CN110861095B - Robot control method, robot, and readable storage medium - Google Patents
Robot control method, robot, and readable storage medium Download PDFInfo
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- CN110861095B CN110861095B CN201911253650.6A CN201911253650A CN110861095B CN 110861095 B CN110861095 B CN 110861095B CN 201911253650 A CN201911253650 A CN 201911253650A CN 110861095 B CN110861095 B CN 110861095B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- Automation & Control Theory (AREA)
- Elevator Control (AREA)
Abstract
The application discloses a robot control method, a robot and a readable storage medium. The control method of the robot comprises the following steps: determining the elevator position of the corresponding floor according to the scanned floor map; marking the position of the robot, which is right in front of the elevator door and is right opposite to the elevator direction, as an elevator entering point; the elevator waiting area is determined according to the elevator entering point, the distance from the elevator entering point to the elevator is smaller than the distance from the elevator waiting area to the elevator, and the robot waits for the elevator in the elevator waiting area and moves to the elevator entering point to enter the elevator from the elevator entering point when the elevator arrives and is opened. Through mark elevator position and entering the ladder point, the robot can wait in waiting the ladder region far away apart from the elevator when carrying out and taking advantage of the ladder task, and after the elevator reachd, the robot guide navigated to the entering ladder point near apart from the elevator, then followed entering ladder point and advanced to the elevator direction straight line and can guarantee that the robot gets into the elevator safely, guaranteed that robot and passenger's waiting ladder experience and take advantage of ladder safety.
Description
Technical Field
The present application relates to the field of robot intelligent control technology, and more particularly, to a robot control method, a robot, and a readable storage medium.
Background
With the development of automation technology and artificial intelligence, the intelligent robot brings great convenience to the life and service of people. The application scenes of the intelligent robot become more and more abundant, wherein the automatic elevator taking of the robot is a new application scene. At present, when an intelligent robot automatically executes a task of taking an elevator, the position of the elevator cannot be well mastered, and the intelligent robot is difficult to deal with complex scenes. Generally, in the process of completing the elevator taking action by navigation, if one point is blocked by passengers or other objects, the whole elevator taking task fails. The application scene of the robot is limited, for example, many robots can only execute elevator taking tasks when the passenger flow is low at night.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, the invention aims to provide a robot control method for safely executing a boarding task by a robot, which can accurately mark the position of an elevator, and the robot can accurately master the position of an elevator door from an appointed boarding point, so that the unsafety of the boarding position and direction of the robot due to calibration errors is avoided, and the robot can safely navigate and flexibly cope with the boarding process.
Another object of the present invention is to provide a robot and a readable storage medium for safely performing a boarding task.
In order to achieve the above object, an embodiment of the present invention provides a robot control method, including: determining the elevator position of the corresponding floor according to the scanned floor map; marking the position of the robot, which is right in front of the elevator door and is right opposite to the elevator direction, as an elevator entering point; and determining a waiting area of the robot according to the elevator entering point, wherein the distance from the elevator entering point to the elevator is smaller than the distance from the waiting area to the elevator, and the robot waits for the elevator in the waiting area and moves to the elevator entering point to enter the elevator from the elevator entering point when the elevator arrives and opens the door.
According to the robot control method, the elevator position and the elevator entering points are accurately marked, when the robot executes an elevator taking task, the robot can wait in an elevator waiting area far away from the elevator, after the elevator arrives, the robot navigates to the elevator entering points close to the elevator in a leading mode, then the robot can enter the elevator safely by advancing in a straight line in the elevator direction along the elevator entering points, and the elevator waiting experience and elevator taking safety of the robot and passengers are guaranteed.
In some embodiments, the distance from the entry point to the elevator door is 0.1 to 0.3 meters. Therefore, the elevator entering point is close to the elevator door, and the robot can accurately master the position of the elevator door according to the appointed elevator entering point, so that the robot can safely and accurately enter the elevator along a straight line from the elevator entering point.
In certain embodiments, the control method comprises: after receiving an elevator taking task, controlling the robot to move to the elevator waiting area and sending an elevator taking request to the elevator; when the elevator arrives and the door is opened within first preset time, controlling the robot to move to the elevator entering point, so that the robot enters the elevator from the elevator entering point; or when the elevator does not arrive or is not opened within the first preset time, judging that the elevator taking task fails and giving up the elevator taking task. The robot moves to the position near the elevator according to the elevator taking task to wait and call the elevator, elevator taking control is achieved through the running state of the elevator within the specified first preset time, and meanwhile, the robot is prevented from waiting for too long time.
In some embodiments, the step of controlling the robot to move to the waiting area and sending the elevator taking request to the elevator after receiving the elevator taking task comprises: detecting the elevator waiting area to judge whether the elevator waiting area is safe or not; when the elevator waiting area is safe, controlling the robot to move to the elevator waiting area and wait for the elevator towards the elevator entering point; or when the elevator waiting area is unsafe, controlling the robot to send out a prompt signal. The robot is through waiting the terraced region to detect, avoids waiting the terraced region and being blocked by passenger or other objects and the robot waits the terraced incident that appears under the inaccessible condition.
In some embodiments, the step of controlling the robot to enter the elevator from the entry point comprises: controlling the robot to move to the elevator entering point; planning an elevator entering route along a straight line according to the elevator entering point; and controlling the robot to enter the elevator along the approach path. The robot can accurately master the position of the elevator door according to the elevator entering point, and the robot can plan the elevator entering route along the straight line because the elevator entering point is closer to the elevator door, so that the robot can safely and accurately enter the elevator along the straight line from the elevator entering point, and the situation that the robot deviates from the elevator door due to insufficient direction control precision when entering the elevator is avoided.
In some embodiments, the step of controlling the robot to enter the elevator along the approach path comprises: detecting the elevator entering route to judge whether obstacles continuously exist in the elevator entering route within second preset time; when the fact that no obstacle exists in the elevator entering route is detected within the second preset time, controlling the robot to enter the elevator along the elevator entering route; or when the obstacle is continuously detected in the stair entering route within the second preset time, controlling the robot to return to the stair waiting area, judging that the stair taking task fails and giving up the stair taking task. The robot is used for detecting the elevator entering route, so that the safety accidents caused by the fact that the robot enters the elevator under the inaccessible condition due to blocking of passengers or other objects are avoided, elevator taking control is achieved through the elevator entering state of the robot within the specified second preset time, and meanwhile, the situation that the elevator operation is influenced due to the fact that the robot enters the elevator for too long time is avoided.
In some embodiments, the step of controlling the robot to enter the elevator along the approach path comprises: and confirming that the elevator taking task is completed when the robot enters an elevator and the distance between the robot and the elevator door is greater than a preset value. After entering the elevator, the robot keeps a certain distance from the elevator door, so that the safety of the robot taking the elevator is ensured.
The embodiment of the application provides a robot, which comprises an elevator determining module, a marking module and a waiting elevator determining module, wherein the elevator determining module is used for determining the elevator position of a corresponding floor according to a scanned floor map; the marking module is used for marking the position of the robot, which is positioned right in front of the elevator door and is right opposite to the elevator direction, as an elevator entering point; the elevator waiting determining module is used for determining an elevator waiting area of the robot according to the elevator entering point, the distance from the elevator entering point to the elevator is smaller than the distance from the elevator waiting area to the elevator, and the robot waits for the elevator in the elevator waiting area and moves to the elevator entering point to enter the elevator from the elevator entering point when the elevator arrives and opens the door.
In the robot of this application embodiment, through the accurate mark to elevator position and entering ladder point, the robot can wait in waiting the ladder region far away from the elevator when carrying out taking advantage of the ladder task, and after the elevator reachd, the robot guide navigated to the entering ladder point that is nearer apart from the elevator, then followed entering ladder point and go forward to the elevator direction straight line and can guarantee that the robot gets into the elevator safely, guarantee that the robot and passenger's waiting ladder experience and take advantage of ladder safety.
The embodiment of the application provides a robot, which comprises a processor, a readable storage medium and computer-executable instructions stored on the readable storage medium and capable of running on the processor, wherein when the computer-executable instructions are executed by the processor, the processor is enabled to execute the control method of any one of the above embodiments.
In the robot of this application embodiment, through treater execution computer executable instruction, realize elevator position and advance the accurate mark of ladder point, the robot can wait in waiting the ladder region far away from the elevator when carrying out the task of taking advantage of the ladder, after the elevator reachs, the robot guide navigates to the ladder point of advancing near apart from the elevator, then advances to the elevator direction straight line along advancing the ladder point and can guarantee that the robot gets into the elevator safely, guarantee that the robot and passenger wait the ladder and experience and take advantage of the ladder safety.
The present embodiments provide a non-transitory computer-readable storage medium including computer-executable instructions that, when executed by one or more processors, cause the processors to perform the robot control method of the above embodiments.
In the readable storage medium of the embodiment of the application, the processor executes the computer executable instruction, accurate marking of the elevator position and the elevator entering point is achieved, when the robot executes the elevator taking task, the robot can wait in the elevator waiting area far away from the elevator, after the elevator arrives, the robot navigates to the elevator entering point close to the elevator in a leading mode, then the robot can enter the elevator safely by advancing to the elevator along the elevator entering point in a straight line direction, and elevator waiting experience and elevator taking safety of the robot and passengers are guaranteed.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a block schematic diagram of a robot according to an embodiment of the present application.
Fig. 2 is a flowchart illustrating a robot control method according to an embodiment of the present invention.
Fig. 3 is a schematic view of the robot riding an elevator according to the embodiment of the present application.
Fig. 4 is a schematic view of an application scenario of a robot according to an embodiment of the present application.
Fig. 5 is another flowchart illustrating a robot control method according to an embodiment of the present application.
Fig. 6 is a further flowchart illustrating a robot control method according to an embodiment of the present invention.
Fig. 7 is a further flowchart of the robot control method according to the embodiment of the present application.
Fig. 8 is a further flowchart of the robot control method according to the embodiment of the present application.
Fig. 9 is a further flowchart of the robot control method according to the embodiment of the present application.
Fig. 10 is another block diagram of a robot according to an embodiment of the present application.
Fig. 11 is a schematic configuration diagram of a robot according to an embodiment of the present application.
Description of the main element symbols:
Detailed Description
Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
Referring to fig. 1 to 4, a robot control method according to an embodiment of the present disclosure is used to control a robot 10 to perform a task, for example, to control the robot 10 to perform an elevator riding task, so that the robot 10 can move between different floors to perform work. The robot 10 includes, but is not limited to, a cleaning robot, a meal delivery robot, a medicine delivery robot, and the like.
In some embodiments, a robotic control method comprises:
step S1, determining the elevator position of the corresponding floor according to the scanned floor map;
step S2, marking the position of the robot 10 right in front of the elevator door 22 and facing the elevator 20 as the entering point 30;
in step S3, the waiting area 40 of the robot 10 is determined from the boarding point 30.
Wherein the distance from the entry point 30 to the elevator 20 is smaller than the distance from the waiting area 40 to the elevator 20, the robot 10 waits for the elevator 20 in the waiting area 40 and moves to the entry point 30 to enter the elevator 20 from the entry point 30 when the elevator 20 arrives and opens the door.
Specifically, the robot 10 may include an elevator determining module 11, a marking module 12, and a waiting elevator determining module 13, and the step S1 may be implemented by the elevator determining module 11, the step S2 may be implemented by the marking module 12, and the step S3 may be implemented by the waiting elevator determining module 13. That is, the elevator determination module 11 may be configured to determine the elevator location of the corresponding floor according to the scanned floor map. Marking module 12 may be used to mark the location of robot 10 directly in front of elevator doors 22 and directly opposite elevator 20 as entry point 30. The elevator waiting determination module 13 can be used for determining an elevator waiting area 40 of the robot 10 according to the elevator entering point 30.
It will be appreciated that when entering a new job scenario, the robot 10 needs to scan a map of the scenario and then perform the corresponding tasks for automatic job depending on the location of the robot 10 in the map. When the robot 10 performs work on a floor, the floor map may be scanned by a person concerned, and the position of each area in the floor map, for example, the room position, the elevator position, the entrance/exit position, and the like, may be identified, and the scanned floor map may be stored in the robot 10, the terminal device 50, and/or the server 60, and the robot 10, the terminal device 50, and/or the server 60 may be connected by wired and/or wireless communication, thereby guiding the robot 10 to move. The wireless network communication connection includes, but is not limited to, wireless communication modes such as WiFi, Bluetooth (Bluetooth), Zigbee (Zigbee), narrowband Band Internet of Things (NB-Iot), and the like. Specifically, when the map is scanned, the contour of the elevator 20 can be scanned completely, the scanned map is edited in the relevant application of the terminal device 50, and the contour of the elevator 20 is drawn in the floor map, for example, a polygon is drawn to fit the contour of the elevator 20 as much as possible to identify the position of the elevator 20. In this manner, in step S1, the elevator position of the corresponding floor can be specified from the scanned floor map.
After the floor map is obtained and the elevator position is determined, the user can control the robot 10 to move to the position right in front of the elevator door 22 and control the robot 10 to face the direction of the elevator 20, at this time, the current position of the robot 10 is located, and the current position of the robot 10 is marked as an elevator entering point 30, so that the robot 10 can navigate to the elevator entering point 30 when performing an elevator taking task and directly enter the elevator 20 from the elevator entering point 30.
In step S2, robot 10 may mark the position at which robot 10 is directly in front of elevator doors 22 and facing elevator 20 as entry point 30 according to the user' S instruction. As shown in fig. 4, the robot 10 may be in communication connection with the elevator 20 and the terminal device 50, the user may view a floor map and the current position of the robot 10 in the relevant terminal Application (APP) through the terminal device 50, and when the user confirms that the robot 10 is located right in front of the elevator door 22 and facing the elevator 20 for a certain distance, the terminal device 50 may be operated to send a command to the robot 10, and the robot 10 marks the current position as the landing point 30. In one example, the terminal device 50 includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, and the like.
Of course, the user may also directly operate the robot 10 to generate instructions from which the robot 10 marks the current position as the landing point 30.
In some embodiments, the entry point 30 may be stored in the robot 10, the terminal device 50, and/or the server 60. After the entry point 30 is marked in this way, the robot 10 can directly enter the elevator 20 according to the stored position of the entry point 30 when subsequently performing an elevator boarding task at the floor.
In the present embodiment, the entry point 30 is located closer to the elevator door 22, and the robot 10 can travel straight in the direction of the entry point 30 as long as it reaches the entry point 30, thereby ensuring safe entry into the elevator 20. In step S3, the robot 10 may determine the waiting area 40 of the robot 10 according to the position of the entry point 30. The distance between the elevator waiting area 40 and the elevator door 22 is greater than the distance between the elevator entering point 30 and the elevator door 22, that is, the area where the robot 10 waits for the elevator 20 is the elevator waiting area 40 which is far away from the elevator door 22, so that the robot 10 does not block passengers from waiting for the elevator when waiting for the elevator, and the elevator waiting experience of the passengers is ensured.
In the robot control method of the embodiment, accurate marking of the elevator position and the elevator entering point 30 is realized, when the robot 10 executes an elevator taking task, the robot can wait in the elevator waiting area 40 far away from the elevator 20, after the elevator 20 arrives, the robot 10 firstly navigates to the elevator entering point 30 near the elevator 20, and then the robot 10 can be ensured to safely enter the elevator 20 by moving forwards along the elevator entering point 30 in the direction of the elevator 20, so that the elevator waiting experience and elevator taking safety of the robot 10 and passengers are ensured.
In some embodiments, the distance d1 from the access point 30 to the elevator door 22 may be 0.1 meters to 0.5 meters.
Therefore, the elevator entering point 30 is close to the elevator door 22, and the robot 10 can directly enter the elevator 20 along a straight line after navigating to the elevator entering point 30, so that the situation that the robot 10 deviates from the elevator door 22 due to insufficient direction control precision when entering the elevator is avoided.
In one example, the distance d1 from the access point 30 to the elevator door 22 may be 0.1 meters to 0.3 meters.
Referring to fig. 5, in some embodiments, the control method includes:
step S5, after receiving the boarding task, controlling the robot 10 to move to the waiting area 40 and sending a boarding request to the elevator 20;
step S6, when the elevator 20 arrives and opens the door within the first predetermined time, controlling the robot 10 to move to the entry point 30 so that the robot 10 can enter the elevator 20 from the entry point 30; or
In step S7, when the elevator 20 does not reach or open the door within the first predetermined time, it is determined that the boarding task failed and the boarding task is abandoned.
Specifically, the robot 10 may include a control module 14, a communication module 15, and a determination module 16, and step S5 may be implemented by the control module 14 and the communication module 15, step S6 may be implemented by the control module 14, and step S7 may be implemented by the determination module 16. That is, the control module 14 may be used to control the robot 10 to move to the waiting area 40 after receiving the boarding task, and the communication module 15 may be used to transmit a boarding request to the elevator 20. The determination module 16 may be configured to determine whether the elevator 20 arrives and opens the door within the first predetermined time, and the control module 14 may be further configured to control the robot 10 to move to the entry point 30 when the elevator 20 arrives and opens the door within the first predetermined time, so that the robot 10 can enter the elevator 20 from the entry point 30. The determining module 16 may be configured to determine that the elevator taking task fails and abandon the elevator taking task when the elevator 20 does not arrive or is not opened within the first predetermined time.
In this way, the robot 10 can wait in the waiting area 40 far from the elevator 20 when performing the boarding task, and after the elevator 20 arrives, the robot 10 first navigates to the boarding point 30 near the elevator 20 and then moves straight in the direction of the elevator 20 along the boarding point 30, thereby ensuring that the robot 10 can safely enter the elevator 20. In the case where the elevator 20 does not arrive for a long time or the door is not opened, the robot 10 may determine that the boarding task fails and abandon the boarding task.
In some embodiments, the first preset time may be 5 minutes. That is, when the elevator 20 does not reach the floor where the robot 10 is located within 5 minutes or the door is not opened, it is determined that the robot 10 has failed the boarding task of this time. Of course, in other embodiments, the first preset time may be flexibly configured according to actual needs, and is not specifically limited herein.
In some embodiments, when the robot 10 fails to take the elevator for a task, the communication module 15 may upload the task status to the server 60 and/or the terminal device 50, so that the relevant personnel can know the operation condition of the robot 10, so that the relevant personnel can solve the elevator taking problem of the robot or arrange the subsequent tasks of the robot. In other embodiments, after the robot 10 uploads the task status to the server 60 and/or the terminal device 50, if the user instruction is not received within a certain period of time, the robot 10 may call the elevator 20 again, automatically restart the elevator taking task, and send an elevator taking request to the elevator 20 through the communication module 15.
Referring to fig. 6, in some embodiments, step S5 includes:
step S52, detecting the elevator waiting area 40 to judge whether the elevator waiting area 40 is safe;
step S54, when the waiting area 40 is safe, controlling the robot 10 to move to the waiting area 40 and wait for the elevator 20 toward the entering point 30; or
In step S56, when the waiting area 40 is not safe, the robot 10 is controlled to issue a prompt signal.
Specifically, the robot 10 may include the detection module 17, the step S52 may be implemented by the detection module 17 and the judgment module 16, and the step S54 may be implemented by the control module 14. That is, the detection module 17 may be used to detect a waiting area, for example, to detect an image of the waiting area 40. The judging module 16 may be configured to judge whether the elevator waiting area 40 is safe, and specifically, the judging module 16 may judge whether the elevator waiting area 40 is safe according to the image of the elevator waiting area 40 detected by the detecting module 17. When the waiting area 40 is safe, the control module 14 can be used to control the robot 10 to move to the waiting area 40 and wait for the elevator 20 towards the entry point 30. The control module 14 may be configured to control the robot 10 to issue a prompt when the landing area 40 is unsafe.
In this way, the robot 10 can avoid the robot 10 from colliding with an obstacle in the waiting area 40 when the robot 10 moves to the waiting area 40 and waits for the elevator 20, and affecting the safety of the robot 10 when the robot 10 is safe by determining whether the waiting area 40 is safe.
In some embodiments, the detection module 17 may be a camera, the robot 10 may acquire images of the elevator waiting area 40, including but not limited to color images, grayscale images, depth images, infrared images, and the like, and the determination module 16 may determine whether the elevator waiting area 40 is safe by determining whether an obstacle exists in the elevator waiting area 40 through image analysis.
In step S54, when there is no obstacle in the waiting area 40 or there is a partial safety area in the waiting area 40 so that the contour of the robot 10 does not interfere with or keep a certain distance from the obstacle in the waiting area 40 after the robot 10 moves to the partial safety area, the determining module 16 determines that the waiting area 40 is safe, the control module 14 controls the robot 10 to move to a safe position in the waiting area 40, and controls the robot 10 to wait for the elevator 20 toward the entry point 30.
In step S56, when there is an obstacle in the waiting area 40 and the robot 10 moves to any position of the waiting area 40, the obstacle interferes with the contour of the robot 10 in the waiting area 40, at this time, the determining module 16 determines that the waiting area 40 is unsafe, the control module 14 may control the robot 10 to send a prompt signal, and the robot 10 may interrupt the waiting task, so that passengers in the waiting area 40 leave the waiting area 40 or relevant persons are prompted to move the obstacle out of the waiting area 40. In the case where the elevator waiting area 40 is detected to be unsafe for a certain period of time, the determination module 16 may determine that the elevator mission has failed and abandon the elevator taking mission.
In some embodiments, the robot 10 may include a speaker and/or a display screen, and the control module 14 may control the speaker and/or the display screen to emit the prompt signal. For example, the control module 14 may control the speaker to emit a "please exit the waiting area in front! "Or" please remove the object in the area of the front waiting space! "to prompt passengers within the waiting area 40 to leave the waiting area 40 or to prompt associated personnel to move obstacles out of the waiting area 40. Likewise, the control module 14 can control the display screen to display "please exit the waiting area in front! "Or" please remove the object in the area of the front waiting space! "to prompt passengers in the elevator waiting area 40 to leave the elevator waiting area 40 or prompt related personnel to move obstacles out of the elevator waiting area 40.
Of course, in other embodiments, the manner in which the robot 10 sends the prompting signal is not limited to the above-discussed embodiments, and an appropriate prompting manner may be selected according to actual needs.
Referring to fig. 7, in some embodiments, step S6 includes:
step S62, controlling the robot 10 to move to the landing point 30;
step S64, planning a boarding route along a straight line according to the boarding point 30; and
in step S66, robot 10 is controlled to enter elevator 20 along the approach route.
Specifically, steps S62, S64, and S66 may be implemented by the control module 14. That is, the control module 14 may be used for controlling the robot 10 to move to the entry point 30, and for planning an entry route along a straight line according to the entry point 30, and for controlling the robot 10 to enter the elevator 20 along the entry route.
The robot 10 may wait for the elevator 20 toward the entry point 30 while waiting for the elevator in the waiting area 40, and when the elevator 20 reaches the floor where the robot 10 is located and opens the door, the robot 10 may pilot move to the entry point 30, and then plan an entry route in a straight line from the entry point 30 toward the elevator door 22, and control the robot 10 to enter the elevator 20 along the entry route.
In one example, elevator 20 arrives at the floor where robot 10 is located and the door is opened, and detection module 17 captures an image of elevator door 22 and determines whether elevator 20 is open through image processing. In another example, when the elevator 20 reaches the floor where the robot 10 is located and the door is opened, the elevator 20 may send a door opening signal to the robot 10 according to the elevator taking request of the robot 10, and the robot 10 starts to navigate to the elevator entering point after receiving the door opening signal.
In some embodiments, step S62 may be performed by the robot 10 first detecting whether there is an obstacle at the landing point 30 through the detection module 17, and determining whether the landing point 30 is safe through the determination module 16, and controlling the robot 10 to navigate to the landing point 30 when the landing point 30 is safe. Thus, the robot 10 is ensured to safely take the elevator.
Accordingly, when there is an obstacle at the entry point 30, the control module 14 may control the robot 10 to send a prompt signal, and the robot 10 may interrupt the waiting task so that the passenger at the entry point 30 leaves the entry point 30 or prompt the relevant person to move the obstacle out of the entry point 30. In the case where the unsafe situation at the landing point 30 is continuously detected for a period of time, the determining module 16 may determine that the elevator mission has failed and abandon the elevator boarding mission.
Referring to fig. 8, in some embodiments, step S66 includes:
step S662, detecting an approach route to determine whether an obstacle continuously exists in the approach route within a second preset time;
step S664, when it is detected within a second preset time that there is no obstacle in the approach route, controlling the robot 10 to enter the elevator 20 along the approach route; or
Step S666, when it is continuously detected that there is an obstacle on the approach route within the second preset time, the robot 10 is controlled to return to the waiting area 40, and the elevator taking task is determined to fail and is abandoned.
Specifically, step S662 may be implemented by the detection module 17 and the determination module 16, step S664 may be implemented by the control module 14, and step S666 may be implemented by both the control module 14 and the determination module 16. That is, the detection module 17 may be used to detect an approach route. The judging module 16 may be configured to judge whether the obstacle continuously exists on the approach route within the second preset time. The control module 14 may be configured to control the robot 10 to enter the elevator 20 along the approach path when it is detected that there is no obstacle in the approach path within a second preset time. When an obstacle is continuously detected on the approach route within the second preset time, the control module 14 may be configured to control the robot 10 to return to the waiting area 40, and the determination module 16 may be configured to determine that the elevator taking task fails and abandon the elevator taking task.
In this way, the robot 10 can safely enter the elevator by detecting whether an obstacle exists in the elevator entering route. Likewise, the robot 10 may capture an image of the inside of the elevator 20 through a camera, and determine whether an obstacle exists along the approach route from the image. When there is an obstacle in the approach path, robot 10 may issue a prompt to prompt passengers in elevator 20 to avoid. When an obstacle is continuously detected on the approach route within the second preset time, which indicates that the elevator 20 is fully loaded or the space in the elevator is insufficient, the control module 14 can control the robot 10 to return to the waiting area 40, and the judgment module 16 can judge that the elevator taking task fails and abandon the elevator taking task. The elevator riding control is realized through the elevator entering state of the robot 10 in the specified second preset time, and meanwhile, the phenomenon that the operation of the elevator 20 is influenced due to the overlong elevator entering time of the robot 10 is avoided.
In certain embodiments, the second preset time may be 1 minute. That is, when the robot 10 does not enter the elevator 20 and reaches the target position within 1 minute, the robot 10 returns to the waiting area 40, and determines that the robot 10 has failed the elevator boarding task of this time. Of course, in other embodiments, the second preset time may be flexibly configured according to actual needs, and is not specifically limited herein.
Referring to fig. 9, in some embodiments, step S6 further includes:
in step S68, when the robot 10 enters the elevator 20 and the distance d2 from the robot 10 to the elevator door 22 is greater than a predetermined value, it is confirmed that the boarding task is completed.
Specifically, step S668 may be implemented by the determination module 16. That is, the determination module 16 may confirm that the boarding task is completed when the robot 10 enters the elevator 20 and the distance d2 from the robot 10 to the elevator door 22 is greater than a predetermined value.
In this way, after the robot 10 enters the elevator 20, a certain predetermined distance, preferably 0.6 m, needs to be maintained between the robot 10 and the elevator door 22, so that the robot 10 can be prevented from interfering with the robot 10 when the elevator 20 is closed, which is beneficial to ensuring the safety of the robot 10 when the elevator is closed.
In some embodiments, the number of the robots 10 may be multiple, and when multiple robots 10 perform the elevator taking tasks, the elevators may be entered in sequence according to the order of the elevator taking tasks and/or the task priority.
Specifically, a plurality of robots 10 may communicate with each other to determine an elevator entering sequence, or a plurality of robots 10 may communicate with the server 60 and/or the terminal device 50, when the robots 10 perform an elevator taking task, elevator taking task states may be sent to the server 60 and/or the terminal device 50 in real time, and the server 60 and/or the terminal device 50 may arrange the elevator entering sequence of the robots 10 according to the elevator taking task states of the plurality of robots 10, thereby ensuring the elevator entering safety of the robots 10.
In some embodiments, there may be multiple elevators 20 per floor and the elevator determination module 11 may determine multiple elevator locations for the corresponding floor from the scanned floor map. Marking module 12 may mark the location where robot 10 is directly in front of each elevator door 22 and directly opposite elevator 20 as the entry point 30 for elevator 20. The elevator waiting determination module 13 can determine the elevator waiting area 30 according to the corresponding elevator entering points 30 of the plurality of elevators 20.
Specifically, after the relevant person scans the floor map, the number and the mark of the plurality of elevators 20 may be performed, and the robot 10 may automatically identify the corresponding elevator 20, thereby performing an elevator riding task.
In one example, the floors that can be reached by the plurality of elevators 20 are different, and the robot 10 can automatically recognize that the corresponding elevator 20 is taken according to the destination floor of the boarding task. In another example, the plurality of elevators 20 may be divided into passenger elevators, robot elevators, and/or shared elevators, etc., and likewise, the robot 10 may automatically recognize that the corresponding elevator 20 is taken according to actual needs.
In some embodiments, the step of determining the elevator waiting area 40 may be to determine one elevator waiting area 40 for each elevator waiting point 30, for example, when the floors reached by different elevators 20 are different, one elevator waiting area 40 for each elevator waiting point 30, so that the robot 10 with different destination floors can wait for the elevators 20 in different elevator waiting areas 40 to ensure that the robot 10 can enter the elevator in order and safely. The elevator waiting area 40 can also be determined by a plurality of elevator entering points 30 to jointly determine one elevator waiting area 40, and after the elevator 20 arrives, the robot 10 can identify the corresponding elevator 20 and obtain the position of the corresponding elevator entering point 30, so that the corresponding elevator 20 can be automatically selected to take according to actual needs.
Referring to fig. 10, a robot 10 provided in an embodiment of the present application includes a processor 18, a readable storage medium 19, and computer-executable instructions 191 stored on the readable storage medium 19 and executable on the processor 18, where when the computer-executable instructions 191 are executed by the processor 18, the processor 18 is caused to execute the control method of any one of the above embodiments.
In one example, the computer-executable instructions 191, when executed by the processor 18, cause the processor 18 to perform the steps of:
step S1, determining the elevator position of the corresponding floor according to the scanned floor map;
step S2, marking the position of the robot 10 right in front of the elevator door 22 and facing the elevator 20 as the entering point 30;
in step S3, the waiting area 40 of the robot 10 is determined from the boarding point 30.
Wherein the distance from the entry point 30 to the elevator 20 is smaller than the distance from the waiting area 40 to the elevator 20, the robot 10 waits for the elevator 20 in the waiting area 40 and moves to the entry point 30 to enter the elevator 20 from the entry point 30 when the elevator 20 arrives and opens the door.
The robot 10 of the embodiment of the application executes the computer executable instruction 191 through the processor 18, so that accurate marking of the elevator position and the elevator entering point 30 is achieved, when the robot 10 executes an elevator taking task, the robot can wait in the elevator waiting area 40 far away from the elevator 20, after the elevator 20 arrives, the robot 10 firstly navigates to the elevator entering point 30 near the elevator 20, then the robot 10 can be ensured to safely enter the elevator 20 by moving forwards along the elevator entering point 30 in the direction of the elevator 20, and elevator waiting experience and elevator taking safety of the robot 10 and passengers are ensured.
The embodiments of the present application also provide a non-volatile computer-readable storage medium 19, where the readable storage medium 19 includes computer-executable instructions 191, and when the computer-executable instructions 191 are executed by one or more processors 18, the processor 18 is caused to execute the robot control method of any one of the above embodiments.
Referring to fig. 11, one or more processors 18 may be coupled to a readable storage medium through a bus, and the readable storage medium 19 stores computer-executable instructions 191, which are processed by the processors 18 to perform the robot control method according to the embodiment of the present disclosure, so that the robot 10 can safely perform an elevator riding task. The robot 10 may also be connected to a network via a communication module 15 to enable communication with the server 60 and/or the terminal device 50, and connected to an input/output device via an input/output interface to collect environmental information or output control status signals.
In the description herein, reference to the term "one embodiment," "some embodiments," or "an example" etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium. The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.
Although embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (9)
1. A robot control method, comprising:
determining the elevator position of the corresponding floor according to the scanned floor map;
marking the position of the robot, which is right in front of the elevator door and is right opposite to the elevator direction, as an elevator entering point;
determining a waiting area of the robot according to the elevator entering point, wherein the distance from the elevator entering point to the elevator is smaller than the distance from the waiting area to the elevator;
after receiving an elevator taking task, controlling the robot to move to the elevator waiting area and sending an elevator taking request to the elevator, wherein the robot waits for the elevator in the elevator waiting area; and
when the elevator arrives and the door is opened within first preset time, controlling the robot to move to the elevator entering point, so that the robot enters the elevator from the elevator entering point; or
And when the elevator does not arrive or is not opened within the first preset time, judging that the elevator taking task fails and giving up the elevator taking task.
2. The robot control method of claim 1, wherein the distance from the entry point to the elevator door is 0.1 to 0.3 meters.
3. The robot control method according to claim 1, wherein the step of controlling the robot to move to the waiting area and transmitting a boarding request to the elevator after receiving a boarding task comprises:
detecting the elevator waiting area to judge whether the elevator waiting area is safe or not;
when the elevator waiting area is safe, controlling the robot to move to the elevator waiting area and wait for the elevator towards the elevator entering point; or
And when the elevator waiting area is unsafe, controlling the robot to send a prompt signal.
4. The robot control method of claim 1, wherein the step of controlling the robot to enter the elevator from the entry point comprises:
controlling the robot to move to the elevator entering point;
planning an elevator entering route along a straight line according to the elevator entering point; and
controlling the robot to enter the elevator along the approach path.
5. The robot control method of claim 4, wherein the step of controlling the robot to enter the elevator along the approach route comprises:
detecting the elevator entering route to judge whether obstacles continuously exist in the elevator entering route within second preset time;
when the fact that no obstacle exists in the elevator entering route is detected within the second preset time, controlling the robot to enter the elevator along the elevator entering route; or
And when the barrier is continuously detected to exist on the approach route within the second preset time, controlling the robot to return to the elevator waiting area, judging that the elevator taking task fails and giving up the elevator taking task.
6. The robot control method of claim 4, wherein the step of controlling the robot to enter the elevator along the approach route comprises:
and confirming that the elevator taking task is completed when the robot enters an elevator and the distance between the robot and the elevator door is greater than a preset value.
7. A robot, comprising:
the elevator determining module is used for determining the elevator position of the corresponding floor according to the scanned floor map;
the marking module is used for marking the position of the robot, which is positioned right in front of an elevator door and is right opposite to the elevator direction, as an elevator entering point; and
the elevator waiting determination module is used for determining an elevator waiting area of the robot according to the elevator entering point, and the distance from the elevator entering point to the elevator is smaller than the distance from the elevator waiting area to the elevator;
the control module is used for controlling the robot to move to the elevator waiting area after receiving an elevator taking task, and the robot waits for the elevator in the elevator waiting area;
a communication module for sending an elevator taking request to the elevator; and
the control module is used for controlling the robot to move to the elevator entering point when the elevator arrives and opens the door within first preset time, so that the robot enters the elevator from the elevator entering point, or is used for judging that the elevator taking task fails and giving up the elevator taking task when the elevator does not arrive or opens the door within the first preset time.
8. A robot comprising a processor, a readable storage medium, and computer-executable instructions stored on the readable storage medium and executable on the processor, the computer-executable instructions, when executed by the processor, causing the processor to perform the control method of any of claims 1-6.
9. A non-transitory computer-readable storage medium, comprising computer-executable instructions that, when executed by one or more processors, cause the processors to perform the robot control method of any of claims 1-6.
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