CN112223284A - Robot elevator taking fault processing method and device, electronic equipment and storage medium - Google Patents
Robot elevator taking fault processing method and device, electronic equipment and storage medium Download PDFInfo
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- CN112223284A CN112223284A CN202011055954.4A CN202011055954A CN112223284A CN 112223284 A CN112223284 A CN 112223284A CN 202011055954 A CN202011055954 A CN 202011055954A CN 112223284 A CN112223284 A CN 112223284A
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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
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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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Abstract
The invention discloses a robot elevator-taking fault processing method and device, electronic equipment and a storage medium. Wherein the method comprises the following steps: judging whether the robot in the elevator is in a fault state; and if so, processing the fault of the robot according to the fault state of the robot. According to the embodiment of the invention, the fault processing method is flexibly selected according to the time when the robot is in the fault state, so that the processing mechanism of the elevator taking fault of the robot is perfected, and the service efficiency of the elevator is improved.
Description
Technical Field
The embodiment of the invention relates to the technical field of robot control, in particular to a method and a device for processing a robot elevator taking fault, electronic equipment and a storage medium.
Background
With the rapid development of robot technology, intelligent robots are widely applied to public places such as hospitals, hotels and restaurants, and in many application scenarios, the robots are often required to take elevators to complete certain tasks.
In the prior art, under the mode that one elevator can only bear one robot, when the robot breaks down in the process of taking the elevator, the elevator must be manually pushed out by people, otherwise, under the condition that the fault robot occupies the elevator, the follow-up robot cannot use the elevator, so that the task of the follow-up robot breaks down, and the normal use of the elevator is influenced.
Disclosure of Invention
The invention provides a method and a device for processing elevator taking faults of a robot, electronic equipment and a storage medium, which are used for perfecting a processing mechanism of the elevator taking faults of the robot and improving the service efficiency of an elevator.
In a first aspect, an embodiment of the present invention provides a robot elevator-taking fault processing method, including:
judging whether the robot in the elevator is in a fault state;
and if so, processing the fault of the robot according to the fault state of the robot.
In a second aspect, an embodiment of the present invention further provides a fault handling device for a robot during elevator riding, including:
the judging module is used for judging whether the robot in the elevator is in a fault state or not;
and the processing module is used for processing the fault of the robot according to the fault state of the robot if the fault state is positive.
In a third aspect, an embodiment of the present invention further provides an electronic device, where the electronic device includes:
one or more processors;
a storage device for storing one or more programs,
when the one or more programs are executed by the one or more processors, the one or more processors implement the method for handling the robot elevator taking fault according to any one of the embodiments of the present invention.
In a fourth aspect, embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the robot elevator-taking fault handling method according to any one of the embodiments of the present invention.
According to the method, the fault of the robot is processed by adopting different strategies according to the fault state of the robot in the elevator, compared with the processing method of manually removing the fault in the prior art, the fault processing method is flexibly selected according to the fault state of the robot, the processing mechanism of the elevator taking fault of the robot is perfected, and the use efficiency of the elevator is improved.
Drawings
Fig. 1 is a flowchart of a fault handling method for a robot during elevator riding according to an embodiment of the present invention;
fig. 2 is a flowchart of a robot elevator-taking fault handling method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a fault handling apparatus for a robot during elevator riding according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for handling an elevator taking fault of a robot according to an embodiment of the present invention, where the embodiment is applicable to handling an elevator taking fault of a robot, and the method may be executed by an elevator taking fault handling device of a robot, where the elevator taking fault handling device may be implemented by software and/or hardware.
In order to clearly explain the technical means in the embodiments of the present application, first, the robot elevator system according to the embodiments of the present application will be explained.
The robot elevator taking system in this embodiment may include a background dispatching system, a robot, an elevator, and an elevator controller. The robot and the elevator controller can be connected with the background dispatching system in a wired or wireless mode, the robot can send state information of the robot and elevator taking requests to the background server, and the elevator controller can also send running states of the elevators to the background dispatching system, so that the background dispatching system allocates the elevators for the robot according to the elevator taking requests of the robot and the current running states of the elevators, and dispatching of the robot and the elevators is achieved. Further, communication between the elevator and the robot can be realized by arranging a communication module on the elevator.
In general, because the space in the elevator is limited, only one robot can be carried by one elevator in the embodiment for a specific application scenario.
And S110, judging whether the robot in the elevator is in a fault state.
In this embodiment, before determining whether the robot inside the elevator is in a fault state, it is necessary to determine whether the robot enters the elevator, and when the robot sends a door control signal, it is determined that the robot has entered the elevator according to the door control signal. Specifically, when the elevator reaches the designated floor, the robot sends a door control signal after entering the elevator, the elevator controls the elevator door to close according to the door control signal, and at the moment, the background can judge that the robot has entered the elevator; after the robot reaches the target floor, the robot sends an elevator door control signal, the elevator controls the elevator door to be opened according to the signal, the robot leaves the elevator, and at the moment, the background can judge that the robot leaves the elevator. When the robot enters the elevator, a door closing signal is sent, and the background judges that the robot enters the elevator according to the door closing signal.
Optionally, before determining whether the robot inside the elevator is in the fault state, the method further includes: presetting the position information of an elevator in a global map; acquiring the robot position information acquired by a robot positioning device in real time, and judging whether the robot position information is the same as the position information of the elevator in a global map or not; and if so, the robot enters the elevator.
The global map is map information including a robot movement range and an elevator position area. The position information of an elevator to be carried by the robot is preset in the global map, the robot can acquire the position information in the advancing process in real time through a positioning device arranged on the robot in the running process and upload the real-time position information to the background server, and when the real-time position information of the robot is the same as the position information of the elevator in the global map, the robot is shown to enter the elevator.
Furthermore, after the robot enters the elevator, the robot can communicate with the background server and feed back the state information of the robot to the background server in real time, and the background server judges whether the robot is in a fault state or not according to the state information reported by the robot.
Specifically, when the robot fails, the controller arranged in the robot recognizes the failure and reports an abnormal state to the background server, so as to inform the background server that the current robot is in the failure state.
Furthermore, in the running process of the robot, a hardware fault may occur to cause signal interruption, and when a similar fault occurs in the robot, the fault cannot be notified in a manner of reporting an abnormal state. Therefore, as another alternative implementation manner, in the present embodiment, the fault may be identified by actively querying the robot state through the backend server. The fault state of the robot is judged by combining various fault identification means, so that the fault of the robot can be accurately and comprehensively identified, and the safe operation of the robot is guaranteed.
The fault states of the robot include but are not limited to faults such as motor abnormality, failure of the image acquisition device to acquire images normally, robot signal loss and robot power-off restart.
And S120, if so, processing the fault of the robot according to the fault state of the robot.
In this embodiment, the recovery mechanisms corresponding to different fault states of the robot are different, and some faults can be relieved through the recovery mechanism of the robot itself, such as signal loss or restart and other fault states; some faults cannot be relieved by the recovery mechanism of the robot, such as irreversible fault states of device damage and the like.
For example, when the robot is in a fault state of signal loss or restart, the fault is handled by setting a fault resolution mechanism, and optionally, the robot retrieves the signal again or restarts by setting a preset time, in which case, the robot is enabled to automatically remove the fault, so as to recover to a normal state within a certain time.
When the positioning device of the robot cannot perform positioning identification, irreversible faults such as damage and the like may occur to the positioning device of the robot, and when the robot is in a similar fault state, the robot cannot be restored to a normal state only by a self restoration mechanism, and the fault is processed by the fault solving mechanism of the scheme. Therefore, when the robot is detected to return to the normal state from the fault state within the preset time range, manual intervention processing is not carried out, if the time that the robot is detected to be in the fault state exceeds the preset time range, it is judged that manual intervention is needed to remove the current fault as soon as possible, fault processing is carried out by generating fault reminding information and sending the fault reminding information to corresponding management personnel, the robot is repaired in time, the current task is continued or terminated, and elevator resources are released as soon as possible. The self-recovery mechanism of the robot can be utilized to avoid the times of manual access processing to a great extent, so that the labor cost is saved, and the processing of elevator taking faults of the robot is more intelligent.
According to the technical scheme of the embodiment, the fault of the robot is processed according to the fault state of the robot in the elevator, and compared with a processing method for fault elimination only through manpower in the prior art, the fault processing method is flexibly selected according to the fault state of the robot, so that a processing mechanism of the fault of the elevator riding of the robot is perfected, and the use efficiency of the elevator is improved.
Example two
Fig. 2 is a flowchart of a robot elevator-taking fault handling method according to a second embodiment of the present invention, which is based on the second embodiment, and in this embodiment, S110 and S120 are further detailed, where S110 is specifically detailed as: inquiring the state information of the robot at regular time; and if the state information returned by the robot is not acquired within a preset first time threshold, judging that the robot is in a fault state and marking the robot as the fault state. The state information of the robot is inquired at regular time to realize real-time monitoring of the state of the robot.
Specifically, S120 may be subdivided into: if the robot is detected to be recovered to the normal state within a preset second time threshold, the fault state of the robot is relieved, and the robot is controlled to continue to complete the current task; and if the robot is not detected to be recovered to the normal state within a preset second time threshold, informing a user of manual obstacle clearance. The corresponding fault processing method is determined according to the time when the robot is in the fault state, and the processing mechanism of the fault when the robot takes the elevator is improved.
With further reference to fig. 2, the method comprises:
and S210, regularly inquiring the state information of the robot.
In this embodiment, when the robot is inside the elevator, the background server may periodically query the state of the robot at certain time intervals, and the robot receives the query request from the background server and correspondingly reports its own state information to the background server, so that the background server may obtain the real-time state information of the robot.
S220, if the state information returned by the robot is not acquired within a preset first time threshold, judging that the robot is in a fault state and marking the robot as the fault state.
The first time threshold may be set according to the performance of the robot and an actual application scenario.
When the robot fails, the robot cannot return a state query request of the background server, and if the state information returned by the robot is not acquired within a preset first time, the robot can be judged to be in a failure state at the moment, and the state of the robot is correspondingly marked as the failure state.
And S230, if the robot is detected to be recovered to the normal state within a preset second time threshold, the fault state of the robot is relieved, and the robot is controlled to continue to complete the current task.
The preset second time threshold value can be set according to the actual performance and the actual use scene of the robot. Illustratively, when the robot automatically releases the fault state within 5 minutes and recovers to the normal state, the background server releases the fault state of the robot according to the state information reported by the robot, and controls the robot to continue to complete the current task.
And S240, if the robot is not detected to be recovered to the normal state within a preset second time threshold, informing a user of manual troubleshooting.
Illustratively, when the robot does not automatically release the fault state within 5 minutes, fault prompt information is generated according to the current fault and sent to the user so as to inform the user of manual troubleshooting.
Specifically, the fault prompt message may include a fault type and a fault location, and the user may be an elevator manager or a manager corresponding to the robot. After the background server generates corresponding prompt information, the user can be informed of manual troubleshooting through telephone, short message, mail and other modes.
According to the technical scheme, by inquiring the state information of the robot regularly, when the state information returned by the robot is not acquired within a preset first time threshold, the robot is judged to be in a fault state and is marked as the fault state, the time of the robot in the fault state is further detected, if the robot is detected to be in a normal state within a preset second time threshold, the fault state of the robot is relieved, the robot is controlled to continue to complete a task, and if the robot is not detected to be in the normal state within the preset second time threshold, a user is informed to perform manual obstacle elimination. By a timing query mechanism for the state of the robot, the problem that the subsequent robot acquires elevator resources due to the fact that the robot breaks down in the elevator for a long time can be avoided; the robot self-recovery mechanism can greatly avoid the times of manual intervention processing, save the labor cost and is more intelligent; when the robot cannot be recovered, the background notification mechanism can guarantee the normal operation of the whole system to the maximum extent.
Further, on the basis of the above embodiment, S110 may be further refined as: and if the abnormal state information reported by the robot is acquired, judging that the robot is in a fault state and marking the robot as the fault state. Specifically, when the robot fails, a controller arranged inside the robot can identify the failure and send an abnormal state to the background server to inform the background server that the robot is currently in the failure state.
In general, after the robot reports the abnormal state information, the control device performs a restart operation, and specifically, after the robot is determined to be in a fault state and is marked as the fault state if the abnormal state information reported by the robot is acquired, the method further includes: and if the robot is detected to be restarted within the preset time and the restarted robot is detected to be recovered to the normal state, controlling the robot to continuously finish the current task. Illustratively, when the robot detects that the robot has a fault, abnormal state information is reported to the background server in time to inform that the background server is in a fault state at present, and the robot is controlled to restart at the same time.
Further, on the basis of the above embodiment, the embodiment of the present invention further includes:
if the robot is detected to enter the elevator, the using state of the elevator is marked as an occupied state;
and sending the use state of the elevator to any other robot requesting to take the elevator so as to inform the other robot that the elevator is not available currently.
In this embodiment, when the robot enters the elevator, the robot actively informs the background server, and after receiving the information reported by the robot, the background server marks the state of the elevator where the robot is located as an occupied state. When other robots request to take the elevator, the background server can inform other robots that the elevator is currently unavailable and does not allow other robots requesting to take the elevator to go forward, so that the situation of congestion fault caused by the fact that a plurality of robots take the elevator at the same time in one elevator is avoided.
Further, the method further comprises: if the robot is detected to leave the elevator, the using state of the elevator is marked as an idle state; and determining the next target robot taking the elevator according to the elevator taking request information of other robots requesting to take the elevator.
When the robot leaves the elevator, the robot reports the information to the background server, the background server sets the elevator to be in an idle state according to the information reported by the robot, and then the next target robot taking the elevator is determined from other robots requesting to take the elevator.
Specifically, if only one robot requests to take the elevator at present, the robot is allowed to take the elevator in the idle state; if a plurality of robots currently request to take the elevator at the same time, the next target robot to take the elevator can be determined based on the elevator taking request information of each elevator. For example, the robot that has issued the earliest elevator boarding request may be selected as the target robot according to the time at which each robot issued the elevator boarding request. The next target robot for taking the elevator is determined by the above mode, the operation efficiency of the elevator can be improved, and reasonable and effective allocation of elevator resources is realized.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a robot elevator-taking fault handling device according to a third embodiment of the present invention, which is capable of executing a robot elevator-taking fault handling method according to any embodiment of the present invention. Referring to fig. 3, the apparatus includes a determination module 310 and a processing module 320.
The determining module 310 is specifically configured to: inquiring the state information of the robot at regular time;
and if the state information returned by the robot is not acquired within a preset first time threshold, judging that the robot is in a fault state and marking the robot as the fault state.
The determining module 310 is further specifically configured to: and if the abnormal state information reported by the robot is acquired, judging that the robot is in a fault state and marking the robot as the fault state.
According to the technical scheme of the embodiment, the fault of the robot is processed according to the fault state of the robot in the elevator, compared with a processing method for fault elimination only through manpower in the prior art, the fault processing method is flexibly selected according to the fault state of the robot, a processing mechanism of the fault of the robot when the robot takes the elevator is perfected, and the use efficiency of the elevator is improved.
Further, the processing module 320 is specifically configured to: if the robot is detected to be recovered to the normal state within a preset second time threshold, the fault state of the robot is relieved, and the robot is controlled to continue to complete the current task;
and if the robot is not detected to be recovered to the normal state within a preset second time threshold, informing a user of manual obstacle clearance.
Further, the device also comprises a state marking module and a dispatching module, wherein the state marking module is used for marking the use state of the elevator as an occupied state if the condition that the robot enters the elevator is detected;
the dispatching module is used for sending the use state of the elevator to any other robot requesting to take the elevator so as to inform the other robots that the elevator is not available currently.
Optionally, the state marking module is further configured to mark the use state of the elevator as an idle state if it is detected that the robot leaves the elevator;
the dispatching module is also used for determining the next target robot taking the elevator according to the elevator taking request information of other robots requesting to take the elevator.
The robot elevator-taking fault processing device provided by the embodiment of the invention can execute the robot elevator-taking fault processing method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
Example four
Fig. 4 is a schematic structural diagram of an electronic device according to a fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary electronic device 12 suitable for use in implementing embodiments of the present invention. The electronic device 12 shown in fig. 4 is only an example and should not bring any limitation to the function and the scope of use of the embodiment of the present invention.
As shown in FIG. 4, electronic device 12 is embodied in the form of a general purpose computing device. The components of electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. The electronic device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, implementing the robot elevator-taking fault handling method provided by the embodiment of the present invention.
EXAMPLE five
An embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements a method for handling a fault when a robot takes an elevator, where the method includes:
judging whether the robot in the elevator is in a fault state;
and if so, processing the fault of the robot according to the time when the robot is in the fault state.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (11)
1. A robot elevator-taking fault processing method is characterized by comprising the following steps:
judging whether the robot in the elevator is in a fault state;
and if so, processing the fault of the robot according to the fault state of the robot.
2. The method of claim 1, further comprising, prior to determining whether the robot inside the elevator is in a fault condition:
when the robot sends a door control signal, it is determined that the robot has entered the interior of the elevator according to the door control signal.
3. The method of claim 1, further comprising, prior to determining whether the robot inside the elevator is in a fault condition:
acquiring the robot position information acquired by a robot positioning device in real time, and judging whether the robot position information is the same as the position information of the elevator in a global map or not;
and if so, the robot enters the elevator.
4. The method of claim 1, wherein determining whether the robot inside the elevator is in a fault state comprises:
inquiring the state information of the robot at regular time;
and if the state information returned by the robot is not acquired within a preset first time threshold, judging that the robot is in a fault state and marking the robot as the fault state.
5. The method of claim 1, wherein determining whether the robot inside the elevator is in a fault state comprises:
and if the abnormal state information reported by the robot is acquired, judging that the robot is in a fault state and marking the robot as the fault state.
6. The method according to claim 5, wherein after determining that the robot is in a fault state and marking the robot as the fault state if the abnormal state information reported by the robot is obtained, the method further comprises:
and if the robot is detected to be restarted within the preset time and the restarted robot is detected to be recovered to the normal state, controlling the robot to continuously finish the current task.
7. The method of claim 1, wherein handling the fault with the robot based on the robot being in a fault condition comprises:
if the robot is detected to be recovered to the normal state within a preset second time threshold, the fault state of the robot is relieved, and the robot is controlled to continue to complete the current task;
and if the robot is not detected to be recovered to the normal state within a preset second time threshold, informing a user of manual obstacle clearance.
8. The method of claim 1, further comprising:
if the robot is detected to enter the elevator, the use state of the elevator is marked as an occupied state, and the use state of the elevator is sent to any other robot requesting to take the elevator, so that the other robot is informed that the elevator is unavailable currently;
and if the robot is detected to leave the elevator, marking the use state of the elevator as an idle state, and determining the next target robot taking the elevator according to the elevator taking request information of other robots requesting to take the elevator.
9. A robot elevator-taking fault processing device is characterized by comprising:
the judging module is used for judging whether the robot in the elevator is in a fault state or not;
and the processing module is used for processing the fault of the robot according to the fault state of the robot.
10. An electronic device, characterized in that the electronic device comprises:
one or more processors;
a storage device for storing one or more programs,
when executed by the one or more processors, cause the one or more processors to implement the robot ride lift fault handling method of any of claims 1-8.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the robot elevator-taking fault handling method according to any one of claims 1 to 8.
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| CN114153190A (en) * | 2021-11-03 | 2022-03-08 | 北京三快在线科技有限公司 | Unmanned equipment control method and device, storage medium and electronic equipment |
| CN114180428A (en) * | 2021-11-29 | 2022-03-15 | 北京云迹科技有限公司 | Method and device for robot to recover task |
| CN114180430A (en) * | 2021-11-29 | 2022-03-15 | 北京云迹科技有限公司 | Method and device for robot to execute task |
| CN114212636A (en) * | 2021-12-01 | 2022-03-22 | 北京云迹科技股份有限公司 | Elevator monitoring method and device based on mobile robot, storage medium and equipment |
| CN114538228A (en) * | 2021-11-29 | 2022-05-27 | 北京云迹科技股份有限公司 | Robot recovery mechanism method and device |
| CN114180428B (en) * | 2021-11-29 | 2024-06-25 | 北京云迹科技股份有限公司 | Method and device for recovering tasks of robot |
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| CN114180430A (en) * | 2021-11-29 | 2022-03-15 | 北京云迹科技有限公司 | Method and device for robot to execute task |
| CN114538228A (en) * | 2021-11-29 | 2022-05-27 | 北京云迹科技股份有限公司 | Robot recovery mechanism method and device |
| CN114180428B (en) * | 2021-11-29 | 2024-06-25 | 北京云迹科技股份有限公司 | Method and device for recovering tasks of robot |
| CN114180430B (en) * | 2021-11-29 | 2024-06-25 | 北京云迹科技股份有限公司 | Method and device for robot to execute task |
| CN114212636A (en) * | 2021-12-01 | 2022-03-22 | 北京云迹科技股份有限公司 | Elevator monitoring method and device based on mobile robot, storage medium and equipment |
| CN114212636B (en) * | 2021-12-01 | 2023-12-26 | 北京云迹科技股份有限公司 | Elevator monitoring method and device based on mobile robot, storage medium and equipment |
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