CN112388624B - Robot control method and apparatus, storage medium, and electronic apparatus - Google Patents
Robot control method and apparatus, storage medium, and electronic apparatus Download PDFInfo
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- CN112388624B CN112388624B CN201910755351.6A CN201910755351A CN112388624B CN 112388624 B CN112388624 B CN 112388624B CN 201910755351 A CN201910755351 A CN 201910755351A CN 112388624 B CN112388624 B CN 112388624B
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- 238000000034 method Methods 0.000 title claims abstract description 55
- 230000008569 process Effects 0.000 claims abstract description 17
- 238000004590 computer program Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 14
- 230000036963 noncompetitive effect Effects 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000006399 behavior Effects 0.000 description 5
- 238000011084 recovery Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000002860 competitive effect Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0012—Devices monitoring the users of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- Automation & Control Theory (AREA)
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- Manufacturing & Machinery (AREA)
- General Engineering & Computer Science (AREA)
- Artificial Intelligence (AREA)
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- Mathematical Physics (AREA)
- Software Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention provides a control method and device of a robot, a storage medium and an electronic device, wherein the method comprises the following steps: detecting that a first robot and a second robot compete to pass through a first area, wherein the passing width of the first area only allows one robot to pass through; controlling the first robot to pass through the first zone if the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone; and in the process of controlling the first robot to pass through the first area, controlling the second robot to be positioned outside the first area. The invention solves the problem that the running efficiency of the robot is low due to the possibility of collision, blockage and the like when the robot passes through a gate, a narrow passage or an elevator in the process of simultaneously driving a plurality of robots in the same building in the related art.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and an apparatus for controlling a robot, a storage medium, and an electronic apparatus.
Background
Currently, a distribution robot may be used to perform distribution of items within a building. In order to improve the delivery efficiency, a plurality of delivery robots must be simultaneously delivered in the same building. In the process that a plurality of robots simultaneously travel in the same building, the robots are operated inefficiently due to the possibility of collision, jamming, etc. when passing through gates, narrow passageways, or using elevators.
It can be seen that, in the related art, in the process of simultaneously driving a plurality of robots in the same building, when passing through a gate, a narrow passage, or using an elevator, the operation efficiency of the robots is low due to the possibility of collision, jamming, and the like.
Disclosure of Invention
Embodiments of the present invention provide a method and an apparatus for controlling a robot, a storage medium, and an electronic apparatus, so as to solve at least the problem in the related art that when a plurality of robots simultaneously travel in the same building, the operation efficiency of the robot is low due to a possibility of collision, jamming, and the like when passing through a gate, a narrow passage, or using an elevator.
According to an embodiment of the present invention, there is provided a control method of a robot including: detecting that a first robot and a second robot compete to pass through a first area, wherein the passing width of the first area only allows one robot to pass through; controlling the first robot to pass through the first zone in the case that the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone; and in the process of controlling the first robot to pass through the first area, controlling the second robot to be positioned outside the first area.
Optionally, detecting that the first robot and the second robot compete for passage through the first area comprises: acquiring a first position where a first robot is located and a second position where a second robot is located; determining that the first robot and the second robot are both located in the first area according to the first position and the second position; or determining that a first elevator where the first robot is located reaches a target floor corresponding to a first area according to the first position and the second position, and determining that the second robot is located in the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor; or determining that a second elevator where a second robot is located reaches a target floor corresponding to a first area according to the first position and the second position, wherein the first robot is located in the first area, the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor; or determining that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time according to the first position and the second position, wherein the target floor is a target floor where the first robot takes the first elevator, and a target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
Optionally, detecting that the first robot and the second robot compete for passage through the first area comprises one of: detecting that a second robot enters a first area in a case where the first robot is located within the first area; detecting that the first robot enters the first area in a case where the second robot is located within the first area; detecting that the first robot and the second robot enter a first area simultaneously; under the condition that the second robot is located in the first area, detecting that a first elevator where the first robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor; under the condition that the first robot is located in the first area, detecting that a second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor; the method comprises the steps of detecting that a first elevator where a first robot is located and a second elevator where a second robot is located reach a target floor corresponding to a first area at the same time, wherein the target floor is the target floor where the first robot takes the first elevator, the target floor where the second robot takes the second elevator is the target floor, and the first area comprises an exit area of the target floor.
Optionally, before controlling the first robot to pass through the first area, the method further comprises one of: determining that the first robot has a higher priority to pass through the first area than the second robot has to pass through the first area if a first time at which the first robot enters the first area is earlier than a second time at which the second robot enters the first area; when a first elevator where a first robot is located reaches a target floor corresponding to a first area and a second robot is located in the first area, determining that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area, wherein the target floor is the target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor.
Optionally, controlling the second robot to be located outside the first area comprises one of: controlling the second robot to move to a target scheduling point in a second area, wherein the second area is adjacent to the first area, the passing width of the second area allows at least two robots to pass through, and the target scheduling point is a preset position allowing the second robot to stop; and controlling the second robot to stay in the second elevator under the condition that the second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor.
Optionally, after detecting that the first robot and the second robot compete to pass through the first area, the method further includes: and controlling a robot selected from the first robot and the second robot to pass through the first area and controlling the other robot to be located at a position outside the first area, in the case where the priority of the first robot to pass through the first area is equal to the priority of the second robot to pass through the first area.
According to another embodiment of the present invention, there is provided a control apparatus of a robot including: the detection unit is used for detecting that the first robot and the second robot compete to pass through a first area, wherein the passing width of the first area only allows one robot to pass through; a first control unit for controlling the first robot to pass through the first zone in case that the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone; and the second control unit is used for controlling the second robot to be positioned outside the first area in the process of controlling the first robot to pass through the first area.
Optionally, the detection unit comprises: the detection unit includes: the acquisition module is used for acquiring a first position where the first robot is located and a second position where the second robot is located; the first determining module is used for determining that the first robot and the second robot are both located in the first area according to the first position and the second position; or the second determining module is used for determining that the first elevator where the first robot is located reaches a target floor corresponding to the first area according to the first position and the second position, and the second robot is located in the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor; or the third determining module is used for determining that the second elevator where the second robot is located reaches a target floor corresponding to the first area according to the first position and the second position, and the first robot is located in the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor; or the fourth determining module is used for determining that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time according to the first position and the second position, wherein the target floor is a target floor where the first robot takes the first elevator, the target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
According to yet another embodiment of the present invention, there is also provided a storage medium having a computer program stored therein, wherein the computer program is configured to execute the control method of any one of the above robots when executed.
According to another aspect of the embodiments of the present invention, there is also provided an electronic apparatus, including a memory and a processor, where the memory stores a computer program, and the processor is configured to execute the method described above through the computer program.
By the invention, the first robot and the second robot are detected to compete to pass through the first area, wherein the passing width of the first area only allows one robot to pass through; controlling the first robot to pass through the first zone in the case that the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone; in the process of controlling the first robot to pass through the first area, the second robot is controlled to be located at a position outside the first area, when different robots are detected to compete to pass through the first area (competition area), the high-priority robot is controlled to pass through the first area and other robots are controlled to be located at positions outside the first area, so that the situation that the robots are blocked due to the fact that the robots simultaneously pass through the first area is avoided, the number of the accommodating robots in the same building is increased, the problem that in the related art, when a plurality of robots simultaneously run in the same building, the running efficiency of the robots is low due to the fact that collision, blocking and the like may occur when the robots pass through gates, narrow passageways or use elevators is solved, and the technical effects of improving the running efficiency of the robots and improving the service quality are achieved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:
fig. 1 is a block diagram of a hardware configuration of a server of a control method of a robot according to an embodiment of the present invention;
FIG. 2 is a flow chart of an alternative method of controlling a robot in accordance with an embodiment of the present invention;
FIG. 3 is a schematic diagram of an alternative method of controlling a robot in accordance with embodiments of the present invention;
FIG. 4 is a schematic diagram of an alternative method of controlling a robot in accordance with an embodiment of the present invention;
fig. 5 is a block diagram of an alternative control apparatus for a robot according to an embodiment of the present invention.
Detailed Description
The invention will be described in detail hereinafter with reference to the drawings and embodiments. It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the embodiments of the present application may be executed in a server, a robot, or a similar computing device. Taking the example of running on a server, fig. 1 is a hardware block diagram of the server of the control method of the robot according to the embodiment of the present invention. As shown in fig. 1, the server 10 may include one or more processors 102 (only one is shown in fig. 1) (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data, and optionally may further include a transmission device 106 for communication functions and an input-output device 108. It will be understood by those skilled in the art that the structure shown in fig. 1 is only an illustration, and is not intended to limit the structure of the server. For example, the server 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration than shown in FIG. 1.
The memory 104 may be used to store a computer program, for example, a software program of application software and a module, such as a computer program corresponding to the control method of the robot in the embodiment of the present invention, and the processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, so as to implement the method described above. The memory 104 may include high speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, memory 104 may further include memory located remotely from processor 102, which may be connected to server 10 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The transmission device 106 is used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 10. In one example, the transmission device 106 includes a Network adapter (NIC), which can be connected to other Network devices through a base station so as to communicate with the internet. In one example, the transmission device 106 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
Optionally, the server may be a single server, a server cluster composed of a plurality of servers, or a cloud server.
Optionally, in this embodiment, as an optional implementation manner, the method may be executed by a server, may also be executed by a robot, or is executed by both the server and the robot. As shown in fig. 2, the flow of the control method of the robot may include the steps of:
step S202, detecting that a first robot and a second robot compete to pass through a first area, wherein the passing width of the first area only allows one robot to pass through;
step S204, controlling the first robot to pass through the first area under the condition that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area;
in step S206, the second robot is controlled to be located at a position outside the first area while the first robot is controlled to pass through the first area.
Alternatively, the control device of the robot may be, but is not limited to, a process of using the robot to distribute articles in a building, or other scenes for controlling the robot to perform tasks.
Through the embodiment, the first robot and the second robot are detected to compete to pass through the first area, wherein the passing width of the first area only allows one robot to pass through; controlling the first robot to pass through the first area under the condition that the priority of the first robot passing through the first area is higher than that of the second robot passing through the first area; in the process of controlling the first robot to pass through the first area, the second robot is controlled to be located at a position outside the first area, the problem that in the process of simultaneously driving a plurality of robots in the same building in the related art, when the robots pass through a gate, a narrow passage or an elevator, the running efficiency of the robots is low due to possible occurrence of collision, blocking and the like is solved, the running efficiency of the robots is improved, and the service quality is improved.
In step S202, it is detected that the first robot and the second robot compete to pass through a first area, wherein a passage width of the first area allows only one robot to pass through.
The first robot and the second robot may be distribution robots that distribute articles within the same building. Within the same building, the delivery robot can move according to a moving path configured by a server (e.g., a cloud server). The cloud can configure the movement paths of all connected robots. For the distribution robot, a passable area, a competitive area, and a non-competitive area within the building may be set, wherein,
(1) the path is a path of a possible depending position of a robot connected to the cloud end edited by the cloud end. The robot will follow the path and if the path is occupied, the robot will bypass itself.
(2) The passable area is an area allowing the robot to travel. The passable area can be determined by setting the middle passing width on the left and right sides of the point on the path.
(3) The competition area is an area along the path that allows only one robot to pass through (e.g., the competition area may be an area along the path that has a passable width of less than 2 m). When the 1 st robot occupies the competition area and the 2 nd or more robots want to occupy the competition area, the scheduling behavior is executed. The contention region may include a first region.
(4) A non-competitive region is a region along the path that allows more than 1 robot to pass through (e.g., a non-competitive region may be a region along the path that has a passable width greater than 2 m). The non-contention region may include a second region.
Optionally, one or more scheduling points may be preset in each non-contention region, and the scheduling point may be any position in the middle of the non-contention region. At each scheduling point, when a plurality of robots compete to pass through the competition area, the robots competing to the first area can be parked at one parking point, so that the subsequent scheduling can be conveniently carried out under the condition that the running of other robots is not influenced.
At the cloud, the building can be represented as a Graph data structure, and each edge adds attributes including whether there is a competitive region, and the coordinates of a scheduling point (which can be in a non-competitive region), where the scheduling point is not the vertex of a non-competitive edge; a non-competitive edge can continue to be split into multiple non-competitive edges by adding control points (to avoid scheduling points too far).
For example, for a route and a passable area within a building on the map shown in fig. 3, the cloud may construct it as a graph as shown in fig. 4, on which a competitive area, a non-competitive area, and a dispatch point are displayed.
Optionally, in this embodiment, the detecting that the first robot and the second robot compete to pass through the first area includes: acquiring a first position where a first robot is located and a second position where a second robot is located; and determining that the first robot and the second robot compete to pass through the first area according to the first position and the second position.
Navigation behaviors (e.g., a starting point, a target point, and a route from the starting point to the target point of a navigation task) of all robots (robots connected to the cloud) are issued by the cloud. The robot can send its positional information to the high in the clouds in real time, and the high in the clouds can be through receiving the real-time position that first robot and second robot sent, obtain the first position that first robot is located and the second position that the second robot is located.
The robot comprises a first robot and a second robot, wherein the first robot and the second robot are provided with positioning modules for positioning, the positioning modules can be GPS (Global positioning System) modules or WIFI modules, the robot and a cloud end can be in wireless connection (for example, 4G, 5G and the like) through establishment, communication is carried out by using the established connection, for example, the cloud end sends a distribution instruction, a navigation task (which can comprise a mobile route) and the like to the robot through the established wireless connection, and the robot can send positioning information to the cloud end through the established wireless connection.
For example, the first robot and the second robot may periodically (e.g., 1s, 3s, 5s, etc.) acquire real-time positions and send acquired position information (first position information indicating a first position and second position information indicating a second position) to the cloud server.
After obtaining the first location and the second location, the server may determine that the first robot and the second robot compete to pass through the first area according to the first location and the second location.
Through the embodiment, the robot is determined to compete to pass through the competition area according to the position information of the robot, the accuracy of the determination result can be ensured, and the control capability of the robot is improved.
In a scene that a plurality of distribution robots operate in the same building and only accommodate 1 robot to operate in narrow passages, elevator cabs and the like, the robot can not pass smoothly and is blocked when more than 1 robot passes through the narrow passages or is navigated by taking advantage of elevator cross-floor navigation.
In order to ensure that the delivery robot can safely use the elevator, a server for controlling the robot can communicate with an elevator center (or, the two can be integrated into the same device), a special command is sent to the elevator center, the robot is controlled to press an elevator taking button at a first floor (a floor where the robot is to enter the elevator), after the elevator reaches the first floor, the elevator center sends indication information for indicating that the elevator reaches the first floor to the server, and the server sends an elevator command to the robot to control the robot to enter the elevator. The target floor (the destination floor on which the robot takes the elevator) is pressed for the robot after the robot enters the elevator. When the elevator arrives at the destination floor, the elevator center can send instruction information for instructing the arrival of the destination floor with the server, and the server sends an elevator command to the robot to control the robot to move out of the elevator.
It should be noted that the robot may also interact directly with the elevator center through network connection, and the elevator center controls the robot to press the elevator riding button, control the robot to enter the elevator, press the target floor for the robot, and control the robot to move out of the elevator.
For different scenarios, it may be determined in a number of ways that the first robot and the second robot compete to pass through the first area. The behavior of occupying the contention region (contention through the first region) may be: the robot position enters the range of a competition area (a first area); or the elevator center sends the destination floor to arrive (after the robot arrives at the destination floor, the robot moves out of the elevator and can enter the competition area).
For example, for a scene in which two robots move in a specific direction (the moving directions of the two robots may be the same or different) and enter a first area, it may be determined that the first robot and the second robot are both located in the first area according to the first position and the second position, and then it is determined that the first robot and the second robot compete to pass through the first area.
For another example, for a scene that one robot moves in a specific manner and enters a first area and another robot arrives at the first area by taking an elevator, it may be determined that the first elevator where the first robot is located arrives at a target floor corresponding to the first area according to the first position and the second position, and the second robot is located in the first area, where the target floor is a target floor where the first robot takes the first elevator, and the first area includes an exit area of the target floor; or, it may be determined that the second elevator where the second robot is located reaches the target floor corresponding to the first area according to the first position and the second position, and the first robot is located in the first area, where the target floor is a target floor where the second robot takes the second elevator, and the first area includes an exit area of the target floor.
For another example, in a scenario where two robots both take elevators (may take the same elevator or different elevators) to reach a first area, it may be determined, according to the first position and the second position, that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time, where the target floor is a target floor where the first robot takes the first elevator and a target floor where the second robot takes the second elevator, and the first area includes an exit area of the target floor.
Through the embodiment, the robot is determined to compete to pass through the competition area in different modes aiming at different scenes, so that the accuracy of the determination result can be ensured, and the control capability of the robot is improved.
In addition to determining that the robot competes for passing through the competition area based on the position information, the server may determine that the robot competes for passing through the competition area in other manners. For example, the first area may be photographed by a camera (or other image capturing device) disposed in the first area or at a position where the first area can be photographed, and it is determined that the robot competes for passing through the competition area according to robot information (whether the robot is included, which robots are included) included in the photographed image.
In determining the robot information included in the photographed image, the robot included in the photographed image may be determined according to the characteristics of the robot, and a number (e.g., an actual number, a graphic code representing the actual number) of the robot may be recognized at a specific position of the included robot, so that the server manages the robot.
Optionally, in this embodiment, the detecting that the first robot and the second robot compete to pass through the first area includes one of:
(1) detecting that a second robot enters a first area in a case where the first robot is located within the first area;
(2) detecting that the first robot enters the first area in a case where the second robot is located within the first area;
(3) detecting that the first robot and the second robot enter a first area simultaneously;
(4) under the condition that the second robot is located in the first area, detecting that a first elevator where the first robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor;
(5) under the condition that the first robot is located in the first area, detecting that a second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor;
(6) and detecting that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time, wherein the target floor is a target floor where the first robot takes the first elevator and a target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
The detection process may be performed using the position information of the first robot and the position information of the second robot, or may be performed using image information captured by the camera.
Through this embodiment, adopt different modes to confirm that the robot competes through the competition area to different scenes, can guarantee the accuracy of result of confirming, improve the control ability of robot, provide the basis for the dispatch of robot simultaneously, improve the accuracy of dispatch.
The first robot and the second robot may travel in the same direction or in opposite directions in the first area (the two robots travel in the first area in opposite directions). In order to improve the task execution efficiency of the robot, the operation efficiency of the robot is ensured, and the robot with the opposite traveling direction can be controlled.
In step S204, the first robot is controlled to pass through the first zone if the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone.
After it is detected that the first robot and the second robot compete to pass through the first area, the priority of the robot passing through the first area can be judged, and the robot is controlled according to the priority. The priority of passing through the first zone may be determined based on task priority or may be determined according to a "first come first pass" ("first come first occupy") rule.
As an alternative embodiment, in the case that a first time when the first robot enters the first area is earlier than a second time when the second robot enters the first area, it is determined that the first robot has a higher priority to pass through the first area than the second robot has to pass through the first area.
The order of occupying the contention region (the order through the first region) may be set as: first come and first occupy. The priority of passing through the first area may be determined according to the time when the robot enters the first area, the earlier the time when the robot enters the first area, the higher the priority of passing through the first area.
As another optional implementation manner, in a case where the first elevator where the first robot is located reaches a target floor corresponding to the first zone and the second robot is located in the first zone, it is determined that the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone, where the target floor is a target floor of the first elevator where the first robot takes, and the first zone includes an exit area of the target floor.
The elevator leaving task can be set as a high-priority task, the other tasks are common-priority tasks, and the sequence of occupying competition areas can be set as follows: high priority is given first. The higher the priority of executing the task, the higher the priority of passing through the first area.
As another alternative implementation, in the case that the second elevator where the second robot is located reaches the target floor corresponding to the first zone, and the first robot is located in the first zone, it is determined that the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone, where the target floor is a target floor where the second robot takes the second elevator, and the first zone includes an exit area of the target floor.
The elevator leaving task can be set as a low-priority task, the other tasks are general-priority tasks, and the sequence of occupying competition areas can be set as follows: high priority is given first. The higher the priority of executing the task, the higher the priority of passing through the first area.
Through the embodiment, the sequence of the robots passing through the first area is determined according to the priority of the different robots passing through the first area, so that the passing efficiency can be improved, and meanwhile, the service quality can be improved.
Under the condition that the priority of the first robot passing through the first area is higher than that of the second robot passing through the first area, the navigation task of the first robot is not influenced, and the first robot can be controlled to pass through the first area according to the original navigation task.
In step S206, the second robot is controlled to be located at a position outside the first area while the first robot is controlled to pass through the first area.
For different scenes, the second robot may be controlled to be located at a position outside the first area in various ways.
As an alternative embodiment, controlling the second robot to be located at a position outside the first area may include: and controlling the second robot to move to a target scheduling point in a second area, wherein the second area is adjacent to the first area, the passing width of the second area allows at least two robots to pass through, and the target scheduling point is a preset position allowing the second robot to stop.
For a car not in an elevator (the second robot), when dispatched, the nearest dispatch point that the car passes can be navigated to, or the first non-contention area dispatch point in the direction of travel of the car occupying the contention area (the first robot).
As another alternative embodiment, controlling the second robot to be located at a position outside the first area may include: and controlling the second robot to stay in the second elevator under the condition that the second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor.
For a car in the elevator (second robot), the cloud may cancel the elevator task without releasing the elevator, and without sending the target floor arrival order (i.e., exit order) to the robot.
It should be noted that the elevator can be used by other users on each floor, except that the second robot stays in the elevator until the elevator is moved out after receiving an elevator exit command sent by a server or other control equipment or an elevator exit command generated by performing a specific operation trigger on the second robot.
Through the embodiment, the second robot is controlled to stop at different positions in different scenes, so that the accuracy and the reasonability of determining the stop position of the second robot can be improved.
Alternatively, in the present embodiment, after step S206, the second robot may be controlled to pass through the first area after the first robot passes through the first area.
After the first robot passes through the first area, the second robot may be allowed to pass through the first area and controlled to pass through the first area.
Through this embodiment, after first robot passes through first region, control second robot passes through first region, can guarantee that each robot all passes through first region, guarantee the integrality that the navigation task of each robot was executed.
Optionally, in this embodiment, controlling the second robot to pass through the first area includes one of: restoring the navigation task of the second robot; the destination floor of the second robot riding the second elevator is set as the destination floor, wherein the first zone comprises the exit area of the destination floor.
Recovery behavior can be defined under different scenarios: for the car (second robot) not in the elevator, the original navigation task is recovered; for the car (second robot) in the elevator, the destination floor can be recalled and the navigation task continues to be performed.
If the second robot does not reach the target scheduling point when the first robot passes through the first area, a route (navigation task) from the current position to the target point can be set for the second robot, and path planning is not required to be carried out again after the second robot reaches the target scheduling point, so that the running efficiency of the robot can be improved.
By the embodiment, the targeted recovery behavior is executed on the second robot in different scenes, and the efficiency of executing the navigation task of the second robot can be ensured.
There may be multiple robots competing through the first zone. In the scheduling, the robot (first robot) having the highest priority may not be scheduled, and other robots (a plurality of second robots) may be controlled to be located at positions other than the first area, and after the first robot passes through the first area, the robots may be sequentially restored according to the priorities of the other robots.
The order of robot recovery may be: the high-priority task is recovered firstly; scheduling first and resuming first.
Optionally, in this embodiment, in a case where the second robot is plural, controlling the second robot to pass through the first area includes one of: sequentially controlling the plurality of second robots to pass through the first area according to the priority order of the navigation tasks of the plurality of second robots, namely the priority order of the plurality of second robots passing through the first area from big to small; and sequentially controlling the plurality of second robots to pass through the first area according to the time sequence of the navigation tasks of the plurality of second robots.
Through this embodiment, resume each second robot in proper order when the second robot is a plurality of, block when can avoiding the robot to pass through first region, improve the operating efficiency of robot.
Alternatively, in this embodiment, after it is detected that the first robot and the second robot compete to pass through the first area, in a case where the priority of the first robot to pass through the first area is equal to the priority of the second robot to pass through the first area, the robot selected from the first robot and the second robot is controlled to pass through the first area, and the other robot of the first robot and the second robot is controlled to be located at a position outside the first area.
The priority of the robots competing to pass through the first area may be the same, and at this time, one robot may be selected from the first robot and the second robot to preferentially pass through the first area, and the selection may be performed in a random manner or according to a predetermined rule. The operation performed by the selected robot is similar to the operation performed by the first robot, and the operation performed by the other robot is similar to the operation performed by the second robot, which are not described herein again.
Through the embodiment, when the priority of the first robot passing through the first area is equal to the priority of the second robot passing through the first area, the efficiency of the robot passing through the first area can be ensured by selecting the mode of the robot passing through the first area, and the running efficiency of the robot is improved.
The control method of the above object will be described below with reference to an alternative embodiment. In this optional embodiment, the application scenario is that articles are delivered in the same building, the first robot and the second robot are delivery robots, and the control operation is executed by a cloud.
After the first robot occupies the competition area, when the cloud judges that a second robot enters the competition area through the real-time position of the robot, scheduling operation is executed, and the second robot is scheduled to a scheduling point of a nearest non-competition area with the opposite advancing direction (if the second robot enters the competition area at the same time, the priority is used for judging); and when the first robot leaves the competition area, executing a recovery action again, and recovering the navigation task of the scheduled robot.
Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
In this embodiment, a control device of a robot is further provided, where the control device of the robot is used to implement the above embodiments and preferred embodiments, and the description of the control device of the robot is omitted. As used below, the term "module" may be a combination of software and/or hardware that implements a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware, or a combination of software and hardware is also possible and contemplated.
Fig. 5 is a block diagram of a structure of an alternative control device for a robot according to an embodiment of the present invention, and as shown in fig. 5, the control device for a robot includes:
(1) a detecting unit 52 for detecting that the first robot and the second robot compete to pass through a first area, wherein the passage width of the first area allows only one robot to pass through;
(2) a first control unit 54 connected to the detection unit 52 for controlling the first robot to pass through the first area in case that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area;
(3) and a second control unit 56 connected to the first control unit 54 for controlling the second robot to be located at a position outside the first area during the process of controlling the first robot to pass through the first area.
Alternatively, the control device of the robot may be, but is not limited to, a process of using the robot to distribute articles in a building, or other scenes for controlling the robot to perform tasks.
Alternatively, the detection unit 52 may be used to perform step S202, the first control unit 54 may be used to perform step S204, and the second control unit 56 may be used to perform step S206.
Through the embodiment, the first robot and the second robot are detected to compete to pass through the first area, wherein the passing width of the first area only allows one robot to pass through; controlling the first robot to pass through the first zone in the case that the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone; in the process of controlling the first robot to pass through the first area, the second robot is controlled to be located at a position outside the first area, the problem that in the process of simultaneously driving a plurality of robots in the same building in the related art, when the robots pass through a gate, a narrow passage or an elevator, the running efficiency of the robots is low due to possible occurrence of collision, clamping and the like is solved, the running efficiency of the robots is improved, and the service quality is improved.
As an optional technical solution, the detecting unit 52 includes:
(1) the acquisition module is used for acquiring a first position where the first robot is located and a second position where the second robot is located;
(2) the first determining module is used for determining that the first robot and the second robot are both located in the first area according to the first position and the second position; or,
(3) the second determining module is used for determining that the first elevator where the first robot is located reaches a target floor corresponding to the first area according to the first position and the second position, and the second robot is located in the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor; or,
(4) the third determining module is used for determining that a second elevator where the second robot is located reaches a target floor corresponding to the first area according to the first position and the second position, and the first robot is located in the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor; or,
(5) and the fourth determining module is used for determining that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time according to the first position and the second position, wherein the target floor is a target floor where the first robot takes the first elevator, the target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
As an optional technical solution, the detecting unit 52 includes one of the following:
(1) the first detection module is used for detecting that the second robot enters the first area under the condition that the first robot is located in the first area;
(2) the second detection module is used for detecting that the first robot enters the first area under the condition that the second robot is located in the first area;
(3) the third detection module is used for detecting that the first robot and the second robot enter the first area simultaneously;
(4) the fourth detection module is used for detecting that the first elevator where the first robot is located reaches a target floor corresponding to the first area under the condition that the second robot is located in the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor;
(5) the fifth detection module is used for detecting that a second elevator where the second robot is located reaches a target floor corresponding to the first area under the condition that the first robot is located in the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor;
(6) and the sixth detection module is used for detecting that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time, wherein the target floor is a target floor where the first robot takes the first elevator, and a target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
As an optional technical solution, the apparatus further includes one of:
(1) a first determination unit for determining that the priority of the first robot for passing through the first area is higher than the priority of the second robot for passing through the first area in case that a first time at which the first robot enters the first area is earlier than a second time at which the second robot enters the first area before controlling the first robot to pass through the first area;
(2) and the second determining unit is used for determining that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area under the condition that the first elevator where the first robot is located reaches the target floor corresponding to the first area and the second robot is located in the first area, wherein the target floor is the target floor of the first robot taking the first elevator, and the first area comprises the exit area of the target floor.
As an optional technical solution, the second control unit 56 includes one of the following:
(1) the first control module is used for controlling the second robot to move to a target scheduling point in a second area, wherein the second area is adjacent to the first area, the passing width of the second area allows at least two robots to pass through, and the target scheduling point is a preset position allowing the second robot to stop;
(2) and the second control module is used for controlling the second robot to stay in the second elevator when the second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the second elevator taken by the second robot, and the first area comprises an exit area of the target floor.
As an optional technical solution, the apparatus further includes:
(1) and a third control unit for controlling the robot selected from the first robot and the second robot to pass through the first area and controlling the other robot of the first robot and the second robot to be located at a position outside the first area, in case that the priority of the first robot to pass through the first area is equal to the priority of the second robot to pass through the first area after detecting that the first robot and the second robot compete to pass through the first area.
It should be noted that, the above modules may be implemented by software or hardware, and for the latter, the following may be implemented, but not limited to: the modules are all positioned in the same processor; alternatively, the modules are located in different processors in any combination.
Embodiments of the present invention also provide a storage medium having a computer program stored therein, wherein the computer program is arranged to perform the steps of any of the above method embodiments when executed.
Optionally, in this embodiment, the storage medium may include, but is not limited to: various media capable of storing program codes, such as a usb disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic disk, or an optical disk.
Embodiments of the present invention also provide an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, the specific examples in this embodiment may refer to the examples described in the above embodiments and optional implementation manners, and this embodiment is not described herein again.
It will be apparent to those skilled in the art that the modules or steps of the present invention described above may be implemented by a general purpose computing device, they may be centralized in a single computing device or distributed across a network of multiple computing devices, and alternatively, they may be implemented by program code executable by a computing device, such that they may be stored in a memory device and executed by a computing device, and in some cases, the steps shown or described may be executed out of order, or separately as individual integrated circuit modules, or multiple modules or steps thereof may be implemented as a single integrated circuit module. Thus, the present invention is not limited to any specific combination of hardware and software.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A method for controlling a robot, comprising:
detecting that a first robot and a second robot compete to pass through a first area, wherein the passing width of the first area only allows one robot to pass through;
controlling the first robot to pass through the first zone if the priority of the first robot passing through the first zone is higher than the priority of the second robot passing through the first zone;
controlling the second robot to be located at a position outside the first area in the process of controlling the first robot to pass through the first area;
wherein controlling the second robot to be located outside the first area comprises: controlling the second robot to move to a target scheduling point in a second area, wherein the second area is adjacent to the first area, the traffic width of the second area allows at least two robots to pass through, and the target scheduling point is a preset position allowing the second robot to stop;
wherein after controlling the first robot to pass through the first area, the method further comprises: controlling the second robot to pass through the first area, wherein controlling the second robot to pass through the first area comprises one of: restoring the navigation task of the second robot; setting a destination floor of the second robot taking the second elevator as a target floor, wherein the first zone includes an exit area of the target floor.
2. The method of claim 1, wherein detecting that the first robot and the second robot compete for passage through the first area comprises:
acquiring a first position where the first robot is located and a second position where the second robot is located;
determining that the first robot and the second robot are both located in the first area according to the first position and the second position; or,
according to the first position and the second position, determining that a first elevator where the first robot is located reaches a target floor corresponding to the first area, and determining that the second robot is located in the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor; or,
according to the first position and the second position, determining that a second elevator where the second robot is located reaches a target floor corresponding to the first area, and the first robot is located in the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor; or,
and according to the first position and the second position, determining that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time, wherein the target floor is a target floor where the first robot takes the first elevator, and a target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
3. The method of claim 1, wherein detecting that the first robot and the second robot compete for passage through the first area comprises one of:
detecting entry of the second robot into the first area if the first robot is located within the first area;
detecting entry of the first robot into the first area if the second robot is located within the first area;
detecting that the first robot and the second robot enter the first area simultaneously;
under the condition that the second robot is located in the first area, detecting that a first elevator where the first robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the first elevator where the first robot takes, and the first area comprises an exit area of the target floor;
under the condition that the first robot is located in the first area, detecting that a second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is a target floor of the second robot taking the second elevator, and the first area comprises an exit area of the target floor;
detecting that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time, wherein the target floor is a target floor where the first robot takes the first elevator and a target floor where the second robot takes the second elevator, and the first area comprises an exit area of the target floor.
4. The method of claim 1, wherein prior to controlling the first robot to pass through the first area, the method further comprises one of:
determining that the first robot has a higher priority through the first zone than the second robot if the first robot enters the first zone at a first time earlier than a second time when the second robot enters the first zone;
when a first elevator where the first robot is located reaches a target floor corresponding to the first area and the second robot is located in the first area, determining that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area, wherein the target floor is the target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor.
5. The method of claim 1, wherein controlling the second robot to be located outside the first zone further comprises:
and controlling the second robot to stay in the second elevator when the second elevator where the second robot is located reaches a target floor corresponding to the first area, wherein the target floor is the target floor of the second elevator where the second robot takes, and the first area comprises an exit area of the target floor.
6. The method of any of claims 1-5, wherein after detecting that the first robot and the second robot compete to pass through the first zone, the method further comprises:
and controlling a robot selected from the first robot and the second robot to pass through the first area and controlling the other robot to be located at a position other than the first area, in a case where the priority of the first robot to pass through the first area is equal to the priority of the second robot to pass through the first area.
7. A control device for a robot, comprising:
the detection unit is used for detecting that a first robot and a second robot compete to pass through a first area, wherein the passing width of the first area only allows one robot to pass through;
a first control unit for controlling the first robot to pass through the first area if the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area;
the second control unit is used for controlling the second robot to be positioned outside the first area in the process of controlling the first robot to pass through the first area;
wherein the second control unit includes: the first control module is used for controlling the second robot to move to a target scheduling point in a second area, wherein the second area is adjacent to the first area, the passing width of the second area allows at least two robots to pass through, and the target scheduling point is a preset position allowing the second robot to stop.
8. The apparatus of claim 7, wherein the detection unit comprises:
the acquisition module is used for acquiring a first position where the first robot is located and a second position where the second robot is located;
a first determining module, configured to determine that the first robot and the second robot are both located in the first area according to the first location and the second location; or,
the second determining module is used for determining that a first elevator where the first robot is located reaches a target floor corresponding to the first area according to the first position and the second position, and the second robot is located in the first area, wherein the target floor is a target floor of the first robot taking the first elevator, and the first area comprises an exit area of the target floor; or,
a third determining module, configured to determine, according to the first position and the second position, that a second elevator where the second robot is located reaches a target floor corresponding to the first area, where the first robot is located in the first area, where the target floor is a target floor of the second robot taking the second elevator, and the first area includes an exit area of the target floor; or,
and a fourth determining module, configured to determine, according to the first position and the second position, that a first elevator where the first robot is located and a second elevator where the second robot is located reach a target floor corresponding to the first area at the same time, where the target floor is a target floor where the first robot takes the first elevator and a target floor where the second robot takes the second elevator, and the first area includes an exit area of the target floor.
9. A storage medium, in which a computer program is stored, wherein the computer program is arranged to perform the method of any of claims 1 to 6 when executed.
10. An electronic device comprising a memory and a processor, characterized in that the memory has stored therein a computer program, the processor being arranged to execute the method of any of claims 1 to 6 by means of the computer program.
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| PCT/CN2020/109603 WO2021027964A1 (en) | 2019-08-15 | 2020-08-17 | Robot control method and device, storage medium and electronic device |
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| CN113671943A (en) * | 2021-06-30 | 2021-11-19 | 南京图菱视频科技有限公司 | Robot inspection method, system, electronic device and medium between multi-building elevators |
| CN113733084A (en) * | 2021-08-25 | 2021-12-03 | 上海思岚科技有限公司 | Automatic elevator entering and exiting control method and device for hotel distribution robot |
| CN113733103B (en) * | 2021-10-09 | 2023-05-30 | 深圳优艾智合机器人科技有限公司 | Control method, control device, system and storage medium for industrial robot |
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| WO2021027964A1 (en) | 2021-02-18 |
| CN112388624A (en) | 2021-02-23 |
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