摘要：【中文】本申请提供一种机器人升级方法、系统及机器人，方法应用于与服务器连接的机器人，所述方法包括：在检测到所述服务器发布的应用于机器人的程序包时，于所述机器人对应的预设下载时段内下载所述程序包；在确定所述程序包中存在更新内容时，根据所述程序包更新所述机器人的运行程序。通过在检测到服务器发布的程序包时，机器人在预设时段内下载程序包，并根据程序包更新机器人的运行程序，即可实现机器人的自动升级，也能很好地避免由于大量机器人同时下载程序包而导致的服务器访问压力大，进一步导致机器人自动升级效率低的问题，从而提升机器人自动升级的效率。 【EN】The application provides a robot upgrading method, a system and a robot, wherein the method is applied to the robot connected with a server, and the method comprises the following steps: when a program package which is issued by the server and is applied to the robot is detected, downloading the program package in a preset downloading time period corresponding to the robot; and when the update content exists in the program package, updating the running program of the robot according to the program package. When the program package issued by the server is detected, the robot downloads the program package within a preset time period and updates the running program of the robot according to the program package, so that automatic upgrading of the robot can be realized, the problem that the robot is low in automatic upgrading efficiency due to the fact that a large number of robots download the program package simultaneously and server access pressure is high can be well avoided, and the robot automatic upgrading efficiency is improved.

摘要：【中文】本发明涉及一种异常检测方法、装置、电子设备及计算机可读存储介质，属于数据处理领域。该方法包括：获取售货柜出货时的视频数据，所述视频数据用于表征出货过程；通过预先保存的检测模型对所述出货过程进行识别，得到识别结果；根据所述识别结果，确定所述视频数据对应的出货过程是否异常。在本方案中，针对售货柜而言，只是额外增加了摄像头，并未对售货柜的其他硬件关系做出较大改变，因此，可以减小售货柜的制作复杂度以及硬件故障风险。此外，相较于传统方案中采用硬件传感器的方案，本方案采用基于摄像头所采集到的视频数据进行识别，对环境的要求较低，更具鲁棒性，得到的识别结果准确度更高。 【EN】The invention relates to an abnormality detection method, an abnormality detection device, electronic equipment and a computer-readable storage medium, and belongs to the field of data processing. The method comprises the following steps: the method comprises the steps of obtaining video data of a sales counter during shipment, wherein the video data is used for representing the shipment process; identifying the shipment process through a pre-stored detection model to obtain an identification result; and determining whether the shipment process corresponding to the video data is abnormal or not according to the identification result. In the scheme, for the sales counter, the camera is additionally arranged, and other hardware relations of the sales counter are not changed greatly, so that the manufacturing complexity and the hardware fault risk of the sales counter can be reduced. In addition, compared with the scheme of adopting a hardware sensor in the traditional scheme, the scheme adopts the video data collected based on the camera for identification, has lower requirement on the environment, has higher robustness and obtains a higher accuracy of an identification result.

摘要：【中文】本申请提供一种数据管理方法、系统、装置及电子设备，分流管理主机会接收并保存GNSS基站传来的GNSS原始数据，同时会将GNSS原始数据发送给文件管理服务器。这样，在进行相关需要用到GNSS原始数据的后处理中，相关设备就可以通过文件管理服务器或分流管理主机实现对于GNSS原始数据的获取，从而为后期进行诸如构建高精度地图等后处理提供了数据基础，有效保障了后处理的可行性。 【EN】The application provides a data management method, a system, a device and electronic equipment, wherein a management host can receive and store GNSS original data transmitted by a GNSS base station and can transmit the GNSS original data to a file management server. Therefore, in the post-processing of GNSS original data required for correlation, the related equipment can acquire the GNSS original data through the file management server or the shunt management host, so that a data base is provided for post-processing such as constructing a high-precision map in the later period, and the feasibility of the post-processing is effectively guaranteed.

摘要：【中文】本申请实施例提供一种切换显示的机器人、方法、终端设备及存储介质，涉及机器人显示技术领域。该切换显示的机器人包括第一硬件、第二硬件、显示屏、切换芯片；所述第一硬件用于运行第一操作系统；所述第二硬件用于运行第二操作系统；所述显示屏用于显示所述第一操作系统的显示信号；所述切换芯片分别与所述第一硬件、所述第二硬件和所述显示屏连接，用于当接收到所述第一操作系统发送的第一切换信号时，切换所述第一操作系统的信号源为所述第二操作系统的信号源，以使所述显示屏显示所述第二操作系统的显示信号。该切换显示的机器人可以降低双系统机器人的成本，并增加双系统机器人的灵活性。 【EN】The embodiment of the application provides a robot, a method, terminal equipment and a storage medium for switching display, and relates to the technical field of robot display. The robot with the display switching function comprises first hardware, second hardware, a display screen and a switching chip; the first hardware is used for running a first operating system; the second hardware is used for running a second operating system; the display screen is used for displaying a display signal of the first operating system; the switching chip is respectively connected with the first hardware, the second hardware and the display screen, and is configured to switch a signal source of the first operating system to a signal source of the second operating system when receiving a first switching signal sent by the first operating system, so that the display screen displays a display signal of the second operating system. The robot with the display switching function can reduce the cost of the dual-system robot and increase the flexibility of the dual-system robot.

摘要：【中文】本申请提供一种辅助建图方法、装置、建图机器人及存储介质，该方法应用于建图机器人，方法包括：对当前观测区域的当前图像数据进行识别；当在所述当前图像数据中识别到跟随二维码时，计算得到跟随路径，所述跟随路径为所述建图机器人的当前位置到所述跟随二维码所在的目标位置的路径；根据所述跟随路径控制所述建图机器人进行移动，以使所述建图机器人随着所述跟随二维码移动；在所述建图机器人移动过程中，采集建图数据；根据所述建图数据进行建图。以此能够使得建图机器人可以实现自主跟随方式下的建图，提升建图效率。 【EN】The application provides an auxiliary mapping method, an auxiliary mapping device, a mapping robot and a storage medium, wherein the method is applied to the mapping robot and comprises the following steps: identifying current image data of a current observation area; when a following two-dimensional code is identified in the current image data, calculating to obtain a following path, wherein the following path is a path from the current position of the mapping robot to the target position of the following two-dimensional code; controlling the mapping robot to move according to the following path so that the mapping robot moves along with the following two-dimensional code; acquiring mapping data in the moving process of the mapping robot; and drawing according to the drawing data. Therefore, the mapping robot can realize mapping in an autonomous following mode, and mapping efficiency is improved.

摘要：【中文】本申请提供了一种机器人升级方法、装置、电子设备和计算机可读存储介质，其中，该方法包括：接收用于更新目标机器人的更新源代码；将更新源代码进行编译，以得到目标数据包；将目标数据包传输给目标机器人；以及远程控制目标机器人安装目标数据包。 【EN】The application provides a robot upgrading method, a robot upgrading device, electronic equipment and a computer readable storage medium, wherein the method comprises the following steps: receiving an update source code for updating the target robot; compiling the updated source code to obtain a target data packet; transmitting the target data packet to the target robot; and remotely controlling the target robot to install the target data packet.

摘要：【中文】本申请提供一种电机控制方法、装置、存储介质及其机器人，该方法包括获取电机的当前给定速度，判断当前给定速度是否等于预设的停止值；若是，则获取电机的当前工作速度；判断当前工作速度是否等于预设的停止值；若是，则将电机的比例积分控制的积分输出修正为预设的停止值，获得修正后的比例积分输出量，修正后的比例积分输出量为比例输出和修正后的积分输出之和；根据修正后的比例积分输出量对电机进行控制，以使电机停止。 【EN】The application provides a motor control method, a motor control device, a storage medium and a robot thereof, wherein the method comprises the steps of obtaining the current given speed of a motor, and judging whether the current given speed is equal to a preset stop value or not; if so, acquiring the current working speed of the motor; judging whether the current working speed is equal to a preset stop value or not; if so, correcting the integral output of the proportional-integral control of the motor to a preset stop value to obtain a corrected proportional-integral output quantity, wherein the corrected proportional-integral output quantity is the sum of the proportional output and the corrected integral output; and controlling the motor according to the corrected proportional-integral output quantity so as to stop the motor.

摘要：【中文】本申请提供了一种电机转子初始位置定位方法、装置、电子设备及存储介质，涉及电机技术领域，该方法应用于电机驱动装置，包括：获取电机的实际电流值；调节所述电机的实际电流值；在所述实际电流值与所述电机的额定电流值相等时，将所述转子的磁场轴的当前位置确定为所述转子的初始位置。本申请能够在不需要通过霍尔器件的情况下通过电机驱动装置得到电机转子初始位置，能够避免霍尔器件成本高且容易损坏的问题，因此本申请能够降低得到电机转子初始位置的成本以及提高得到电机转子初始位置的可靠性。 【EN】The application provides a motor rotor initial position positioning method, a motor rotor initial position positioning device, electronic equipment and a storage medium, which relate to the technical field of motors, and the method is applied to a motor driving device and comprises the following steps: acquiring an actual current value of the motor; adjusting an actual current value of the motor; when the actual current value is equal to a rated current value of the motor, determining a current position of a magnetic field axis of the rotor as an initial position of the rotor. According to the motor rotor initial position detection method and device, the motor rotor initial position can be obtained through the motor driving device under the condition that the Hall device is not needed, the problem that the Hall device is high in cost and easy to damage can be solved, and therefore the cost of obtaining the motor rotor initial position can be reduced, and the reliability of obtaining the motor rotor initial position can be improved.

摘要：【中文】本申请提供一种送货方法及装置，涉及智能机器人技术领域，该方法中的机器人根据送货任务移动到送货方位置，采集当前送货人的第一虹膜信息，后根据送货人的信息验证当前送货人是否与送货任务的送货人为同一人，并在验证通过时，控制物品舱打开舱门，当机器人在监测到送货人将物品舱的舱门关闭后，根据第二位置信息移动到收货方位置，然后采集当前收货人的第二虹膜信息，并根据收货人的信息验证当前收货人是否为送货任务的收货人，并在验证通过时才控制舱门打开，从而保证在送货过程中只有与送货任务中的送货人信息与收货人信息对应的送货人与收货人才能够成功将舱门打开，从而完成送货任务，进而保证送物过程的安全性。 【EN】The utility model provides a delivery method and a device, relating to the technical field of intelligent robots, wherein a robot in the method moves to a delivery side position according to a delivery task, collects first iris information of a current delivery person, then verifies whether the current delivery person is the same person as the delivery person of the delivery task according to the information of the delivery person, controls an article cabin to open a cabin door when the verification is passed, moves to the delivery side position according to second position information after the robot monitors that the delivery person closes the cabin door of the article cabin, then collects second iris information of the current delivery person, verifies whether the current delivery person is the delivery person of the delivery task according to the information of the delivery person, and controls the cabin door to open when the verification is passed, thereby ensuring that only the delivery person and the delivery person corresponding to the delivery person information and the delivery person information in the delivery task can successfully open the cabin door in the delivery process, thereby completing the delivery task and further ensuring the safety of the delivery process.

摘要：【中文】本申请提供一种防止机器人溜坡的方法、防止溜坡的方法、充电控制方法、防止溜坡的装置以及机器人，所述机器人还包括电机，所述防止机器人溜坡的方法包括：当所述机器人处于倾斜位置且停止时，通过PI控制算法对所述电机进行控制，以使所述电机锁死。本申请中，充分利用PI控制的特性，当机器人处于倾斜位置且停止时，通过PI控制算法对电机进行控制，可以避免机器人在倾斜位置发生溜坡的情况，提高了机器人的稳定性。 【EN】The application provides a method for preventing a robot from sliding down a slope, a method for preventing the robot from sliding down a slope, a charging control method, a device for preventing the robot from sliding down a slope and a robot, wherein the robot further comprises a motor, and the method for preventing the robot from sliding down a slope comprises the following steps: and when the robot is in an inclined position and stops, controlling the motor through a PI control algorithm so as to lock the motor. In this application, make full use of PI control's characteristic, when the robot is in the inclined position and stops, control the motor through PI control algorithm, can avoid the robot to take place the condition of swift current slope in the inclined position, improved the stability of robot.