CN114237245A - Method and device for avoiding elevator by robot - Google Patents
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- CN114237245A CN114237245A CN202111542552.1A CN202111542552A CN114237245A CN 114237245 A CN114237245 A CN 114237245A CN 202111542552 A CN202111542552 A CN 202111542552A CN 114237245 A CN114237245 A CN 114237245A
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The invention relates to the technical field of intelligent robots, in particular to a method and a device for avoiding an elevator by a robot, wherein the robot is a square robot, and the method comprises the following steps: detecting whether the robot needs to avoid the elevator; if yes, determining the target position of avoidance; detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not; if so, controlling the robot to turn around and to advance to reach the target position; if not, starting the auxiliary sensor behind the robot to determine the preset position, controlling the robot to retreat to the preset position, repeating the steps of detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position, and controlling the robot to retreat to avoid the obstacle when the robot cannot realize quick turning in case of encountering the obstacle, thereby improving the efficiency of the robot for avoiding the elevator.
Description
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a method and a device for avoiding an elevator by a robot.
Background
With the continuous progress of science and technology, robots are gradually applied to various buildings, hotels, shopping malls and banks, and can provide various services for users. The robot can automatically take the elevator and avoid when the elevator is full.
However, when the square robot turns around at the elevator entrance, the robot is easily affected by the surrounding environment, so that the robot cannot turn around smoothly, and the elevator taking efficiency is affected.
Therefore, how to improve the turning efficiency of the robot is a technical problem to be solved urgently at present.
Disclosure of Invention
In view of the above, the present invention has been made to provide a method and apparatus for avoiding an elevator by a robot that overcomes or at least partially solves the above problems.
In a first aspect, the present invention provides a method for avoiding an elevator by a robot, the robot being a square robot comprising:
detecting whether the robot needs to avoid the elevator;
if yes, determining the target position of avoidance;
detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not;
if so, controlling the robot to turn around and to advance to reach the target position;
if not, starting the auxiliary sensor behind the robot to determine a preset position, controlling the robot to retreat to the preset position, and repeating the steps of detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position.
Further, the detecting whether the robot needs to avoid the elevator comprises:
detecting whether a robot needs to avoid an elevator because the load capacity in the elevator is full, the robot being inside or outside the elevator.
Further, the real-time detection of the surrounding environment to determine whether the surrounding environment satisfies the turning condition of the robot includes:
determining a circumference by taking the center of the square robot as a circle center and taking a half of a diagonal line of the square robot plus a preset length as a radius;
detecting the environment in the circumference in real time, and judging whether the environment in the circumference has obstacles or not;
if the obstacle exists, determining that the surrounding environment does not meet the turning condition of the robot;
and if no obstacle exists, determining that the surrounding environment meets the turning condition of the robot.
Further, the controlling the robot to turn around and to control the advance to reach the target position includes:
and controlling the square robot to rotate by a preset angle by taking the center as a reference, and controlling the square robot to advance to reach the target position.
Further, after the real-time detecting the surrounding environment and determining whether the surrounding environment satisfies the turning condition of the robot, the method further includes:
if not, starting an auxiliary sensor behind the robot to determine a preset position, and controlling the robot to retreat to the preset position;
judging whether the distance between the preset position and the elevator exceeds a preset value or not;
and if so, controlling the robot to turn around and to advance to reach the target position.
Further, the auxiliary sensor is specifically: ultrasonic detectors, laser radar or infrared detectors.
Further, the preset position is located on a route of the elevator zone to the target position.
In a second aspect, the present invention provides an apparatus for avoiding an elevator by a robot, the robot being a square robot, comprising:
the detection module is used for detecting whether the robot needs to avoid the elevator;
the determining module is used for determining the avoiding target position if the target position is the avoiding target position;
the judging module is used for detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not;
the first control module is used for controlling the robot to turn and to advance to reach the target position if the robot turns;
and the second control module is used for starting the auxiliary sensor behind the robot to determine a preset position if the robot does not reach the target position, controlling the robot to retreat to the preset position, repeatedly detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position.
In a third aspect, the present invention also provides a robot, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the above-mentioned method steps when executing the program.
In a fourth aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the above method steps.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for avoiding an elevator by a robot, which is a square robot and comprises the following steps: detecting whether the robot needs to avoid the elevator; if yes, determining the target position of avoidance; detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not; if so, controlling the robot to turn around and to advance to reach the target position; if not, starting the auxiliary sensor behind the robot to determine the preset position, controlling the robot to retreat to the preset position, repeating the steps of detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position, and controlling the robot to retreat to avoid the obstacle when the robot cannot realize quick turning in case of encountering the obstacle, thereby improving the efficiency of the robot for avoiding the elevator.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 shows a flow chart of the steps of a method for avoiding elevators by a robot in an embodiment of the invention;
FIG. 2 shows a schematic diagram of the invention for defining the environment around a robot;
fig. 3 shows a schematic view of the structure of the device for avoiding elevators by a robot in an embodiment of the invention;
fig. 4 shows a schematic structural diagram of a robot in an embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
Example one
An embodiment of the present invention provides a method for avoiding an elevator by a robot, which is a square robot, as shown in fig. 1, including:
s101, detecting whether the robot needs to avoid an elevator;
s102, if yes, determining the avoiding target position;
s103, detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not;
s104, if so, controlling the robot to turn around and to advance to reach the target position;
and S105, if not, starting the auxiliary sensor behind the robot to determine the preset position, controlling the robot to retreat to the preset position, repeating the steps of monitoring the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position.
First, the robot may encounter a full elevator car while riding the elevator car alone, and therefore, the robot needs to avoid the elevator car.
Therefore, in S101, it is detected whether or not the robot is inside or outside the elevator and needs to avoid the elevator because the load capacity in the elevator is full.
In one case, after the robot enters the elevator, the robot detects an overweight alert sound presented by the elevator and determines that the elevator needs to be avoided.
In another case, the robot does not enter the elevator and has reached the elevator entrance, detects that the space in the elevator has failed to accommodate itself, and determines that the elevator needs to be avoided.
In both cases, the robot needs to determine the target position to avoid before avoiding the elevator.
Therefore, in S102, when it is detected that the robot needs to avoid the elevator, the target position for avoidance is specified.
The target position is the position when the robot waits for the next elevator and the position does not prevent other people or the robot from taking the elevator.
Next, S103 is executed to detect the surrounding environment in real time, and determine whether the surrounding environment satisfies the turning condition of the robot.
Specifically, a circumference is determined by taking the center of a square robot as a circle center and taking a half of a diagonal line of the square robot plus a preset length as a radius;
detecting the environment in the circumference in real time, and judging whether barriers exist in the environment in the circumference;
if the obstacle exists, determining that the surrounding environment does not meet the turning condition of the robot;
and if no obstacle exists, determining that the surrounding environment meets the turning condition of the robot.
As shown in fig. 2, the top view of the square robot is shown, the center of a circle is determined by taking the intersection point of the diagonal lines of the square robot as the center O, and the radius R is taken by adding a preset length to half of the diagonal line, wherein the preset length is specifically a value in the range of 10-15 cm, and a circle L is obtained and is represented by a dotted line.
And detecting the surrounding environment in real time, specifically detecting the environment in the circumference L in real time, so as to judge whether the environment in the circumference has obstacles. If the obstacle exists, determining that the surrounding environment does not meet the turning condition of the robot; and if no obstacle exists, determining that the surrounding environment meets the turning condition of the robot.
The following is a detailed description of the processing performed when the ambient environment satisfies the robot turn-around condition and the ambient environment does not satisfy the robot turn-around condition.
When the surrounding environment satisfies the robot turn condition, S104 is performed, the robot is controlled to turn, and the control proceeds to reach the target position.
Specifically, the square robot is controlled to rotate by a preset angle with respect to the center, and to advance to reach the target position.
Before controlling the square robot to turn around and advance, the method further comprises the following steps: and planning a route from the current position of the square robot to the target position, wherein the route has a direction, and determining the preset angle of rotation during the course of controlling the square robot to turn around according to the direction of the route. When the preset angle is 180 degrees, the robot is determined to be completely rotated, and when the preset angle is less than 180 degrees, the requirement of the line direction is met.
After the robot turns, the robot is controlled to advance to reach the target position.
And when the surrounding environment does not meet the robot turning condition, executing S105, starting the auxiliary sensor behind the robot to determine a preset position, controlling the robot to retreat to the preset position, and repeating the steps of detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position.
This step includes a number of scenarios:
in one case, when the auxiliary sensor behind the robot is turned on to determine the preset position, the robot is controlled to retreat to the preset position, and when the surrounding environment is detected and judged to satisfy the turning condition of the robot, the robot is controlled to turn around, and the robot is controlled to advance to the target position.
In another case, when the auxiliary sensor behind the robot is turned on to determine a preset position, the robot is controlled to move back to the preset position, when the surrounding environment is detected, and when the surrounding environment is determined not to satisfy the turn-around condition of the robot, the robot is controlled to move back for another preset distance, and whether the surrounding environment satisfies the turn-around condition of the robot is judged until the robot reaches the target position.
In this case, the robot may move backward to the target position, or may move backward a plurality of times to turn around to reach the target position at one time.
In addition to the above situation, when the surrounding environment does not satisfy the turning condition of the robot, the method further includes:
starting an auxiliary sensor behind the robot to determine a preset position, and controlling the robot to retreat to the preset position;
judging whether the clustering between the preset position and the elevator exceeds a preset value or not;
if so, controlling the robot to turn around and to advance to reach the target position.
Specifically, after the robot retreats for multiple times, if the turning condition of the robot still cannot be satisfied, at this time, it may be detected whether the distance between the current preset position of the robot and the elevator exceeds a preset value, for example, whether the distance between the current preset position and the elevator exceeds 2 meters, and when the distance exceeds 2 meters, the robot is controlled to turn around, and the robot is controlled to advance to reach the target position.
Because the robot has left the elevator and exceeds preset distance, can not cause the risk of collision to elevator or people around the elevator, can control the robot and turn round, can improve the efficiency that the robot reachd the target location through the mode of advancing.
In the process of backing the robot, the robot needs to be backed by detecting the robot through an auxiliary sensor positioned behind the robot so as not to collide with an obstacle in the process of backing.
The auxiliary sensor is specifically any one of the following: ultrasonic detectors, laser radars, and infrared detectors.
The robot is controlled to move backwards, so that the robot reaches a preset position, the preset position is located on a route of the elevator area to the target position, the robot can reach the target position according to a planned route in the process of moving backwards, and the efficiency of the robot for avoiding the elevator is improved.
One or more technical solutions in the embodiments of the present invention have at least the following technical effects or advantages:
the invention provides a method for avoiding an elevator by a robot, which is a square robot and comprises the following steps: detecting whether the robot needs to avoid the elevator; if yes, determining the target position of avoidance; detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not; if so, controlling the robot to turn around and to advance to reach the target position; if not, starting the auxiliary sensor behind the robot to determine the preset position, controlling the robot to retreat to the preset position, repeating the steps of detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position, and controlling the robot to retreat to avoid the obstacle when the robot cannot realize quick turning in case of encountering the obstacle, thereby improving the efficiency of the robot for avoiding the elevator.
Example two
Based on the same inventive concept, the present invention also provides an apparatus for avoiding an elevator by a robot, which is a square robot, as shown in fig. 3, comprising:
a detection module 301, configured to detect whether the robot needs to avoid the elevator;
a determining module 302, configured to determine an avoidance target position if the avoidance target position is determined;
a judging module 303, configured to detect an ambient environment in real time, and judge whether the ambient environment meets a turning condition of the robot;
a first control module 304, configured to control the robot to turn around and advance to reach the target position if yes;
and a second control module 305, configured to, if not, start the auxiliary sensor behind the robot to determine a preset position, control the robot to move back to the preset position, and repeat the steps of detecting the surrounding environment in real time and determining whether the surrounding environment meets the turn-around condition of the robot until the robot reaches the target position.
In an alternative embodiment, the detection module 301 is used to detect whether the robot needs to avoid the elevator because the load capacity in the elevator is full, the robot being inside or outside the elevator.
In an optional implementation manner, the determining module 303 is configured to:
determining a circumference by taking the center of the square robot as a circle center and taking a half of a diagonal line of the square robot plus a preset length as a radius;
detecting the environment in the circumference in real time, and judging whether the environment in the circumference has obstacles or not;
if the obstacle exists, determining that the surrounding environment does not meet the turning condition of the robot;
and if no obstacle exists, determining that the surrounding environment meets the turning condition of the robot.
In an alternative embodiment, the first control module 303 is configured to:
and controlling the square robot to rotate by a preset angle by taking the center as a reference, and controlling the square robot to advance to reach the target position.
In an optional embodiment, the method further comprises: a third control module to:
after the real-time detection of the surrounding environment and the judgment of whether the surrounding environment meets the turning condition of the robot, if not, starting an auxiliary sensor behind the robot to determine a preset position, and controlling the robot to move back to the preset position;
judging whether the distance between the preset position and the elevator exceeds a preset value or not;
and if so, controlling the robot to turn around and to advance to reach the target position.
In an optional implementation, the auxiliary sensor is specifically: ultrasonic detectors, laser radar or infrared detectors.
In an alternative embodiment, the preset position is located on the route of the elevator zone to the target position.
EXAMPLE III
Based on the same inventive concept, the embodiment of the present invention provides a robot, as shown in fig. 4, including a memory 404, a processor 402, and a computer program stored on the memory 404 and operable on the processor 402, wherein the processor 402 executes the program to implement the steps of the method for avoiding elevators by the robot.
Where in fig. 4 a bus architecture (represented by bus 400) is shown, bus 400 may include any number of interconnected buses and bridges, and bus 400 links together various circuits including one or more processors, represented by processor 402, and memory, represented by memory 404. The bus 400 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 406 provides an interface between the bus 400 and the receiver 401 and transmitter 403. The receiver 401 and the transmitter 403 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 402 is responsible for managing the bus 400 and general processing, while the memory 404 may be used for storing data used by the processor 402 in performing operations.
Example four
Based on the same inventive concept, embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program, which when executed by a processor, performs the steps of the above-described method for avoiding elevators by a robot.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. It will be understood by those skilled in the art that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functions of some or all of the components of the means of the robot avoiding an elevator, and the robot according to embodiments of the invention. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
Claims (10)
1. A method of robot avoidance for an elevator, the robot being a square robot, comprising:
detecting whether the robot needs to avoid the elevator;
if yes, determining the target position of avoidance;
detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not;
if so, controlling the robot to turn around and to advance to reach the target position;
if not, starting the auxiliary sensor behind the robot to determine a preset position, controlling the robot to retreat to the preset position, and repeating the steps of detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position.
2. The method of claim 1, wherein the detecting whether the robot needs to avoid an elevator comprises:
detecting whether a robot needs to avoid an elevator because the load capacity in the elevator is full, the robot being inside or outside the elevator.
3. The method of claim 1, wherein the detecting the surrounding environment in real time to determine whether the surrounding environment satisfies the turning condition of the robot comprises:
determining a circumference by taking the center of the square robot as a circle center and taking a half of a diagonal line of the square robot plus a preset length as a radius;
detecting the environment in the circumference in real time, and judging whether the environment in the circumference has obstacles or not;
if the obstacle exists, determining that the surrounding environment does not meet the turning condition of the robot;
and if no obstacle exists, determining that the surrounding environment meets the turning condition of the robot.
4. The method of claim 1, wherein controlling the robot to turn around and control progress to reach the target location comprises:
and controlling the square robot to rotate by a preset angle by taking the center as a reference, and controlling the square robot to advance to reach the target position.
5. The method of claim 1, wherein after the detecting the surrounding environment in real time and determining whether the surrounding environment satisfies the turning condition of the robot, further comprising:
if not, starting an auxiliary sensor behind the robot to determine a preset position, and controlling the robot to retreat to the preset position;
judging whether the distance between the preset position and the elevator exceeds a preset value or not;
and if so, controlling the robot to turn around and to advance to reach the target position.
6. The method according to claim 1, characterized in that the auxiliary sensor is in particular: ultrasonic detectors, laser radar or infrared detectors.
7. The method of claim 1, wherein the preset location is on a route of the elevator zone to the target location.
8. An apparatus for avoiding an elevator by a robot, the robot being a square robot, comprising:
the detection module is used for detecting whether the robot needs to avoid the elevator;
the determining module is used for determining the avoiding target position if the target position is the avoiding target position;
the judging module is used for detecting the surrounding environment in real time and judging whether the surrounding environment meets the turning condition of the robot or not;
the first control module is used for controlling the robot to turn and to advance to reach the target position if the robot turns;
and the second control module is used for starting the auxiliary sensor behind the robot to determine a preset position if the robot does not reach the target position, controlling the robot to retreat to the preset position, repeatedly detecting the surrounding environment in real time, and judging whether the surrounding environment meets the turning condition of the robot or not until the robot reaches the target position.
9. A robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor, when executing the program, carries out the method steps of any of claims 1-7.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the method steps of any one of claims 1 to 7.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115043277A (en) * | 2022-05-20 | 2022-09-13 | 浙江孚宝智能科技有限公司 | Control method and system for robot to take elevator and storage medium |
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| US20080079383A1 (en) * | 2006-09-28 | 2008-04-03 | Kabushiki Kaisha Toshiba | Method of controlling movement of robot, mobile robot, and computer program product |
| CN110788864A (en) * | 2019-11-29 | 2020-02-14 | 上海有个机器人有限公司 | Method for robot to get in and out of elevator and robot control system for getting in and out of elevator |
| CN110861094A (en) * | 2019-12-09 | 2020-03-06 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
| CN111650933A (en) * | 2020-05-19 | 2020-09-11 | 上海有个机器人有限公司 | Control robot escaping method, device, terminal and readable storage medium |
| CN111984014A (en) * | 2020-08-24 | 2020-11-24 | 上海高仙自动化科技发展有限公司 | Robot control method, device, robot and storage medium |
| CN113093751A (en) * | 2021-04-02 | 2021-07-09 | 北京云迹科技有限公司 | Position control method and device for elevators such as robot and storage medium |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115043277A (en) * | 2022-05-20 | 2022-09-13 | 浙江孚宝智能科技有限公司 | Control method and system for robot to take elevator and storage medium |
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