WO2019014940A1 - Method of determining security level of robot and robot - Google Patents

Method of determining security level of robot and robot Download PDF

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Publication number
WO2019014940A1
WO2019014940A1 PCT/CN2017/093924 CN2017093924W WO2019014940A1 WO 2019014940 A1 WO2019014940 A1 WO 2019014940A1 CN 2017093924 W CN2017093924 W CN 2017093924W WO 2019014940 A1 WO2019014940 A1 WO 2019014940A1
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WO
WIPO (PCT)
Prior art keywords
robot
information
item
stored
user
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PCT/CN2017/093924
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French (fr)
Chinese (zh)
Inventor
徐斌
苏红
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深圳市萨斯智能科技有限公司
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Priority to PCT/CN2017/093924 priority Critical patent/WO2019014940A1/en
Publication of WO2019014940A1 publication Critical patent/WO2019014940A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06Safety devices

Definitions

  • the present invention relates to the field of robot technology, and in particular, to a method and a robot for safely determining a robot.
  • the warehouse uses robots to transport, and organize items, or some items in the handling scene, using robots to carry items, etc., in these scenes, the robot reaches The effect of manual work.
  • robots when robots replace manual work, people often arrange robots for many events, but there are still some differences between robots and workers. For example, robots may be manipulated by illegal personnel to steal items, that is, current robots. Safety performance is not high.
  • Embodiments of the present invention provide a method for determining a safety of a robot and a robot to solve the problem that the safety performance of the robot is not high.
  • Embodiments of the present invention provide a method for determining a security of a robot, including:
  • the robot detects the current position and determines whether the current position matches the preset position
  • the robot identifies image information of a surrounding person through the camera
  • the robot matches the image information with pre-stored image information
  • the robot determines that the robot is currently in a safe state
  • the robot determines that the robot is currently in a dangerous state.
  • the method further includes: if the image information is matched with the pre-stored image information, the method further includes:
  • the robot receives an item capture instruction input by a user
  • the robot moves to a position of an item corresponding to the item grabbing instruction, and identifies tag information of the item;
  • the robot determines whether the tag information is tag information of an item in a pre-stored item order
  • the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
  • the method further includes:
  • the robot If the tag information is not the tag information of the item in the pre-stored item order, the robot outputs a prompt interface, where the prompt interface is used by the user to input the order information;
  • the robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
  • the robot grabs the item.
  • the method further includes:
  • the robot output prompts the user to input the identity verification information
  • the robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
  • the robot grabs the item.
  • the method further includes: if the image information is matched with the pre-stored image information, the method further includes:
  • the robot identifies the destination location information that the item needs to be transported
  • the robot moves the item to a location corresponding to the destination location information
  • the robot sends the alert information to the pre-bound terminal device.
  • An embodiment of the present invention further provides a robot, including:
  • a detecting module configured to detect a current location, and determine whether the current location matches a preset location
  • a first identification module configured to: if the current location matches the preset location, identify image information of a surrounding person by using a camera;
  • a matching module configured to match the image information with pre-stored image information
  • a first determining module configured to determine that the robot is currently in a safe state if the image information matches the pre-stored image information
  • a second determining module configured to determine that the robot is currently in a dangerous state if the image information does not match the pre-stored image information.
  • the robot further comprises:
  • a receiving module configured to receive an item capture instruction input by a user
  • a second identification module configured to move to a position of the item corresponding to the item capture instruction, and identify tag information of the item
  • a first determining module configured to determine whether the tag information is tag information of an item in a pre-stored item order
  • the first capture module is configured to: if the tag information is tag information of an item in a pre-stored item order, grab the item.
  • the robot further comprises:
  • a first output module configured to output a prompt interface, where the prompt interface is used for inputting order information by the user, if the label information is not the label information of the item in the pre-stored item order;
  • a second judging module configured to receive the order information input by the user on the prompt interface, and determine whether the order information input by the user is pre-stored order information
  • the second capture module is configured to: if the order information input by the user is pre-stored order information, the item is captured.
  • the robot further comprises:
  • a second output module configured to prompt the user to input the authentication information if the label information is not the label information of the item in the pre-stored item order;
  • the third determining module is configured to receive the authentication information input by the user, and determine whether the authentication information input by the user is legal;
  • the third crawling module is configured to capture the item if the authentication information input by the user is legal.
  • the robot further comprises:
  • a third identification module configured to identify destination location information that the item needs to be transported
  • a fourth determining module configured to determine whether the destination location information is pre-stored common destination location information
  • a carrying module configured to: if the destination location information is pre-stored common destination location information, transport the item to a location corresponding to the destination location information;
  • the warning module is configured to send the early warning information to the pre-bound terminal device if the destination location information is not the pre-stored common destination location information.
  • the robot detects the current position, and determines whether the current position matches the preset position; if the current position matches the preset position, the robot identifies the image information of the surrounding person through the camera; The robot matches the image information with pre-stored image information; if the image information matches pre-stored image information, the robot determines that the robot is currently in a safe state; if the image information is pre-stored If the image information does not match, the robot determines that the robot is currently in a dangerous state. This can improve the safety performance of the robot.
  • FIG. 1 is a schematic flowchart of a method for determining a safety of a robot according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention.
  • FIG. 3 is a schematic structural diagram of another robot according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of another robot according to an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of another robot according to an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another robot according to an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of another robot according to an embodiment of the present invention.
  • the robot may include: a chassis, a wheel, a crawler, a rechargeable battery, and a mechanical arm mounted on the chassis.
  • the robotic arm can include a boom, a telescopic arm, an arm, a mechanical jaw, and a lumbar rotation system.
  • a video system may also be included.
  • the video system may include a camera mounted in different locations, and may also include a walking system.
  • the walking system may be a 6 ⁇ 6 all-wheel drive, and the boom lift may be driven by a dual electric strut and a balance bar installed.
  • the control system may be controlled by a central system and a control box, etc.
  • the robot and the control system may be wired or wirelessly controlled and may transmit the video information of the robot end to the control hall or the command vehicle through wireless radiation, and Remotely control the robot.
  • the robot may be a robot that can be used for the robot to be grasped and transported, such as a robot or a warehouse handling robot, which is not limited in this embodiment of the present invention.
  • FIG. 1 is a schematic flowchart of a method for determining a security of a robot according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:
  • the robot detects the current location and determines whether the current location matches the preset location.
  • the current location may be the location where the robot is currently located, and the preset location may be a location area of the robot history, such as a specific scene location or a specific warehouse or the like.
  • the robot identifies image information of a surrounding person through the camera.
  • Step 102 may be to take an image of the surrounding person through a camera mounted on the robot.
  • the robot matches the image information with pre-stored image information.
  • the image information stored in advance may be image information of a worker who is photographed in advance.
  • the robot determines that the robot is currently in a safe state.
  • the image information matches the pre-stored image information, it can be determined that the staff is operating Control the robot, so make sure it is safe.
  • the robot determines that the robot is currently in a dangerous state.
  • the image information does not match the pre-stored image information, it can be determined that the worker is not manipulating the robot, so the determination is dangerous, and it is determined that it is dangerous to alarm or stop the action.
  • the method further includes:
  • the robot receives an item capture instruction input by a user
  • the robot moves to a position of an item corresponding to the item grabbing instruction, and identifies tag information of the item;
  • the robot determines whether the tag information is tag information of an item in a pre-stored item order
  • the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
  • the safety of the robot can be further determined, because in the safe case, the robot only grabs the items in the item order.
  • the method further includes:
  • the robot If the tag information is not the tag information of the item in the pre-stored item order, the robot outputs a prompt interface, where the prompt interface is used by the user to input the order information;
  • the robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
  • the robot grabs the item.
  • the safety of the robot can be further determined, because in the safe case, the robot only grabs the items in the item order.
  • the method further includes:
  • the machine The person output prompts the user to input authentication information
  • the robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
  • the robot grabs the item.
  • the safety of the robot can be further determined because the robot can only be manipulated by a legal person in a safe situation.
  • the method further includes:
  • the robot identifies the destination location information that the item needs to be transported
  • the robot moves the item to a location corresponding to the destination location information
  • the robot sends the alert information to the pre-bound terminal device.
  • the safety of the robot can be further determined because the robot only transports the item to the preset common destination position information in a safe situation.
  • the robot detects the current position, and determines whether the current position matches the preset position; if the current position matches the preset position, the robot identifies the image information of the surrounding person through the camera; The robot matches the image information with pre-stored image information; if the image information matches pre-stored image information, the robot determines that the robot is currently in a safe state; if the image information is pre-stored If the image information does not match, the robot determines that the robot is currently in a dangerous state. This can improve the safety performance of the robot.
  • FIG. 2 is a structural diagram of a robot according to an embodiment of the present invention. As shown in FIG. 2, the method includes:
  • the detecting module 201 is configured to detect a current location, and determine whether the current location matches a preset location;
  • the first identification module 202 is configured to: if the current location matches the preset location, identify image information of a surrounding person by using a camera;
  • a matching module 203 configured to match the image information with pre-stored image information
  • the first determining module 204 is configured to determine that the robot is currently in a safe state if the image information matches the pre-stored image information;
  • the second determining module 205 is configured to determine that the robot is currently in a dangerous state if the image information does not match the pre-stored image information.
  • the robot further includes:
  • the receiving module 206 is configured to receive an item capture instruction input by the user
  • a second identification module 207 configured to move to a location of the item corresponding to the item capture instruction, and identify tag information of the item
  • the first determining module 208 is configured to determine whether the tag information is tag information of an item in a pre-stored item order
  • the first capture module 209 is configured to: if the tag information is tag information of an item in a pre-stored item order, grab the item.
  • the robot further includes:
  • the first output module 2010 is configured to output a prompt interface, where the prompt interface is used for inputting order information by the user, if the label information is not the label information of the item in the pre-stored item order;
  • the second judging module 2011 is configured to receive the order information input by the user on the prompt interface, and determine whether the order information input by the user is pre-stored order information;
  • the second crawling module 2012 is configured to: if the order information input by the user is pre-stored order information, the item is captured.
  • the robot further includes:
  • a second output module 2013, configured to prompt the user to input the identity verification information if the tag information is not the tag information of the item in the pre-stored item order;
  • the third determining module 2014 is configured to receive the identity verification information input by the user, and determine whether the identity verification information input by the user is legal;
  • the third crawling module 2015 is configured to capture the item if the authentication information input by the user is legal.
  • the robot further includes:
  • a third identification module 2016, configured to identify destination location information that the item needs to be transported
  • the fourth determining module 2017 is configured to determine whether the destination location information is commonly used in advance storage Destination location information
  • the carrying module 2018 is configured to: when the destination location information is pre-stored common destination location information, move the item to a location corresponding to the destination location information;
  • the warning module 2019 is configured to send the early warning information to the pre-bound terminal device if the destination location information is not the pre-stored common destination location information.
  • the robot detects the current position, and determines whether the current position matches the preset position; if the current position matches the preset position, the robot identifies the image information of the surrounding person through the camera; The robot matches the image information with pre-stored image information; if the image information matches pre-stored image information, the robot determines that the robot is currently in a safe state; if the image information is pre-stored If the image information does not match, the robot determines that the robot is currently in a dangerous state. This can improve the safety performance of the robot.
  • FIG. 7 is a structural diagram of another robot according to an embodiment of the present invention.
  • the robot includes a processor 701, a memory 702, a network interface 704, and a user interface 703.
  • the various components in the robot are coupled together by a bus system 705.
  • the bus system 705 includes a power bus, a control bus, and a status signal bus in addition to the data bus.
  • various buses are labeled as bus system 705 in FIG.
  • the user interface 703 may include a display, a keyboard, or a pointing device (eg, a mouse, a track ball, a touch pad, or a touch screen, etc.).
  • a pointing device eg, a mouse, a track ball, a touch pad, or a touch screen, etc.
  • the memory 702 in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory.
  • the non-volatile memory may be a read-only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (Erasable PROM, EPROM), or an electric Erase programmable read only memory (EEPROM) or flash memory.
  • the volatile memory can be a Random Access Memory (RAM) that acts as an external cache.
  • RAM Random Access Memory
  • many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (Synchronous DRAM).
  • Memory 702 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
  • memory 702 stores elements, executable modules or data structures, or a subset thereof, or their extended set: operating system 7021 and application 7022.
  • the operating system 7021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks.
  • the application 7022 includes various applications, such as a media player (Media Player), a browser, and the like, for implementing various application services.
  • a program implementing the method of the embodiment of the present invention may be included in the application 7022.
  • the processor 701 by calling the program or instruction stored in the memory 702, specifically, the program or the instruction stored in the application 7022, the processor 701 is configured to:
  • the robot detects the current position and determines whether the current position matches the preset position
  • the robot identifies image information of a surrounding person through the camera
  • the robot matches the image information with pre-stored image information
  • the robot determines that the robot is currently in a safe state
  • the robot determines that the robot is currently in a dangerous state.
  • Processor 701 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 701 or an instruction in a form of software.
  • the processor 701 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like. Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like. Combined with the implementation of the present invention
  • the steps of the disclosed method may be directly embodied by the hardware decoding processor being executed or by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like.
  • the storage medium is located in the memory 702, and the processor 701 reads the information in the memory 702 and completes the steps of the above method in combination with its hardware.
  • the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof.
  • the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processing (DSP), Digital Signal Processing Equipment (DSP Device, DSPD), programmable Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), general purpose processor, controller, microcontroller, microprocessor, other for performing the functions described herein In an electronic unit or a combination thereof.
  • ASICs Application Specific Integrated Circuits
  • DSP Digital Signal Processing
  • DSP Device Digital Signal Processing Equipment
  • PLD programmable Programmable Logic Device
  • FPGA Field-Programmable Gate Array
  • the techniques described herein can be implemented by modules (eg, procedures, functions, and so on) that perform the functions described herein.
  • the software code can be stored in memory and executed by the processor.
  • the memory can be implemented in the processor or external to the processor.
  • the processor 701 is further configured to:
  • the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
  • the processor 701 is further configured to:
  • the tag information is not the tag information of the item in the pre-stored item order, outputting a prompt interface, where the prompt interface is used for the user to input the order information;
  • the robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
  • the item is captured.
  • the processor 701 is further configured to:
  • the output prompts the user to input the identity verification information
  • the robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
  • the item is grabbed.
  • the processor 701 is further configured to:
  • the item is transported to a location corresponding to the destination location information
  • the early warning information is sent to the pre-bound terminal device.
  • the robot may be a robot in any of the embodiments of the method in the embodiment of the present invention, and any implementation manner of the robot in the method embodiment in the embodiment of the present invention may be used in the embodiment.
  • the above-mentioned robots are implemented, and the same beneficial effects are achieved, and will not be described again here.
  • the disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are merely illustrative.
  • the division of the unit is only a logical function division.
  • there may be another division manner for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
  • the functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product.
  • the technical solution of the present invention which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including
  • the instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention.
  • the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

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Abstract

A method of determining a security level of a robot and a robot. The method comprises: a robot detecting a current position, and determining whether the current position matches a predetermined position; if the current position matches the predetermined position, the robot identifying image information of a surrounding person by means of a camera; the robot performing matching between the image information and pre-stored image information; if the image information matches the pre-stored image information, the robot determining that the robot is currently in a secure state; and if the image information does not match the pre-stored image information, the robot determining that the robot is currently in a dangerous state, thereby improving the security performance of a robot.

Description

一种机器人的安全确定方法和机器人Safety determination method and robot for robot 技术领域Technical field
本发明涉及机器人技术领域,尤其涉及一种机器人的安全确定方法和机器人。The present invention relates to the field of robot technology, and in particular, to a method and a robot for safely determining a robot.
背景技术Background technique
随着机器技术的发展,越来越多场所会使用到的机器,例如:仓库采用机器人运输,以及整理物品等,或者一些物品搬运场景中,采用机器人搬运物品等等,在这些场景中机器人达到人工作业的效果。With the development of machine technology, more and more places will use the machines, such as: the warehouse uses robots to transport, and organize items, or some items in the handling scene, using robots to carry items, etc., in these scenes, the robot reaches The effect of manual work.
然而,在机器人代替人工作业时,人员往往会将很多事件均安排机器人来做,但机器人与工作人还是存在一定差别,例如:机器人可能被非法人员操控,以盗取物品,即目前机器人的安全性能不高。However, when robots replace manual work, people often arrange robots for many events, but there are still some differences between robots and workers. For example, robots may be manipulated by illegal personnel to steal items, that is, current robots. Safety performance is not high.
发明内容Summary of the invention
本发明实施例提供一种机器人的安全确定方法和机器人,以解决机器人的安全性能不高的问题。Embodiments of the present invention provide a method for determining a safety of a robot and a robot to solve the problem that the safety performance of the robot is not high.
本发明实施例提供一种机器人的安全确定方法,包括:Embodiments of the present invention provide a method for determining a security of a robot, including:
机器人检测当前位置,并判断所述当前位置与预设位置是否匹配;The robot detects the current position and determines whether the current position matches the preset position;
若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息;If the current location matches the preset location, the robot identifies image information of a surrounding person through the camera;
所述机器人将所述图像信息与预先存储的图像信息进行匹配;The robot matches the image information with pre-stored image information;
若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态;If the image information matches the pre-stored image information, the robot determines that the robot is currently in a safe state;
若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。If the image information does not match the pre-stored image information, the robot determines that the robot is currently in a dangerous state.
优选的,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,所述方法还包括:Preferably, after the step of determining that the robot is currently in a safe state, the method further includes: if the image information is matched with the pre-stored image information, the method further includes:
所述机器人接收用户输入的物品抓取指令; The robot receives an item capture instruction input by a user;
所述机器人移动到所述物品抓取指令对应的物品的位置,识别所述物品的标签信息;The robot moves to a position of an item corresponding to the item grabbing instruction, and identifies tag information of the item;
所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;The robot determines whether the tag information is tag information of an item in a pre-stored item order;
若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。If the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
优选的,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,所述方法还包括:Preferably, after the step of determining, by the robot, that the label information is the label information of the item in the item order stored in advance, the method further includes:
若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机器人输出提示界面,所述提示界面用于用户输入订单信息;If the tag information is not the tag information of the item in the pre-stored item order, the robot outputs a prompt interface, where the prompt interface is used by the user to input the order information;
所述机器人在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息;The robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
若用户输入的订单信息为预先存储的订单信息,则所述机器人抓取所述物品。If the order information input by the user is pre-stored order information, the robot grabs the item.
优选的,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,所述方法还包括:Preferably, after the step of determining, by the robot, that the label information is the label information of the item in the item order stored in advance, the method further includes:
若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机器人输出提示用户输入身份验证信息;If the tag information is not the tag information of the item in the pre-stored item order, the robot output prompts the user to input the identity verification information;
所述机器人接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法;The robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
若用户输入的身份验证信息合法,则所述机器人抓取所述物品。If the authentication information input by the user is legal, the robot grabs the item.
优选的,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,所述方法还包括:Preferably, after the step of determining that the robot is currently in a safe state, the method further includes: if the image information is matched with the pre-stored image information, the method further includes:
所述机器人识别物品需要搬运的目的位置信息;The robot identifies the destination location information that the item needs to be transported;
所述机器人判断所述目的位置信息是否为预先存储的常用目的位置信息;Determining, by the robot, whether the destination location information is pre-stored common destination location information;
若所述目的位置信息为预先存储的常用目的位置信息,则所述机器人将所述物品搬运至所述目的位置信息对应的位置;If the destination location information is pre-stored common destination location information, the robot moves the item to a location corresponding to the destination location information;
若所述目的位置信息不为预先存储的常用目的位置信息,则所述机器人向预先绑定的终端设备发送预警信息。 If the destination location information is not the pre-stored common destination location information, the robot sends the alert information to the pre-bound terminal device.
本发明实施例还提供一种机器人,包括:An embodiment of the present invention further provides a robot, including:
检测模块,用于检测当前位置,并判断所述当前位置与预设位置是否匹配;a detecting module, configured to detect a current location, and determine whether the current location matches a preset location;
第一识别模块,用于若所述当前位置与预设位置匹配,则通过摄像头识别周围人员的图像信息;a first identification module, configured to: if the current location matches the preset location, identify image information of a surrounding person by using a camera;
匹配模块,用于将所述图像信息与预先存储的图像信息进行匹配;a matching module, configured to match the image information with pre-stored image information;
第一确定模块,用于若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态;a first determining module, configured to determine that the robot is currently in a safe state if the image information matches the pre-stored image information;
第二确定模块,用于若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。And a second determining module, configured to determine that the robot is currently in a dangerous state if the image information does not match the pre-stored image information.
优选的,所述机器人还包括:Preferably, the robot further comprises:
接收模块,用于接收用户输入的物品抓取指令;a receiving module, configured to receive an item capture instruction input by a user;
第二识别模块,用于移动到所述物品抓取指令对应的物品的位置,识别所述物品的标签信息;a second identification module, configured to move to a position of the item corresponding to the item capture instruction, and identify tag information of the item;
第一判断模块,用于判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;a first determining module, configured to determine whether the tag information is tag information of an item in a pre-stored item order;
第一抓取模块,用于若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。The first capture module is configured to: if the tag information is tag information of an item in a pre-stored item order, grab the item.
优选的,所述机器人还包括:Preferably, the robot further comprises:
第一输出模块,用于若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示界面,所述提示界面用于用户输入订单信息;a first output module, configured to output a prompt interface, where the prompt interface is used for inputting order information by the user, if the label information is not the label information of the item in the pre-stored item order;
第二判断模块,用于在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息;a second judging module, configured to receive the order information input by the user on the prompt interface, and determine whether the order information input by the user is pre-stored order information;
第二抓取模块,用于若用户输入的订单信息为预先存储的订单信息,则抓取所述物品。The second capture module is configured to: if the order information input by the user is pre-stored order information, the item is captured.
优选的,所述机器人还包括:Preferably, the robot further comprises:
第二输出模块,用于若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示用户输入身份验证信息;a second output module, configured to prompt the user to input the authentication information if the label information is not the label information of the item in the pre-stored item order;
第三判断模块,用于接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法; The third determining module is configured to receive the authentication information input by the user, and determine whether the authentication information input by the user is legal;
第三抓取模块,用于若用户输入的身份验证信息合法,则抓取所述物品。The third crawling module is configured to capture the item if the authentication information input by the user is legal.
优选的,所述机器人还包括:Preferably, the robot further comprises:
第三识别模块,用于识别物品需要搬运的目的位置信息;a third identification module, configured to identify destination location information that the item needs to be transported;
第四判断模块,用于判断所述目的位置信息是否为预先存储的常用目的位置信息;a fourth determining module, configured to determine whether the destination location information is pre-stored common destination location information;
搬运模块,用于若所述目的位置信息为预先存储的常用目的位置信息,则将所述物品搬运至所述目的位置信息对应的位置;a carrying module, configured to: if the destination location information is pre-stored common destination location information, transport the item to a location corresponding to the destination location information;
预警模块,用于若所述目的位置信息不为预先存储的常用目的位置信息,则向预先绑定的终端设备发送预警信息。The warning module is configured to send the early warning information to the pre-bound terminal device if the destination location information is not the pre-stored common destination location information.
本发明实施例中,机器人检测当前位置,并判断所述当前位置与预设位置是否匹配;若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息;所述机器人将所述图像信息与预先存储的图像信息进行匹配;若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态;若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。这样可以提高机器人的安全性能。In the embodiment of the present invention, the robot detects the current position, and determines whether the current position matches the preset position; if the current position matches the preset position, the robot identifies the image information of the surrounding person through the camera; The robot matches the image information with pre-stored image information; if the image information matches pre-stored image information, the robot determines that the robot is currently in a safe state; if the image information is pre-stored If the image information does not match, the robot determines that the robot is currently in a dangerous state. This can improve the safety performance of the robot.
附图说明DRAWINGS
为了更清楚地说明本发明实施例中的技术方案,下面将对实施例中所需要使用的附图作简单地介绍,显而易见地,下面描述中的附图仅仅是本发明的一些实施例,对于本领域普通技术人员来讲,在不付出创造性劳动的前提下,还可以根据这些附图获得其他的附图。In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings to be used in the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without paying any creative work.
图1是本发明实施例提供的一种机器人的安全确定方法的流程示意图;1 is a schematic flowchart of a method for determining a safety of a robot according to an embodiment of the present invention;
图2是本发明实施例提供的一种机器人的结构示意图;2 is a schematic structural diagram of a robot according to an embodiment of the present invention;
图3是本发明实施例提供的另一种机器人的结构示意图;3 is a schematic structural diagram of another robot according to an embodiment of the present invention;
图4是本发明实施例提供的另一种机器人的结构示意图;4 is a schematic structural diagram of another robot according to an embodiment of the present invention;
图5是本发明实施例提供的另一种机器人的结构示意图;FIG. 5 is a schematic structural diagram of another robot according to an embodiment of the present invention; FIG.
图6是本发明实施例提供的另一种机器人的结构示意图;6 is a schematic structural diagram of another robot according to an embodiment of the present invention;
图7是本发明实施例提供的另一种机器人的结构示意图。 FIG. 7 is a schematic structural diagram of another robot according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.
本发明实施例提供的机器人可以包括:底盘、车轮、履带、充电电池及安装在底盘上的机械手臂组成。机械手臂可以包括大臂、伸缩臂、小臂、机械爪及腰转***。以及还可以包括视频***,视频***可以包括安装在不同位置的摄像机组成,还可以包括行走***,行走***可以是6×6全轮驱动,大臂升降可以由双电动撑杆驱动并安装平衡杠,另外,还可以包括控制***由中央***控制和操控箱等等,另外,机器人与控制***之间可有线或无线操控并可以将机器人端的视频信息通过无线放射传送到控制大厅或指挥车,以及远程操控机器人。另外,本发明实施例中,机器人可以排爆机器人或者仓库搬运机器人等可以抓取和搬运物体的机器人,对此本发明实施例不作限定。The robot provided by the embodiment of the present invention may include: a chassis, a wheel, a crawler, a rechargeable battery, and a mechanical arm mounted on the chassis. The robotic arm can include a boom, a telescopic arm, an arm, a mechanical jaw, and a lumbar rotation system. And a video system may also be included. The video system may include a camera mounted in different locations, and may also include a walking system. The walking system may be a 6×6 all-wheel drive, and the boom lift may be driven by a dual electric strut and a balance bar installed. In addition, the control system may be controlled by a central system and a control box, etc. In addition, the robot and the control system may be wired or wirelessly controlled and may transmit the video information of the robot end to the control hall or the command vehicle through wireless radiation, and Remotely control the robot. In addition, in the embodiment of the present invention, the robot may be a robot that can be used for the robot to be grasped and transported, such as a robot or a warehouse handling robot, which is not limited in this embodiment of the present invention.
请参见图1,图1是本发明实施例提供的一种机器人的安全确定方法的流程示意图,如图1所示,包括以下步骤:Referring to FIG. 1 , FIG. 1 is a schematic flowchart of a method for determining a security of a robot according to an embodiment of the present invention. As shown in FIG. 1 , the method includes the following steps:
101、机器人检测当前位置,并判断所述当前位置与预设位置是否匹配。101. The robot detects the current location and determines whether the current location matches the preset location.
本发明实施例中,上述当前位置可以是机器人当前所处的位置,而上述预设位置可以是机器人历史记录的位置区域,例如:特定的场景位置或者特定的仓库等等。In the embodiment of the present invention, the current location may be the location where the robot is currently located, and the preset location may be a location area of the robot history, such as a specific scene location or a specific warehouse or the like.
若不匹配,则确定为危险状态,或者结束流程。If it does not match, it is determined to be dangerous or the process is ended.
102、若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息。102. If the current location matches the preset location, the robot identifies image information of a surrounding person through the camera.
步骤102可以是通过机器人上安装的摄像头采用周围人员的图像。Step 102 may be to take an image of the surrounding person through a camera mounted on the robot.
103、所述机器人将所述图像信息与预先存储的图像信息进行匹配。103. The robot matches the image information with pre-stored image information.
上述预先存储的图像信息可以是预先摄像的工作人员的图像信息。The image information stored in advance may be image information of a worker who is photographed in advance.
104、若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态。104. If the image information matches the pre-stored image information, the robot determines that the robot is currently in a safe state.
若所述图像信息与预先存储的图像信息匹配,而可以确定是工作人员在操 控机器人,所以确定是安全的。If the image information matches the pre-stored image information, it can be determined that the staff is operating Control the robot, so make sure it is safe.
105、若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。105. If the image information does not match the pre-stored image information, the robot determines that the robot is currently in a dangerous state.
若所述图像信息与预先存储的图像信息不匹配,而可以确定不是工作人员在操控机器人,所以确定是危险的,且确定是危险可以报警或者停止动作。If the image information does not match the pre-stored image information, it can be determined that the worker is not manipulating the robot, so the determination is dangerous, and it is determined that it is dangerous to alarm or stop the action.
作为一种可选的实施方式,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,所述方法还包括:As an optional implementation manner, if the image information is matched with the pre-stored image information, and the step of determining that the robot is currently in a safe state, the method further includes:
所述机器人接收用户输入的物品抓取指令;The robot receives an item capture instruction input by a user;
所述机器人移动到所述物品抓取指令对应的物品的位置,识别所述物品的标签信息;The robot moves to a position of an item corresponding to the item grabbing instruction, and identifies tag information of the item;
所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;The robot determines whether the tag information is tag information of an item in a pre-stored item order;
若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。If the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
该实施方式中,可以进一步确定机器人的安全性,因为安全情况下机器人只会抓取物品订单中的物品。In this embodiment, the safety of the robot can be further determined, because in the safe case, the robot only grabs the items in the item order.
作为一种可选的实施方式,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,所述方法还包括:As an optional implementation manner, after the step of determining, by the robot, that the label information is label information of an item in a pre-stored item order, the method further includes:
若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机器人输出提示界面,所述提示界面用于用户输入订单信息;If the tag information is not the tag information of the item in the pre-stored item order, the robot outputs a prompt interface, where the prompt interface is used by the user to input the order information;
所述机器人在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息;The robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
若用户输入的订单信息为预先存储的订单信息,则所述机器人抓取所述物品。If the order information input by the user is pre-stored order information, the robot grabs the item.
该实施方式中,可以进一步确定机器人的安全性,因为安全情况下机器人只会抓取物品订单中的物品。In this embodiment, the safety of the robot can be further determined, because in the safe case, the robot only grabs the items in the item order.
作为一种可选的实施方式,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,所述方法还包括:As an optional implementation manner, after the step of determining, by the robot, that the label information is label information of an item in a pre-stored item order, the method further includes:
若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机 器人输出提示用户输入身份验证信息;If the tag information is not the tag information of the item in the pre-stored item order, then the machine The person output prompts the user to input authentication information;
所述机器人接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法;The robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
若用户输入的身份验证信息合法,则所述机器人抓取所述物品。If the authentication information input by the user is legal, the robot grabs the item.
该实施方式中,可以进一步确定机器人的安全性,因为安全情况下机器人只会被合法人员操控。In this embodiment, the safety of the robot can be further determined because the robot can only be manipulated by a legal person in a safe situation.
作为一种可选的实施方式,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,所述方法还包括:As an optional implementation manner, if the image information is matched with the pre-stored image information, and the step of determining that the robot is currently in a safe state, the method further includes:
所述机器人识别物品需要搬运的目的位置信息;The robot identifies the destination location information that the item needs to be transported;
所述机器人判断所述目的位置信息是否为预先存储的常用目的位置信息;Determining, by the robot, whether the destination location information is pre-stored common destination location information;
若所述目的位置信息为预先存储的常用目的位置信息,则所述机器人将所述物品搬运至所述目的位置信息对应的位置;If the destination location information is pre-stored common destination location information, the robot moves the item to a location corresponding to the destination location information;
若所述目的位置信息不为预先存储的常用目的位置信息,则所述机器人向预先绑定的终端设备发送预警信息。If the destination location information is not the pre-stored common destination location information, the robot sends the alert information to the pre-bound terminal device.
该实施方式中,可以进一步确定机器人的安全性,因为安全情况下机器人只会将物品搬运至预设的常用目的位置信息。In this embodiment, the safety of the robot can be further determined because the robot only transports the item to the preset common destination position information in a safe situation.
本发明实施例中,机器人检测当前位置,并判断所述当前位置与预设位置是否匹配;若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息;所述机器人将所述图像信息与预先存储的图像信息进行匹配;若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态;若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。这样可以提高机器人的安全性能。In the embodiment of the present invention, the robot detects the current position, and determines whether the current position matches the preset position; if the current position matches the preset position, the robot identifies the image information of the surrounding person through the camera; The robot matches the image information with pre-stored image information; if the image information matches pre-stored image information, the robot determines that the robot is currently in a safe state; if the image information is pre-stored If the image information does not match, the robot determines that the robot is currently in a dangerous state. This can improve the safety performance of the robot.
请参见图2,图2是本发明实施例提供的一种机器人结构图,如图2所示,包括:Referring to FIG. 2, FIG. 2 is a structural diagram of a robot according to an embodiment of the present invention. As shown in FIG. 2, the method includes:
检测模块201,用于检测当前位置,并判断所述当前位置与预设位置是否匹配;The detecting module 201 is configured to detect a current location, and determine whether the current location matches a preset location;
第一识别模块202,用于若所述当前位置与预设位置匹配,则通过摄像头识别周围人员的图像信息;The first identification module 202 is configured to: if the current location matches the preset location, identify image information of a surrounding person by using a camera;
匹配模块203,用于将所述图像信息与预先存储的图像信息进行匹配; a matching module 203, configured to match the image information with pre-stored image information;
第一确定模块204,用于若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态;The first determining module 204 is configured to determine that the robot is currently in a safe state if the image information matches the pre-stored image information;
第二确定模块205,用于若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。The second determining module 205 is configured to determine that the robot is currently in a dangerous state if the image information does not match the pre-stored image information.
作为一种可选的实施方式,如图3所示,所述机器人还包括:As an optional implementation manner, as shown in FIG. 3, the robot further includes:
接收模块206,用于接收用户输入的物品抓取指令;The receiving module 206 is configured to receive an item capture instruction input by the user;
第二识别模块207,用于移动到所述物品抓取指令对应的物品的位置,识别所述物品的标签信息;a second identification module 207, configured to move to a location of the item corresponding to the item capture instruction, and identify tag information of the item;
第一判断模块208,用于判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;The first determining module 208 is configured to determine whether the tag information is tag information of an item in a pre-stored item order;
第一抓取模块209,用于若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。The first capture module 209 is configured to: if the tag information is tag information of an item in a pre-stored item order, grab the item.
作为一种可选的实施方式,如图4所示,所述机器人还包括:As an optional implementation manner, as shown in FIG. 4, the robot further includes:
第一输出模块2010,用于若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示界面,所述提示界面用于用户输入订单信息;The first output module 2010 is configured to output a prompt interface, where the prompt interface is used for inputting order information by the user, if the label information is not the label information of the item in the pre-stored item order;
第二判断模块2011,用于在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息;The second judging module 2011 is configured to receive the order information input by the user on the prompt interface, and determine whether the order information input by the user is pre-stored order information;
第二抓取模块2012,用于若用户输入的订单信息为预先存储的订单信息,则抓取所述物品。The second crawling module 2012 is configured to: if the order information input by the user is pre-stored order information, the item is captured.
作为一种可选的实施方式,如图5所示,所述机器人还包括:As an optional implementation manner, as shown in FIG. 5, the robot further includes:
第二输出模块2013,用于若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示用户输入身份验证信息;a second output module 2013, configured to prompt the user to input the identity verification information if the tag information is not the tag information of the item in the pre-stored item order;
第三判断模块2014,用于接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法;The third determining module 2014 is configured to receive the identity verification information input by the user, and determine whether the identity verification information input by the user is legal;
第三抓取模块2015,用于若用户输入的身份验证信息合法,则抓取所述物品。The third crawling module 2015 is configured to capture the item if the authentication information input by the user is legal.
作为一种可选的实施方式,如图6所示,所述机器人还包括:As an optional implementation manner, as shown in FIG. 6, the robot further includes:
第三识别模块2016,用于识别物品需要搬运的目的位置信息;a third identification module 2016, configured to identify destination location information that the item needs to be transported;
第四判断模块2017,用于判断所述目的位置信息是否为预先存储的常用 目的位置信息;The fourth determining module 2017 is configured to determine whether the destination location information is commonly used in advance storage Destination location information;
搬运模块2018,用于若所述目的位置信息为预先存储的常用目的位置信息,则所述将所述物品搬运至所述目的位置信息对应的位置;The carrying module 2018 is configured to: when the destination location information is pre-stored common destination location information, move the item to a location corresponding to the destination location information;
预警模块2019,用于若所述目的位置信息不为预先存储的常用目的位置信息,则向预先绑定的终端设备发送预警信息。The warning module 2019 is configured to send the early warning information to the pre-bound terminal device if the destination location information is not the pre-stored common destination location information.
本发明实施例中,机器人检测当前位置,并判断所述当前位置与预设位置是否匹配;若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息;所述机器人将所述图像信息与预先存储的图像信息进行匹配;若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态;若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。这样可以提高机器人的安全性能。In the embodiment of the present invention, the robot detects the current position, and determines whether the current position matches the preset position; if the current position matches the preset position, the robot identifies the image information of the surrounding person through the camera; The robot matches the image information with pre-stored image information; if the image information matches pre-stored image information, the robot determines that the robot is currently in a safe state; if the image information is pre-stored If the image information does not match, the robot determines that the robot is currently in a dangerous state. This can improve the safety performance of the robot.
参见图7,图7是本发明实施例提供的另一种机器人的结构图。如图7所示,机器人包括:处理器701、存储器702、网络接口704和用户接口703。机器人中的各个组件通过总线***705耦合在一起。总线***705除包括数据总线之外,还包括电源总线、控制总线和状态信号总线。但是为了清楚说明起见,在图7中将各种总线都标为总线***705。Referring to FIG. 7, FIG. 7 is a structural diagram of another robot according to an embodiment of the present invention. As shown in FIG. 7, the robot includes a processor 701, a memory 702, a network interface 704, and a user interface 703. The various components in the robot are coupled together by a bus system 705. The bus system 705 includes a power bus, a control bus, and a status signal bus in addition to the data bus. However, for clarity of description, various buses are labeled as bus system 705 in FIG.
其中,用户接口703可以包括显示器、键盘或者点击设备(例如,鼠标,轨迹球(track ball)、触感板或者触摸屏等。The user interface 703 may include a display, a keyboard, or a pointing device (eg, a mouse, a track ball, a touch pad, or a touch screen, etc.).
可以理解,本发明实施例中的存储器702可以是易失性存储器或非易失性存储器,或可包括易失性和非易失性存储器两者。其中,非易失性存储器可以是只读存储器(Read-Only Memory,ROM)、可编程只读存储器(Programmable ROM,PROM)、可擦除可编程只读存储器(Erasable PROM,EPROM)、电可擦除可编程只读存储器(Electrically EPROM,EEPROM)或闪存。易失性存储器可以是随机存取存储器(Random Access Memory,RAM),其用作外部高速缓存。通过示例性但不是限制性说明,许多形式的RAM可用,例如静态随机存取存储器(Static RAM,SRAM)、动态随机存取存储器(Dynamic RAM,DRAM)、同步动态随机存取存储器(Synchronous DRAM,SDRAM)、双倍数据速率同步动态随机存取存储器(Double Data Rate SDRAM,DDRSDRAM)、增强型同步动态随机存取存储器(Enhanced SDRAM,ESDRAM)、同步连接动态随机存取 存储器(Synchlink DRAM,SLDRAM)和直接内存总线随机存取存储器(Direct Rambus RAM,DRRAM)。本文描述的***和方法的存储器702旨在包括但不限于这些和任意其它适合类型的存储器。It is to be understood that the memory 702 in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory may be a read-only memory (ROM), a programmable read only memory (PROM), an erasable programmable read only memory (Erasable PROM, EPROM), or an electric Erase programmable read only memory (EEPROM) or flash memory. The volatile memory can be a Random Access Memory (RAM) that acts as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (Synchronous DRAM). SDRAM), Double Data Rate Synchronous Dynamic Random Access Memory (DDRSDRAM), Enhanced Synchronous Dynamic Random Access Memory (ESDRAM), Synchronous Connection Dynamic Random Access Memory (Synchlink DRAM, SLDRAM) and Direct Memory Bus Random Access Memory (DRRAM). Memory 702 of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
在一些实施方式中,存储器702存储了如下的元素,可执行模块或者数据结构,或者他们的子集,或者他们的扩展集:操作***7021和应用程序7022。In some implementations, memory 702 stores elements, executable modules or data structures, or a subset thereof, or their extended set: operating system 7021 and application 7022.
其中,操作***7021,包含各种***程序,例如框架层、核心库层、驱动层等,用于实现各种基础业务以及处理基于硬件的任务。应用程序7022,包含各种应用程序,例如媒体播放器(Media Player)、浏览器(Browser)等,用于实现各种应用业务。实现本发明实施例方法的程序可以包含在应用程序7022中。The operating system 7021 includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, for implementing various basic services and processing hardware-based tasks. The application 7022 includes various applications, such as a media player (Media Player), a browser, and the like, for implementing various application services. A program implementing the method of the embodiment of the present invention may be included in the application 7022.
在本发明实施例中,通过调用存储器702存储的程序或指令,具体的,可以是应用程序7022中存储的程序或指令,处理器701用于:In the embodiment of the present invention, by calling the program or instruction stored in the memory 702, specifically, the program or the instruction stored in the application 7022, the processor 701 is configured to:
机器人检测当前位置,并判断所述当前位置与预设位置是否匹配;The robot detects the current position and determines whether the current position matches the preset position;
若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息;If the current location matches the preset location, the robot identifies image information of a surrounding person through the camera;
所述机器人将所述图像信息与预先存储的图像信息进行匹配;The robot matches the image information with pre-stored image information;
若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态;If the image information matches the pre-stored image information, the robot determines that the robot is currently in a safe state;
若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。If the image information does not match the pre-stored image information, the robot determines that the robot is currently in a dangerous state.
上述本发明实施例揭示的方法可以应用于处理器701中,或者由处理器701实现。处理器701可能是一种集成电路芯片,具有信号的处理能力。在实现过程中,上述方法的各步骤可以通过处理器701中的硬件的集成逻辑电路或者软件形式的指令完成。上述的处理器701可以是通用处理器、数字信号处理器(Digital Signal Processor,DSP)、专用集成电路(Application Specific Integrated Circuit,ASIC)、现成可编程门阵列(Field Programmable Gate Array,FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本发明实施 例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成,或者用译码处理器中的硬件及软件模块组合执行完成。软件模块可以位于随机存储器,闪存、只读存储器,可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器702,处理器701读取存储器702中的信息,结合其硬件完成上述方法的步骤。The method disclosed in the foregoing embodiments of the present invention may be applied to the processor 701 or implemented by the processor 701. Processor 701 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the foregoing method may be completed by an integrated logic circuit of hardware in the processor 701 or an instruction in a form of software. The processor 701 may be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or the like. Programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps, and logical block diagrams disclosed in the embodiments of the present invention may be implemented or carried out. The general purpose processor may be a microprocessor or the processor or any conventional processor or the like. Combined with the implementation of the present invention The steps of the disclosed method may be directly embodied by the hardware decoding processor being executed or by a combination of hardware and software modules in the decoding processor. The software module can be located in a conventional storage medium such as random access memory, flash memory, read only memory, programmable read only memory or electrically erasable programmable memory, registers, and the like. The storage medium is located in the memory 702, and the processor 701 reads the information in the memory 702 and completes the steps of the above method in combination with its hardware.
可以理解的是,本文描述的这些实施例可以用硬件、软件、固件、中间件、微码或其组合来实现。对于硬件实现,处理单元可以实现在一个或多个专用集成电路(Application Specific Integrated Circuits,ASIC)、数字信号处理器(Digital Signal Processing,DSP)、数字信号处理设备(DSP Device,DSPD)、可编程逻辑设备(Programmable Logic Device,PLD)、现场可编程门阵列(Field-Programmable Gate Array,FPGA)、通用处理器、控制器、微控制器、微处理器、用于执行本申请所述功能的其它电子单元或其组合中。It will be appreciated that the embodiments described herein can be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit can be implemented in one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processing (DSP), Digital Signal Processing Equipment (DSP Device, DSPD), programmable Programmable Logic Device (PLD), Field-Programmable Gate Array (FPGA), general purpose processor, controller, microcontroller, microprocessor, other for performing the functions described herein In an electronic unit or a combination thereof.
对于软件实现,可通过执行本文所述功能的模块(例如过程、函数等)来实现本文所述的技术。软件代码可存储在存储器中并通过处理器执行。存储器可以在处理器中或在处理器外部实现。For a software implementation, the techniques described herein can be implemented by modules (eg, procedures, functions, and so on) that perform the functions described herein. The software code can be stored in memory and executed by the processor. The memory can be implemented in the processor or external to the processor.
作为一种可选的实施方式,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,处理器701还用于:As an optional implementation manner, if the image information is matched with the pre-stored image information, and the step of determining that the robot is currently in a safe state, the processor 701 is further configured to:
接收用户输入的物品抓取指令;Receiving an item capture instruction input by a user;
移动到所述物品抓取指令对应的物品的位置,识别所述物品的标签信息;Moving to a position of the item corresponding to the item capture instruction, and identifying tag information of the item;
判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;Determining whether the tag information is tag information of an item in a pre-stored item order;
若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。If the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
作为一种可选的实施方式,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,处理器701还用于:As an optional implementation manner, after the step of determining, by the robot, whether the tag information is tag information of an item in a pre-stored item order, the processor 701 is further configured to:
若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示界面,所述提示界面用于用户输入订单信息;If the tag information is not the tag information of the item in the pre-stored item order, outputting a prompt interface, where the prompt interface is used for the user to input the order information;
所述机器人在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息; The robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
若用户输入的订单信息为预先存储的订单信息,则抓取所述物品。If the order information input by the user is pre-stored order information, the item is captured.
作为一种可选的实施方式,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,处理器701还用于:As an optional implementation manner, after the step of determining, by the robot, whether the tag information is tag information of an item in a pre-stored item order, the processor 701 is further configured to:
若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示用户输入身份验证信息;If the tag information is not the tag information of the item in the pre-stored item order, the output prompts the user to input the identity verification information;
所述机器人接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法;The robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
若用户输入的身份验证信息合法,则抓取所述物品。If the authentication information entered by the user is legal, the item is grabbed.
作为一种可选的实施方式,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,处理器701还用于:As an optional implementation manner, if the image information is matched with the pre-stored image information, and the step of determining that the robot is currently in a safe state, the processor 701 is further configured to:
识别物品需要搬运的目的位置信息;Identify the destination location information that the item needs to be transported;
判断所述目的位置信息是否为预先存储的常用目的位置信息;Determining whether the destination location information is pre-stored common destination location information;
若所述目的位置信息为预先存储的常用目的位置信息,则将所述物品搬运至所述目的位置信息对应的位置;If the destination location information is pre-stored common destination location information, the item is transported to a location corresponding to the destination location information;
若所述目的位置信息不为预先存储的常用目的位置信息,则向预先绑定的终端设备发送预警信息。If the destination location information is not the pre-stored common destination location information, the early warning information is sent to the pre-bound terminal device.
需要说明的是,本实施例中上述机器人可以是本发明实施例中方法实施例中任意实施方式的机器人,本发明实施例中方法实施例中机器人的任意实施方式都可以被本实施例中的上述机器人所实现,以及达到相同的有益效果,此处不再赘述。It should be noted that, in the embodiment, the robot may be a robot in any of the embodiments of the method in the embodiment of the present invention, and any implementation manner of the robot in the method embodiment in the embodiment of the present invention may be used in the embodiment. The above-mentioned robots are implemented, and the same beneficial effects are achieved, and will not be described again here.
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本发明的范围。Those of ordinary skill in the art will appreciate that the elements and algorithm steps of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the solution. A person skilled in the art can use different methods for implementing the described functions for each particular application, but such implementation should not be considered to be beyond the scope of the present invention.
所属领域的技术人员可以清楚地了解到,为描述的方便和简洁,上述描述的***、装置和单元的具体工作过程,可以参考前述方法实施例中的对应过程,在此不再赘述。 A person skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the system, the device and the unit described above can refer to the corresponding process in the foregoing method embodiment, and details are not described herein again.
在本申请所提供的实施例中,应该理解到,所揭露的装置和方法,可以通过其它的方式实现。例如,以上所描述的装置实施例仅仅是示意性的,例如,所述单元的划分,仅仅为一种逻辑功能划分,实际实现时可以有另外的划分方式,例如多个单元或组件可以结合或者可以集成到另一个***,或一些特征可以忽略,或不执行。另一点,所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口,装置或单元的间接耦合或通信连接,可以是电性,机械或其它的形式。In the embodiments provided by the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are merely illustrative. For example, the division of the unit is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的,作为单元显示的部件可以是或者也可以不是物理单元,即可以位于一个地方,或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本发明实施例方案的目的。The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the embodiments of the present invention.
另外,在本发明各个实施例中的各功能单元可以集成在一个处理单元中,也可以是各个单元单独物理存在,也可以两个或两个以上单元集成在一个单元中。In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.
所述功能如果以软件功能单元的形式实现并作为独立的产品销售或使用时,可以存储在一个计算机可读取存储介质中。基于这样的理解,本发明的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的部分可以以软件产品的形式体现出来,该计算机软件产品存储在一个存储介质中,包括若干指令用以使得一台计算机设备(可以是个人计算机,服务器,或者网络设备等)执行本发明各个实施例所述方法的全部或部分步骤。而前述的存储介质包括:U盘、移动硬盘、ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。The functions may be stored in a computer readable storage medium if implemented in the form of a software functional unit and sold or used as a standalone product. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or a part of the technical solution, may be embodied in the form of a software product, which is stored in a storage medium, including The instructions are used to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
以上所述,仅为本发明的具体实施方式,但本发明的保护范围并不局限于此,任何熟悉本技术领域的技术人员在本发明揭露的技术范围内,可轻易想到变化或替换,都应涵盖在本发明的保护范围之内。因此,本发明的保护范围应以权利要求的保护范围为准。 The above is only a specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention. It should be covered by the scope of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims (10)

  1. 一种机器人的安全确定方法,其特征在于,包括:A method for determining a safety of a robot, comprising:
    机器人检测当前位置,并判断所述当前位置与预设位置是否匹配;The robot detects the current position and determines whether the current position matches the preset position;
    若所述当前位置与预设位置匹配,则所述机器人通过摄像头识别周围人员的图像信息;If the current location matches the preset location, the robot identifies image information of a surrounding person through the camera;
    所述机器人将所述图像信息与预先存储的图像信息进行匹配;The robot matches the image information with pre-stored image information;
    若所述图像信息与预先存储的图像信息匹配,则所述机器人确定所述机器人当前处于安全状态;If the image information matches the pre-stored image information, the robot determines that the robot is currently in a safe state;
    若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。If the image information does not match the pre-stored image information, the robot determines that the robot is currently in a dangerous state.
  2. 如权利要求1所述的方法,其特征在于,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,所述方法还包括:The method of claim 1, wherein the method further comprises: if the image information is matched with pre-stored image information, determining that the robot is currently in a safe state, the method further comprising:
    所述机器人接收用户输入的物品抓取指令;The robot receives an item capture instruction input by a user;
    所述机器人移动到所述物品抓取指令对应的物品的位置,识别所述物品的标签信息;The robot moves to a position of an item corresponding to the item grabbing instruction, and identifies tag information of the item;
    所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;The robot determines whether the tag information is tag information of an item in a pre-stored item order;
    若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。If the tag information is tag information of an item in a pre-stored item order, the item is grabbed.
  3. 如权利要求2所述的方法,其特征在于,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,所述方法还包括:The method of claim 2, wherein the method further comprises: after the step of determining, by the robot, that the tag information is tag information of an item in a pre-stored item order, the method further comprising:
    若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机器人输出提示界面,所述提示界面用于用户输入订单信息;If the tag information is not the tag information of the item in the pre-stored item order, the robot outputs a prompt interface, where the prompt interface is used by the user to input the order information;
    所述机器人在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息;The robot receives the order information input by the user on the prompt interface, and determines whether the order information input by the user is pre-stored order information;
    若用户输入的订单信息为预先存储的订单信息,则所述机器人抓取所述物品。 If the order information input by the user is pre-stored order information, the robot grabs the item.
  4. 如权利要求2所述的方法,其特征在于,所述机器人判断所述标签信息是否为预先存储的物品订单中的物品的标签信息的步骤之后,所述方法还包括:The method of claim 2, wherein the method further comprises: after the step of determining, by the robot, that the tag information is tag information of an item in a pre-stored item order, the method further comprising:
    若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机器人输出提示用户输入身份验证信息;If the tag information is not the tag information of the item in the pre-stored item order, the robot output prompts the user to input the identity verification information;
    所述机器人接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法;The robot receives the authentication information input by the user, and determines whether the authentication information input by the user is legal;
    若用户输入的身份验证信息合法,则所述机器人抓取所述物品。If the authentication information input by the user is legal, the robot grabs the item.
  5. 如权利要求1所述的方法,其特征在于,所述机器人若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态的步骤之后,所述方法还包括:The method of claim 1, wherein the method further comprises: if the image information is matched with pre-stored image information, determining that the robot is currently in a safe state, the method further comprising:
    所述机器人识别物品需要搬运的目的位置信息;The robot identifies the destination location information that the item needs to be transported;
    所述机器人判断所述目的位置信息是否为预先存储的常用目的位置信息;Determining, by the robot, whether the destination location information is pre-stored common destination location information;
    若所述目的位置信息为预先存储的常用目的位置信息,则所述机器人将所述物品搬运至所述目的位置信息对应的位置;If the destination location information is pre-stored common destination location information, the robot moves the item to a location corresponding to the destination location information;
    若所述目的位置信息不为预先存储的常用目的位置信息,则所述机器人向预先绑定的终端设备发送预警信息。If the destination location information is not the pre-stored common destination location information, the robot sends the alert information to the pre-bound terminal device.
  6. 一种机器人,其特征在于,包括:A robot characterized by comprising:
    检测模块,用于检测当前位置,并判断所述当前位置与预设位置是否匹配;a detecting module, configured to detect a current location, and determine whether the current location matches a preset location;
    第一识别模块,用于若所述当前位置与预设位置匹配,则通过摄像头识别周围人员的图像信息;a first identification module, configured to: if the current location matches the preset location, identify image information of a surrounding person by using a camera;
    匹配模块,用于将所述图像信息与预先存储的图像信息进行匹配;a matching module, configured to match the image information with pre-stored image information;
    第一确定模块,用于若所述图像信息与预先存储的图像信息匹配,则确定所述机器人当前处于安全状态;a first determining module, configured to determine that the robot is currently in a safe state if the image information matches the pre-stored image information;
    第二确定模块,用于若所述图像信息与预先存储的图像信息不匹配,则所述机器人确定所述机器人当前处于危险状态。And a second determining module, configured to determine that the robot is currently in a dangerous state if the image information does not match the pre-stored image information.
  7. 如权利要求6所述的机器人,其特征在于,所述机器人还包括:The robot of claim 6 wherein said robot further comprises:
    接收模块,用于接收用户输入的物品抓取指令;a receiving module, configured to receive an item capture instruction input by a user;
    第二识别模块,用于移动到所述物品抓取指令对应的物品的位置,识别所 述物品的标签信息;a second identification module, configured to move to a position of the item corresponding to the item capture instruction, and identify the location Label information of the item;
    第一判断模块,用于判断所述标签信息是否为预先存储的物品订单中的物品的标签信息;a first determining module, configured to determine whether the tag information is tag information of an item in a pre-stored item order;
    第一抓取模块,用于若所述标签信息为预先存储的物品订单中的物品的标签信息,则抓取所述物品。The first capture module is configured to: if the tag information is tag information of an item in a pre-stored item order, grab the item.
  8. 如权利要求7所述的机器人,其特征在于,所述机器人还包括:The robot of claim 7, wherein the robot further comprises:
    第一输出模块,用于若所述标签信息不为预先存储的物品订单中的物品的标签信息,则所述机器人输出提示界面,所述提示界面用于用户输入订单信息;a first output module, configured to: if the tag information is not the tag information of the item in the pre-stored item order, the robot outputs a prompt interface, where the prompt interface is used by the user to input the order information;
    第二判断模块,用于在所述提示界面接收用户输入的订单信息,并判断用户输入的订单信息是否为预先存储的订单信息;a second judging module, configured to receive the order information input by the user on the prompt interface, and determine whether the order information input by the user is pre-stored order information;
    第二抓取模块,用于若用户输入的订单信息为预先存储的订单信息,则抓取所述物品。The second capture module is configured to: if the order information input by the user is pre-stored order information, the item is captured.
  9. 如权利要求7所述的机器人,其特征在于,所述机器人还包括:The robot of claim 7, wherein the robot further comprises:
    第二输出模块,用于若所述标签信息不为预先存储的物品订单中的物品的标签信息,则输出提示用户输入身份验证信息;a second output module, configured to prompt the user to input the authentication information if the label information is not the label information of the item in the pre-stored item order;
    第三判断模块,用于接收用户输入的身份验证信息,并判断用户输入的身份验证信息是否合法;The third determining module is configured to receive the authentication information input by the user, and determine whether the authentication information input by the user is legal;
    第三抓取模块,用于若用户输入的身份验证信息合法,则抓取所述物品。The third crawling module is configured to capture the item if the authentication information input by the user is legal.
  10. 如权利要求6所述的机器人,其特征在于,所述机器人还包括:The robot of claim 6 wherein said robot further comprises:
    第三识别模块,用于识别物品需要搬运的目的位置信息;a third identification module, configured to identify destination location information that the item needs to be transported;
    第四判断模块,用于判断所述目的位置信息是否为预先存储的常用目的位置信息;a fourth determining module, configured to determine whether the destination location information is pre-stored common destination location information;
    搬运模块,用于若所述目的位置信息为预先存储的常用目的位置信息,则将所述物品搬运至所述目的位置信息对应的位置;a carrying module, configured to: if the destination location information is pre-stored common destination location information, transport the item to a location corresponding to the destination location information;
    预警模块,用于若所述目的位置信息不为预先存储的常用目的位置信息,则向预先绑定的终端设备发送预警信息。 The warning module is configured to send the early warning information to the pre-bound terminal device if the destination location information is not the pre-stored common destination location information.
PCT/CN2017/093924 2017-07-21 2017-07-21 Method of determining security level of robot and robot WO2019014940A1 (en)

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