CN113657565A - Robot cross-floor moving method and device, robot and cloud server - Google Patents
Robot cross-floor moving method and device, robot and cloud server Download PDFInfo
- Publication number
- CN113657565A CN113657565A CN202110940195.8A CN202110940195A CN113657565A CN 113657565 A CN113657565 A CN 113657565A CN 202110940195 A CN202110940195 A CN 202110940195A CN 113657565 A CN113657565 A CN 113657565A
- Authority
- CN
- China
- Prior art keywords
- elevator
- robot
- target
- floor
- instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0025—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement consisting of a wireless interrogation device in combination with a device for optically marking the record carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Business, Economics & Management (AREA)
- Economics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Entrepreneurship & Innovation (AREA)
- Development Economics (AREA)
- General Engineering & Computer Science (AREA)
- Human Resources & Organizations (AREA)
- Marketing (AREA)
- Operations Research (AREA)
- Quality & Reliability (AREA)
- Strategic Management (AREA)
- Tourism & Hospitality (AREA)
- General Business, Economics & Management (AREA)
- Elevator Control (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a robot cross-floor moving method and device, a robot and a cloud server, and belongs to the technical field of robot transportation. The method comprises the following steps: sending floor information of a target floor where the target position is located to a cloud server so that the cloud server sends a first robot instruction to an elevator control system based on the floor information; after a first elevator instruction sent by the cloud server is received, the elevator moves into a target elevator, and the first elevator instruction is used for indicating the target elevator to reach the current floor; after receiving a second elevator instruction sent by the cloud server, moving the elevator to a position outside the target elevator, wherein the second elevator instruction is used for indicating the target elevator to reach a target floor; and moving the elevator from a position outside the elevator to a target position according to the moving track of the robot. The robot can move across floors in a public elevator mode.
Description
Technical Field
The application relates to the technical field of robot transportation, in particular to a method and a device for moving a robot across floors, the robot and a cloud server.
Background
In the process of indoor logistics robot transportation, the target position and the current position are not on the same floor, which results in the logistics robot needing to carry out cross-floor transportation.
In the prior art, a robot special elevator is usually arranged for a logistics robot, and when transportation is needed to be carried out across floors, the logistics robot is reciprocated by the special elevator.
However, the arrangement of the elevator dedicated to the robot consumes a lot of manpower and material resources, the required cost is high, and the elevator dedicated to the robot is also only suitable for cross-floor transportation of the robot.
Disclosure of Invention
The application aims to provide a robot cross-floor moving method, a robot cross-floor moving device, a robot and a cloud server, and the robot can move cross-floor in a public elevator mode.
The embodiment of the application is realized as follows:
in one aspect of the embodiments of the present application, a method for moving a robot across floors is provided, where the method is applied to a robot, the robot is in communication connection with a cloud server, and the cloud server is in communication connection with an elevator control system, and the method includes:
the floor information of a target floor where the target position is located is sent to a cloud server, so that the cloud server sends a first robot instruction to an elevator control system based on the floor information, the target floor is a floor different from the number of layers of the current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
after a first elevator instruction sent by the cloud server is received, the elevator moves into a target elevator, and the first elevator instruction is used for indicating the target elevator to reach the current floor;
after receiving a second elevator instruction sent by the cloud server, moving the elevator to a position outside the target elevator, wherein the second elevator instruction is used for indicating the target elevator to reach a target floor;
and moving the elevator from a position outside the elevator to a target position according to the moving track of the robot.
Optionally, moving into the target elevator comprises:
moving to a first preset position of the current floor;
acquiring environmental information of a target elevator at a first preset position, and judging whether an obstacle exists or not based on the environmental information;
and if no obstacle exists, moving the elevator to the target elevator.
Optionally, the obtaining environmental information of the target elevator at the first preset position, and determining whether an obstacle exists based on the environmental information, includes:
acquiring environmental information of a target elevator;
determining a virtual map of the target elevator according to the environmental information and a preset synchronous positioning and mapping mode;
and judging whether the preset area in the target elevator has the obstacle or not on the virtual map.
Optionally, after determining whether the obstacle exists based on the environment information, the method further includes:
and if the obstacle exists, moving to a second preset position of the current floor, and sending a second robot instruction to the cloud server, wherein the second robot instruction is used for indicating that the robot does not enter the target elevator.
Optionally, before sending the floor information of the target floor where the target location is located to the cloud server, the method further includes:
identifying identification information of an article to be conveyed;
and acquiring the floor information of the target floor where the target position is located based on the identification information.
On the other hand of the embodiment of the application, a robot cross-floor moving method is provided, and the method is applied to a cloud server which is in communication connection with an elevator control system and a robot respectively, and comprises the following steps:
receiving floor information of a target floor where a target position is located, wherein the floor information is sent by the robot;
sending a first robot instruction to an elevator control system based on floor information, wherein a target floor is a floor different from the number of layers of a current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
receiving a first elevator instruction sent by an elevator control system, and sending the first elevator instruction to the robot so that the robot moves into a target elevator, wherein the first elevator instruction is used for indicating the target elevator to reach the current floor;
and receiving a second elevator command sent by the elevator control system, and sending the second elevator command to the robot so that the robot moves to a position outside the target elevator, wherein the second elevator command is used for indicating the target elevator to reach the target floor.
Optionally, the method further comprises:
receiving a second robot command sent by the robot, wherein the second robot command is used for indicating that the robot does not enter the target elevator;
and sending a reset signal to the elevator control system based on the second robot command so as to enable the target elevator corresponding to the elevator control system to reach the current floor again.
On the other hand of this application embodiment provides a floor mobile device is striden to robot, and the device is applied to the robot, robot and high in the clouds server communication connection, high in the clouds server and elevator control system communication connection, and the device includes: the robot system comprises a robot sending module, a robot receiving module and a moving module;
the robot sending module is used for sending floor information of a target floor where the target position is located to the cloud server so that the cloud server sends a first robot instruction to the elevator control system based on the floor information, the target floor is a floor with the number of layers different from that of the current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
the robot receiving module is used for moving the robot to the target elevator after receiving a first elevator instruction sent by the cloud server, and the first elevator instruction is used for indicating the target elevator to reach the current floor;
the robot receiving module is used for moving the robot to a position outside the target elevator after receiving a second elevator instruction sent by the cloud server, and the second elevator instruction is used for indicating the target elevator to reach a target floor;
and the moving module is used for moving from a position outside the elevator to a target position according to the moving track of the robot.
Optionally, the moving module is specifically configured to move to a first preset position of the current floor; acquiring environmental information of a target elevator at a first preset position, and judging whether an obstacle exists or not based on the environmental information; and if no obstacle exists, moving the elevator to the target elevator.
Optionally, the mobile module is specifically configured to obtain environmental information of the target elevator; determining a virtual map of the target elevator according to the environmental information and a preset synchronous positioning and mapping mode; and judging whether the preset area in the target elevator has the obstacle or not on the virtual map.
Optionally, the moving module is further configured to move to a second preset position of the current floor if the obstacle exists, and send a second robot instruction to the cloud server, where the second robot instruction is used to indicate that the robot does not enter the target elevator.
Optionally, the robot sending module is further configured to identify identification information of the article to be transported; and acquiring the floor information of the target floor where the target position is located based on the identification information.
On the other hand of this application embodiment provides a floor mobile device is striden to robot, and the device is applied to high in the clouds server, and high in the clouds server respectively with elevator control system and robot communication connection, the device includes: the server receiving module and the server sending module;
the server receiving module is used for receiving the floor information of the target floor where the target position is located, which is sent by the robot;
the server sending module is used for sending a first robot instruction to the elevator control system based on the floor information, the target floor is a floor with the number of layers different from that of the current floor, and the first robot instruction is used for indicating the target elevator corresponding to the elevator control system to move to the current floor;
the server receiving module is also used for receiving a first elevator instruction sent by the elevator control system and sending the first elevator instruction to the robot through the server sending module so that the robot moves into the target elevator, and the first elevator instruction is used for indicating the target elevator to reach the current floor;
and the server receiving module is also used for receiving a second elevator instruction sent by the elevator control system and sending the second elevator instruction to the robot through the server sending module so that the robot moves to a position outside the target elevator, and the second elevator instruction is used for indicating the target elevator to reach the target floor.
Optionally, the server receiving module is further configured to receive a second robot instruction sent by the robot, where the second robot instruction is used to indicate that the robot does not enter the target elevator; and the server sending module is also used for sending a reset signal to the elevator control system based on the second robot instruction so as to enable the target elevator corresponding to the elevator control system to reach the current floor again.
In another aspect of the embodiments of the present application, there is provided a robot including: the first processor executes the computer program, and the steps of the robot cross-floor moving method, the execution subject of which is the robot, are realized.
In another aspect of the embodiment of the present application, a cloud server is provided, including: the robot cross-floor moving method comprises a second memory and a second processor, wherein a computer program capable of running on the second processor is stored in the second memory, and when the second processor executes the computer program, the steps of executing the robot cross-floor moving method with the cloud server as the main executing body are realized.
In another aspect of the embodiments of the present application, a computer-readable storage medium is provided, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the robot cross-floor moving method are implemented.
The beneficial effects of the embodiment of the application include:
in the method and the device for moving the robot across floors, the robot and the cloud server provided by the embodiment of the application, the floor information of the target floor where the target position is located can be sent to the cloud server, so that the cloud server sends a first robot instruction to an elevator control system based on the floor information; after receiving a first elevator instruction sent by a cloud server, moving the elevator into a target elevator; after receiving a second elevator instruction sent by the cloud server, moving to a position outside the target elevator; and moving the elevator from a position outside the elevator to a target position according to the moving track of the robot. The robot control system comprises a cloud server, an elevator control system and a control system, wherein information instructions between the cloud server and the elevator control system can be interacted, so that the specific process that the robot moves to the elevator or moves to the outside of the elevator from the elevator by the cloud server is realized, the process that the robot carries out cross-floor transportation through a public elevator can be realized, the transportation range of the robot is increased, and the transportation universality of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.
Fig. 1 is a schematic structural diagram of a communication connection relationship of a robot according to an embodiment of the present disclosure;
fig. 2 is a first flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present disclosure;
fig. 3 is a second flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present disclosure;
fig. 4 is a third schematic flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present application;
fig. 5 is a fourth flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present disclosure;
fig. 6 is a first flowchart of a cross-floor moving method applied to a cloud server according to an embodiment of the present disclosure;
fig. 7 is a schematic flowchart of a second cross-floor moving method applied to a cloud server according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a cross-floor moving device applied to a robot according to an embodiment of the present application;
fig. 9 is a schematic structural diagram of a cross-floor mobile device applied to a cloud server according to an embodiment of the present disclosure;
fig. 10 is a schematic structural diagram of a robot provided in an embodiment of the present application;
fig. 11 is a schematic structural diagram of a cloud server provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present application, it is noted that the terms "first", "second", "third", and the like are used merely for distinguishing between descriptions and are not intended to indicate or imply relative importance.
The communication connection relationship and application scenario of the robot provided in the embodiment of the present application are specifically explained below.
Fig. 1 is a schematic structural diagram of a communication connection relationship of a robot according to an embodiment of the present application, please refer to fig. 1, in a robot application scenario, including: a robot 110, a cloud server 120, and an elevator control system 130.
The cloud server 120 is in communication connection with the robot 110 and the elevator control system 130.
Alternatively, the robot 110 may specifically be a logistics robot, such as a wheeled robot, a biped robot, or the like, for implementing a process of transporting an article to be transported from an initial location to a target location, and the work scenario of the logistics robot may specifically be indoor, where multiple floors are included in the indoor, and movement between different floors is implemented through an elevator.
Optionally, the cloud server 120 may be a server set at a remote end, each server may be associated with one or more robots 110, and the cloud server 120 may send a related control instruction to the robot so as to enable the robot to execute corresponding work, and may also obtain related work information of the robot, and the like; in addition, the cloud server 120 may also be connected to the elevator control system 130, so as to implement a process of acquiring an elevator running state or sending related instruction information to the elevator control system, which is not limited herein.
Optionally, the elevator control system 130 may be a system that is disposed in the room where the robot 110 is located and is used to implement indoor elevator operation control, and may control the elevator to move to a specific floor, or may obtain the floor where the current elevator is located in real time.
The following is a specific explanation of a specific implementation process of the cross-floor moving method applied to the robot according to the embodiment of the present application in the above application scenario.
Fig. 2 is a first flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present application, please refer to fig. 2, where the method includes:
s210: and sending the floor information of the target floor where the target position is located to the cloud server so that the cloud server sends a first robot instruction to the elevator control system based on the floor information.
The target floor is a floor different from the number of layers of the current floor, and the first robot instruction is used for indicating the target elevator corresponding to the elevator control system to move to the current floor.
Alternatively, the target position may be a target position to which the article to be transported is transported, and the target position may be any position of the indoor space where the robot is located, for example, a specific position on a floor. The current floor is a floor where the robot is currently located, and may be specifically determined by sending acquired floor information through a cloud server, or acquired by acquiring identification information (for example, a two-dimensional code) in the current floor, which is not limited herein; the destination floor is the floor where the destination location is located.
Optionally, the floor information of the target floor where the target location is located may be specifically obtained after the robot identifies the to-be-transported item through an identifier of the to-be-transported item when obtaining the to-be-transported item, or may also be information included in an instruction sent by the server to the robot to go to a certain floor, which is not limited herein.
Optionally, the cloud server may generate the first robot command based on floor information of a target floor where the target position is located, and send the first robot command to the elevator control system, so that the target elevator corresponding to the elevator control system moves to the current floor.
In the process of controlling the movement of the target elevator, the target elevator can be moved to the current floor specifically in a software communication mode, and the control is not required to be performed through related physical keys in the elevator.
S220: and when a first elevator instruction sent by the cloud server is received, moving the elevator into a target elevator.
Wherein the first elevator call is used to instruct the target elevator to reach the current floor.
Optionally, after the robot receives the first elevator instruction sent by the cloud server, the robot can move to the target elevator, and the process can be divided into two parts:
firstly, the robot can move from the current position to the elevator door, specifically can move through a plurality of two-dimensional codes used for track planning navigation and arranged in the current floor, can determine the specific motion track from the current position to the elevator door by acquiring and identifying the information of the two-dimensional codes, and then moves to the elevator door according to the corresponding motion track.
Furthermore, after arriving at the elevator door, if a preset condition is met, for example: the elevator door is opened and can be moved to the target elevator normally, and then the elevator door can be moved to the target elevator from the elevator door.
S230: and when a second elevator instruction sent by the cloud server is received, moving to a position outside the target elevator.
Wherein the second elevator call is used to instruct the target elevator to reach the target floor.
Optionally, after the elevator arrives, the robot may send a relevant instruction to the cloud server to indicate that the robot has normally entered the elevator, and the cloud server may convert the instruction and send the instruction to the elevator control system, so that the elevator control system starts to operate normally and moves from the current floor to the target floor.
After the elevator moves to the target floor, the elevator control system can send a second elevator instruction to the robot through the cloud server to indicate that the current elevator reaches the target floor, and after the robot receives the second elevator instruction, the robot can move to a position outside the target elevator under the condition that a preset condition is met (for example, the elevator door is opened and the elevator can normally leave the elevator).
Optionally, similar to the foregoing, when the robot arrives at a location outside the elevator, the robot may send a relevant instruction to the cloud server to indicate that the robot has normally left the elevator, and the cloud server may convert the instruction and send the converted instruction to the elevator control system, so that the elevator control system starts to operate normally.
S240: and moving the elevator from a position outside the elevator to a target position according to the moving track of the robot.
Optionally, after the robot arrives at a position outside the elevator, the robot may continue to move from the position to the target position according to the aforementioned trajectory planning manner, specifically, the trajectory planning in the target floor may be performed through the two-dimensional code information in the target floor, so as to determine the movement trajectory, and then the robot moves from the position outside the elevator to the target position according to the movement trajectory of the robot, so as to complete the delivery or pickup of the article to be delivered.
In the robot cross-floor moving method provided by the embodiment of the application, the floor information of the target floor where the target position is located can be sent to the cloud server, so that the cloud server sends a first robot instruction to the elevator control system based on the floor information; after receiving a first elevator instruction sent by a cloud server, moving the elevator into a target elevator; after receiving a second elevator instruction sent by the cloud server, moving to a position outside the target elevator; and moving the elevator from a position outside the elevator to a target position according to the moving track of the robot. The robot control system comprises a cloud server, an elevator control system and a control system, wherein information instructions between the cloud server and the elevator control system can be interacted, so that the specific process that the robot moves to the elevator or moves to the outside of the elevator from the elevator by the cloud server is realized, the process that the robot carries out cross-floor transportation through a public elevator can be realized, the transportation range of the robot is increased, and the transportation universality of the robot is improved.
Another specific implementation of the cross-floor moving method applied to the robot provided in the embodiment of the present application will be specifically explained below.
Fig. 3 is a second flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present application, please refer to fig. 3, which moves into a target elevator, and includes:
s310: and moving to a first preset position of the current floor.
Alternatively, the first preset position may be one of the positions in the current floor disposed near the target elevator, for example, a doorway of the target elevator.
Optionally, the robot may specifically determine a walking track from the current position to the first preset position by a preset track planning method, and then may move from the current position to the first preset position according to the walking track.
The walking track may be a preset track route, or may also be a route planned in real time in the spatial coordinates of the robot after the robot performs identification and confirmation based on the relevant two-dimensional code identification information in the current floor, which is not limited herein.
S320: and acquiring environment information of the target elevator at a first preset position, and judging whether an obstacle exists or not based on the environment information.
Optionally, after the robot reaches the first preset position, the environment information of the target elevator may be acquired at the first preset position, where the environment information may specifically be image information, for example: the image acquired by the infrared camera or the image acquired by the laser radar is not specifically limited, and whether an obstacle (e.g., a person, another robot, various obstacle objects, etc.) exists at the preset position of the target elevator may be determined according to the acquired environment information.
The first preset position may be a position better used for acquiring the environmental information, and may be obtained by performing screening determination according to a historical position of acquiring the environmental information or by calculating by the cloud server based on a preset algorithm, which is not particularly limited herein.
S330: and if no obstacle exists, moving the elevator to the target elevator.
Alternatively, when it is determined that there is no obstacle at the preset position of the target elevator according to the environment information, the robot may move into the target elevator, thereby performing the cross-floor movement.
Alternatively, the preset position of the target elevator can be, for example, specifically the doorway of the elevator.
Optionally, after determining whether the obstacle exists based on the environment information, the method further includes:
s340: and if the obstacle exists, moving to a second preset position of the current floor, and sending a second robot instruction to the cloud server.
Wherein the second robot command is used to indicate that the robot has not entered the target elevator.
Alternatively, correspondingly, if it is determined that an obstacle exists in the preset position of the target elevator, that is, there may be a situation that a full person exists in the target elevator or a road where the robot enters the elevator is occupied, it may be determined that the robot cannot move to the elevator and the robot may move to the second preset position to wait during the elevator transportation.
Optionally, if an obstacle exists, the robot can also send a second robot instruction to the cloud server, the cloud server can analyze the second robot instruction and send the second robot instruction to the elevator control system, the target elevator can work normally without waiting for the robot to move into the elevator, and the target elevator can be enabled to execute the current task and then reach the current floor again.
In the method for moving the robot across floors provided by the embodiment of the application, the robot can be moved to a first preset position of a current floor; acquiring environmental information of a target elevator at a first preset position, and judging whether an obstacle exists or not based on the environmental information; if no obstacle exists, moving the elevator to the target elevator; and if the obstacle exists, moving to a second preset position of the current floor, and sending a second robot instruction to the cloud server. The robot can be controlled to wait for the elevator to arrive again at the second preset position if the situation does not exist, so that the robot is more suitable for the use of public elevators, the possible situations of full load of the elevator and the like during cross-floor movement are fully considered, and the adaptability of the robot to the environment is improved.
A further specific implementation of the cross-floor moving method applied to the robot provided in the embodiment of the present application will be specifically explained below.
Fig. 4 is a third schematic flowchart of a cross-floor moving method applied to a robot according to an embodiment of the present application, and please refer to fig. 4, where environment information of a target elevator is obtained at a first preset position, and it is determined whether an obstacle exists based on the environment information, including:
s410: environmental information of the target elevator is acquired.
Optionally, the robot may be provided with an environmental information acquiring device, for example: the robot comprises a laser radar, an infrared camera and other environment information acquisition devices, wherein the laser radar can determine three-dimensional information of obstacles in the current environment based on laser information, the infrared camera can recognize head images in modes of photographing and the like to further determine the specific position of the obstacles, and the robot can acquire the environment information of a target elevator by combining the laser radar, the infrared camera and other environment information acquisition devices.
S420: and determining the virtual map of the target elevator according to the environment information and a preset synchronous positioning and mapping mode.
Optionally, after obtaining the environment information, the robot may build a virtual map based on the environment information and a preset synchronous positioning and mapping (SLAM) method, where a coordinate position of an obstacle in the target elevator may be marked on the virtual map.
S430: and judging whether the preset area in the target elevator has the obstacle or not on the virtual map.
Alternatively, after the virtual map is determined, whether the obstacle is in a preset area of the target elevator can be determined according to the position of the obstacle on the virtual map, and the preset area can be, for example, the vicinity of a doorway in the target elevator, and specifically can be the size of a space for accommodating the robot to enter the elevator.
If there is an obstacle in the preset area, the step S340 may be executed, and if there is no obstacle, the step S330 may be executed, which is not limited herein.
A further specific implementation of the cross-floor moving method applied to the robot provided in the embodiment of the present application will be specifically explained below.
Fig. 5 is a fourth flowchart of the cross-floor moving method applied to the robot according to the embodiment of the present application, please refer to fig. 5, before sending the floor information of the target floor where the target position is located to the cloud server, the method further includes:
s510: identifying information of an item to be shipped.
Optionally, the identification information of the article to be transported may be acquired by an identification camera of the robot, where the identification information may be a two-dimensional code identifier or a barcode identifier disposed on the article to be transported, or may be on a carrier having the same function as the carrier for carrying the article to be transported, for example: the transportation box and the like with functions of near field communication, bluetooth and the like are not particularly limited, and identification information of an article to be transported can be identified and acquired.
Optionally, the identification information may correspond to attribute information of the article to be transported, where a target position of the article to be transported is one of the attribute information.
S520: and acquiring the floor information of the target floor where the target position is located based on the identification information.
Alternatively, the floor information of the target floor on which the target position is located may be determined by processing the identification information.
For example, the target position of an article to be transported can be determined to be on a certain floor by scanning a two-dimensional identification code on the article to be transported.
The following specifically explains a specific implementation process of the cross-floor moving method applied to the cloud server provided in the embodiment of the present application.
Fig. 6 is a first flowchart of a cross-floor moving method applied to a cloud server according to an embodiment of the present application, please refer to fig. 6, where the method includes:
s610: and receiving the floor information of the target floor where the target position is sent by the robot.
S620: a first robot command is sent to the elevator control system based on the floor information.
The target floor is a floor different from the number of layers of the current floor, and the first robot instruction is used for indicating the target elevator corresponding to the elevator control system to move to the current floor.
S630: the control system sends a first elevator command to the robot to move the robot into the target elevator.
Wherein the first elevator call is used to instruct the target elevator to reach the current floor.
S640: and receiving a second elevator command sent by the elevator control system, and sending the second elevator command to the robot so that the robot moves to a position outside the target elevator.
Wherein the second elevator call is used to instruct the target elevator to reach the target floor.
Optionally, the specific implementation process of S610-S640 is already explained in the foregoing embodiments of S210-S240, and is not repeated here.
A further specific implementation process of the cross-floor moving method applied to the cloud server provided in the embodiment of the present application is specifically explained below.
Fig. 7 is a second flowchart of a cross-floor moving method applied to a cloud server according to an embodiment of the present application, please refer to fig. 7, where the method further includes:
s710: and receiving a second robot instruction sent by the robot.
Wherein the second robot command is used to indicate that the robot has not entered the target elevator.
S720: and sending a reset signal to the elevator control system based on the second robot command so as to enable the target elevator corresponding to the elevator control system to reach the current floor again.
Alternatively, the reset signal may be used in particular to indicate that the current floor is reached again after the elevator control system has performed the current task.
Optionally, when the robot moves into the elevator or moves to a position outside the elevator, the cloud server may also receive a related instruction sent by the robot, so that the related instruction can be forwarded to the elevator control system, and the elevator control system continues to complete the corresponding elevator transportation work.
Optionally, in the process that the robot moves on the same floor, facilities such as an entrance guard may be required to pass through, and the process of passing through the entrance guard facility is achieved by communication between the cloud server and a control system of the entrance guard facility.
The following describes a device, equipment, and a storage medium, etc. corresponding to the method for performing the robot moving across floors provided by the present application, and specific implementation processes and technical effects thereof are referred to above and will not be described again below.
Fig. 8 is a schematic structural diagram of a cross-floor moving device applied to a robot according to an embodiment of the present application, please refer to fig. 8, the device includes: a robot transmitting module 810, a robot receiving module 820, and a moving module 830;
the robot sending module 810 is configured to send floor information of a target floor where the target position is located to the cloud server, so that the cloud server sends a first robot instruction to the elevator control system based on the floor information, the target floor is a floor different from the number of layers of the current floor, and the first robot instruction is used for indicating that a target elevator corresponding to the elevator control system moves to the current floor;
the robot receiving module 820 is used for moving the target elevator to the target elevator after receiving a first elevator instruction sent by the cloud server, wherein the first elevator instruction is used for indicating the target elevator to reach the current floor;
the robot receiving module 820 is used for moving the target elevator to a position outside the target elevator after receiving a second elevator instruction sent by the cloud server, wherein the second elevator instruction is used for indicating the target elevator to reach a target floor;
and a moving module 830 for moving from a position outside the elevator to a target position according to the moving track of the robot.
Optionally, the moving module 830 is specifically configured to move to a first preset position of the current floor; acquiring environmental information of a target elevator at a first preset position, and judging whether an obstacle exists or not based on the environmental information; and if no obstacle exists, moving the elevator to the target elevator.
Optionally, the moving module 830 is specifically configured to obtain environment information of the target elevator; determining a virtual map of the target elevator according to the environmental information and a preset synchronous positioning and mapping mode; and judging whether the preset area in the target elevator has the obstacle or not on the virtual map.
Optionally, the moving module 830 is further configured to, if there is an obstacle, move to a second preset position of the current floor, and send a second robot instruction to the cloud server, where the second robot instruction is used to indicate that the robot does not enter the target elevator.
Optionally, the robot sending module 810 is further configured to identify identification information of the item to be transported; and acquiring the floor information of the target floor where the target position is located based on the identification information.
Fig. 9 is a schematic structural view of a cross-floor mobile device applied to a cloud server according to an embodiment of the present application, please refer to fig. 9, where the device includes: a server receiving module 910 and a server sending module 920;
a server receiving module 910, configured to receive floor information of a target floor where a target position is located, where the floor information is sent by a robot;
the server sending module 920 is configured to send a first robot instruction to the elevator control system based on the floor information, where the target floor is a floor different from the current floor, and the first robot instruction is used to instruct the elevator control system to move the target elevator to the current floor;
the server receiving module 910 is further configured to receive a first elevator instruction sent by the elevator control system, and send the first elevator instruction to the robot through the server sending module 920, so that the robot moves into the target elevator, where the first elevator instruction is used to indicate the target elevator to reach the current floor;
the server receiving module 910 is further configured to receive a second elevator instruction sent by the elevator control system, and send the second elevator instruction to the robot through the server sending module 920, so that the robot moves to a location outside the target elevator, and the second elevator instruction is used for indicating the target elevator to reach the target floor.
Optionally, the server receives the module 910, and is further configured to receive a second robot command sent by the robot, where the second robot command is used to indicate that the robot does not enter the target elevator; and the server sending module 920 is further configured to send a reset signal to the elevator control system based on the second robot instruction, so that the target elevator corresponding to the elevator control system arrives at the current floor again.
The above-mentioned apparatus is used for executing the method provided by the foregoing embodiment, and the implementation principle and technical effect are similar, which are not described herein again.
These above modules may be one or more integrated circuits configured to implement the above methods, such as: one or more Application Specific Integrated Circuits (ASICs), or one or more microprocessors, or one or more Field Programmable Gate Arrays (FPGAs), etc. For another example, when one of the above modules is implemented in the form of a Processing element scheduler code, the Processing element may be a general-purpose processor, such as a Central Processing Unit (CPU) or other processor capable of calling program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).
Fig. 10 is a schematic structural diagram of a robot according to an embodiment of the present application, please refer to fig. 10, where the robot includes: the first memory 210 and the first processor 220, wherein the first memory 210 stores a computer program operable on the first processor 220, and the first processor 220 implements the steps of the above-described method for moving a robot across floors, the execution of which is mainly a robot, when executing the computer program.
Fig. 11 is a schematic structural diagram of a cloud server provided in an embodiment of the present application, please refer to fig. 11, where the cloud server includes: the second memory 310 and the second processor 320, wherein the second memory 310 stores a computer program that can be run on the second processor 320, and when the second processor 320 executes the computer program, the steps of the robot cross-floor moving method, the execution subject of which is the cloud server, are realized.
In another aspect of the embodiments of the present application, a computer-readable storage medium is provided, where a computer program is stored on the storage medium, and when the computer program is executed by a processor, the steps of the robot cross-floor moving method are implemented.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present invention. And the aforementioned storage medium includes: a U disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (11)
1. A robot cross-floor moving method is applied to a robot, the robot is in communication connection with a cloud server, and the cloud server is in communication connection with an elevator control system, and the method comprises the following steps:
sending floor information of a target floor where a target position is located to the cloud server, so that the cloud server sends a first robot instruction to the elevator control system based on the floor information, wherein the target floor is a floor with a number of layers different from that of a current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
after a first elevator instruction sent by the cloud server is received, moving the elevator to a target elevator, wherein the first elevator instruction is used for indicating the target elevator to reach a current floor;
after receiving a second elevator instruction sent by the cloud server, moving the elevator to a position outside a target elevator, wherein the second elevator instruction is used for indicating the target elevator to reach a target floor;
and moving the robot from a position outside the elevator to the target position according to the moving track of the robot.
2. The method of claim 1, wherein moving into a target elevator comprises:
moving to a first preset position of the current floor;
acquiring environment information of a target elevator at the first preset position, and judging whether an obstacle exists or not based on the environment information;
and if no obstacle exists, moving the elevator into the target elevator.
3. The method of claim 2, wherein the obtaining environmental information of the target elevator at the first preset location and determining whether an obstacle exists based on the environmental information comprises:
acquiring environmental information of the target elevator;
determining a virtual map of the target elevator according to the environment information and a preset synchronous positioning and mapping mode;
and judging whether an obstacle exists in a preset area in the target elevator on the virtual map.
4. The method of claim 2, wherein after determining whether an obstacle is present based on the environmental information, the method further comprises:
and if the obstacle exists, moving to a second preset position of the current floor, and sending a second robot instruction to the cloud server, wherein the second robot instruction is used for indicating that the robot does not enter the target elevator.
5. The method of claim 1, wherein prior to sending the floor information of the target floor at which the target location is located to the cloud server, the method further comprises:
identifying identification information of an article to be conveyed;
and acquiring the floor information of the target floor where the target position is located based on the identification information.
6. A robot cross-floor moving method is applied to a cloud server which is respectively in communication connection with an elevator control system and a robot, and comprises the following steps:
receiving floor information of a target floor where a target position is located, wherein the floor information is sent by the robot;
sending a first robot instruction to the elevator control system based on the floor information, wherein the target floor is a floor with the number of layers different from that of the current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
receiving a first elevator instruction sent by the elevator control system, and sending the first elevator instruction to the robot so that the robot moves into a target elevator, wherein the first elevator instruction is used for indicating the target elevator to reach a current floor;
and receiving a second elevator instruction sent by the elevator control system, and sending the second elevator instruction to the robot so that the robot moves to a position outside a target elevator, wherein the second elevator instruction is used for indicating the target elevator to reach a target floor.
7. The method of claim 6, wherein the method further comprises:
receiving a second robot command sent by the robot, wherein the second robot command is used for indicating that the robot does not enter the target elevator;
and sending a reset signal to the elevator control system based on the second robot command so as to enable a target elevator corresponding to the elevator control system to reach the current floor again.
8. A robot cross-floor mobile device, the device being applied to a robot, the robot being in communication with a cloud server, the cloud server being in communication with an elevator control system, the device comprising: the robot system comprises a robot sending module, a robot receiving module and a moving module;
the robot sending module is used for sending floor information of a target floor where a target position is located to the cloud server so that the cloud server sends a first robot instruction to the elevator control system based on the floor information, the target floor is a floor with the number of layers different from that of the current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
the robot receiving module is used for moving the robot to a target elevator after receiving a first elevator instruction sent by the cloud server, wherein the first elevator instruction is used for indicating the target elevator to reach the current floor;
the robot receiving module is used for moving the robot to a position outside a target elevator after receiving a second elevator instruction sent by the cloud server, wherein the second elevator instruction is used for indicating the target elevator to reach a target floor;
the moving module is used for moving from a position outside the elevator to the target position according to the moving track of the robot.
9. A robot cross-floor mobile device is characterized in that the device is applied to a cloud server which is respectively in communication connection with an elevator control system and a robot, and the device comprises: the server receiving module and the server sending module;
the server receiving module is used for receiving the floor information of the target floor where the target position is sent by the robot;
the server sending module is used for sending a first robot instruction to the elevator control system based on the floor information, the target floor is a floor with the number of layers different from that of the current floor, and the first robot instruction is used for indicating a target elevator corresponding to the elevator control system to move to the current floor;
the server receiving module is further used for receiving a first elevator instruction sent by the elevator control system and sending the first elevator instruction to the robot through the server sending module so that the robot moves into a target elevator, and the first elevator instruction is used for indicating the target elevator to reach the current floor;
and the server receiving module is also used for receiving a second elevator instruction sent by the elevator control system and sending the second elevator instruction to the robot through the server sending module so that the robot moves to a position outside a target elevator, and the second elevator instruction is used for indicating the target elevator to reach a target floor.
10. A robot, comprising: a first memory in which a computer program is stored, the computer program being executable on the first processor, the first processor implementing the steps of the method of any of the preceding claims 1 to 5 when executing the computer program.
11. A cloud server, comprising: a second memory in which a computer program is stored, the computer program being executable on the second processor, and a second processor, the second processor implementing the steps of the method as claimed in claim 6 or 7 when executing the computer program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110940195.8A CN113657565A (en) | 2021-08-17 | 2021-08-17 | Robot cross-floor moving method and device, robot and cloud server |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110940195.8A CN113657565A (en) | 2021-08-17 | 2021-08-17 | Robot cross-floor moving method and device, robot and cloud server |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113657565A true CN113657565A (en) | 2021-11-16 |
Family
ID=78479365
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110940195.8A Pending CN113657565A (en) | 2021-08-17 | 2021-08-17 | Robot cross-floor moving method and device, robot and cloud server |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113657565A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114442610A (en) * | 2021-12-22 | 2022-05-06 | 深圳优地科技有限公司 | Control method, auxiliary system of wheeled robot and wheeled robot |
| CN114671309A (en) * | 2022-04-14 | 2022-06-28 | 广东铃木电梯有限公司 | Elevator robot control system and method |
| CN114852807A (en) * | 2022-04-25 | 2022-08-05 | 北京云迹科技股份有限公司 | Robot ladder calling method and related equipment |
| CN115258854A (en) * | 2022-09-05 | 2022-11-01 | 北京云迹科技股份有限公司 | Method and device for butt-joint diagnosis of elevator control system |
| CN115893130A (en) * | 2023-01-31 | 2023-04-04 | 广东利元亨智能装备股份有限公司 | Control system and method for switching floors of robot, electronic device and storage medium |
| CN117168469A (en) * | 2023-11-03 | 2023-12-05 | 普达迪泰(成都)智造研究院有限公司 | Combined navigation method and system for freely switching navigation modes |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105867390A (en) * | 2016-06-16 | 2016-08-17 | 中南大学 | Method for controlling transport robot to autonomously enter elevator |
| CN208071037U (en) * | 2018-02-07 | 2018-11-09 | 上海有个机器人有限公司 | Intelligent mobile equipment boarding system |
| CN109573754A (en) * | 2018-10-17 | 2019-04-05 | 拉扎斯网络科技（上海）有限公司 | A kind of elevator scheduling method, device, server and computer readable storage medium |
| JP6696101B1 (en) * | 2019-01-17 | 2020-05-20 | 東芝エレベータ株式会社 | Elevator controller |
| CN111232774A (en) * | 2020-03-27 | 2020-06-05 | 蓓安科仪（北京）技术有限公司 | Dispatching method and system for realizing interaction between autonomous mobile robot and elevator |
| CN111332891A (en) * | 2020-03-26 | 2020-06-26 | 上海有个机器人有限公司 | Elevator taking method and elevator taking device |
| CN111984008A (en) * | 2020-07-30 | 2020-11-24 | 深圳优地科技有限公司 | Robot control method, device, terminal and storage medium |
| CN112743549A (en) * | 2021-02-02 | 2021-05-04 | 苏州优智达机器人有限公司 | Robot control method, system, robot and program product |
-
2021
- 2021-08-17 CN CN202110940195.8A patent/CN113657565A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105867390A (en) * | 2016-06-16 | 2016-08-17 | 中南大学 | Method for controlling transport robot to autonomously enter elevator |
| CN208071037U (en) * | 2018-02-07 | 2018-11-09 | 上海有个机器人有限公司 | Intelligent mobile equipment boarding system |
| CN109573754A (en) * | 2018-10-17 | 2019-04-05 | 拉扎斯网络科技（上海）有限公司 | A kind of elevator scheduling method, device, server and computer readable storage medium |
| JP6696101B1 (en) * | 2019-01-17 | 2020-05-20 | 東芝エレベータ株式会社 | Elevator controller |
| CN111332891A (en) * | 2020-03-26 | 2020-06-26 | 上海有个机器人有限公司 | Elevator taking method and elevator taking device |
| CN111232774A (en) * | 2020-03-27 | 2020-06-05 | 蓓安科仪（北京）技术有限公司 | Dispatching method and system for realizing interaction between autonomous mobile robot and elevator |
| CN111984008A (en) * | 2020-07-30 | 2020-11-24 | 深圳优地科技有限公司 | Robot control method, device, terminal and storage medium |
| CN112743549A (en) * | 2021-02-02 | 2021-05-04 | 苏州优智达机器人有限公司 | Robot control method, system, robot and program product |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114442610A (en) * | 2021-12-22 | 2022-05-06 | 深圳优地科技有限公司 | Control method, auxiliary system of wheeled robot and wheeled robot |
| CN114671309A (en) * | 2022-04-14 | 2022-06-28 | 广东铃木电梯有限公司 | Elevator robot control system and method |
| CN114852807A (en) * | 2022-04-25 | 2022-08-05 | 北京云迹科技股份有限公司 | Robot ladder calling method and related equipment |
| CN114852807B (en) * | 2022-04-25 | 2024-03-01 | 北京云迹科技股份有限公司 | Robot ladder calling method and related equipment |
| CN115258854A (en) * | 2022-09-05 | 2022-11-01 | 北京云迹科技股份有限公司 | Method and device for butt-joint diagnosis of elevator control system |
| CN115258854B (en) * | 2022-09-05 | 2024-03-15 | 北京云迹科技股份有限公司 | Butt joint diagnosis method and device for elevator control system |
| CN115893130A (en) * | 2023-01-31 | 2023-04-04 | 广东利元亨智能装备股份有限公司 | Control system and method for switching floors of robot, electronic device and storage medium |
| CN117168469A (en) * | 2023-11-03 | 2023-12-05 | 普达迪泰(成都)智造研究院有限公司 | Combined navigation method and system for freely switching navigation modes |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113657565A (en) | Robot cross-floor moving method and device, robot and cloud server | |
| Schneier et al. | Literature review of mobile robots for manufacturing | |
| Dömel et al. | Toward fully autonomous mobile manipulation for industrial environments | |
| US20190233102A1 (en) | Drone management system and drone management method | |
| AU2020216392B2 (en) | Robot dwell time minimization in warehouse order fulfillment operations | |
| JP7161040B2 (en) | Zone engine for providing contextual enhanced map layers | |
| US20210114225A1 (en) | Item delivery robot, item delivery system and robot management apparatus | |
| JP7369779B2 (en) | Robotic congestion management | |
| JP7179192B2 (en) | Robot-assisted personnel routing | |
| US9881277B2 (en) | Wrist band haptic feedback system | |
| TW201723425A (en) | Using sensor-based observations of agents in an environment to estimate the pose of an object in the environment and to estimate an uncertainty measure for the pose | |
| US11493925B2 (en) | Robot obstacle collision prediction and avoidance | |
| KR20180038669A (en) | Airport robot and airport robot system | |
| US20220281106A1 (en) | Control platform, control system, service providing system, service providing method, and control method | |
| CN114489082A (en) | Method, device and equipment for controlling movement of robot and storage medium | |
| US20240069571A1 (en) | Method and system for controlling a plurality of robots traveling through a specific area, and building in which robots are disposed | |
| CN116700298A (en) | Path planning method, system, equipment and storage medium | |
| JP2021064241A (en) | Article transfer system | |
| CN114442608A (en) | Office building logistics robot and control method thereof | |
| CN110736463A (en) | Industrial robot navigation method and device, computer equipment and storage medium | |
| EP4024152A1 (en) | Transport system, control device, transport method, and program | |
| EP4196861A1 (en) | Robot navigation management between zones in an environment | |
| CN114510022A (en) | Medical transportation robot and control method thereof | |
| US20240111585A1 (en) | Shared resource management system and method | |
| US20220197304A1 (en) | Systems and methods for centralized control of a fleet of robotic devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |