig. 2, a method for displaying a robot movement intention is provided, which is described by taking the method applied to the server in fig. 1 as an example, and includes the following steps:
s10: receiving a robot running instruction; the robot driving instruction comprises a starting position, a target position and an initial driving route determined according to the starting position and the target position.
For example, in a robot catering environment, the robot running instruction may be sent to the control module by a delivery party through a delivery terminal in communication connection with the control module of the robot, or the delivery instruction may be generated after an object to be delivered is placed on the robot and a preset button on the robot is pressed. The robot running instruction may also be an instruction automatically generated by a driving module installed to the robot, and for example, in a test environment, the driving module automatically generates the robot running instruction so that the robot runs from the current position to any other position to complete the running test. The starting position may be the current position of the robot, or a position arbitrarily designated by a manager. The target position is a target place for the robot to move, such as a seat position of a client to be catering in a robot catering environment. The initial driving route refers to a route for the robot to drive from a starting position to a target position, the initial driving route can be generated according to a map under a pre-imported application scene, for example, in a robot catering environment, a restaurant planning map is pre-imported, and after the starting position and the target position are input, the initial driving route can be automatically generated, and the initial driving route can also be adjusted in a manual adjustment manner.
S20: and detecting the movement intention of the robot in real time in the process that the robot drives from the initial position to the target position according to the initial driving route.
It is understood that the motion intention refers to an action during the travel of the robot, and exemplarily includes a straight-going intention (i.e., the robot travels straight ahead), a left-turning intention (i.e., the robot turns left), a right-turning intention (i.e., the robot turns right), and a braking intention (i.e., the robot stops traveling).
Specifically, after receiving a robot travel command, the robot's movement intention is determined by detecting the speeds of left and right moving wheels mounted on the robot during the robot travels from a start position to a target position according to an initial travel route.
S30: and displaying the movement intention through a display device installed on the robot.
Optionally, the display device includes a first display screen disposed at a front end of the robot and/or a second display screen disposed at a rear end of the robot and/or light strip assemblies disposed at two sides of the robot and/or projection assemblies disposed on the robot.
Optionally, the first display screen may be a touch screen, and the first display screen may be used to show the current driving state and movement intention of the robot and control the robot, and for example, when the robot is driving normally, the first display screen may display a smiling face to indicate that the robot is driving normally; when the robot is abnormal, the first display screen can display a crying face to indicate that the robot is in an abnormal state currently; in addition, the robot may be controlled by touching a function selection key (e.g., switching a target position, switching a driving track, etc.) on the first display screen, for example, by touching a driving track switching button on the first display screen, a new driving road segment may be reselected for the robot, and in order to ensure driving safety of the robot, when the function of changing the driving track of the robot is implemented through the first display screen, face recognition verification needs to be performed to ensure that the behavior track of the robot is not changed at will.
Alternatively, the second display screen may be a dot matrix screen, and the second display screen is used for displaying the movement intention of the robot, and it is understood that other display interfaces, such as a liquid crystal display interface, may be adopted besides the dot matrix display interface. The lamp strip component can comprise a plurality of lamp strips, and the lamp strip component can also be used for displaying the movement intention of the robot, for example, when the movement intention of the robot is a left-turn intention, a lamp strip on the left side of the robot lights a yellow lamp; when the movement intention of the robot is a braking intention, the lamp strips positioned on the left side and/or the right side of the robot light red lamps; when the movement intention of the robot is a straight-going intention, the lamp strips positioned on the left side and/or the right side of the robot are lightened to be green. In addition, because the in-process that the robot went, probably can't make all the pedestrians notice the state of installing first display screen, second display screen or lamp area subassembly on the robot, can carry out the projection show through the projection subassembly that sets up on the robot this moment, specifically, can pass through the projection subassembly with the motion intention and project to subaerial to show, further improve the security that the robot went.
Specifically, when the robot drives from the starting position to the target position according to the initial driving route, the movement intention of the robot is detected in real time, the movement intention is displayed through a display device installed on the robot, namely, the current movement intention is displayed when the robot drives from the starting position to the target position, and after the movement intention is changed, the movement intention displayed on the display device is correspondingly changed.
In the embodiment, all movement intentions of the robot in the whole initial driving route are detected, and the movement intentions are displayed through the display device arranged on the robot, so that pedestrians can notice the movement intentions of the robot in advance to avoid the robot, the collision between the robot and the pedestrians is reduced, and the safety is improved.
In an embodiment, as shown in fig. 3, the displaying the movement intention through the display device mounted on the robot in step S30 includes:
s301: and acquiring pedestrian position information of pedestrians around the robot.
S302: and displaying the movement intention on a corresponding display device according to the pedestrian position information.
The pedestrian position information is position information of pedestrians located in the front, the left side, the right side or the rear of the robot, and then after the pedestrian position information of pedestrians around the robot is obtained, the movement intention is displayed on the corresponding display device according to the pedestrian position information.
In an embodiment, as shown in fig. 4, step S302 includes:
s3021: and if the pedestrian position information indicates that the pedestrian is positioned in front of the robot, displaying the movement intention through the first display screen and/or the lamp strip component.
Specifically, after the movement intention of the robot is detected in real time, if the pedestrian position information indicates that the pedestrian is located in front of the robot, the movement intention is displayed through the first display screen and/or the lamp belt component, at the moment, the second display screen and the projection component do not need to be opened, the power consumption is reduced, and the cost is saved.
S3022: and if the pedestrian position information indicates that the pedestrian is positioned behind the robot, displaying the movement intention through the second display screen and/or the lamp strip component.
Specifically, after the movement intention of the robot is detected in real time, if the pedestrian position information indicates that the pedestrian is located behind the robot, the movement intention is displayed through the second display screen and/or the lamp strip component, at the moment, the first display screen and the projection component do not need to be opened, the power consumption is reduced, and the cost is saved.
S3023: and if the pedestrian is positioned at the side edge of the robot on the surface of the pedestrian position information, displaying the movement intention through the projection component and/or the lamp strip component.
Specifically, after the movement intention of the robot is detected in real time, if the pedestrian position information indicates that the pedestrian is located on the side (left side or right side) of the robot, the movement intention is displayed through the projection component and/or the lamp strip component (left side lamp strip component or right side lamp strip component), at the moment, the first display screen and the second display screen do not need to be opened, power consumption is reduced, and cost is saved.
In one embodiment, as shown in fig. 5, in step S20, the robot includes a left moving wheel and a right moving wheel; namely, the real-time detection of the motion intention of the robot includes:
s201: and acquiring the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel.
It is understood that the left moving wheel and the right moving wheel are respectively controlled by two motors, and the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel can be obtained through motion sensors mounted on the left moving wheel and the right moving wheel.
S202: determining that the movement intent of the robot is a straight-ahead intent when the left wheel speed is equal to the right wheel speed.
S203: determining that the movement intent of the robot is a right turn intent when the left wheel speed is greater than the right wheel speed.
S204: determining that the movement intention of the robot is a left turn intention when the left wheel speed is less than the right wheel speed.
Specifically, after acquiring the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel, judging the magnitude relation between the left wheel speed and the right wheel speed; determining that the movement intention of the robot is a straight movement intention when the left wheel speed is equal to the right wheel speed; when the left wheel speed is greater than the right wheel speed, determining that the movement intention of the robot is a right turn intention; determining that the movement intention of the robot is a left turn intention when the left wheel speed is less than the right wheel speed.
In one embodiment, the initial travel route includes a plurality of travel segments; one of the travel sections comprises a start coordinate and an end coordinate; the display interface is a dot matrix display interface of a dot matrix screen;
it is understood that the initial driving route is determined by the starting position and the target position, but a plurality of driving sections, such as a straight section, a turning section, etc., may be included in the initial driving route. The start coordinate refers to a starting point in a travel section; the end point coordinate is an end point in a travel section, which can also be used as a start coordinate for the next travel section connected to the travel section. Preferably, the display interface mounted on the robot is a dot matrix display interface of a dot matrix screen, and the dot matrix display interface is used for displaying the movement intention of the robot, and it is understood that other display interfaces, such as a liquid crystal screen display interface, and the like, can be adopted besides the dot matrix display interface.
As shown in fig. 6, the displaying the movement intention through a display device mounted on the robot includes:
s303: and when the movement intention is a straight-going intention, acquiring the terminal coordinate of the current running road section of the robot, and recording the terminal coordinate as the straight-going terminal coordinate.
S304: and displaying the straight-line terminal coordinate and a preset straight-line mark on the display device.
The preset straight line identification can be characters (such as a robot straight line slogan and the like), a straight line arrow or a straight line animation and the like.
It can be understood that when the movement intention of the robot is a straight-ahead intention, it indicates that the current driving road section of the robot is the straight-ahead road section, that is, turning is not required, at this time, the terminal coordinate of the current driving road section of the robot is obtained, the terminal coordinate is recorded as a straight-ahead terminal coordinate, and then the straight-ahead terminal coordinate and the preset straight-ahead mark are displayed on the display device to prompt the pedestrian of the current driving direction and the target location of the robot.
In one embodiment, as shown in fig. 7, the displaying the movement intention through a display device mounted on the robot further comprises:
s305: and when the movement intention is a left turn intention, acquiring the end point coordinate of the current running road section of the robot, and recording the end point coordinate as a left turn starting coordinate.
S306: and acquiring the starting coordinate of the robot entering the next driving road section after the left turn, and recording the starting coordinate as the left turn ending coordinate.
S307: and acquiring a left turning range of the robot, and displaying the left turning range, the left turning starting coordinate, the left turning ending coordinate and a preset left turning mark on the display device.
The preset left-turn mark can be characters (such as a left-turn slogan of the robot and the like), a left-turn arrow, a left-turn animation and the like. It is understood that the left turn range refers to the arc of the robot turning left, and the left turn range can be preset so that the robot can run according to the left turn range when turning left.
It can be understood that when the motion intention of the robot is a left-turn intention, it indicates that the robot needs to perform a left-turn action to drive from the current driving road section into the left-turn driving road section, and further obtains an end point coordinate of the current driving road section of the robot, and records the end point coordinate as a left-turn start coordinate; acquiring an initial coordinate of a next driving road section entered by the robot after left turning, and recording the initial coordinate as a left turning finishing coordinate; the method comprises the steps of obtaining a left turning range of the robot, displaying the left turning range, a left turning starting coordinate, a left turning ending coordinate and a preset left turning mark on a display device, so that pedestrians can notice the whole left turning route of the robot in advance, and further the pedestrians are prevented from approaching the left turning route. It is understood that the road section where the robot is currently located and the next road section entering after the left turn are connected through the road section where the robot makes the left turn.
In an embodiment, as shown in fig. 8, the displaying the movement intention through a display device mounted on the robot further includes:
s308: and when the movement intention is a right turn intention, acquiring the end point coordinate of the current running road section of the robot, and recording the end point coordinate as a right turn starting coordinate.
S309: and acquiring the starting coordinate of the robot entering the next driving road section after the right turn, and recording the starting coordinate as the right turn ending coordinate.
S310: and acquiring a right turning range of the robot, and displaying the right turning range, the right turning starting coordinate, the right turning ending coordinate and a preset right turning mark on the display device.
The preset right-turn mark can be characters (such as a robot right-turn slogan and the like), a right-turn arrow or a right-turn animation and the like. It is understood that the right turn range refers to an arc of the robot turning right, and the right turn range can be preset so that the robot can run according to the right turn range when turning right.
It can be understood that when the motion intention of the robot is a right turn intention, it indicates that the robot needs to perform a right turn action to drive from the current driving road section into the right turn driving road section, and further obtains an end point coordinate of the current driving road section of the robot, and records the end point coordinate as a right turn start coordinate; acquiring a starting coordinate of the robot entering the next driving road section after the right turn, and recording the starting coordinate as a right turn ending coordinate; and acquiring a right turning range of the robot, and displaying the right turning range, a right turning starting coordinate, a right turning ending coordinate and a preset right turning identifier on a dot matrix display interface so that pedestrians can notice the whole right turning route of the robot in advance, thereby avoiding the pedestrians from approaching the right turning route. It can be understood that the road section where the robot is currently located and the next road section entering after turning right are connected through the road section where the robot turns right.
In an embodiment, after the step S201, that is, after the obtaining the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel, the method further includes:
when the speed of the left wheel and/or the speed of the right wheel are/is reduced to a preset speed threshold value, determining that the movement intention of the robot is a braking intention;
the displaying the movement intention through a display device installed on the robot comprises:
and when the movement intention is the braking intention, displaying a preset braking picture on the display device.
It is understood that the preset speed threshold may be set by a human, and for example, the preset speed threshold may be set to 80% of the normal traveling speed of the robot, and the like. When the speed of the left wheel and/or the speed of the right wheel of the robot is reduced to a preset speed threshold value within a certain time (such as 2s,3s and the like) when the robot normally runs, the movement intention of the robot is determined to be the braking intention, and then a preset braking picture is displayed on a display device.
In an embodiment, after step S201, that is, after the obtaining the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel, the method further includes:
when a positive speed and a negative speed exist in the left wheel speed and the right wheel speed, determining the movement intention as a rotation intention, and prompting to send an abnormal instruction containing the rotation intention to a preset receiver; wherein the positive velocity is greater than zero; the negative velocity is less than zero.
It can be understood that when the left wheel speed of the robot is a positive speed and the right wheel speed is a negative speed, or the left wheel speed is a negative speed and the right wheel speed is a positive speed, it is characterized that the robot is currently rotating in place, that is, the current movement intention of the robot is a rotation intention, and then an abnormal command including the rotation intention can be prompted to be sent to a preset receiver. The preset receiving party may be a manager for managing the robot, or may be a worker in a robot catering environment, for example. The exception instruction may be automatically generated after determining that the movement intent of the robot is a rotation intent.
In an embodiment, after step S30, that is, after the motion intention is displayed by the display device mounted on the robot, the method further includes:
and when the movement intention is the straight movement intention, determining the running distance of the robot according to the speed of the left wheel or the speed of the right wheel and preset running time.
It is understood that, when the robot movement intention is a straight movement intention, the distance of the straight movement section where the robot is located is long, and thus the travel distance of the robot can be determined by acquiring the left wheel speed or the right wheel speed of the robot (when the robot movement intention is a straight movement intention, the left wheel speed is equal to the right wheel speed), and the preset travel time. Alternatively, the preset travel time may be defined according to different scenes, and illustratively, the preset travel time may be 10s,20s, or the like.
And acquiring current position information of the robot, determining a safe distance according to the current position information and the driving distance, and broadcasting the safe distance in a preset voice broadcasting mode.
It can be understood that, the current position information refers to the specific position of the robot on the initial driving route at present, when the movement intention is the straight driving intention, the current position information of the robot is obtained after the driving distance of the robot is determined according to the left wheel speed or the right wheel speed and the preset driving time, the safe distance is determined according to the current position information and the driving distance, the safe distance is broadcasted in a preset voice broadcasting mode, and then in the driving process of the robot, the pedestrian can pass through other safe places, and convenience is provided for the pedestrian on the premise that the collision between the robot and the pedestrian is not generated.
In an embodiment, after step S30, that is, after the motion intention is displayed by the display device mounted on the robot, the method further includes:
when the movement intention is the left turn intention or the right turn intention, the rotation range of the robot is obtained so that the rotation range can be broadcasted in a preset voice broadcasting mode.
It can be understood that the rotation range, that is, the left turn range and the right turn range indicated in the above embodiments, is to obtain the left turn range or the right turn range of the robot when the movement intention of the robot is the left turn intention or the right turn intention, to broadcast the left turn range or the right turn range in a preset voice broadcast manner, to remind pedestrians to avoid appearing in the left turn range or the right turn range, to reduce the probability of collision between the robot and the pedestrians, and to improve the safety.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by functions and internal logic of the process, and should not limit the implementation process of the embodiments of the present invention in any way.
In one embodiment, a robot is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robot movement intention display method in the above embodiments when executing the computer program.
In one embodiment, a computer device is provided, which may be a server, and the internal structure thereof may be as shown in fig. 7. The computer device includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing the data used in the robot movement intention display method in the above embodiments. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a robot movement intention display method.
In one embodiment, a computer device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the robot movement intention display method in the above embodiments is implemented.
In one embodiment, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the robot movement intention display method in the above-described embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), rambus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein.
Claims (9)
1. A robot movement intention display method is characterized by comprising the following steps:
receiving a robot running instruction; the robot driving instruction comprises an initial position, a target position and an initial driving route determined according to the initial position and the target position; the initial travel route includes a plurality of travel segments; one of the travel sections comprises a start coordinate and an end coordinate;
detecting the movement intention of the robot in real time in the process that the robot drives from the initial position to the target position according to the initial driving route; the movement intentions comprise a left turn intention, a right turn intention and a straight movement intention;
displaying the movement intention through a display device installed on the robot;
the displaying the movement intention through a display device installed on the robot comprises:
when the movement intention is the straight movement intention, displaying a straight movement end point coordinate and a preset straight movement mark on a display device; the straight-going terminal coordinate refers to a terminal coordinate of a current driving road section of the robot;
when the movement intention is the left turning intention, displaying a left turning starting coordinate, a left turning ending coordinate, a preset left turning mark and a left turning range of the robot on the display device; the left turn starting coordinate is the terminal coordinate of the current driving road section of the robot; the left turn ending coordinate is the starting coordinate of the next driving road section when the robot enters the next driving road section after left turn;
when the movement intention is the right turning intention, displaying a right turning starting coordinate, a right turning ending coordinate, a preset right turning mark and a right turning range of the robot on the display device; the right-turn starting coordinate refers to a terminal coordinate of a road section where the robot is currently located; the right turn ending coordinate is the starting coordinate of the robot entering the next driving road section after the right turn;
after the displaying the movement intention through a display device installed on the robot, the method further comprises the following steps:
when the movement intention is a straight movement intention, acquiring current position information of the robot, determining a safe distance according to the current position information and a driving distance, and broadcasting the safe distance in a preset voice broadcasting mode; the running distance is determined by the speed of a left wheel or the speed of a right wheel of the robot and the preset running time;
when the movement intention is the left turn intention or the right turn intention, the rotation range of the robot is obtained so that the rotation range can be broadcasted in a preset voice broadcasting mode.
2. The robot movement intention display method according to claim 1, wherein the display device comprises a first display screen arranged at the front end of the robot and/or a second display screen arranged at the rear end of the robot and/or a light strip component arranged at the two sides of the robot and/or a projection component arranged on the robot.
3. The method for displaying the movement intention of the robot according to claim 2, wherein the displaying the movement intention by a display device mounted on the robot includes:
acquiring pedestrian position information of pedestrians around the robot;
and displaying the movement intention on a corresponding display device according to the pedestrian position information.
4. The method for displaying the movement intention of the robot according to claim 3, wherein the displaying the movement intention on a corresponding display device according to the pedestrian position information comprises:
if the pedestrian position information indicates that the pedestrian is positioned in front of the robot, displaying the movement intention through the first display screen and/or the lamp strip component;
if the pedestrian position information indicates that the pedestrian is positioned behind the robot, displaying the movement intention through the second display screen and/or the lamp strip component;
and if the pedestrian is positioned at the side edge of the robot on the surface of the pedestrian position information, displaying the movement intention through the projection component and/or the lamp strip component.
5. The robot movement intention display method according to claim 1, wherein the robot includes a left movement wheel and a right movement wheel;
the real-time detection of the movement intention of the robot comprises:
acquiring a left wheel speed of the left moving wheel and a right wheel speed of the right moving wheel;
determining that the movement intention of the robot is a straight movement intention when the left wheel speed is equal to the right wheel speed;
when the left wheel speed is greater than the right wheel speed, determining that the movement intention of the robot is a right turn intention;
determining that the movement intention of the robot is a left turn intention when the left wheel speed is less than the right wheel speed.
6. The robot movement intention display method according to claim 5, further comprising, after the acquiring the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel:
when the speed of the left wheel and/or the speed of the right wheel are/is reduced to a preset speed threshold value, determining that the movement intention of the robot is a braking intention;
the displaying the movement intention through a display device installed on the robot comprises:
and when the movement intention is the braking intention, displaying a preset braking picture on the display device.
7. The robot movement intention display method according to claim 5, further comprising, after the obtaining of the left wheel speed of the left moving wheel and the right wheel speed of the right moving wheel:
when a positive speed and a negative speed exist in the left wheel speed and the right wheel speed, determining the movement intention as a rotation intention, and prompting to send an abnormal instruction containing the rotation intention to a preset receiver; wherein the positive velocity is greater than zero; the negative velocity is less than zero.
8. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program performs the steps of the robot movement intention display method according to any one of claims 1 to 7.
9. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the steps of the robot movement intention display method according to any one of claims 1 to 7.
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