WO2020211405A1 - 一种移动机器人与智能设备的交互方法 - Google Patents

一种移动机器人与智能设备的交互方法 Download PDF

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Publication number
WO2020211405A1
WO2020211405A1 PCT/CN2019/124138 CN2019124138W WO2020211405A1 WO 2020211405 A1 WO2020211405 A1 WO 2020211405A1 CN 2019124138 W CN2019124138 W CN 2019124138W WO 2020211405 A1 WO2020211405 A1 WO 2020211405A1
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instruction
smart device
information
mobile robot
remote server
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PCT/CN2019/124138
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English (en)
French (fr)
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周俊杰
董永明
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苏州优智达机器人有限公司
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Publication of WO2020211405A1 publication Critical patent/WO2020211405A1/zh

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/011—Arrangements for interaction with the human body, e.g. for user immersion in virtual reality
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/16—Sound input; Sound output
    • G06F3/167—Audio in a user interface, e.g. using voice commands for navigating, audio feedback
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04M—TELEPHONIC COMMUNICATION
    • H04M11/00—Telephonic communication systems specially adapted for combination with other electrical systems

Definitions

  • the invention relates to the field of mobile robot delivery, in particular to an interaction method between a mobile robot and an intelligent device.
  • Mobile robots are mechanical devices that perform tasks automatically. It can accept human command, run pre-arranged programs, or act according to principles and programs formulated with artificial intelligence technology. In civilian areas, such as hotels, mobile robots can perform services such as navigation, order processing, and delivery to designated locations. At present, there are the following ways of information transmission between mobile robots and people:
  • the mobile robot interacts with the human on-site, and the human on-site uses voice or operation on the operation panel on the mobile robot to issue the corresponding demand service to the mobile robot, and the corresponding service information is transmitted to the main server through the network;
  • a person selects the corresponding service through a terminal device such as a smart phone or a computer, and transmits the corresponding service information to the main server through the public network or local area network.
  • a terminal device such as a smart phone or a computer
  • the main server receives the corresponding service instruction and will designate the corresponding mobile robot to perform the action.
  • the existing processing method is to send a message to the mobile phone number or mobile APP reserved by the guest to notify the person to pick up the goods, or directly call the phone in the room to notify the person to pick up the goods.
  • This kind of interactive mode is not convenient enough, and guests cannot go to the door to fetch things the first time.
  • the purpose of the present invention is to provide a mobile robot and human interaction method, which can quickly notify the guests in the room and improve the convenience of human-computer interaction.
  • a method for interaction between a mobile robot and a smart device which is characterized in that it includes at least one smart device with independent coding and a voice playback function, which is configured in a designated area and is respectively connected to a remote server, and the smart device Play prompt information based on the received instruction;
  • the mobile robot estimates and generates a second instruction based on the received first instruction and feeds it back to the remote server.
  • the remote server transmits the third instruction in response to the second instruction to the smart device in the target area.
  • the device receives and responds to the third instruction to play prompt information.
  • the first instruction in the method includes location information and/or order information to be delivered.
  • the second instruction in the method includes time information required to complete the first instruction or includes time information required to complete the first instruction and current position information of the robot.
  • the mobile robot estimates the time information required to complete the first instruction based on the loaded map information.
  • the mobile robot estimates the time information required to complete the first instruction based on the loaded map information and the current time information of the pickup device.
  • the robot Preferably, in the method, the robot generates the fourth instruction based on the information detected by the identification device, and sends it to the remote server.
  • the robot connects to the smart device in the target area, generates a fourth instruction based on the information detected by the identification device, and sends it directly to the smart device in the target area. If the user in the target area receives and responds to the fourth instruction, then The robot completes the first instruction, and if the user in the target area does not respond to the fourth instruction, the robot sends it to the remote server.
  • the robot when the robot is located at the first preset distance of the target area, it connects to the smart device in the target area, generates a fifth instruction based on the information detected by the identification device and sends it directly to the smart device in the target area, and the smart device receives and responds to the broadcast Prompt information.
  • An embodiment of the present invention also provides an interaction method between a mobile robot and a smart device, which is characterized in that it includes at least one smart device with a voice playback function configured in a designated area, which is connected to a remote server.
  • the smart device plays prompt information based on the received instruction; wherein, the mobile robot receives the first instruction and takes the item based on the received first instruction, and delivers it to the destination, and the mobile robot estimates that the time to reach the destination is less than or equal to the expected time.
  • a sixth instruction is generated and fed back to the remote server, the remote server receives and transmits it to the smart device in the target area, and the smart device receives and responds to the sixth instruction to play prompt information and/ Or the mobile robot is connected to a smart device in the target area, and the smart device receives and responds to the sixth instruction to play prompt information.
  • the smart device is equipped with a built-in or external wireless or wired communication module to connect to the mobile robot for information interaction.
  • the smart device has an AI recognition system with a voice collector on it, which can collect the user's voice information, recognize the content of the voice information, extract user requirements, and deliver the user requirements and the location information of the smart device to the mobile robot , Realize remote interaction and information transfer with mobile robots through wireless communication.
  • AI recognition system with a voice collector on it, which can collect the user's voice information, recognize the content of the voice information, extract user requirements, and deliver the user requirements and the location information of the smart device to the mobile robot , Realize remote interaction and information transfer with mobile robots through wireless communication.
  • the smart device can be plugged into the audio input port of the ordinary speaker to broadcast the content to be broadcast through the ordinary speaker.
  • the smart device has a wired or wireless connection interface connected to the network, and the smart device has a voice collection function.
  • Each smart device has an independent code, and the main server can identify the code of the signal receiver after being connected to the network to distinguish each smart device.
  • the smart device includes a normal speaker and a control board with an AI recognition system
  • the control board includes a wired and wireless communication module connected to the network, a power supply module connected to a power interface, and a voice collector and a speaker connected
  • the audio module for collecting and learning remote control signals and the transmitting module for transmitting analog remote control signals
  • the processing unit for processing wired and wireless communication modules, transmitting modules and audio modules
  • the control board in each smart device has an independent Code
  • the main server can identify the code of the control motherboard after connecting to the network to distinguish each smart device.
  • the mobile robot is provided with a built-in telephone dialing system, which can dial a phone at a designated location, and the user will hear an automatic voice message after answering the phone, and convey information to the user.
  • a built-in telephone dialing system which can dial a phone at a designated location, and the user will hear an automatic voice message after answering the phone, and convey information to the user.
  • the remote server in this method is a cloud server or a control center.
  • the present invention provides mobile robots and smart devices that use smart devices with networking capabilities to be placed in a predetermined area, so that the smart device can refer to a predetermined area (such as the room number of a room). ), when the mobile robot delivers to the door, the preset conditions are reached, and the smart device in the room where it is located prompts the user through its own sound, and informs the guest in the room to open the door and fetch things. Compared with the original interactive mode, it can prompt the user more conveniently.
  • Figure 1 is a schematic diagram of the functional structure of an embodiment of the present invention.
  • FIGS 2, 2a, 2b, 2c, and 3 are schematic diagrams of the interaction between a mobile robot and a smart device according to an embodiment of the present invention.
  • this embodiment provides an interaction method between a mobile robot and a smart device, including: at least one smart device 200 with an independent code and a voice playback function, which is configured in a designated area, such as It is configured in the room and connected to the remote server.
  • the smart device can be mapped to the area one-to-one through pre-settings such as coding (or through the network port configuration to make the smart device correspond to the area/room).
  • the smart device is based on The received instruction plays the prompt information; the mobile robot 100 generates a second instruction based on the received first instruction through estimation and feeds it back to the remote server 10, and the remote server transmits the third instruction in response to the second instruction to the intelligence of the target area Device, the smart device receives and responds to the third instruction to play the prompt information.
  • the mobile robot receives the first instruction to estimate the required time and sends it to the remote server.
  • the smart device sends out a prompt to remind the user to pick up the goods in time.
  • Improve user experience Taking a hotel as an example, a user in a room uses a smart phone or computer to place an order service.
  • the remote server 10 receives the user’s order information and sends it to the designated mobile robot 100 for pick-up and delivery.
  • the mobile robot 100 receives the order.
  • Order information (that is, the first instruction) for delivery.
  • a smart device is installed in each area (room), and the smart device is connected to a remote server through a network.
  • the user uses a smart phone or computer to place an order service
  • the remote server receives the user’s order information and sends it to the designated mobile robot 100 for pickup and delivery.
  • the remote server is based on the received order information.
  • the order information assigns the mobile robot 100 to pick up and deliver the goods, and estimate the time required for completion based on the current position of the mobile robot (or the current position of the mobile robot and the current operation information of the picking equipment).
  • FIG. 2 is a schematic diagram of the interaction process between a mobile robot and a smart device in an embodiment.
  • the mobile robot receives the first instruction
  • the remote server transmits the third instruction in response to the second instruction to the smart device in the target area, and the smart device receives and responds to the third instruction to play prompt information.
  • the first instruction includes location information and/or order information to be delivered.
  • the mobile robot receives the predetermined information of the user's order and the location of the destination through the remote server.
  • the mobile robot estimates the time T (the second instruction) required for pick-up/delivery according to the preset map information, and sends it to the remote server.
  • the remote server triggers the smart device and sends it to the user Reminder information.
  • the mobile robot estimates the time T required for pick-up/delivery based on preset map information, and sends it to the remote server.
  • the smart device receives the information sent by the remote server and sends a reminder to the user (preset Reminder information, for example, your order will arrive after T time, so that users can pick up the goods at the predetermined location (such as the door) in advance, reducing the waiting time for picking up.
  • the second instruction includes estimating the time T required for pick-up/delivery and current location information of the robot in response.
  • the mobile robot estimates the time required for completion based on the loaded map information and the current time information of the pickup device.
  • the current information of the pick-up device includes the current operation status of the pick-up device (also known as the container), such as the current delivery status, the number of robots currently waiting to be picked up, and the maintenance or addition of the pick-up device .
  • the third instruction may be the arrival reminder message (as shown in Figure 2a), that is, the remote server sends an instruction to the smart device after the estimated time T, and the smart device receives and responds to the instruction to play the reminder message, or it may be a pre-remind Information (as shown in Figure 2b), that is, the remote server sends the estimated time T information to the smart device, and the smart device receives and responds to the instruction to play the prompt message (for example, your order will arrive after T time).
  • the arrival reminder or pre-reminder depends on the application. Preferably, it can be selected by the user when placing an order.
  • FIG. 2c it is a schematic diagram of the interaction process between the mobile robot and the smart device in an embodiment.
  • the mobile robot delivers to the destination (target room) based on the first instruction received, the mobile robot is about to reach the destination, and the robot estimates The time t2 required to reach the target area is approximately equal to (or less than or equal to) the preset time (T2, such as reaching the door of the user's room after 5 minutes, depending on the application), when the sixth command is generated and fed back to the remote server.
  • the remote server back-end server
  • informs the smart device in the target user's room and the smart device receives and responds to the prompt message that the ordered item will arrive in 5 minutes, reminding the user to prepare for picking up .
  • the mobile robot directly connects to the smart device in the target room, transmits the sixth instruction to the smart device, and the smart device receives and responds to the sixth instruction to broadcast a prompt message that the ordered item will arrive in 5 minutes, reminding the user to do Preparation for pickup.
  • the mobile robot estimates the time of arrival based on one or a combination of current position information, moving speed, and road condition information.
  • the time of arrival is estimated based on the current position information and moving speed, or the time of arrival is estimated based on the current position information and road condition information, or the time of arrival is estimated based on the current position information.
  • the sixth instruction is generated and fed back to the remote server, which can be expressed as the mobile robot's estimated distance to the destination is less than or equal to The preset threshold L (that is, it is calculated from the preset time threshold T2, the position of the mobile robot and its moving speed).
  • the fourth instruction is generated and sent to the remote server (the remote server informs the background processing).
  • the fourth instruction is sent directly to the smart device in the target area. If the user in the target area receives and responds (that is, the user agrees to pick up the goods by himself), the robot completes (the user picks up the goods by himself)
  • the first command if the user in the target area does not respond (it can be user unconfirmed/rejected or after a preset time t1 (such as 1min, 2min, etc.), the user has not confirmed) the fourth command, send it to the remote Server (notified by the remote server for background processing).
  • the conditions for generating the fourth instruction include that the fault location is very close to the target room (distance l ⁇ L, such as 10m, 20m, etc., depending on the application scenario) or walking time ⁇ T1 (T1 such as 1min) , 2min, 5min, etc., depending on the application scenario setting).
  • the mobile robot is about to reach the destination (that is, when it is located at the first preset distance of the target area, such as 10m, 50m, etc., depending on the application scenario), that is, the mobile robot can correctly connect to the intelligence of the target area
  • the device generates a fifth instruction based on the information detected by the identification device (that is, the smart device successfully connected to the target room) and sends it directly to the smart device.
  • the smart device receives and responds to the prompt message that the ordered item is about to arrive, and reminds the user to pick up the goods.
  • the information of the fifth instruction is fed back to the remote server, and the smart device in the target room is notified through the remote server.
  • the smart device receives and responds to the prompt message that the reserved item is about to arrive, and reminds the user to pick up the goods in advance.
  • the mobile robot is about to reach the destination (that is, based on the speed of its own movement, when it is located in the target area for the second preset time, such as 2minm, 5min, etc., depending on the application scenario), the mobile robot can connect correctly
  • the smart device in the target area generates a fifth instruction based on the information detected by the identification device (that is, the smart device successfully connected to the target room) and sends it directly to the smart device.
  • the smart device receives and responds to the prompt message that the ordered item is about to arrive and reminds you The user picks up the goods.
  • the information of the fifth instruction is fed back to the remote server, and the smart device in the target room is notified through the remote server, and the smart device receives and responds to the prompt message that the reserved item is about to arrive, and reminds the user to pick up the goods.
  • the mobile robot is equipped with a built-in phone dialing system, which can dial a phone at a designated location and transmit information to the user in the form of voice broadcast.
  • the user can also broadcast a fixed number segment and then follow the voice prompts , Enter the corresponding number on the phone button (the product is broadcast in pre-coded mode, if you need mineral water, please press 1 etc.), and then the demand is issued to the mobile robot.
  • multiple mobile robots are required to coordinate delivery.
  • one mobile robot can obtain multiple products at once, and deliver the information of multiple first instructions.
  • the smart device has a touchable display interface, so that the user can place an order through the smart device. It also has an AI recognition system with a voice collector, which can use the user's voice information and perform content recognition on the voice information to extract user requirements, and deliver the user requirements and the location information of the smart device to the mobile robot, which is achieved through wireless communication Remote interaction and information transmission with mobile robots.
  • smart devices can be obtained by transforming ordinary speakers, and need to connect an external control board to the ordinary speakers.
  • the control board includes a wired and wireless communication module connected to the network, a power module connected to a power interface, The audio module connected with the voice collector and the speaker, the transmitting module used to collect the learning remote control signal and transmit the analog remote control signal, and the processing unit used to process the wired and wireless communication module, the transmitting module and the audio module, the control main board And the wired and wireless communication module is connected with the network port and USB interface set on the ordinary audio device to realize the upgrade of the ordinary audio device to the above-mentioned smart device.
  • Each external control board has an independent code. After connecting to the network, the main server can identify the code of the control motherboard to distinguish each smart device. Further, the control board integrates an AI function to realize intelligent voice with the user, thereby realizing voice interaction with the user.
  • the smart device can be plugged into the audio input port of the ordinary speaker and broadcast the content to be broadcast through the ordinary speaker.
  • the smart device is equipped with a wired or wireless connection interface connected to the network.
  • the smart device has a voice collection function.
  • Each smart device has an independent code, and the main server can identify the code of the signal receiver after being connected to the network to distinguish each smart device.
  • the smart device is equipped with a built-in or external wireless or wired communication module.
  • the communication module can be a wireless communication module such as a WiFi module, an IOT module, a 433 module, a Bluetooth module, etc., which is used to connect a mobile robot for information interaction.

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Abstract

一种移动机器人（100）与智能设备（200）的交互方法，包括，至少一个带有独立编码的具有语音播放功能的智能设备（200），其配置于指定的区域内，且分别连接至远端服务器（10），智能设备（200）基于接收的指令播放提示信息；所述移动机器人（100）基于接收的第一指令经估算生成第二指令并将其反馈至远端服务器（10），所述远端服务器（10）将响应第二指令的第三指令传输至目标区域的智能设备（200），所述智能设备（200）接收并响应所述第三指令播放提示信息。应用该方法的机器人（100）基于接收的第一指令生成响应该第一指令的第二指令，满足第二指令时智能设备（200）播放提示信息。相比于现有的方法，该交互方法能够更方便的提示用户。

Description

一种移动机器人与智能设备的交互方法 技术领域
本发明涉及移动机器人送货领域，具体的涉及及一种移动机器人与智能设备的交互方法。
背景技术
移动机器人是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。民用领域如酒店等场所，移动机器人可进行导航、订单处理和送货至指定场所等服务。目前移动机器人与人之间的信息传递有以下方式：
1、移动机器人与人现场交互，由人现场通过语音或者在移动机器人上的操作面板上操作来对移动机器人下达相应的需求服务，相应的服务信息通过网络传递给主服务器；
2、人通过智能手机或者电脑等终端设备选择相应服务，通过公网或局域网将相应的服务信息传递给主服务器。
主服务器接收到相应的服务指令，会指定相应的移动机器人去执行动作。目前在酒店等场所客人习惯性将房门关门，移动机器人到门口后无法进入房间。现有的处理方式是对客人预留的手机号码或者手机APP发送信息来通知人取货，或者直接拨打房间内的电话机来通知人取货。这种交互模式不够便捷，客人无法第一时间到门口取物。
发明内容
为克服上述缺点，本发明的目的在于提供一种移动机器人与人的交互方法，其能快速的通知房间内的客人，提高人机交互的便利性。
为了达到以上目的，本发明采用的技术方案是：
一种移动机器人与智能设备的交互方法，其特征在于：包括，至少一个带有独立编码的具有语音播放功能的智能设备，其配置于指定的区域内，且分别连接至远端服务器，智能设备基于接收的指令播放提示信息；
所述移动机器人基于接收的第一指令经估算生成第二指令并将其反馈至远端服务器，所述远端服务器将响应第二指令的第三指令传输至目标区域的智能设备，所述智能设备接收并响应所述第三指令播放提示信息。
优选的，该方法中第一指令包含待送货的位置信息和/或订单信息。
优选的，该方法中第二指令包含完成所述第一指令所需的时间信息或包含完成所述第一指令所需的时间信息及所述机器人的当前位置信息。
优选的，该方法中移动机器人基于搭载的地图信息估算完成所述第一指令所需的时间信息。
优选的，该方法中移动机器人基于搭载的地图信息及取货装置当前时刻的信息估算的完成所述第一指令所需的时间信息。
优选的，该方法中机器人基于的识别装置检测的信息生成第四指令，并将其发送至远端服务器。
优选的，该方法中机器人连接目标区域的智能设备，基于识别装置检测的信息生成第四指令直接发送至目标区域的智能设备，若目标区域内的用户接收并响应所述第四指令，则所述机器人完成所述第一指令，若目标区域内的用户不响应所述第四指令，则所述机器人将其发送至远端服务器。
优选的，该机器人位于目标区域的第一预设距离时，连接目标区域的智能设备，基于识别装置检测的信息生成第五指令直接发送至目标区域的智能设备，所述智能设备接收并响应播报提示信息。
本发明的实施例还提供一种移动机器人与智能设备的交互方法，其特征在于：包括，至少一个配置于指定的区域内的具有语音播放功能的智能设备，其连接至远端服务器，所述智能设备基于接收的指令播放提示信息；其中，所述移动机器人接收第一指令并基于接收的第一指令拿取物品，往目的地送货，所述移动机器人估算到达目的地的时间小于等于预设的阈值时，生成第六指令并反馈至远端服务器，所述远端服务器接收并将其传输至目标区域的智能设备，所述智能设备接收并响应所述第六指令播放提示信息和/或所述移动机器人连接目标区域的智能设备，所述智能设备接收并响应所述第六指令播放提示信息。
优选的，该智能设备配置有内置或外接的无线或者有线通信模块，用以连接移动机器人，进行信息交互。
优选的，该智能设备具有AI识别***，其上设有语音采集器，能够采集用户的语音信息，并对语音信息进行内容识别提取用户要求，将用户要求和智能设备的位置信息下达给移动机器人，通过无线通信实现和移动机器人的远程交互、信息传递。
优选的，该方法中智能设备可以插在普通音响的音频输入口，通过普通音响来播报需要播报的内容，该智能设备设有与网络连接的有线或无线连接接口，智能设备具有语音采集功能，每台所述智能设备具有独立的编码，连网后主服务器能够识别信号接收器的编码，用以区分每台智能设备。
优选的，该方法中智能设备包括普通音响及具有AI识别***的控制主板，所述控制主板包括与网络连接的有线及无线通讯模块、与电源接口连接的电源模块、与语音采集器、音响相连的音频模块、用于采集学习遥控器信号和发射模拟遥控器信号的发射模块及用于处理有线及无线通讯模块、发射模块和音频模块的处理单元；每台智能设备内的控制主板具有独立的编码，连网后主服务器能够识别控制主板的编码，用以区分每台智能设备。
优选的，该方法中移动机器人设置有内置电话拨号***，可拨通指定位置的电话，用户接听电话后会听到自动语音信息，给用户传达信息。
优选的，该方法中远端服务器为云端服务器或控制中心。
与现有技术相比，本发明提供了移动机器人与智能设备的，其利用具有联网能力的智能设备放置在预定的区域内，使得智能设备可指代预定的区域(如某个房间的房间号)，当移动机器人送货上门时，达到预设的条件，所在房间内的智能设备通过其自身的音响提示用户，通知房间内的客人开门取物等。相比于原有的交互方式，其能够更方便的提示用户。
附图说明
图1为本发明实施例的功能结构示意图；
图2、2a、2b、2c、3为本发明实施例的移动机器人与智能设备互动的流程示意图。
图中：10-远端服务器；100移动机器人；200-智能设备。
具体实施方式
下面结合附图对本发明的较佳实施例进行详细阐述，以使本发明的优点和特征能更易于被本领域技术人员理解，从而对本发明的保护范围做出更为清楚明确的界定。
实施例
如图1所示，本实施例中提供了一种移动机器人与智能设备的交互方法，包括：至少一个带有独立编码的具有语音播放功能的智能设备200，其配置于指定的区域内，如配置于房间内，其分别连接至远端服务器，可通过预设置如编码将智能设备与区域一一对应(或通过网络端口配置，使得智能设备与区域/房间对应即可)，该智能设备基于接收的指令播放提示信息；移动机器人100基于接收的第一指令经估算生成第二指令并将其反馈至远端服务器10，远端服务器将响应第二指令的第三指令传输至目标区域的智能设备，智能设备接收并响应第三指令播放提示信息。这样该实施方法，移动机器人接收第一指令估算出完所需的时间并将其发送至远端服务器，满足条件时智能设备发出提示提醒用户及时取货。提高用户体验。以酒店为例，房间的用户通过智能手机或者电脑进行下单服务，远端服务器10接收到用户的下单信息后发给指定的移动机器人100进行取货、配送，移动机器人100接收到该下单信息(即第一指令)，进行送货。本实施方式中，在每个区域(房间)内均设置有一台智能设备，该智能设备通过网络与远端服务器相连。
在一实施方式中，用户通过智能手机或者电脑进行下单服务，远端服务器接收到用户的下单信息后发给指定的移动机器人100进行取货、送货，这时远端服务器基于到的下单信息指派移动机器人100进行取货、送货，并基于移动机器人的当前位置(或移动机器人的当前位置及取货设备当前的运行信息)估算出完成所需的时间。
接下来结合图2,3来描述移动机器人与智能设备的互动。
如图2所示为一实施方式的移动机器人与智能设备互动的流程示意图，
移动机器人接收第一指令，
其基于接收的第一指令经估算生成第二指令并将其反馈至远端服务器，
远端服务器将响应第二指令的第三指令传输至目标区域的智能设备，智能设备接收并响应第三指令播放提示信息。
上述实施方法中，第一指令包含待送货的位置信息和/或订单信息。这样移动机器人经过远端服务器接收到用户下单预定的信息及目的地的位置。移动机器人依据预设的地图信息估算出取货/送货所需的时间T(即第二指令)，并将其发送至远端服务器，达到时间T后远端服务器触发智能设备，向用户发出提醒信息。较佳的，移动机器人依据预设的地图信息估算出取货/送货所需的时间T，并将其发送至远端服务器，智能设备接收远端服务器发送的息并向用户发出提醒(预提醒信息，如，您的订单将于T时间后到达，)，这样用户可提前至预定地点(如，门口)取货，降低取货等待时间。较佳的，该第二指令包含估算出取货/送货所需的时间T及响应的机器人的当前位置信息。较佳的，移动机器人基于搭载的地图信息及取货装置当前时刻的信息估算的完成所需的时间。取货装置当前时刻的信息包含，包含取货装置(也称货柜)当前运行情况，如，当前发货的情况、当前排队等待取货的机器人的数量、取货装置维护或加装物品信息等。该第三指令可为，到达提醒信息(如图2a所示)，即经估算的时间T后远端服务器向智能设备发送指令，智能设备接收并响应该指令播放提示信息，也可为预提醒信息(如图2b所示)，即远端服务器将估算的时间T信息发送至向智能设备，智能设备接收并响应该指令播放提示信息(如，您的订单将于T时间后到达)。到达提醒信息或预提醒信息视应用场合而定。较佳的，可由用户在下订单时选定。
如图2c所示，为一实施方式的移动机器人与智能设备互动的流程示意图，移动机器人基于接收的第一指令往目的地(目标房间)送货时，移动机器人即将到达目的地，机器人估算出到达目标区域所需时间t2约等于(或小于等于)预设时间(T2，如5分钟后到达用户房间门口，具体的视应用场合而定)时生成第六指令并反馈至远端服务器，远端服务器在收到该指令后，远端服务器(后台服务器)通知目标用户房间的智能设备，智能设备接收并响应播报预订的物品即将于5分钟后到达的提示信息，提醒用户做好取货准备。也可为移动机器人直接连接至目标房间的智能设备，将该第六指令传输智能设备，智能设备接收并响应该第六指令播报预订的物品即将于5分钟后到达的提示信息，提醒用户做好取货准备。较佳的，移动机器人基于当前的位置信息、移动速度、路况信息中的一种或其组 合估算到达的时间。较佳的，基于当前的位置信息及移动速度估算到达的时间，或基于当前的位置信息及路况信息估算到达的时间，或基于当前的位置信息估算到达的时间。在其他的实施方式中，移动机器人估算到达目的地的时间小于等于预设的阈值(T2)时，生成第六指令并反馈至远端服务器，可表现为移动机器人估算到达目的地的距离小于等于预设的阈值L(即通过预设的时间阈值T2与移动机器人位置及其移动速度推算出)。
若机器人在送货过程中，基于其的识别装置检测的信息遇到障碍时不能继续进行时，其流程如图3所描述，
依据当前的位置信息判断生成第四指令，并将其发送至远端服务器(由远端服务器通知后台处理)。在一实施方式中，该第四指令直接发送至目标区域的智能设备，若目标区域内的用户接收并响应(即，用户同意自行取货)第四指令，(由用户自行取货)机器人完成第一指令，若目标区域内的用户不响应(可为用户未确认/拒绝或经预设时间t1(如1min，2min，等)，用户未确认)第四指令，则将其发送至远端服务器(由远端服务器通知后台处理)。依据当前的位置信息判断生成第四指令的条件包含，故障地点距离目标房间很近(距离l<L，如L选10m，20m等，视应用场景设定)或步行时间<T1(T1如1min，2min，5min等，视应用场景设定)。
在一实施方式中，移动机器人即将到达目的地(即位于目标区域的第一预设距离时，如10m，50m等，具体视应用场景而定)，即移动机器人能正确连接至目标区域的智能设备，基于识别装置检测的信息(即成功连接目标房间的智能设备)生成第五指令直接发送至该智能设备，智能设备接收并响应播报预订的物品即将到达的提示信息，提醒用户取货。在一实施方式中，该第五指令的信息反馈至远端服务器，通过远端服务器通知目标房间的智能设备，智能设备接收并响应播报预订的物品即将到达的提示信息，预先提醒用户取货。
在一实施方式中，移动机器人即将到达目的地(即基于自身移动的速度，位于目标区域的第二预设时间时，如2minm，5min等，具体视应用场景而定)，移动机器人能正确连接至目标区域的智能设备，基于识别装置检测的信息(即成功连接目标房间的智能设备)生成第五指令直接发送至该智能设备，智能设备接收并响应播报预订的物品即将到达的提示信息，提醒用户取货。在一实施方式中， 该第五指令的信息反馈至远端服务器，通过远端服务器通知目标房间的智能设备，智能设备接收并响应播报预订的物品即将到达的提示信息，提醒用户取货。
在一实施方式中，移动机器人上设置有内置电话拨号***，可拨通指定位置的电话，并以语音播报的形式将信息传输给用户，用户也可以通过播叫固定号段，然后根据语音提示，在电话按钮上输入相应数字(这时商品以预编码的播报，如需要矿泉水请按1等)，将需求下达给移动机器人。
在一实施方式中，由于用户的下单产品可能会有多个，这样需要多个移动机器人协同配送。在一实施方式中，一台移动机器人可一次性取得多个产品，对多个第一指令的信息进行送货。
在一实施方式中，智能设备具有可触摸的显示界面，这样用户可通过智能设备具有下单。还具有AI识别***，其上设有语音采集器，能够采用用户的语音信息，并对语音信息进行内容识别提取用户要求，将用户要求和智能设备的位置信息下达给移动机器人，通过无线通信实现和移动机器人的远程交互、信息传递。
在一实施方式中，智能设备可采用对普通音响的改造来获得，需要在普通音响上外接控制主板，所述控制主板包括与网络连接的有线及无线通讯模块、与电源接口连接的电源模块、与语音采集器、音响相连的音频模块、用于采集学习遥控器信号和发射模拟遥控器信号的发射模块及用于处理有线及无线通讯模块、发射模块和音频模块的处理单元，所述控制主板及有线及无线通讯模块与设置在普通音响上的网口、USB接口相连，实现将普通音响设备升级为上述智能设备。每台外接控制主板具有独立的编码。连网后主服务器能够识别控制主板的编码，用以区分每台智能设备。进一步的，所述控制主板集成有AI功能，实现与用户的智能语音，从而实现与用户的语音交互。
在一实施方式中，智能设备可以插在普通音响的音频输入口，通过普通音响播报需要播报的内容，该智能设备设有与网络连接的有线或无线连接接口，智能设备具有语音采集功能，每台所述智能设备具有独立的编码，连网后主服务器能够识别信号接收器的编码，用以区分每台智能设备。
在一实施方式中，智能设备配置有内置或外接的无线或有线通信模块。该通信模块可为WiFi模块、IOT模块、433模块、蓝牙模块等无线通信模块，用以连接移动机器人，进行信息交互。
以上实施方式只为说明本发明的技术构思及特点，其目的在于让熟悉此项技术的人了解本发明的内容并加以实施，并不能以此限制本发明的保护范围，凡根据本发明精神实质所做的等效变化或修饰，都应涵盖在本发明的保护范围内。

Claims (10)

  1. 一种移动机器人与智能设备的交互方法，其特征在于：包括，至少一个带有独立编码的具有语音播放功能的智能设备，其配置于指定的区域内，且分别连接至远端服务器，智能设备基于接收的指令播放提示信息；
    所述移动机器人基于接收的第一指令经估算生成第二指令并将其反馈至远端服务器，所述远端服务器将响应第二指令的第三指令传输至目标区域的智能设备，所述智能设备接收并响应所述第三指令播放提示信息。
  2. 根据权利要求1所述方法，其特征在于：所述第一指令包含待送货的位置信息和/或订单信息。
  3. 根据权利要求1所述方法，其特征在于：所述第二指令包含完成所述第一指令所需的时间信息或完成所述第一指令所需的时间信息及所述机器人的当前位置信息。
  4. 根据权利要求1-3中任一项所述的方法，其特征在于：所述移动机器人基于搭载的地图信息估算完成所述第一指令所需的时间信息。
  5. 根据权利要求1-3中任一项所述的方法：所述移动机器人基于搭载的地图信息及取货装置当前时刻的信息估算的完成所述第一指令所需的时间信息。
  6. 根据权利要求1所述方法，其特征在于：所述机器人基于的识别装置检测的信息生成第四指令，并将其发送至远端服务器。
  7. 根据权利要求1所述方法，其特征在于：所述机器人连接目标区域的智能设备，基于识别装置检测的信息生成第四指令直接发送至目标区域的智能设备，若目标区域内的用户接收并响应所述第四指令，则所述机器人完成所述第一指令，若目标区域内的用户不响应所述第四指令，则所述机器人将其发送至远端服务器。
  8. 一种移动机器人与智能设备的交互方法，其特征在于：包括，至少一个配置于指定的区域内的具有语音播放功能的智能设备，其连接至远端服务器，所述智能设备基于接收的指令播放提示信息；其中，所述移动机器人接收第一指令并基于接收的第一指令拿取物品，往目的地送货，
    所述移动机器人估算到达目的地的时间小于等于预设的阈值时，生成第六指令并反馈至远端服务器，所述远端服务器接收并将其传输至目标区域的智能设备，所述智能设备接收并响应所述第六指令播放提示信息，和/或
    所述移动机器人连接目标区域的智能设备，所述智能设备接收并响应所述第六指令播放提示信息。
  9. 根据权利要求8所述的方法，其特征在于：所述智能设备配置有内置或外接的无线或有线通信模块，用以连接移动机器人，进行信息交互。
  10. 根据权利要求8所述的方法，其特征在于：所述移动机器人基于当前的位置信息、移动速度、路况信息中的一种或其组合估算到达的目的地的时间。
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