CN113551706A

CN113551706A - Method and device for robot inspection, electronic equipment and storage medium

Info

Publication number: CN113551706A
Application number: CN202110817604.5A
Authority: CN
Inventors: 李奇; 唐旋来; 万永辉
Original assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Current assignee: Shanghai Keenlon Intelligent Technology Co Ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2021-10-26

Abstract

The embodiment of the invention discloses a method and a device for robot inspection, electronic equipment and a storage medium. Wherein, the method comprises the following steps: acquiring road condition information of the robot at the current position through road condition detection equipment arranged on the robot; determining whether the road condition is abnormal at the current position or not according to the road condition information and a preset road condition abnormal rule; and if so, carrying out abnormity marking on the map of the robot according to a preset abnormity identifier. The automatic inspection tour of the workplace is realized through the robot, and the inspection tour efficiency is improved.

Description

Method and device for robot inspection, electronic equipment and storage medium

Technical Field

The present invention relates to robotics, and in particular, to a method and an apparatus for a robot tour, an electronic device, and a storage medium.

Background

Robots are used in all industries, for example, in stores in the catering industry, where the robots can be used for distribution. Whether the table and chair placement is not standard, foreign matters block the robot traveling route, water marks remain in the store, the ground is uneven and the like are required to be checked before the store is open. If there is not the inspection in the shop, the food delivery robot can appear blocking up the way at the during operation, skid, jolt and the long-time circumstances such as detour again behind the blocking up the way, influence work efficiency, also influence customer's dining experience simultaneously.

Currently, in-store inspections require real-time staff involvement, for example, staff in-store viewing. Or the robot walks in a store, and the staff follows behind the robot to determine whether the walking path of the robot is abnormal. Manpower and time are wasted, and the inspection efficiency of the robot is low.

Disclosure of Invention

The embodiment of the invention provides a method and a device for inspecting a robot, electronic equipment and a storage medium, which are used for improving the inspection efficiency of the robot.

In a first aspect, an embodiment of the present invention provides a method for a robot to patrol, where the method includes:

acquiring road condition information of the robot at the current position through road condition detection equipment arranged on the robot;

determining whether the road condition is abnormal at the current position or not according to the road condition information and a preset road condition abnormal rule;

and if so, carrying out abnormity marking on the map of the robot according to a preset abnormity identifier.

In a second aspect, an embodiment of the present invention further provides an apparatus for a robot to patrol, where the apparatus includes:

the road condition information acquisition module is used for acquiring road condition information of the robot at the current position through road condition detection equipment arranged on the robot;

the road condition abnormity judging module is used for determining whether the road condition abnormity exists at the current position according to the road condition information and a preset road condition abnormity rule;

and the abnormal point position marking module is used for carrying out abnormal marking on the map of the robot according to the preset abnormal identification if the abnormal point position marking module is used for marking the abnormality on the map of the robot.

In a third aspect, an embodiment of the present invention further provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor executes the computer program to implement the method for the robot tour according to any embodiment of the present invention.

In a fourth aspect, embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method of robot tour as described in any of the embodiments of the present invention.

According to the embodiment of the invention, the road condition information of the robot at the current position during patrol is determined through the road condition detection equipment arranged on the robot body. And determining whether the current position is abnormal or not according to the road condition information and a preset road condition abnormal rule. If so, corresponding abnormity labeling is carried out on the map, so that a user can conveniently check the abnormal condition, and further abnormity processing is better carried out. The problem of among the prior art, the staff need follow the robot in real time and look over is solved, practices thrift manpower and time, improves the efficiency that the robot tours.

Drawings

Fig. 1 is a schematic flow chart of a method for a robot tour according to a first embodiment of the present invention;

fig. 2 is a schematic flow chart of a method for patrolling a robot according to a second embodiment of the present invention;

fig. 3 is a schematic flow chart of a method for patrolling a robot according to a third embodiment of the present invention;

fig. 4 is a block diagram of a device for a robot tour in the fourth embodiment of the present invention;

fig. 5 is a schematic structural diagram of a device for robot tour in the fifth embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.

Example one

Fig. 1 is a schematic flowchart of a method for a robot tour according to an embodiment of the present invention, where the embodiment is applicable to a case where a robot performs a remote tour of a workplace, and the method may be performed by a robot tour device. As shown in fig. 1, the method specifically includes the following steps:

and 110, acquiring road condition information of the robot at the current position through road condition detection equipment arranged on the robot.

Wherein, install at least one kind road conditions check out test set on one's body of robot, every kind road conditions check out test set is at least one, for example, road conditions check out test set can include camera, vibration sensor and gyroscope sensor etc.. The robot walks on the tour route, and in the walking process, the road condition detection equipment can acquire the surrounding environmental information of the robot in real time, namely the road condition information of the robot at the current position can be directly acquired and determined by the relevant operation parameters of the robot. The road condition information refers to information collected by the road condition detection equipment when the robot is at the current position. For example, two cameras may be respectively installed in front of and behind the robot to acquire path images around the robot, and the two acquired path images may be used as road condition information of the current position. Because the robot is provided with at least one road condition detection device, at least one road condition information can be obtained. The data types of the traffic information are different when the types of the traffic detection devices are different.

For example, the road condition information may include a path passing width and a path slip information of the current position, which may be obtained by a path image of the current position and a motor rotation speed of the robot, respectively. The staff can look over in real time and operate the tour process of robot through the device of patrolling, and the device of patrolling can be equipment such as mobile terminal, and the road conditions information that the tour of robot arrived can show on the device of patrolling, realizes that the staff remote control robot patrols.

In this embodiment, optionally, the road condition information includes one or more of a path passing width, a path slip information, a path bump information, and a path gradient; through the road conditions check out test set who locates the robot, acquire the road conditions information of robot in current position department, include: acquiring a path image of the robot at the current position through image acquisition equipment arranged on the robot body, and determining the path passing width of the current position according to the path image; and/or acquiring current driving data of a driving device through the driving device arranged on the robot, and acquiring the path slip information of the current position from the current driving data; and/or obtaining current vibration data of the vibration sensor through the vibration sensor arranged on the robot, and obtaining path bumping information of the current position according to the current vibration data; and/or acquiring the current gradient detected by the horizontal gyroscope sensor through the horizontal gyroscope sensor arranged on the robot body, and acquiring the path gradient of the current position according to the current gradient.

Specifically, the road condition detection device may include an image acquisition device, a radar device, a driving device, a vibration sensor, a horizontal gyroscope sensor, a distance measuring sensor, and the like, and the driving device may be a motor. The road condition information may include obstacle information, a path passing width, path slip information, path bump information, a path gradient, and the like. The path passing width may indicate a width that the path may pass, the path slip information may indicate a degree of slip of the robot on the path, and the path jerk information may indicate a degree of jerk of the robot on the path.

The robot can judge whether an obstacle exists near the current position through equipment such as radar equipment, a camera and the like mounted on the body, and record obstacle information such as the position and the size of the obstacle. For example, the robot is provided with cameras in four directions all around, can be used for image recognition to avoid obstacles, and can also be used for shooting the surrounding environment, and the shot pictures are formed by splicing four cameras, so that 360-degree pictures can be checked, and the road condition information can be comprehensively acquired.

The image acquisition equipment can be installed at any position of the robot, and the path image at the current position of the robot can be acquired in real time through the image acquisition equipment. And identifying the maximum width which the path can pass in the path image, wherein the obtained maximum width is the path passing width at the current position. If the driving device is a motor, the current driving data is the current rotating speed of the motor, the motor continuously rotates in the moving process of the robot, the current rotating speed of the motor at the current position is obtained through the rotation of the motor, the current rotating speed is determined as the path slipping information of the robot at the current position, and the more the rotating speed is, the more the possibility of slipping of the robot is. The robot may be provided with a vibration sensor inside, vibration data of the vibration sensor may indicate a pitching condition of the path, and the current vibration data may be a current vibration acceleration. And acquiring the current vibration acceleration of the vibration sensor in real time, and obtaining the path bumping information of the current position according to the current vibration acceleration. The built-in horizontal gyroscope sensor of the robot can detect whether the robot is climbing, detect the current gradient of the current position through the horizontal gyroscope sensor, and obtain the route gradient of the current position according to the current gradient. The road condition information acquisition system has the advantages that various types of road condition information at the current position can be determined in real time, and not only is the obstacle information, so that comprehensive tour of a path is facilitated. Whether the environment in the inspection shop has a table chair to put nonstandard, foreign matter blocks that the robot advances the route, remains the water mark in the shop and there is the foreign matter unevenness scheduling problem on ground, avoids the robot to appear the card way and the condition such as jolt of skidding at the during operation, improves the robot and tours the precision, and then improves the work efficiency and the work precision of robot. According to the method disclosed by the embodiment, various information acquisition devices arranged on the robot can be used as road condition detection devices, and the robot can patrol the workplace before working without additionally adding corresponding devices, so that the patrol cost is reduced, and the efficiency is improved. And the robot finishes the inspection of the working place, the obtained information is more accurate and is close to the working state of the robot, and the robot can be controlled to work better according to the inspection condition.

And step 120, determining whether the road condition is abnormal at the current position according to the road condition information and preset road condition abnormal rules.

The abnormal road condition rule is preset, and one abnormal road condition rule can be set for each type of road condition information, for example, for the passing width of the path, the abnormal road condition can be determined when the passing width of the path is less than 60 cm. And searching corresponding road condition abnormal rules according to the plurality of road condition information, and determining whether the current position is an abnormal path, namely determining whether the road condition is abnormal at the current position.

In this embodiment, optionally, determining whether the road condition is abnormal at the current location according to the road condition information and a preset road condition abnormal rule includes: judging the congestion condition of the current position according to the path passing width of the current position and a preset width abnormal rule; and/or judging the slipping condition of the current position according to the path slipping information of the current position and a preset slipping abnormal rule; and/or judging the bumping condition of the current position according to the path bumping information of the current position and a preset bumping abnormity rule; and/or judging the slope condition of the current position according to the slope of the path of the current position and a preset slope abnormal rule; and judging whether the road condition abnormality exists at the current position according to the congestion condition, and/or the slip condition, and/or the bump condition, and/or the gradient condition.

Specifically, when the robot is in operation, for example, the robot delivers food in a restaurant, and if the robot moves according to the original driving decision when the robot encounters a bumpy or gradient road section or the like, dishes may be scattered, and therefore, the robot needs to automatically decelerate to prevent the dishes from scattering. In the congested road section, the voice can be broadcasted in advance, and the speed is reduced to shorten the obstacle avoidance response time so as to avoid collision. Therefore, when the robot patrols, the road condition abnormity can be marked, so that corresponding abnormity handling can be executed according to the previous mark in the subsequent robot working process. In this embodiment, the abnormal road condition may include a congestion condition of a passing width of the route, a slip condition of the slip information of the route, a jolt condition of the jolt information of the route, and a gradient condition of a gradient of the route.

The degree of the road condition abnormality can comprise slight abnormality, moderate abnormality, severe abnormality and no traffic, and the smooth traffic does not belong to the road condition abnormality. For the route passing width, a corresponding width exception rule can be set, and the route passing condition of the route passing width is a congestion condition. The width exception rule can be that when the path passing width is greater than a preset width threshold value, the congestion condition is smooth; when the road passing width is within the range of the light congestion threshold value, the congestion condition is light abnormity; when the passing width of the path is within the range of the medium congestion threshold value, the congestion condition is medium abnormal; when the passing width of the path is within the range of the severe congestion threshold value, the congestion condition is severe abnormity; and when the passage width of the path is smaller than the preset threshold value of the passable width, the traffic jam condition is that the path cannot be passed. For example, the width threshold is 80 cm, the light anomaly threshold ranges from 70 to 80 cm, the medium anomaly threshold ranges from 60 to 70 cm, the heavy anomaly threshold ranges from 55 to 60 cm, and the impassable width threshold is 55 cm.

The path slip information may be provided with a corresponding slip abnormality rule, and the path traffic condition of the path slip information may be a slip condition. The slip abnormality rule may be that when the current rotation speed of the motor is less than 1.5 times of a preset rotation speed threshold, it is determined that the slip condition at the current position is smooth; when the current rotating speed is 1.5 times to 1.75 times of the preset rotating speed threshold value, the slipping condition is slightly abnormal; when the current rotating speed is 1.75 times to 2 times of the preset rotating speed threshold value, the slipping condition is moderate abnormity; when the current rotating speed is 2-2.25 times of the preset rotating speed threshold value, the slipping condition is severe abnormity; and when the current rotating speed is more than 2.25 times of the preset rotating speed threshold value, the sliding condition is that the vehicle cannot pass.

For the route bump information, a corresponding bump exception rule can be set, and the route passing condition aiming at the route bump information is a bump condition. The bumping anomaly rule can be that when the current vibration acceleration of the vibration sensor is less than 1.2 times of a preset acceleration threshold, the bumping condition of the current position is determined to be smooth; when the current vibration acceleration is 1.2 times to 1.5 times of the preset acceleration threshold, the bumping condition is slight abnormality; when the current vibration acceleration is 1.5 times to 2 times of the preset acceleration threshold, the bumping condition is moderate abnormal; when the current vibration acceleration is between 2 times and 2.5 times of the preset acceleration threshold, the bumping condition is severe abnormal; and when the current vibration acceleration is more than 2.5 times of the preset acceleration threshold, the traffic is impossible under the bumping condition.

For the route gradient, a corresponding gradient abnormal rule can be set, and the route passing condition for the route gradient is a gradient condition. The slope abnormality rule may be that when the current slope is smaller than a preset slope threshold, the slope condition is smooth; when the current gradient is within a preset mild gradient threshold range, the gradient condition is mild abnormity; when the current gradient is within a preset medium gradient threshold range, the gradient condition is medium abnormal; when the current gradient is within the preset heavy gradient threshold value range, the gradient condition is a heavy abnormity; when the current gradient is within the preset threshold range of the trafficable gradient, the gradient condition is trafficable.

And judging whether the road condition abnormality exists at the current position according to one or more of the congestion condition, the slip condition, the bumping condition and the gradient condition. For example, in either case, the current location has an abnormal road condition as long as any degree of abnormality has occurred. The beneficial effect who sets up like this lies in, to each kind of road conditions information, can all obtain the current condition of corresponding route, realizes the comprehensive inspection to crowded highway section, the highway section that skids, the highway section of jolting and the highway section of slope, avoids the omission to the highway section that the robot can't pass in fact, does not need the user to look over the highway section by the manual work, practices thrift manpower and time, realizes carrying out long-range inspection through the robot, improves efficiency and the precision of patrolling.

In this embodiment, optionally, the road condition information includes a road passing width, a road slipping information, a road jolting information, and a road gradient, and the abnormal road condition includes a traffic failure, and whether the abnormal road condition exists at the current position is determined according to a congestion condition, and/or a slip condition, and/or a jolting condition, and/or a gradient condition, including: if any one of the congestion condition, the slip condition, the bump condition and the gradient condition is that the vehicle cannot pass through, judging that the current position cannot pass through; and if any three of the congestion condition, the slipping condition, the bumping condition and the gradient condition are serious abnormalities, judging that the current position cannot pass through.

Specifically, the passing condition of the path corresponding to each road condition information at the current position is determined, and if the passing condition of the path of any one road condition information is abnormal and the passing cannot be performed in the abnormal road condition, the passing cannot be performed at the current position can be directly determined. And if the path passing condition without the road condition information is that the traffic cannot pass, determining whether a severe abnormal condition exists, and if the path passing condition with at least three kinds of road condition information is that the traffic is severe abnormal, determining that the current position cannot pass. Namely, when the road condition of any three of the traffic conditions of the congestion condition, the slip condition, the bump condition and the gradient condition is severe abnormality, the current position cannot pass. For example, if the congestion condition, the slip condition and the bump condition are serious abnormalities and the sloping field condition is smooth, the current position still cannot pass. The beneficial effect who sets up like this lies in, can combine the current situation of various routes to confirm whether current position can't pass, considers the compound influence of multiple factor stack to robot work, and the requirement of robot even running to actual operational environment is laminated more, avoids judging the road conditions mistake that leads to by the current situation of single route judgement, influences the normal work of robot.

In this embodiment, optionally, the abnormal road condition further includes a slight abnormality, a moderate abnormality, and a severe abnormality, and whether the abnormal road condition exists at the current position is determined according to a congestion condition, and/or a slip condition, and/or a jolt condition, and/or a gradient condition, further including: if at least one of the congestion condition, the slipping condition, the jolting condition and the gradient condition is abnormal and the current position can pass, acquiring the degree of road condition abnormality existing at the current position and the type of corresponding road condition information; and obtaining an abnormal coping rule corresponding to the current position according to the degree of the road condition abnormality and the type of the corresponding road condition information.

Specifically, if the congestion condition, the slip condition, the bump condition and the gradient condition of the current position are all smooth, the current position is determined to be smooth, and no abnormity exists. Once there are three or more severe anomalies or one or more impassable, the current location is impassable. And under the condition that the traffic cannot be caused, namely the current position can pass, acquiring the degree of the traffic abnormality existing in the current position and the type of the corresponding traffic information. The degree of road condition abnormality can be obtained according to the specific conditions of congestion, slipping, bumping and gradient. For example, the degree of the traffic abnormality may include a moderate abnormality, and the corresponding traffic information category may include a slip condition. For another example, the degree of the road condition abnormality may include a moderate abnormality and a light abnormality, and the corresponding road condition information category may include a slip condition and a jerk condition.

And then, obtaining an abnormal handling rule corresponding to the current position according to the degree of the road condition abnormality and the type of the corresponding road condition information. That is to say, in this embodiment, when the current location is accessible and there is an abnormality, all types of traffic information causing the abnormality and the degree of traffic abnormality corresponding to the types are obtained, and then the abnormality handling rule is obtained correspondingly. For example, when the degree of the road condition abnormality at the current position includes moderate abnormality and mild abnormality, and the corresponding road condition information category includes a slip condition and a jerk condition, the corresponding abnormality coping rule may be 50% deceleration. For another example, when the degree of the traffic abnormality at the current position includes moderate abnormality and the corresponding traffic information type includes slipping and congestion, the corresponding abnormality coping rule may be to decelerate by 40% and perform voice broadcast in advance.

In this embodiment, when the traffic is available but there is an anomaly, the anomaly handling rule corresponding to the current position is obtained according to the degree of the anomaly of the road condition and the type of the corresponding road condition information, so that the robot can handle the anomaly in a refined manner when working, determine the specific anomaly of the current position, and ensure stable operation.

And step 130, if yes, carrying out abnormity marking on the map of the robot according to a preset abnormity identification.

If the condition that the road condition of the robot is abnormal at the current position is determined, the current position is determined to be an abnormal point position, and the current position is marked on a map of the robot. The path segment may also be labeled as abnormal, that is, the abnormal road condition may correspond to an abnormal point or an abnormal segment. By using the preset abnormal mark for abnormal marking, the working personnel can quickly determine the abnormal condition of the current position, and the robot can work according to the abnormal marking in the follow-up process.

The map of the robot may include a patrol route map of the robot, that is, a map generated before patrol, and may show each route point location and a robot action route of a robot workplace, and the robot action route is a route that the robot patrols and may be formed by connecting route point locations. The staff remotely checks the map of the robot through the patrol device, and after the robot determines that an abnormal point position appears on a path, the map of the robot can be marked according to a preset abnormal mark, for example, a red circle can be added on the map of the robot to indicate that the position of the red circle cannot pass through, and the staff remotely checks the patrol process and patrol result of the robot through checking the change of the map of the robot. When the abnormal point location appears on the map of the robot, the staff can arrive at the abnormal point location at any time to check on the spot, and the abnormal point location is subjected to operation such as obstacle clearing or confirmation.

Optionally, the map of the robot may also include a map of the scene in which the robot is working, such as a navigation map of the current restaurant containing all points. Optionally, the map includes a tour path map and a scene map. When the road condition is abnormal, automatically marking the abnormal marks on the patrol route map, after confirming or modifying the abnormal marks based on the operation instruction of a worker, synchronizing the confirmed or modified abnormal marks to the corresponding positions on the scene map so as to be used in the subsequent robot work, avoiding frequently modifying the total scene map to increase the data processing amount, and improving the accuracy of the abnormal marks based on the re-verification.

According to the technical scheme, the road condition information of the robot at the current position during patrol is determined through the road condition detection equipment installed on the robot body. And determining whether the current position is abnormal or not according to the road condition information and a preset road condition abnormal rule. If so, corresponding abnormity labeling is carried out on the map, so that a user can conveniently check the abnormal condition, and further abnormity processing is better carried out. The problem of among the prior art, the staff need follow the robot in real time and look over is solved, practices thrift manpower and time, improves the efficiency that the robot tours.

Example two

Fig. 2 is a flowchart illustrating a method for a robot tour according to a second embodiment of the present invention, which is an alternative embodiment based on the above embodiments, and the method can be executed by a robot tour apparatus. As shown in fig. 2, the method specifically includes the following steps:

step 210, responding to a fixed point location patrol instruction, and acquiring a preset fixed patrol route point location in a robot workplace; and obtaining a patrol path map of the robot according to a preset path planning algorithm.

The map of the robot can include a patrol route map, and the patrol route and patrol point positions and the like can be displayed on the patrol route map. The robot determines a patrol path before patrolling. A plurality of path points are preset in the workplace, and a path point is a preset path point on the path, and may be, for example, a corner position or an aisle center position in the workplace. And connecting the path points to obtain a patrol path of the robot, and obtaining a patrol path map of the robot according to the patrol path of the robot. The scene map of the robot workplace may be stored in advance, and each route point may be displayed in the scene map, for example, the scene map may be a plan view of the workplace viewed from above, or may be a three-dimensional view. And after the patrol route is generated, displaying the patrol route in a scene map to obtain a robot patrol route map.

The user can send out a fixed point location tour instruction to the robot, and the fixed point location is all preset path point locations or part of the preset path point locations. And the robot responds to the fixed point position patrol instruction and determines all fixed path point positions which need to pass through the workplace in the patrol process. The robot obtains a preset fixed path point location in a workplace, and can obtain the position of the fixed point location from a preset scene map. For example, when the fixed point locations are all the preset path point locations, all the path point locations may be connected according to a preset path planning algorithm, and the obtained connection line is the global patrol path of the robot. For example, all the path points may be connected by an exhaustive method. And starting from the first path point, connecting the nearest path points in sequence, and preferentially connecting the path points which are not passed by. 100 routes can be set to be generated, the walking distances are compared, and the route with the shortest distance is determined to be the global patrol route. The method has the advantages that the route is calculated according to the algorithm through the preset route point positions, the recommended route is generated, automatic determination of the route is achieved, user operation is reduced, omission of the route point positions to be patrolled in manual operation is avoided, and patrolling efficiency and patrolling precision of the robot are improved.

In this embodiment, optionally, the map includes a tour route map, and before the road condition detection device provided in the robot acquires the road condition information of the robot at the current position, the method further includes: responding to a user-defined tour instruction, and acquiring a specified path point position in a robot workplace; and obtaining a patrol route map of the robot according to a preset route generation algorithm.

Specifically, the user may send a custom patrol instruction, for example, when the user sends the custom patrol instruction, the user may click any route point in a scene map where the robot works as the specified route point. And the robot receives the custom tour instruction and determines the specified path point in the scene map. And connecting the specified path points according to a preset path generation algorithm to obtain a patrol path map of the robot. For example, after the user sends a custom tour instruction, the user can sequentially click the designated path points on the scene map, and the robot sequentially connects the designated path points according to the click sequence of the user according to a preset path generation algorithm to obtain the custom tour path map. For another example, the user clicks the first designated path point, and clicks and holds and strokes from the first designated path point, the robot determines the stroking path of the user, automatically fills the stroked route, connects with the closest path point, and the connected path point is the designated path point. When the path is generated, the generated path is recorded in real time, the paths can be overlapped, the walking serial number is displayed on the point position of the path, and the robot can repeatedly patrol the drawn path according to the operation of the user. The beneficial effect who sets up like this lies in, confirms through the mode of customized tour that the route of patrolling, convenience of customers operation, and the robot can be according to user's demand walking tour, has improved the flexibility that the robot tours.

In this embodiment, optionally, before acquiring the road condition information of the robot at the current position through the road condition detection device disposed in the robot, the method further includes: and responding to a key patrol point location selection instruction of the user, and determining the target point location selected by the user.

Specifically, after the robot determines the patrol route, the user may select one or more target point locations on the patrol route, where the target point locations are the point locations of the patrol route that need to be visited. The robot responds to a key patrol point location selection instruction sent by a user, determines a target point location, and displays the target point location on a robot patrol path map. The target point may be displayed as a preset target point identifier, for example, the target point may be displayed as a blue circle at a corresponding position on a map. The position of the target point location is the position where the robot needs to mainly patrol, so that the condition that the robot confirms the path passing condition of the target point location is wrong, the road condition information of the target point location can be acquired and displayed, and a worker checks the road condition information manually to determine whether the target point location cannot pass. For example, there are some intersections and corners in a restaurant, there may be irregular table positions, some sanitary dead corners, and places where it is necessary to confirm whether doors and windows and electrical appliances are closed, and these places may be target points. The user can set up the reservation function of shooing to these special positions before robot tours, in robot tours, can look over the condition and shoot of these positions, sends the waiter according to the photo of shooing again and arranges or cleans. The method has the advantages that the path point positions in the patrol path can be selected, the target point positions needing important investigation are determined, the error judgment of the path passing condition of the target point positions is avoided, and the patrol precision of the robot is improved.

And step 220, acquiring the road condition information of the robot at the current position through the road condition detection equipment arranged on the robot.

The robot moves according to the tour route, road condition information of the current position is determined in real time in the moving process, and the current position can be any position on the route, namely the position of a route point position, and also can be the position between two route point positions. The road condition information obtained by the robot is used for determining whether the current position cannot pass, the result is stored after the result that whether the current position cannot pass is determined, the robot can not store a plurality of road condition information obtained in real time, and the storage space is saved.

In this embodiment, optionally, the road condition information includes a path image of the current position; through the road conditions check out test set who locates the robot, acquire the road conditions information of robot in current position department, include: acquiring the current position of the robot; judging whether the current position is the position of the target point position; if so, acquiring a path image of the robot at the target point position through image acquisition equipment arranged on the robot, and performing associated storage on the path image of the target point position and the position of the target point position.

Specifically, a plurality of image acquisition devices can be installed on the robot body and can be used for acquiring a path image around the robot. For example, a camera can be respectively installed at four directions of the robot, namely front, back, left and right, and the camera can be used for shooting the surrounding environment, and the shot picture is formed by splicing four cameras and can be used for viewing a 360-degree picture at the current position.

The robot walks according to the tour path, acquires the current position of the robot in real time in the walking process, and judges whether the current position is the position of any one target point position. If not, the robot acquires at least one piece of road condition information of the robot at the current position through the road condition detection equipment arranged on the robot body, and the road condition information is used for subsequently determining whether the current position cannot pass through. If so, determining that the current position is the position of a target point location, automatically shooting a path image of the current target point location by the robot through image acquisition equipment arranged on the robot, and performing associated storage on the path image and the position of the target point location. Namely, in the process of the robot tour, the path image of the target point location can be automatically acquired as long as the robot passes through the target point location. The beneficial effects that set up like this lie in, can carry out automatic shooting to the path image of target point position department, the staff can mainly look over the path image of this target point position department after the robot tours, realize the key investigation to the target point position, avoid the robot not discerning the unable current road conditions information of target point position department when passing through the target point position, and the problem that leads to the robot to receive the hindrance when working, effectively improved the efficiency and the precision of tours of robot, and then improve the work efficiency and the precision of robot.

And step 230, determining whether the road condition is abnormal at the current position according to the road condition information and preset road condition abnormal rules.

And 240, if so, carrying out abnormity marking on the map of the robot according to a preset abnormity identifier.

According to the embodiment of the invention, the patrol route of the robot is determined in advance, so that the robot can automatically patrol according to the patrol route. The road condition detection equipment arranged on the robot body determines the road condition information of the robot at the current position during patrol, and can acquire the road condition information. According to the road condition information and the preset road condition abnormity rules, whether the road condition is abnormal at the current position can be determined. If so, corresponding abnormity labeling is carried out on the map, so that a user can conveniently check the abnormal condition, and further abnormity processing is better carried out. The problem of among the prior art, the staff need follow the robot in real time and look over is solved, practices thrift manpower and time, improves the efficiency and the precision that the robot tours.

EXAMPLE III

Fig. 3 is a flowchart illustrating a method for a robot tour according to a third embodiment of the present invention, which is an alternative embodiment based on the above embodiments, and the method can be executed by a robot tour apparatus. As shown in fig. 3, the method specifically includes the following steps:

and 310, acquiring the road condition information of the robot at the current position through the road condition detection equipment arranged on the robot body.

And step 320, determining whether the road condition is abnormal at the current position according to the road condition information and preset road condition abnormal rules.

And 330, if so, carrying out abnormal marking on the map of the robot according to the preset abnormal identification.

After the current position is determined to be the abnormal point location, the current position is marked on a map of the robot, and the reason why the current position is determined to be the abnormal point location is recorded. For example, the reason that the current position is the abnormal point location is that the bumping condition, the slipping condition and the gradient condition are severe abnormalities, the road condition information corresponding to the bumping condition, the slipping condition and the gradient condition and the position of the abnormal point location can be stored in an associated manner, so that the worker can conveniently check the road condition information. The traffic information at the abnormal point location can also be stored in association with the position of the abnormal point location, that is, the traffic information at the abnormal point location is stored no matter whether the traffic condition of the path corresponding to the traffic information is severely abnormal or can not be passed. For example, a route image at the point of abnormality, a route passage width, route slip information, route bump information, a route gradient, and the like may be stored. The staff of being convenient for can acquire the road conditions information of unusual position department, carries out artifical judgement to this position, realizes the long-range inspection to the robot tour result.

In this embodiment, optionally, after performing the exception annotation on the map of the robot according to the preset exception identifier, the method further includes: and when the robot runs, controlling the robot to perform exception handling according to a preset exception handling rule according to the exception label.

Specifically, after the robot determines all the abnormal points on the patrol route, the robot can work according to the abnormal marks on the route. When the robot works in a work place, whether the current position has abnormal marks on the map or not can be judged in real time, and if the current position has the abnormal marks, the current position is determined to be an abnormal point position. The robot can also judge whether an abnormal point location exists on a path in front of the current position in real time, so that the robot can respond to the position of the abnormal point location in advance. The abnormal condition handling rules can be stored in advance, and the robot is controlled to stably pass through the position of the abnormal point location or bypass the position of the abnormal point location according to the abnormal marks and the corresponding abnormal condition handling rules. For example, if the bumping condition at the abnormal point is a severe abnormality, the robot can be controlled to automatically decelerate, and articles on the robot can be prevented from falling off. If the forward location is a congested section, another path may be planned to bypass the location to avoid a collision. The beneficial effect who sets up like this lies in, through the unusual mark on the map, can make the robot normally walk at the during operation, avoids appearing the condition such as collision, effectively improves the work efficiency of robot.

In this embodiment, optionally, the method further includes: if the road condition abnormality at the current position is determined, acquiring a path image of the robot at the current position through image acquisition equipment arranged on the robot, and storing the path image at the current position in a correlation manner with the current position.

Specifically, the robot body is provided with image acquisition equipment such as a camera, and when the current position is determined to be an abnormal point position, namely when the current position is determined to have abnormal road conditions, the image acquisition equipment is adopted to photograph the road section of the current position, so as to obtain a path image of the abnormal point position where the current position is located. And the path image and the current position are stored in a correlation mode, so that a worker can conveniently determine whether the judgment of the robot on the current position is correct or not through the path image. For example, if the robot determines that the current position is an abnormal point location and the reason for the traffic incapability is that the traffic incapability is caused by a slipping condition of the current position, the robot acquires the traffic information stored in association with the current position and can acquire the path image in the traffic information. The working personnel can check whether water stains or oil stains and other articles which are easy to slip exist on the ground at the current position in the path image, and if the water stains or oil stains exist on the ground, the result that the robot judges that the current position is the abnormal point position is correct; and if not, determining that the current position is not the abnormal point. The beneficial effect who sets up like this lies in, can save the path image of unusual position, and the staff of being convenient for carries out remote inspection to the result of patrolling of robot, reduces staff's check-out time, improves the definite efficiency and the definite precision of patrolling the result.

And 340, responding to an updating instruction of the user, updating the abnormal label on the robot map, and storing the updated map.

The user obtains a map of the robot after inspection, determines abnormal point locations in a workplace, and the point locations with abnormal marks are the abnormal point locations. And the working personnel can repair the real scene of the abnormal point location, so that the abnormal point location can normally pass. After the abnormal point location is determined to be able to normally pass, the worker may send an update instruction of the abnormal point location to update the map of the robot, for example, the abnormal point location may be deleted. The robot can normally pass through the abnormal point position, a detour or other paths cannot be selected, and the working efficiency of the robot is improved. In addition, if the robot finds the abnormal point missed by the robot in the checking process, the map of the robot can be increased. After the abnormal point location is updated, the updated map can be stored, so that the robot works according to the new map. When the robot executes a task according to the map confirmed by the user, the abnormal point with abnormal annotation can be automatically bypassed. In a bumpy or gradient road section, dishes can be prevented from scattering through automatic deceleration, in a crowded road section, the voice can be broadcasted in advance to remind people in the front of the crowd, and the obstacle avoidance response time is shortened through deceleration so as to avoid collision.

According to the embodiment of the invention, the road condition information of the robot at the current position during patrol is determined through the road condition detection equipment arranged on the robot body, so that the road condition information can be obtained. And determining whether the current position is abnormal or not according to the road condition information and a preset road condition abnormal rule. If yes, the current position is determined to be an abnormal point position and marked on a map, a worker can remotely check the map, determine the working environment of the robot and update the map of the robot, so that the robot works according to the new map. The problem of among the prior art, the staff need follow the robot in real time and look over is solved, practices thrift manpower and time, improves the efficiency that the robot tours.

Example four

Fig. 4 is a block diagram of a robot patrol apparatus according to a fourth embodiment of the present invention, which is capable of executing a method for robot patrol according to any embodiment of the present invention, and includes functional modules corresponding to the execution method and beneficial effects. As shown in fig. 4, the apparatus specifically includes:

a road condition information obtaining module 401, configured to obtain road condition information of the robot at a current location through a road condition detection device disposed in the robot;

a traffic anomaly determination module 402, configured to determine whether the current location has traffic anomaly according to the traffic information and a preset traffic anomaly rule;

and an abnormal point marking module 403, configured to mark an abnormality on the map of the robot according to a preset abnormal identifier if the map is abnormal.

Optionally, the map includes a patrol route map, and the apparatus further includes:

the fixed point location acquisition module is used for responding to a fixed point location patrol instruction and acquiring a preset fixed patrol path point location in a working place of the robot before acquiring road condition information of the robot at the current position through road condition detection equipment arranged on the robot;

and the inspection map obtaining module is used for obtaining an inspection path map of the robot according to a preset path planning algorithm.

the system comprises a specified point location acquisition module, a route location acquisition module and a route location acquisition module, wherein the specified point location acquisition module is used for responding to a user-defined tour instruction and acquiring a specified route point location in a robot workplace before acquiring road condition information of the robot at the current position through road condition detection equipment arranged on the robot;

and the patrol map generation module is used for obtaining a patrol path map of the robot according to a preset path generation algorithm.

Optionally, the apparatus further comprises:

and the target point location determining module is used for responding to a key patrol point location selection instruction of the user and determining the target point location selected by the user before acquiring the road condition information of the robot at the current position through the road condition detection equipment arranged on the robot.

Optionally, the road condition information includes a path image of the current position;

the traffic information obtaining module 401 includes:

a position acquisition unit for acquiring a current position of the robot;

the position judging unit is used for judging whether the current position is the position of the target point position;

and the image storage unit is used for acquiring the path image of the robot at the target point location through image acquisition equipment arranged on the robot body if the position of the robot is the target point location, and performing associated storage on the path image of the target point location and the position of the target point location.

Optionally, the road condition information includes one or more of a path passing width, a path slip information, a path bump information, and a path gradient;

the traffic information obtaining module 401 includes:

the width determining unit is used for acquiring a path image of the robot at the current position through image acquisition equipment arranged on the robot, and determining the path passing width of the current position according to the path image; and/or the presence of a gas in the gas,

the slippage determining unit is used for acquiring current driving data of a driving device through the driving device arranged on the robot and obtaining path slippage information of the current position according to the current driving data; and/or the presence of a gas in the gas,

the system comprises a jolt determining unit, a control unit and a control unit, wherein the jolt determining unit is used for acquiring current vibration data of a vibration sensor through the vibration sensor arranged on the robot and obtaining path jolt information of the current position according to the current vibration data; and/or the presence of a gas in the gas,

and the gradient determining unit is used for acquiring the current gradient detected by the horizontal gyroscope sensor through the horizontal gyroscope sensor arranged on the robot, and obtaining the path gradient of the current position according to the current gradient.

Optionally, the abnormal road condition determining module 402 includes:

the congestion condition judging unit is used for judging the congestion condition of the current position according to the path passing width of the current position and a preset width abnormal rule; and/or the slip condition judging unit is used for judging the slip condition of the current position according to the path slip information of the current position and a preset slip abnormal rule; and/or, a bump condition judging unit, configured to judge a bump condition at the current position according to the path bump information at the current position and a preset bump exception rule; and/or the slope condition judging unit is used for judging the slope condition of the current position according to the path slope of the current position and a preset slope abnormal rule;

and the road condition abnormity determining unit is used for judging whether the road condition abnormity exists at the current position according to the congestion condition, and/or the slip condition, and/or the jolt condition, and/or the gradient condition.

Optionally, the traffic information includes a traffic width, a traffic slip information, a traffic bump information, and a traffic gradient, and the traffic abnormality includes a traffic-disabled state, and the traffic abnormality determination unit is specifically configured to: if any one of the congestion condition, the slip condition, the bump condition and the gradient condition is that the vehicle cannot pass through, judging that the current position cannot pass through; and if any three of the congestion condition, the slipping condition, the bumping condition and the gradient condition are serious abnormalities, judging that the current position cannot pass through.

Optionally, the abnormal road conditions further include mild abnormality, moderate abnormality and severe abnormality, and the abnormal road conditions determining unit is further specifically configured to: if at least one of the congestion condition, the slipping condition, the jolting condition and the gradient condition is abnormal and the current position can pass, acquiring the degree of road condition abnormality existing at the current position and the type of corresponding road condition information; and obtaining an abnormal coping rule corresponding to the current position according to the degree of the road condition abnormality and the type of the corresponding road condition information.

Optionally, the apparatus further comprises: and the robot control module is used for controlling the robot to perform exception handling according to a preset exception handling rule according to the exception marking when the robot runs after the exception marking is performed on the map of the robot according to the preset exception marking.

Optionally, the apparatus further comprises: and the abnormal image storage module is used for acquiring a path image of the robot at the current position through an image acquisition device arranged on the robot and storing the path image at the current position in a correlation manner with the current position if the current position is determined to have abnormal road conditions.

Optionally, the apparatus further comprises: and the abnormal point location updating module is used for responding to an updating instruction of a user after abnormal marking is carried out on the map of the robot according to the preset abnormal identification, updating the abnormal marking on the map of the robot, and storing the updated map.

According to the embodiment of the invention, the road condition information of the robot at the current position during patrol is determined through the road condition detection equipment arranged on the robot body, so that the road condition information can be obtained. And determining whether the current position is abnormal or not according to the road condition information and a preset road condition abnormal rule. If so, corresponding abnormity labeling is carried out on the map, so that a user can conveniently check the abnormal condition, and further abnormity processing is better carried out. The problem of among the prior art, the staff need follow the robot in real time and look over is solved, practices thrift manpower and time, improves the efficiency that the robot tours.

EXAMPLE five

Fig. 5 is a schematic structural diagram of a robot patrol apparatus according to a fifth embodiment of the present invention. The robot tour device is an electronic device and fig. 5 shows a block diagram of an exemplary electronic device 500 suitable for use in implementing embodiments of the invention. The electronic device 500 shown in fig. 5 is only an example and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.

As shown in fig. 5, the electronic device 500 is embodied in the form of a general purpose computing device. The components of the electronic device 500 may include, but are not limited to: one or more processors or processing units 501, a system memory 502, and a bus 503 that couples the various system components (including the system memory 502 and the processing unit 501).

Bus 503 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor, or a local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, micro-channel architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus.

Electronic device 500 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by electronic device 500 and includes both volatile and nonvolatile media, removable and non-removable media.

The system memory 502 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)504 and/or cache memory 505. The electronic device 500 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 506 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 503 by one or more data media interfaces. Memory 502 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.

A program/utility 508 having a set (at least one) of program modules 507 may be stored, for instance, in memory 502, such program modules 507 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 507 generally perform the functions and/or methodologies of embodiments of the invention as described herein.

The electronic device 500 may also communicate with one or more external devices 509 (e.g., keyboard, pointing device, display 510, etc.), with one or more devices that enable a user to interact with the electronic device 500, and/or with any devices (e.g., network card, modem, etc.) that enable the electronic device 500 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 511. Also, the electronic device 500 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 512. As shown in FIG. 5, the network adapter 512 communicates with the other modules of the electronic device 500 over the bus 503. It should be appreciated that although not shown in FIG. 5, other hardware and/or software modules may be used in conjunction with the electronic device 500, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 501 executes various functional applications and data processing by running a program stored in the system memory 502, for example, implementing a method for patrolling a robot provided by an embodiment of the present invention, including:

EXAMPLE six

The sixth embodiment of the present invention further provides a storage medium containing computer-executable instructions, where the storage medium stores a computer program, and when the computer program is executed by a processor, the method for performing a robot tour provided by the sixth embodiment of the present invention includes:

Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.

A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method of robot inspection, comprising:

2. The method according to claim 1, wherein the map comprises a tour route map, and before the information about the road condition of the robot at the current position is obtained by a road condition detection device provided in the robot, the method further comprises:

responding to a fixed point location patrol instruction, and acquiring a preset fixed patrol path point location in a robot workplace;

and obtaining a patrol path map of the robot according to a preset path planning algorithm.

3. The method according to claim 1, wherein the map comprises a tour route map, and before the information about the road condition of the robot at the current position is obtained by a road condition detection device provided in the robot, the method further comprises:

responding to a user-defined tour instruction, and acquiring a specified path point position in a robot workplace;

and obtaining a patrol path map of the robot according to a preset path generation algorithm.

4. The method according to claim 2 or 3, before obtaining the road condition information of the robot at the current position by a road condition detecting device provided to the robot, further comprising:

and responding to a key patrol point location selection instruction of the user, and determining the target point location selected by the user.

5. The method according to claim 4, wherein the traffic information comprises a path image of the current location;

through the road conditions check out test set who locates the robot, acquire the road conditions information of robot in current position department includes:

acquiring the current position of the robot;

judging whether the current position is the position of the target point location;

if yes, acquiring a path image of the robot at the target point location through image acquisition equipment arranged on the robot, and performing associated storage on the path image of the target point location and the position of the target point location.

6. The method of claim 1, wherein the road condition information comprises one or more of a path width, a path slip information, a path bump information, and a path grade;

acquiring a path image of the robot at a current position through image acquisition equipment arranged on the robot, and determining the path passing width of the current position according to the path image; and/or the presence of a gas in the gas,

acquiring current driving data of a driving device through the driving device arranged on the robot, and acquiring path slip information of the current position according to the current driving data; and/or the presence of a gas in the gas,

acquiring current vibration data of a vibration sensor through the vibration sensor arranged on the robot, and obtaining path bumping information of the current position according to the current vibration data; and/or the presence of a gas in the gas,

the method comprises the steps of obtaining the current gradient detected by a horizontal gyroscope sensor through the horizontal gyroscope sensor arranged on the robot, and obtaining the path gradient of the current position according to the current gradient.

7. The method as claimed in claim 6, wherein determining whether the current location has abnormal traffic conditions according to the traffic information and preset abnormal traffic conditions rules comprises:

judging the congestion condition of the current position according to the path passing width of the current position and a preset width abnormal rule;

and/or judging the slipping condition of the current position according to the path slipping information of the current position and a preset slipping abnormity rule;

and/or judging the bumping condition of the current position according to the path bumping information of the current position and a preset bumping abnormity rule;

and/or judging the gradient condition of the current position according to the path gradient of the current position and a preset gradient abnormal rule;

and judging whether the road condition abnormality exists at the current position according to the congestion condition, and/or the slip condition, and/or the bump condition, and/or the gradient condition.

8. The method as claimed in claim 7, wherein the traffic information includes a traffic width, a traffic slip, a traffic bump and a traffic gradient, the traffic abnormality includes no traffic, and the determining whether the traffic abnormality exists at the current location according to the congestion condition, the traffic slip condition, the traffic bump condition and the traffic gradient comprises:

if any one of the congestion condition, the slip condition, the bump condition and the gradient condition is that the vehicle cannot pass through, judging that the current position cannot pass through;

and if any three of the congestion condition, the slipping condition, the bumping condition and the gradient condition are serious abnormalities, judging that the current position cannot pass through.

9. The method according to claim 8, wherein the road condition abnormality further comprises a light abnormality, a moderate abnormality and a heavy abnormality, and the determining whether the road condition abnormality exists at the current position according to the congestion condition, and/or the slip condition, and/or the jerk condition, and/or the gradient condition further comprises:

if at least one of the congestion condition, the slipping condition, the jolting condition and the gradient condition is abnormal and the current position can pass, acquiring the degree of the road condition abnormality existing in the current position and the type of the corresponding road condition information;

and obtaining an abnormal coping rule corresponding to the current position according to the degree of the road condition abnormality and the type of the corresponding road condition information.

10. The method according to claim 1, further comprising, after performing anomaly labeling on a map of the robot according to a preset anomaly identification:

and when the robot runs, controlling the robot to perform exception handling according to a preset exception handling rule according to the exception label.

11. The method of claim 1, further comprising:

if the road condition abnormality at the current position is determined, acquiring a path image of the robot at the current position through image acquisition equipment arranged on the robot, and storing the path image at the current position in a correlation manner with the current position.

12. The method according to claim 1, further comprising, after performing anomaly labeling on a map of the robot according to a preset anomaly identification:

and responding to an updating instruction of a user, updating the abnormal label on the map, and storing the updated map.

13. A device for a robot tour, comprising:

14. A storage medium containing computer-executable instructions, which when executed by a computer processor, perform a method of robot tour as recited in any one of claims 1-12.