CN112743549A - Robot control method, system, robot and program product - Google Patents
Robot control method, system, robot and program product Download PDFInfo
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- CN112743549A CN112743549A CN202110139918.4A CN202110139918A CN112743549A CN 112743549 A CN112743549 A CN 112743549A CN 202110139918 A CN202110139918 A CN 202110139918A CN 112743549 A CN112743549 A CN 112743549A
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- elevator
- parking area
- controlling
- elevator car
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Elevator Control (AREA)
Abstract
The invention relates to a control method, a system, a robot and a program product of the robot, wherein the method comprises the following steps: controlling the robot to move into the elevator car when the elevator door is opened; when the robot enters the elevator car, the robot is controlled to stop in a preset stopping area in the elevator car; when the robot reaches a target floor, controlling the robot to leave the stopping area and exit the elevator; the parking area is located on a central axis of the bottom of the elevator car, the distance between the parking area and the elevator door is within a preset distance range, and the central axis passes through the center of the bottom of the elevator door. In the control method, the control system, the robot and the program product of the robot, when the robot reaches the target floor, no person influences the robot to go out of the elevator, and no influence is caused on other people to take the elevator.
Description
Technical Field
The present invention relates to the field of robot technology, and in particular, to a method and system for controlling a robot, and a program product.
Background
In the conventional technology, when a robot needs to take an elevator to perform a navigation task, a person may stand in front of the robot due to unreasonable arrangement of a parking area of the robot in the elevator. In this way, when the robot reaches the corresponding floor, but the person in front of the robot does not exit the elevator, the robot cannot exit the elevator, and thus cannot complete the task.
Disclosure of Invention
In view of the above, it is desirable to provide a method and a system for controlling a robot, and a program product.
A control method of a robot, comprising:
controlling the robot to move into the elevator car when the elevator door is opened;
when the robot enters the elevator car, the robot is controlled to stop in a preset stopping area in the elevator car;
when the robot reaches a target floor, controlling the robot to leave the stopping area and exit the elevator;
the parking area is located on a central axis of the bottom of the elevator car, the distance between the parking area and the elevator door is within a preset distance range, and the central axis passes through the center of the bottom of the elevator door.
In one embodiment, the predetermined distance is in a range of 0.01 m to 0.9 m.
In one embodiment, when the robot enters the elevator car, the controlling the robot to stop at a preset stop area in the elevator car specifically includes:
judging whether the parking area is occupied by an obstacle or not and whether a path of the robot moving to the parking area is blocked or not;
if the parking area is occupied by the obstacle and the path of the robot moving to the parking area is blocked, controlling the robot to send an avoidance prompt;
and if the parking area is occupied by the obstacle and the path of the robot moving to the parking area is not blocked, controlling the robot to move to the parking area and park in the parking area.
In one embodiment, the avoidance cue comprises a voice cue.
In one embodiment, the method further comprises:
if any one of the stopping area still occupied by the barrier and the path from the robot to the stopping area still blocked still exists after the number of times of sending the avoidance prompt by the robot exceeds a first preset value, executing:
controlling the robot to release the elevator and return to the outside of the elevator car;
and controlling the robot to call the elevator again after the elevator car leaves the current floor.
In one embodiment, the method further comprises:
and if the number of times that the robot calls the elevator again exceeds a second preset value, controlling the robot to send alarm information.
A robot comprising a memory storing a program and a processor implementing the steps of the method as claimed in any preceding claim when the program is executed by the processor.
A program product for causing a robot to perform a method as claimed in any one of the preceding claims, when said program product is run on the robot.
A control system for a robot, the system comprising:
a robot including a controller for controlling the robot to move into the elevator car when the elevator doors are open; when the robot enters the elevator car, the robot is controlled to stop in a preset stopping area in the elevator car; and when the robot reaches a target floor, controlling the robot to leave the stopping area and exit the elevator; the parking area is located on a central axis of the bottom of the elevator car, the distance between the parking area and the elevator door is within a preset distance range, and the central axis passes through the center of the bottom of the elevator door.
In one embodiment, the controller is further used for controlling the robot to send an alarm message if the number of times that the robot calls the elevator again exceeds a second preset value;
the system also includes a server for receiving the alert information.
In the control method, the control system, the control robot and the program product of the robot, when the robot enters the elevator car, the robot stops in the preset stopping area in the elevator car, and because the stopping area is positioned on the central axis of the bottom of the elevator car and the distance between the stopping area and the elevator door is within the preset distance range, no person influences the robot to get out of the elevator when the robot reaches the target floor; and when someone needs to enter or exit before reaching the target floor and the robot is abnormal in the parking area, the robot cannot block the traveling path of other people, and other people can enter or exit from two sides of the robot, so that the other people cannot be influenced to take the elevator.
Drawings
Fig. 1 is an application scenario diagram of a control method of a robot in an embodiment;
FIG. 2 is an exemplary flow chart of a method of controlling a robot in one embodiment;
fig. 3 is an exemplary flowchart of a control method of the robot in another embodiment;
fig. 4 is a block diagram showing an exemplary configuration of a control system of the robot in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
Fig. 1 is an application scenario diagram of a control method of a robot in an embodiment, and fig. 2 is an exemplary flowchart of the control method of the robot in the embodiment. As shown in fig. 1 and 2, the control method of the robot includes the steps of:
in step S12, the robot is controlled to move into the elevator car when the elevator door is opened.
Specifically, a control device (not shown) of the robot 20 may be provided, and the control device may be integrated inside the robot 20 or may be provided outside the robot 20. The control device controls the movement of the robot 20 by being connected to the robot 20, and performs corresponding actions and the like. A detection device (not shown) may be provided on robot 20 to detect whether elevator door 12 is opened, for example, the detection device may include an image acquisition device that acquires an image of the surroundings of robot 20 and transmits the image to the control device, and the control device determines whether elevator door 12 is opened according to the image. When the control device determines that the elevator door 12 is opened, the control robot 20 is controlled to move into the elevator car 10.
And step S14, when the robot enters the elevator car, controlling the robot to stop in a preset stopping area in the elevator car.
In particular, a landing zone 11 dedicated to the robot 20, i.e. a preset landing zone 11, can be provided in the elevator car 10, the landing zone 11 being used for the zone in which the robot 20 waits in the car 10 while riding the elevator in the performance task. In the elevator car 10, a warning sign such as "robot landing zone" may be provided in the landing zone 11 to avoid the zone being occupied by other people. The parking area 11 is located on the central axis L of the bottom of the elevator car 10, which passes through the center of the bottom of the elevator doors 12, and is within a preset distance range from the elevator doors 12. The preset distance range may be set based on a situation where a person cannot be accommodated to stand at the front side of the robot 20 and does not affect the closing of the elevator doors 12 and the boarding personnel to enter or exit from both sides of the robot 20. The control device controls the robot 20 to stop in the stopping area 11 in the elevator car 10 when the robot 20 enters the elevator car 10. Since the robot 20 stops in the elevator car 10 in the preset stop area 11, when the robot 20 reaches the target floor, no person affects the exit of the robot 20, and when someone needs to enter or exit before reaching the target floor, the person can enter or exit from two sides of the robot 20, so that the person does not affect the taking of the elevator by other people.
And step S16, when the robot reaches the target floor, controlling the robot to leave the stopping area and exit the elevator.
Specifically, the elevator state such as the arrival floor of the elevator can be acquired by the detection device, and the result is transmitted to the control device. The detection device may be an image acquisition device, or may be a sensing unit configured to acquire information of a floor where the elevator car 10 is located (see, specifically, chinese patent publication No. CN 110759192A). The control device determines whether the elevator car 10 reaches the target floor based on the output result of the detection device. The target floor is the floor that robot 20 needs to reach to perform the navigation task. When the control device determines that the elevator car 10 reaches the target floor, the control device controls the robot 20 to leave the stopping area 11 and exit the elevator.
In the control method of the robot, when the robot 20 enters the elevator car 10, the robot 20 is controlled to stop in the preset stopping area 11 in the elevator car 10, and because the stopping area 11 is positioned on the central axis L of the bottom of the elevator car 10 and the distance d between the stopping area 11 and the elevator door 12 is within the preset distance range, no person affects the robot 20 to get out of the elevator when the robot 20 reaches the target floor; and when someone needs to enter or exit before reaching the target floor and the robot 20 is abnormal in the parking area 11, the robot 20 does not obstruct the traveling path of other people, and other people can enter or exit from both sides of the robot 20, so that the other people cannot be influenced to take the elevator.
In one embodiment, the predetermined distance may range from 0.01 meters to 0.9 meters, thereby not accommodating a person standing right in front of robot 20 and not affecting the closing of elevator doors 12 and the boarding or disembarking of persons from both sides of robot 20. Preferably, the preset distance range may be determined with reference to a person's shoe size, and particularly, the preset distance range may be 0.1 to 0.31 meters. By way of example only, the distance d between the parking area 11 and the elevator doors 12 may be 0.2 m, 0.25 m or 0.3 m, so that it is not possible to accommodate a person standing directly in front of the robot 20 and without affecting the closing of the elevator doors 12 and without affecting the entry or exit of persons from both sides of the robot 20.
In one embodiment, as shown in fig. 3, step S14 may include:
step S141, it is determined whether the parking area is occupied by the obstacle and whether the path along which the robot moves to the parking area is blocked.
Specifically, the control device may determine whether the parking area 11 is occupied by an obstacle such as a person, an object, or another robot, and whether a path along which the robot 20 moves to the parking area 11 is blocked, according to the image around the robot 20 acquired by the image acquiring device. The control device executes step S142 if it determines that either one of the parking area 11 is occupied by an obstacle and the path along which the robot 20 moves to the parking area 11 is blocked occurs, or executes step S143 if neither occurs.
And step S142, controlling the robot to send an avoidance prompt.
Specifically, a prompting device (not shown) such as a voice device and a light flashing device may be disposed on the robot 20, the prompting device is connected to the control device, and the control device controls the prompting device to perform light flashing prompting or voice prompting when determining that any one of the parking area 11 occupied by the obstacle and the path of the robot 20 moving to the parking area 11 is blocked occurs, so as to prompt people around to dodge, move the carried object in the parking area 11, and the like.
And step S143, controlling the robot to move to the parking area and park in the parking area.
Specifically, the bottom of the robot 20 may be provided with a moving device 21 such as a roller, the moving device 21 is connected to the control device, and the control device controls the moving device 21 to move when it is determined that neither the stopping area 11 is occupied by an obstacle nor the path of the robot 20 moving to the stopping area 11 is blocked, so as to control the robot 20 to move to the stopping area 11 in the elevator car 10 and stop at the stopping area 11.
In this embodiment, the avoidance prompt is sent by controlling the robot 20 to prompt surrounding people to avoid, so as to increase human-computer interaction, thereby improving the working efficiency of the robot 20.
In an embodiment, as also shown in fig. 3, the control method of the robot further includes:
and step S151, judging whether any one of the parking area still occupied by the barrier and the path of the robot to the parking area still blocked still exists after the number of times of sending the avoidance prompt by the robot exceeds a first preset value.
Specifically, the first preset value can be set according to actual requirements. When the control device judges that the parking area 11 is occupied by the obstacle and the path of the robot 20 to the parking area 11 is blocked, avoidance prompts sent by the control prompt device can be unified into one type; different prompts may also be issued separately. In this embodiment, the control device determines whether the number of times of sending the avoidance prompt by the prompt device exceeds a first preset value. If the control device determines that any one of the parking area 11 still occupied by the obstacle and the path from the robot 20 to the parking area 11 still blocked still exists after the number of times of the avoidance prompt sent by the robot 20 exceeds the first preset value, executing steps S152 and S153; if the control device determines that the number of times of the avoidance prompt sent by the robot 20 exceeds the first preset value, the parking area 11 is not occupied by the obstacle and the path from the robot 20 to the parking area 11 is not blocked, step S143 is executed. Of course, when the number of times that the robot 20 issues the avoidance prompt is smaller than the first preset value, the control device has already determined that the parking area 11 is not occupied by the obstacle and the path of the robot 20 to the parking area 11 is not blocked, step S143 may also be executed.
In other embodiments, the control device may be further configured to determine whether the time for the robot 20 to issue the avoidance prompt exceeds a first preset value, and after determining that the time for the robot 20 to issue the avoidance prompt exceeds the first preset value, if any one of the parking area 11 still occupied by the obstacle and the path from the robot 20 to the parking area 11 still blocked still exists, execute steps S152 and S153; if the control device determines that the time for the robot 20 to issue the avoidance prompt exceeds the first preset value, the parking area 11 is not occupied by the obstacle and the path from the robot 20 to the parking area 11 is not blocked, step S143 is executed.
Step S152, the control robot releases the elevator and returns to the outside of the elevator car.
Specifically, after the control device controls the robot 20 to enter the elevator car 10, and determines that the stopping area 11 is occupied by the obstacle and the number of times of sending the avoidance prompt exceeds the first preset value, the control device controls the moving device 21 at the bottom of the robot 20 to move, so that the robot 20 returns to the outside of the elevator car 10, and the elevator is released. If the robot 20 has not entered the interior of the elevator car 10 and the control device determines that the path to the stopping area 11 of the robot 20 is blocked, the control device controls the robot 20 to wait in place or controls the moving device 21 to move so that the robot 20 waits at a designated position outside the elevator and releases the elevator. Wherein the elevator is released, in particular the robot 20 stops executing the command to call the elevator.
And step S153, controlling the robot to call the elevator again after the elevator car leaves the current floor.
Specifically, the control device can determine whether the elevator car 10 leaves the current floor by the information output from the detection device. In one embodiment, the robot 20 may be provided with a mechanical arm 22, the mechanical arm 22 may be connected to a control device, and the control device may control the mechanical arm 22 of the robot 20 to press a button for calling the elevator after the elevator car 10 leaves the current floor, so as to control the robot 20 to call the elevator again. In other embodiments, the robot 20 may effect calls to elevators by interacting with a car floor control panel (see, in particular, chinese patent publication CN 110759192A). The control device may return to step S12 after calling the elevator again to control the robot to move into the elevator car when the elevator doors are opened.
In this embodiment, if the number of times that the robot 20 sends the avoidance prompt exceeds the first preset value, any one of the stopping area 11 still occupied by the obstacle and the path from the robot 20 to the stopping area 11 still blocked still exists, the robot 20 is controlled to release the elevator and return to the outside of the elevator car 10; and, after the elevator car 10 leaves the current floor, the control robot 20 calls the elevator again so that the elevator is prevented from being occupied and not released all the time, thereby preventing other people from being affected in taking the elevator.
In an embodiment, as also shown in fig. 3, the control method of the robot further includes:
and step S154, judging whether the number of times that the robot calls the elevator again exceeds a second preset value.
Specifically, the control device may use the number of times the robot arm 22 of the robot 20 re-presses the elevator button or the number of times the robot 20 re-interacts with the car floor control panel as the number of times the robot 20 re-calls the elevator. The second preset value can be set according to actual requirements. The control device judges whether the number of times that the robot 20 calls the elevator again exceeds a second preset value, if so, the step S155 is executed; if not, step S155 is not executed. In other embodiments, it may also be configured to determine whether the waiting time of robot 20 at the elevator hall exceeds the second preset value, and if so, execute step S155, so as to avoid that robot 20 cannot execute the task for a long time.
And step S155, controlling the robot to send alarm information.
Specifically, a communication device (not shown) may be disposed in the robot 20, the communication device is connected to the control device, and the control device controls the communication device to send a short message to the maintenance staff when it is determined that the number of times that the robot 20 calls the elevator again exceeds a second preset value; the alarm information can also be sent out through the prompting device in the embodiment; the control device may be further configured to send alarm information to a server, which sends an alarm to maintenance personnel.
In this embodiment, when determining that the number of times that the robot 20 calls the elevator again exceeds the second preset value, the control device controls the robot 20 to send the alarm information, so that the maintenance personnel can be notified to check the running state of the robot 20 in time, and it is avoided that the robot 20 cannot complete the task in time due to an accident situation such as an elevator failure, a robot 20 failure, an artificial elevator occupation, and the like.
It should be understood that although the various steps in the exemplary flow diagrams of fig. 2-3 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-3 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
Fig. 4 is a block diagram showing an exemplary configuration of a control system of the robot in one embodiment. As shown in fig. 4, the control system of the robot includes a robot 20, and the robot 20 includes a controller 23. The controller 23 is used for controlling the robot 20 to move into the elevator car when the elevator door is opened; and controlling the robot 20 to stop at a preset stop area in the elevator car when the robot 20 enters the elevator car; and when the robot 20 reaches the target floor, controlling the robot 20 to leave the stopping area and exit the elevator; the parking area is located on a central axis of the bottom of the elevator car, the distance d between the parking area and the elevator door is within a preset distance range, and the central axis passes through the center of the bottom of the elevator door.
In the controller 23 of the robot, when the robot 20 enters the elevator car, the robot 20 is controlled to stop in a preset stopping area in the elevator car, and because the stopping area is located on the central axis L at the bottom of the elevator car and the distance d between the stopping area and the elevator door is within a preset distance range, when the robot 20 reaches the target floor, no person affects the robot 20 to get out of the elevator; and when someone needs to enter or exit before reaching the target floor and the robot 20 is abnormal in the parking area, the robot 20 does not obstruct the traveling path of other people, and other people can enter or exit from two sides of the robot 20, so that the other people cannot be influenced to take the elevator.
In one embodiment, the predetermined distance is in a range of 0.01 meters to 0.9 meters.
In an embodiment, the controller 23, when performing the step of controlling the robot 20 to stop at the preset stop area in the elevator car when the robot 20 enters the elevator car, specifically performs: judging whether the parking area is occupied by the obstacle and whether the path of the robot 20 moving to the parking area is blocked; if the parking area is occupied by the obstacle and the path of the robot 20 moving to the parking area is blocked, controlling the robot 20 to send an avoidance prompt; and if the parking area is occupied by the obstacle and the path of the robot 20 moving to the parking area is blocked, controlling the robot 20 to move to the parking area and park in the parking area.
In one embodiment, the avoidance cue comprises a voice cue.
In an embodiment, the controller 23 further performs, when any one of the parking area still occupied by the obstacle and the path of the robot 20 to the parking area still blocked still exists after the number of times of the avoidance prompt issued by the robot 20 exceeds a first preset value: control robot 20 to release the elevator and return to the outside of the elevator car; after the elevator car leaves the current floor, the control robot 20 calls the elevator again.
In one embodiment, the controller 23 further performs: and if the number of times that the robot 20 calls the elevator again exceeds a second preset value, controlling the robot 20 to send alarm information. The control system of the robot further comprises a server for receiving the alarm information.
In one embodiment, the server is in communication with the elevator and the robot 20, respectively. The server is used for controlling the robot 20 to move into the elevator car when the elevator door is opened when the robot 20 takes the elevator; and controlling the robot 20 to stop at a preset stop area in the elevator car when the robot enters the elevator car; and controlling the robot 20 to leave the stopping area and exit the elevator when the robot 20 reaches the target floor. The server may also be used to control elevator release when the robot 20 gives up taking the elevator.
For specific limitations of the controller of the robot, reference may be made to the above limitations of the control method of the robot, which are not described herein again. The various modules in the controller of the robot described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
The embodiment of the present application further provides a robot, which includes a memory and a processor, where the memory stores a program, and the processor implements the steps of the control method of the robot in any one of the embodiments when executing the program.
Embodiments of the present application also provide a program product that, when run on a robot, causes the robot to perform the method of controlling the robot in any of the embodiments described above.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method for controlling a robot, comprising:
controlling the robot to move into the elevator car when the elevator door is opened;
when the robot enters the elevator car, the robot is controlled to stop in a preset stopping area in the elevator car;
when the robot reaches a target floor, controlling the robot to leave the stopping area and exit the elevator;
the parking area is located on a central axis of the bottom of the elevator car, the distance between the parking area and the elevator door is within a preset distance range, and the central axis passes through the center of the bottom of the elevator door.
2. The method of claim 1, wherein the predetermined distance is in a range of 0.01 meters to 0.9 meters.
3. The method according to claim 1, wherein the controlling the robot to stop at a predetermined stop area in the elevator car when the robot enters the elevator car comprises:
judging whether the parking area is occupied by an obstacle or not and whether a path of the robot moving to the parking area is blocked or not;
if the parking area is occupied by the obstacle and the path of the robot moving to the parking area is blocked, controlling the robot to send an avoidance prompt;
and if the parking area is occupied by the obstacle and the path of the robot moving to the parking area is not blocked, controlling the robot to move to the parking area and park in the parking area.
4. The method of claim 3, wherein the avoidance cue comprises a voice cue.
5. The method of claim 3, further comprising:
if any one of the stopping area still occupied by the barrier and the path from the robot to the stopping area still blocked still exists after the number of times of sending the avoidance prompt by the robot exceeds a first preset value, executing:
controlling the robot to release the elevator and return to the outside of the elevator car;
and controlling the robot to call the elevator again after the elevator car leaves the current floor.
6. The method of claim 5, further comprising:
and if the number of times that the robot calls the elevator again exceeds a second preset value, controlling the robot to send alarm information.
7. A control system for a robot, the system comprising:
a robot including a controller for controlling the robot to move into the elevator car when the elevator doors are open; when the robot enters the elevator car, the robot is controlled to stop in a preset stopping area in the elevator car; and when the robot reaches a target floor, controlling the robot to leave the stopping area and exit the elevator; the parking area is located on a central axis of the bottom of the elevator car, the distance between the parking area and the elevator door is within a preset distance range, and the central axis passes through the center of the bottom of the elevator door.
8. The system of claim 7,
the controller is also used for controlling the robot to send alarm information if the number of times that the robot calls the elevator again exceeds a second preset value;
the system also includes a server for receiving the alert information.
9. A robot comprising a memory and a processor, the memory storing a program, wherein the processor when executing the program performs the steps of the method of any of claims 1 to 6.
10. Program product, characterized in that it causes a robot to perform the method according to any of claims 1-6, when said program product is run on the robot.
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| CN202110139918.4A CN112743549A (en) | 2021-02-02 | 2021-02-02 | Robot control method, system, robot and program product |
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| CN202110139918.4A CN112743549A (en) | 2021-02-02 | 2021-02-02 | Robot control method, system, robot and program product |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113307113A (en) * | 2021-05-26 | 2021-08-27 | 福建汉特云智能科技有限公司 | Method for robot to take elevator automatically and storage medium |
| CN113371560A (en) * | 2021-06-18 | 2021-09-10 | 菱王电梯有限公司 | Elevator joint control method, device and system |
| CN113370216A (en) * | 2021-06-29 | 2021-09-10 | 上海有个机器人有限公司 | Ladder waiting method and device for robot to take ladder, robot and storage medium |
| CN113657565A (en) * | 2021-08-17 | 2021-11-16 | 乐聚(深圳)机器人技术有限公司 | Robot cross-floor moving method and device, robot and cloud server |
| CN114153205A (en) * | 2021-11-22 | 2022-03-08 | 广东利元亨智能装备股份有限公司 | Elevator boarding control method and operation control device of AGV car |
| CN114296462A (en) * | 2021-12-30 | 2022-04-08 | 北京图菱视频科技有限公司 | Early warning control method, system, equipment and medium for overtime of robot when getting out of elevator |
| CN114355935A (en) * | 2021-12-30 | 2022-04-15 | 北京图菱视频科技有限公司 | Robot elevator calling and elevator taking overtime execution method, system, equipment and medium |
| CN114803737A (en) * | 2022-04-26 | 2022-07-29 | 河南省吉立达机器人有限公司 | Elevator floor control and interaction method based on network and near field fusion |
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| CN113307113A (en) * | 2021-05-26 | 2021-08-27 | 福建汉特云智能科技有限公司 | Method for robot to take elevator automatically and storage medium |
| CN113371560A (en) * | 2021-06-18 | 2021-09-10 | 菱王电梯有限公司 | Elevator joint control method, device and system |
| CN113371560B (en) * | 2021-06-18 | 2022-08-02 | 菱王电梯有限公司 | Elevator joint control method, device and system |
| CN113370216A (en) * | 2021-06-29 | 2021-09-10 | 上海有个机器人有限公司 | Ladder waiting method and device for robot to take ladder, robot and storage medium |
| CN113657565A (en) * | 2021-08-17 | 2021-11-16 | 乐聚(深圳)机器人技术有限公司 | Robot cross-floor moving method and device, robot and cloud server |
| CN114153205A (en) * | 2021-11-22 | 2022-03-08 | 广东利元亨智能装备股份有限公司 | Elevator boarding control method and operation control device of AGV car |
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| CN114355935A (en) * | 2021-12-30 | 2022-04-15 | 北京图菱视频科技有限公司 | Robot elevator calling and elevator taking overtime execution method, system, equipment and medium |
| CN114803737A (en) * | 2022-04-26 | 2022-07-29 | 河南省吉立达机器人有限公司 | Elevator floor control and interaction method based on network and near field fusion |
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