CN112405529A - Robot control method, robot control device, robot, and storage medium - Google Patents
Robot control method, robot control device, robot, and storage medium Download PDFInfo
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- CN112405529A CN112405529A CN202011194491.XA CN202011194491A CN112405529A CN 112405529 A CN112405529 A CN 112405529A CN 202011194491 A CN202011194491 A CN 202011194491A CN 112405529 A CN112405529 A CN 112405529A
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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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- 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
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
The invention discloses a robot control method, a device, a robot and a storage medium, wherein the method is applied to the robot and comprises the following steps: entering a queuing waiting mode after receiving a narrow passage waiting instruction; if a rear robot is detected behind the advancing direction in the queue waiting mode, sending a narrow passage passing waiting instruction to the rear robot so that the rear robot enters the queue waiting mode according to the narrow passage passing waiting instruction; and if the waiting mode releasing instruction is detected, releasing the queuing waiting mode and driving at a preset speed so as to pass through a narrow road in front of the traveling direction. The invention realizes that when a plurality of robots need to pass through the narrow road, the robots orderly enter a queuing waiting mode one by one, thereby avoiding the narrow road congestion caused by the mutual grabbing of the robots.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a robot control method, apparatus, robot, and storage medium.
Background
With the continuous development and maturity of the robot technology, the robot is widely applied to various fields to replace people to complete work. At present, in the process of traveling by different robots, because the speed per hour is different, if a narrow lane which only allows one robot is met, if the robots lack mutual coordination, the narrow lane is blocked easily because of mutual lane robbing.
Disclosure of Invention
The invention mainly aims to provide a robot control method, a device, a robot and a storage medium, aiming at solving the problem that the robot is easy to jam due to mutual lane grabbing when passing through a narrow lane, so that the narrow lane is blocked.
In order to achieve the above object, the present invention provides a robot control method applied to a robot, the method including:
entering a queuing waiting mode after receiving a narrow passage waiting instruction;
if a rear robot is detected behind the advancing direction in the queue waiting mode, sending a narrow passage passing waiting instruction to the rear robot so that the rear robot enters the queue waiting mode according to the narrow passage passing waiting instruction;
and if the waiting mode releasing instruction is detected, releasing the queuing waiting mode and driving at a preset speed so as to pass through a narrow road in front of the traveling direction.
Optionally, after receiving the narrow passage waiting instruction and before entering the queue waiting mode, the method includes:
and receiving a narrow passage waiting instruction sent by a communication device arranged in a narrow passage waiting area, or receiving a narrow passage waiting instruction sent by a front robot in front of the advancing direction.
Optionally, when the narrow-lane passage waiting instruction is sent by a communication device set in a narrow-lane waiting area, after entering a queuing waiting mode after receiving the narrow-lane passage waiting instruction, the method further includes:
starting a waiting instruction sending authority in the robot, and sending reply information to the communication device so that the communication device can close the waiting instruction sending authority in the communication device after receiving the reply information;
if a rear robot is detected behind the traveling direction in the queuing waiting mode, sending a narrow passage passing waiting instruction to the rear robot, wherein the narrow passage passing waiting instruction comprises the following steps:
and when the waiting instruction sending authority is in an open state in the queuing waiting mode, if a rear robot is detected behind the advancing direction, sending a narrow passage waiting instruction to the rear robot.
Optionally, when the waiting instruction sending authority is in the open state in the queue waiting mode, if it is detected that there is a rear robot behind the traveling direction, after sending the narrow passage passing waiting instruction to the rear robot, the method further includes:
and if the reply information sent by the rear robot is received, closing the waiting instruction sending authority in the robot, wherein the rear robot opens the waiting instruction sending authority in the rear robot after receiving the narrow passage waiting instruction, and returns the reply information.
Optionally, the method further comprises:
if the waiting mode canceling instruction is detected, when the waiting instruction sending authority in the robot is in an opening state, closing the waiting instruction sending authority, and sending an authority transfer instruction to the communication device, so that the communication device can open the waiting instruction sending authority in the communication device after receiving the authority transfer instruction.
Optionally, the sending a narrow passage waiting instruction to the rear robot includes:
and sending a narrow passage waiting instruction to the rear robot through a short-distance communication device arranged in the robot, or sending a narrow passage waiting instruction to a management server, so that the management server forwards the narrow passage waiting instruction to the rear robot.
Optionally, if the waiting mode release instruction is detected, the method further includes, before releasing the queue waiting mode and driving at a preset speed to pass through a narrow lane ahead in the traveling direction:
when the information that the front robot in the front of the traveling direction has passed the narrow lane is received in the line waiting mode, a line waiting mode release instruction is triggered.
To achieve the above object, the present invention also provides a robot control apparatus disposed on a robot, the apparatus including:
the control module is used for entering a queuing waiting mode after receiving a narrow passage waiting instruction;
the sending module is used for sending a narrow passage passing waiting instruction to a rear robot if the rear robot is detected to be behind the advancing direction in the queue waiting mode so that the rear robot can enter the queue waiting mode according to the narrow passage passing waiting instruction;
and the releasing module is used for releasing the queuing waiting mode and driving according to a preset speed so as to pass through a narrow road in front of the advancing direction if the waiting mode releasing instruction is detected.
To achieve the above object, the present invention also provides a robot comprising: a memory, a processor and a robot control program stored on the memory and executable on the processor, the robot control program, when executed by the processor, implementing the steps of the robot control method as described above.
Furthermore, to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a robot control program, which when executed by a processor, implements the steps of the robot control method as described above.
According to the invention, after a narrow-passage passing waiting instruction is detected by a robot, the robot enters a queuing waiting mode, if a rear robot is detected behind the advancing direction in the queuing waiting mode, the narrow-passage passing waiting instruction is sent to the rear robot so that the rear robot enters the queuing waiting mode, after a waiting mode removing instruction is detected, the queuing waiting mode is removed and the rear robot runs at a preset speed so as to pass through a front narrow passage, so that when a plurality of robots need to pass through the narrow passage, the robot in the queuing waiting mode can monitor whether the rear robot follows other robots, and can send a waiting instruction to the rear robot so that the rear robot enters the queuing waiting mode, and the robots sequentially enter the queuing waiting mode one by one, thereby avoiding narrow-passage congestion caused by mutually grabbing the robots.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a robot control method according to a first embodiment of the present invention;
fig. 3 is a functional block diagram of a robot control device according to a preferred embodiment of the invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
It should be noted that, the device in the embodiment of the present invention may be a device with digital processing capability, such as a smart phone, a personal computer, and a server, and the device may be deployed in a mobile robot, which is not limited herein.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a robot control program. An operating system is a program that manages and controls the hardware and software resources of a device, supporting the operation of a robot control program, as well as other software or programs. In the device shown in fig. 1, the user interface 1003 is mainly used for data communication with a client; the network interface 1004 is mainly used for establishing communication connection with a server; and the processor 1001 may be configured to call the robot control program stored in the memory 1005 and perform the following operations:
entering a queuing waiting mode after receiving a narrow passage waiting instruction;
if a rear robot is detected behind the advancing direction in the queue waiting mode, sending a narrow passage passing waiting instruction to the rear robot so that the rear robot enters the queue waiting mode according to the narrow passage passing waiting instruction;
and if the waiting mode releasing instruction is detected, releasing the queuing waiting mode and driving at a preset speed so as to pass through a narrow road in front of the traveling direction.
Further, before entering the queue waiting mode after receiving the narrow passage waiting command, the processor 1001 may be further configured to call the robot control program stored in the memory 1005, and perform the following operations:
and receiving a narrow passage waiting instruction sent by a communication device arranged in a narrow passage waiting area, or receiving a narrow passage waiting instruction sent by a front robot in front of the advancing direction.
Further, when the narrow passage waiting instruction is sent by a communication device set in the narrow passage waiting area, and after entering the queue waiting mode after receiving the narrow passage waiting instruction, the processor 1001 may be further configured to call the robot control program stored in the memory 1005, and perform the following operations:
starting a waiting instruction sending authority in the robot, and sending reply information to the communication device so that the communication device can close the waiting instruction sending authority in the communication device after receiving the reply information;
if a rear robot is detected behind the traveling direction in the queuing waiting mode, sending a narrow passage passing waiting instruction to the rear robot, wherein the narrow passage passing waiting instruction comprises the following steps:
and when the waiting instruction sending authority is in an open state in the queuing waiting mode, if a rear robot is detected behind the advancing direction, sending a narrow passage waiting instruction to the rear robot.
Further, when the waiting instruction transmission authority is in the on state in the queue waiting mode, if it is detected that there is a rear robot behind the traveling direction, the processor 1001 may be further configured to call the robot control program stored in the memory 1005 and execute the following operations after transmitting the narrow passage waiting instruction to the rear robot:
and if the reply information sent by the rear robot is received, closing the waiting instruction sending authority in the robot, wherein the rear robot opens the waiting instruction sending authority in the rear robot after receiving the narrow passage waiting instruction, and returns the reply information.
Further, the processor 1001 may be further configured to call the robot control program stored in the memory 1005, and perform the following operations:
if the waiting mode canceling instruction is detected, when the waiting instruction sending authority in the robot is in an opening state, closing the waiting instruction sending authority, and sending an authority transfer instruction to the communication device, so that the communication device can open the waiting instruction sending authority in the communication device after receiving the authority transfer instruction.
Further, the sending a narrow passage waiting instruction to the rear robot includes:
and sending a narrow passage waiting instruction to the rear robot through a short-distance communication device arranged in the robot, or sending a narrow passage waiting instruction to a management server, so that the management server forwards the narrow passage waiting instruction to the rear robot.
Further, if the waiting mode release instruction is detected, the processor 1001 may be further configured to release the queue waiting mode and drive at a preset speed to pass through a narrow lane ahead in the traveling direction, before calling the robot control program stored in the memory 1005, and perform the following operations:
when the information that the front robot in the front of the traveling direction has passed the narrow lane is received in the line waiting mode, a line waiting mode release instruction is triggered.
Based on the above structure, various embodiments of the robot control method are proposed.
Referring to fig. 2, fig. 2 is a flowchart illustrating a robot control method according to a first embodiment of the present invention.
While a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different than that shown or described herein. The execution main body of each embodiment of the robot control method can be a robot, the robot can be a conventional robot controlled by an automatic control program, or the robot can be used for carrying goods, planning a path, distributing and acquiring and the like, and the type and the specific implementation details of the robot are not limited in each embodiment. In the present embodiment, the robot control method includes the following steps S10-S30:
step S10, after receiving the narrow passage waiting instruction, entering a queuing waiting mode;
during the traveling process of the robot, a narrow passage may be encountered in front of the traveling direction, and the narrow passage is narrow, so that only a small amount of robots or even only one robot can pass through the narrow passage at a time. When the robot receives a narrow passage waiting instruction (hereinafter referred to as a waiting instruction) in the process of traveling, the robot enters a queuing waiting mode.
The robot may begin decelerating after entering the queue waiting mode. Further, the robot can be in a stop state after being decelerated to stop until the queuing waiting mode is released; or when the robot detects that the robot is in front of the traveling direction through the distance sensor, the robot decelerates to travel to a certain distance behind the front robot and keeps within a certain distance range with the front robot through controlling the speed until the queuing waiting mode is released; alternatively, the robot may decelerate to a waiting area of a narrow lane, and maintain a stopped state in the waiting area until the waiting mode is released. The waiting area may be a piece of area divided in front of the narrow lane, and the waiting area may be marked in a navigation map of the robot so that the robot can identify whether the waiting area is reached, for example, by setting a virtual wall in the navigation map or by setting a beacon capable of sending a signal in an application scene so as to divide the waiting area.
In one embodiment, the robot may automatically trigger the lane pass waiting command upon detecting a waiting area for travel to the lane.
In one embodiment, the lane-crossing waiting command received by the robot may be sent by a preceding robot entering the queue waiting mode.
Further, in another embodiment, a communication device may be provided in the waiting area of the narrow lane, and the communication device may send out a narrow lane passing waiting instruction at intervals, so that the robot entering the waiting area can receive the instruction and then enter a queuing waiting mode; the robot can also send a narrow passage waiting instruction to the robot behind after entering the queuing waiting mode; therefore, the robot can receive the narrow passage waiting command transmitted by the communication device or the narrow passage waiting command transmitted by the front robot in the front of the traveling direction. The communication device may be a short-range communication device such as a bluetooth signal transmitter or a radio frequency signal transmitter.
Step S20, if a rear robot is detected behind the advancing direction in the queue waiting mode, sending a narrow passage passing waiting instruction to the rear robot so that the rear robot can enter the queue waiting mode according to the narrow passage passing waiting instruction;
when the robot detects that the robot is behind the traveling direction (hereinafter referred to as a rear robot for distinction) in the queue waiting mode, the robot sends a narrow passage waiting command to the rear robot so that the rear robot enters the queue waiting mode according to the narrow passage waiting command. After the rear robot enters the queue waiting mode, the rear robot also performs the same operation as the rear robot, that is, the control programs in the robots are the same.
It should be noted that the robot may detect whether there is a robot in front of or behind the robot through sensor devices such as laser radars or cameras disposed in front of and behind the robot, which will not be described in detail herein.
In step S30, if the waiting mode release instruction is detected, the waiting mode is released and the vehicle travels at a preset speed to pass through a narrow lane ahead in the traveling direction.
In the queue waiting mode, if a waiting mode release instruction is detected, the robot can release the queue waiting mode and drive at a preset speed to pass through a narrow road in front of the traveling direction. The preset speed can be a preset speed value or a preset speed interval, and the preset speed can be set to be smaller so as to avoid the robot from falling down or colliding due to the fact that the speed is too high when the robot passes through a narrow road. The robot may navigate through a navigation map to pass through a narrow lane in front.
In one embodiment, the robot may automatically trigger the waiting mode release instruction after detecting that the robot in front has passed through the narrow lane by a sensor device such as a laser radar or a camera. In one embodiment, the management server may transmit a waiting mode release instruction to the robot after determining that the robot ahead of the robot has passed through the narrow lane according to the position fed back by the robot. In another embodiment, the front robot may transmit information on the passing narrow lane to the rear robot after the front robot passes through the narrow lane, and the robot triggers the waiting queue mode release command when receiving the information on the passing narrow lane transmitted by the front robot.
In this embodiment, after detecting a narrow lane passing waiting instruction, the robot enters a queuing waiting mode, and if a rear robot is detected behind the traveling direction in the queuing waiting mode, the rear robot sends the narrow lane passing waiting instruction to the rear robot, so that the rear robot enters the queuing waiting mode, and after detecting a waiting mode release instruction, the queuing waiting mode is released and the rear robot travels at a preset speed to pass through a narrow lane in front, so that when a plurality of robots need to pass through the narrow lane, the robot in the queuing waiting mode can monitor whether the rear robot follows other robots, and can send a waiting instruction to the rear robot to enter the queuing waiting mode, and the robots sequentially enter the queuing waiting mode one by one, thereby avoiding the narrow lane congestion caused by the robots grabbing each other.
Further, based on the first embodiment, a second embodiment of the robot control method according to the present invention is provided, where in this embodiment, when the narrow passage waiting instruction is sent by a communication device set in a narrow passage waiting area, after the step S10 of entering the queue waiting mode after receiving the narrow passage waiting instruction, the method further includes:
step S40, opening the waiting instruction sending authority in the robot and sending reply information to the communication device, so that the communication device closes the waiting instruction sending authority in the communication device after receiving the reply information;
in this embodiment, when the narrow passage waiting instruction received by the robot is sent by the communication device set in the narrow passage waiting area, the robot may start the waiting instruction sending authority in the robot after entering the queuing waiting mode, and send the reply information back to the communication device. The content of the reply message may be a message indicating that the robot has received the narrow passage waiting command, entered the queue waiting mode, and opened the waiting command transmission right. The communication device can close the waiting instruction sending authority in the communication device after receiving the reply message. After the communication device closes the authority, the narrow passage waiting instruction is not sent outwards any more.
That is, only the first robot that arrives at the narrow lane area can receive the waiting instruction transmitted by the communication device in the narrow lane area, and the waiting instruction received by the subsequent robot is transmitted by the robot having the waiting instruction transmission authority.
In the step S20, if it is detected that there is a rear robot behind the traveling direction in the line waiting mode, the method includes:
step S202, in the queuing waiting mode and when the waiting instruction sending authority is in the opening state, if a rear robot is detected behind the advancing direction, a narrow passage waiting instruction is sent to the rear robot.
When the robot is in the queuing waiting mode and the waiting command sending authority is in the opening state, if a rear robot is detected behind the advancing direction, a narrow passage waiting command is sent to the rear robot. If the robot is not in the queue waiting mode or the waiting instruction transmission authority is not opened, the waiting instruction does not need to be transmitted to the rear robot.
Further, the step of transmitting the narrow passage waiting instruction to the rear robot in step S202 includes: and sending a narrow passage waiting instruction to the rear robot through a short-distance communication device arranged in the robot, or sending a narrow passage waiting instruction to a management server, so that the management server forwards the narrow passage waiting instruction to the rear robot.
If the robot detects that there is a rear robot behind the traveling direction in the queuing waiting mode, the robot may send a narrow passage waiting instruction to the rear robot through a short-distance communication device disposed in the robot, where the short-distance communication device may be disposed in each robot, and the short-distance communication device may be a bluetooth signal transmitter or a radio frequency signal transmitter, and the like, which is not limited in this embodiment. Or the robot can send the narrow passage waiting instruction to the management server, and the management server forwards the narrow passage waiting instruction to the rear robot. Specifically, each robot can report its own position to the management server in real time, and the management server can determine to which robot to forward the narrow passage waiting instruction according to the distance between the positions of each robot.
In one embodiment, when the narrow passage waiting command received by the robot is sent by the communication device in the waiting area, the robot is the first robot reaching the waiting area, the robot enters a queuing waiting mode, then the robot can be decelerated to the waiting area to wait until the waiting mode is released, and in the waiting mode, the robot sends the waiting command to the rear robot; when the narrow passage waiting command received by the robot is sent by the front robot, the robot is not the first robot reaching the waiting area, after the robot enters the queuing waiting mode, the distance between the robot and the front robot can be detected, and the robot keeps a certain distance with the front robot by controlling the speed until the waiting mode is released.
In this embodiment, after the robot receives the narrow passage waiting instruction sent by the communication device in the waiting area, the robot opens the waiting instruction sending authority, and the communication device closes the waiting instruction sending authority, so that the robot can only receive the waiting instruction sent by one main body, and the rear robot can accurately enter the queuing waiting mode according to the source of the waiting instruction without causing confusion.
Further, in another embodiment, when the step S201 detects that there is a rear robot behind the traveling direction in the queue waiting mode and the waiting instruction transmission authority is in the on state, after the rear robot transmits the narrow passage waiting instruction, the method further includes:
step S203, if the reply information sent by the rear robot is received, closing the sending permission of the waiting instruction in the robot, wherein after the rear robot receives the narrow passage waiting instruction, opening the sending permission of the waiting instruction in the rear robot, and returning the reply information.
After receiving the narrow-passage waiting instruction sent by the front robot, the rear robot can send reply information to the front robot, wherein the content of the reply information is used for indicating that the rear robot has received the narrow-passage waiting instruction, enters a queuing waiting mode and opens the waiting instruction sending authority of the rear robot. Then, after receiving the reply message sent by the rear robot, the robot can close the waiting instruction sending authority, and the waiting instruction sending authority is transferred to the rear robot.
Further, the rear robot may be decelerated to travel after entering the waiting mode, and arranged behind the front robot by controlling the speed to keep a certain distance from the front robot to which the narrow passage waiting command is transmitted until the waiting mode is released.
In the embodiment, after receiving a waiting instruction sent by a communication device in a waiting area, the robot enters a queuing waiting mode, starts a waiting instruction sending authority, and sends reply information to the communication device, so that the communication device closes the waiting instruction sending authority, and after receiving the waiting instruction sent by a front robot, the robot enters the queuing waiting mode, starts the waiting instruction sending authority, and sends the reply information back to the front robot, so that the front robot closes the waiting instruction sending authority, the step-by-step transfer of the waiting instruction sending authority is realized, only the last robot in the queue has the waiting instruction sending authority, and therefore the robot can queue in sequence efficiently and accurately, and the robot is further effectively prevented from being raced.
Further, in an embodiment, the method further comprises:
step S50, if the waiting mode release instruction is detected, when the waiting instruction sending authority in the robot is in an open state, closing the waiting instruction sending authority, and sending an authority transfer instruction to the communication device, so that the communication device opens the waiting instruction sending authority in the communication device after receiving the authority transfer instruction.
If the robot detects the waiting mode release instruction, the robot performs normal release waiting mode operation and navigation operation, and when the waiting instruction transmission authority in the robot is in an open state, the robot needs to close the waiting instruction transmission authority and transmit an authority transfer instruction to the communication device in the waiting area. After the communication device receives the permission transfer instruction, the waiting instruction sending permission in the communication device is opened, namely, when the last robot enters the narrow lane, the waiting instruction sending permission is transferred back to the communication device, so that the communication device can send the waiting instruction outwards, and the robots which subsequently enter the waiting area can receive the waiting instruction and enter a queuing waiting mode.
In other embodiments, the waiting instruction transmission authority may be transferred back to the communication device in the waiting area by other means. For example, after the management server determines that no robot is queued in the narrow lane waiting area according to the position reported by the robot, the management server may send an authority transfer instruction to the communication device to cause the communication device to turn on the waiting instruction sending authority. For example, after the robot having the waiting instruction transmission authority in the on state detects entry into the narrow lane entrance, the robot may close the waiting instruction transmission authority and transmit an authority transfer instruction to the communication device in the waiting area, so that the communication device opens the waiting instruction transmission authority.
In addition, an embodiment of the present invention further provides a robot control apparatus, where the apparatus is deployed in a robot, and with reference to fig. 3, the apparatus includes:
the control module 10 is used for entering a queuing waiting mode after receiving a narrow passage waiting instruction;
the sending module 20 is configured to send a narrow passage passing waiting instruction to a rear robot if the rear robot is detected behind the traveling direction in the queue waiting mode, so that the rear robot enters the queue waiting mode according to the narrow passage passing waiting instruction;
and the releasing module 30 is used for releasing the queuing waiting mode and driving according to a preset speed so as to pass through a narrow road in front of the traveling direction if the waiting mode releasing instruction is detected.
Further, the apparatus further comprises:
the receiving module is used for receiving a narrow passage waiting instruction sent by a communication device arranged in a narrow passage waiting area or receiving a narrow passage waiting instruction sent by a front robot in front of the advancing direction.
Further, when the narrow passage waiting instruction is transmitted by a communication apparatus set in a narrow passage waiting area, the apparatus further includes:
the starting module is used for starting the waiting instruction sending authority in the robot and sending reply information to the communication device so that the communication device can close the waiting instruction sending authority in the communication device after receiving the reply information;
the sending module 20 is further configured to:
and when the waiting instruction sending authority is in an open state in the queuing waiting mode, if a rear robot is detected behind the advancing direction, sending a narrow passage waiting instruction to the rear robot.
Further, the apparatus further comprises:
and the first closing module is used for closing the waiting instruction sending permission in the robot if the reply information sent by the rear robot is received, wherein the rear robot opens the waiting instruction sending permission in the rear robot after receiving the narrow passage waiting instruction and returns the reply information.
Further, the apparatus further comprises:
and the second closing module is used for closing the waiting instruction sending permission and sending a permission transfer instruction to the communication device when the waiting instruction sending permission in the robot is in an open state if a waiting mode release instruction is detected, so that the communication device can open the waiting instruction sending permission in the communication device after receiving the permission transfer instruction.
Further, the sending module 20 is further configured to:
and sending a narrow passage waiting instruction to the rear robot through a short-distance communication device arranged in the robot, or sending a narrow passage waiting instruction to a management server, so that the management server forwards the narrow passage waiting instruction to the rear robot.
Further, the apparatus further comprises:
and the triggering module is used for triggering a queue waiting mode releasing instruction if the information that the front robot in front of the advancing direction passes the narrow channel is received in the queue waiting mode.
The specific embodiment of the robot control device of the present invention has basically the same extension as the embodiments of the robot control method, and is not described herein again.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, where a robot control program is stored, and the robot control program, when executed by a processor, implements the steps of the robot control method described below.
The embodiments of the robot and the computer-readable storage medium of the present invention can refer to the embodiments of the robot control method of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. 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 (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A robot control method applied to a robot, the method comprising:
entering a queuing waiting mode after receiving a narrow passage waiting instruction;
if a rear robot is detected behind the advancing direction in the queue waiting mode, sending a narrow passage passing waiting instruction to the rear robot so that the rear robot enters the queue waiting mode according to the narrow passage passing waiting instruction;
and if the waiting mode releasing instruction is detected, releasing the queuing waiting mode and driving at a preset speed so as to pass through a narrow road in front of the traveling direction.
2. The robot control method according to claim 1, wherein before entering the queue waiting mode after receiving the narrow passage waiting command, the method further comprises:
and receiving a narrow passage waiting instruction sent by a communication device arranged in a narrow passage waiting area, or receiving a narrow passage waiting instruction sent by a front robot in front of the advancing direction.
3. The robot control method according to claim 1, wherein when the narrow passage waiting instruction is transmitted by a communication device provided in a narrow passage waiting area, after entering a queue waiting mode after receiving the narrow passage waiting instruction, further comprising:
starting a waiting instruction sending authority in the robot, and sending reply information to the communication device so that the communication device can close the waiting instruction sending authority in the communication device after receiving the reply information;
if a rear robot is detected behind the traveling direction in the queuing waiting mode, sending a narrow passage passing waiting instruction to the rear robot, wherein the narrow passage passing waiting instruction comprises the following steps:
and when the waiting instruction sending authority is in an open state in the queuing waiting mode, if a rear robot is detected behind the advancing direction, sending a narrow passage waiting instruction to the rear robot.
4. The robot control method according to claim 3, wherein, when a rear robot is detected behind a traveling direction in the queue waiting mode and a waiting instruction transmission authority is in an on state, after transmitting a narrow passage waiting instruction to the rear robot, the method further comprises:
and if the reply information sent by the rear robot is received, closing the waiting instruction sending authority in the robot, wherein the rear robot opens the waiting instruction sending authority in the rear robot after receiving the narrow passage waiting instruction, and returns the reply information.
5. The robot control method of claim 4, further comprising:
if the waiting mode canceling instruction is detected, when the waiting instruction sending authority in the robot is in an opening state, closing the waiting instruction sending authority, and sending an authority transfer instruction to the communication device, so that the communication device can open the waiting instruction sending authority in the communication device after receiving the authority transfer instruction.
6. The robot control method according to claim 3, wherein the sending of the narrow passage waiting instruction to the rear robot includes:
and sending a narrow passage waiting instruction to the rear robot through a short-distance communication device arranged in the robot, or sending a narrow passage waiting instruction to a management server, so that the management server forwards the narrow passage waiting instruction to the rear robot.
7. The robot control method according to any one of claims 1 to 6, wherein the, if the waiting mode release instruction is detected, releasing the waiting in line mode and traveling at a preset speed before passing through a narrow lane ahead in the traveling direction, further comprises:
when the information that the front robot in the front of the traveling direction has passed the narrow lane is received in the line waiting mode, a line waiting mode release instruction is triggered.
8. A robot control apparatus, the apparatus being deployed in a robot, the apparatus comprising:
the control module is used for entering a queuing waiting mode after receiving a narrow passage waiting instruction;
the sending module is used for sending a narrow passage passing waiting instruction to a rear robot if the rear robot is detected to be behind the advancing direction in the queue waiting mode so that the rear robot can enter the queue waiting mode according to the narrow passage passing waiting instruction;
and the releasing module is used for releasing the queuing waiting mode and driving according to a preset speed so as to pass through a narrow road in front of the advancing direction if the waiting mode releasing instruction is detected.
9. A robot, characterized in that the robot comprises: memory, a processor and a robot control program stored on the memory and executable on the processor, the robot control program, when executed by the processor, implementing the steps of the robot control method according to any of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a robot control program is stored thereon, which, when being executed by a processor, implements the steps of the robot control method according to any one of claims 1 to 7.
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