WO2021027964A1

WO2021027964A1 - Robot control method and device, storage medium and electronic device

Info

Publication number: WO2021027964A1
Application number: PCT/CN2020/109603
Authority: WO
Inventors: 王游; 陈子冲
Original assignee: 纳恩博（北京）科技有限公司
Priority date: 2019-08-15
Filing date: 2020-08-17
Publication date: 2021-02-18
Also published as: CN112388624B; CN112388624A

Abstract

Provided by the present invention are a robot control method and device, a storage medium and an electronic device, the method comprising: detecting that a first robot and a second robot are competing to pass through a first area, where the passage width of the first area allows only one robot to pass through; controlling the first robot to pass through the first area in the case where the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area; and in the process of controlling the first robot to pass through the first area, controlling the second robot to be located at a location outside the first area. The present invention solves the problem in the relevant technology in which the operating efficiency of multiple robots traveling in the same building at the same time is low due to possible collisions and jamming when the robots pass through gates or narrow passages or use elevators.

Description

Robot control method and device, storage medium and electronic device

Cross references to related applications

This application is filed based on a Chinese patent application with the application number CN201910755351.6 and the filing date on August 15, 2019, and claims the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby incorporated into this by way of introduction. Application.

Technical field

The present invention relates to the field of robots, in particular to a method and device for controlling a robot, a storage medium and an electronic device.

Background technique

Currently, delivery robots can be used to deliver items in buildings. In order to improve delivery efficiency, multiple delivery robots are required to deliver at the same time in the same building. In the process of multiple robots traveling in the same building at the same time, when passing through turnstiles, narrow passages, or using elevators, collisions and jams may occur, resulting in low robot operating efficiency.

It can be seen that in the related art, when multiple robots are traveling in the same building at the same time, when passing through turnstiles, narrow passages, or using elevators, problems such as conflicts, jams, etc., may cause low operating efficiency of the robots.

Summary of the invention

The embodiment of the present invention provides a robot control method and device, storage medium, and electronic device, so as to at least solve the problem that when multiple robots are traveling in the same building at the same time in the related art, when passing through gates, narrow passages or using In elevators, there may be conflicts, jams, etc., resulting in low efficiency of the robot.

According to an embodiment of the present invention, a robot control method is provided, including: detecting that a first robot and a second robot compete to pass through a first area, wherein the passage width of the first area allows only one robot to pass; When the priority of a robot passing through the first area is higher than the priority of the second robot passing through the first area, the first robot is controlled to pass through the first area; in the process of controlling the first robot to pass through the first area, the second robot is controlled The robot is located outside the first area.

Optionally, detecting that the first robot and the second robot compete to pass through the first area includes: acquiring a first position where the first robot is located and a second position where the second robot is located; according to the first position and the second position, It is determined that both the first robot and the second robot are located in the first area; or, according to the first position and the second position, it is determined that the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot Located in the first area, where the target floor is the destination floor where the first robot takes the first elevator, and the first area includes the exit area of the target floor; or, according to the first position and the second position, determine where the second robot is The second elevator arrives at the target floor corresponding to the first area, and the first robot is located in the first area, where the target floor is the destination floor where the second robot takes the second elevator, and the first area includes the exit area of the target floor; or According to the first position and the second position, it is determined that the first elevator where the first robot is located and the second elevator where the second robot is located simultaneously reach the target floor corresponding to the first area, where the target floor is the The destination floor of an elevator is the destination floor of the second elevator for the second robot, and the first area includes the exit area of the target floor.

Optionally, detecting that the first robot and the second robot compete to pass through the first area includes one of the following: when the first robot is located in the first area, detecting that the second robot enters the first area; When the robot is located in the first area, it is detected that the first robot has entered the first area; it is detected that the first robot and the second robot have entered the first area at the same time; when the second robot is located in the first area, It is detected that the first elevator where the first robot is located reaches the target floor corresponding to the first area, where the target floor is the destination floor where the first robot takes the first elevator, and the first area includes the exit area of the target floor; In the case of being located in the first area, it is detected that the second elevator where the second robot is located reaches the target floor corresponding to the first area, where the target floor is the destination floor for the second robot to take the second elevator, and the first area includes the target The exit area of the floor; it is detected that the first elevator where the first robot is located and the second elevator where the second robot is located have reached the target floor corresponding to the first area at the same time, where the target floor is the destination floor where the first robot takes the first elevator , And is the destination floor for the second robot to take the second elevator, and the first area includes the exit area of the destination floor.

Optionally, before controlling the first robot to pass through the first area, the above method further includes one of the following: the first time when the first robot enters the first area is earlier than the second time when the second robot enters the first area Next, it is determined that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area; the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot is located In the case of the first area, it is determined that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area, where the target floor is the destination floor where the first robot takes the first elevator, and the first The area includes the exit area of the target floor.

Optionally, controlling the second robot to be located outside the first area includes one of the following: controlling the second robot to move to a target scheduling point in the second area, where the second area is adjacent to the first area and The passage width allows at least two robots to pass through the area, the target dispatch point is a preset position that allows the second robot to stop; when the second elevator where the second robot is located reaches the target floor corresponding to the first area, control The second robot stays in the second elevator, where the target floor is the destination floor where the second robot takes the second elevator, and the first area includes the exit area of the target floor.

Optionally, after detecting that the first robot and the second robot compete to pass through the first area, the above method further includes: when the priority of the first robot passing through the first area is equal to the priority of the second robot passing through the first area Next, the robot selected from the first robot and the second robot is controlled to pass through the first area, and the other one of the first robot and the second robot is controlled to be located outside the first area.

According to another embodiment of the present invention, there is provided a robot control device, including: a detection unit configured to detect that a first robot and a second robot compete to pass through a first area, wherein the passage width of the first area only allows A robot passes through; the first control unit is set to control the first robot to pass through the first area when the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area; second control The unit is configured to control the second robot to be located outside the first area during the process of controlling the first robot to pass through the first area.

Optionally, the detection unit includes: the detection unit includes: an acquisition module configured to acquire a first position where the first robot is located and a second position where the second robot is located; The second position is to determine that both the first robot and the second robot are located in the first area; or, the second determining module is configured to determine the first elevator arrival and the first elevator where the first robot is located based on the first position and the second position One area corresponds to the target floor, and the second robot is located in the first area, where the target floor is the destination floor where the first robot takes the first elevator, and the first area includes the exit area of the target floor; or, the third determining module, It is set to determine that the second elevator where the second robot is located reaches the target floor corresponding to the first area according to the first position and the second position, and the first robot is located in the first area, where the target floor is the second robot riding The destination floor of the second elevator, the first area includes the exit area of the target floor; or, the fourth determining module is configured to determine the first elevator and the second robot where the first robot is located based on the first position and the second position At the same time, the second elevator reaches the target floor corresponding to the first area, where the target floor is the destination floor for the first robot to take the first elevator, and is the destination floor for the second robot to take the second elevator, and the first area includes the target floor Export area.

According to yet another embodiment of the present invention, there is also provided a storage medium in which a computer program is stored, wherein the computer program is configured to execute any of the above robot control methods when running.

According to another aspect of the embodiments of the present invention, there is also provided an electronic device, including a memory and a processor, the above-mentioned memory stores a computer program, and the above-mentioned processor is configured to execute the above-mentioned method through the computer program.

Through the present invention, it is detected that the first robot and the second robot compete to pass through the first area, wherein the passage width of the first area allows only one robot to pass; the priority of the first robot passing through the first area is higher than the second robot passing through In the case of the priority of the first area, the first robot is controlled to pass through the first area; in the process of controlling the first robot to pass through the first area, the second robot is controlled to be located outside the first area. When robots compete to pass through the first area (competition area), control high-priority robots to pass through the first area and control other robots to be located outside the first area to prevent robots from being stuck when passing through the first area at the same time, adding the same The number of robots contained in the building can solve the problem of the efficiency of robot operation when multiple robots are driving in the same building at the same time when passing through gates, narrow passages or using elevators. The low problem has achieved the technical effect of improving the operating efficiency of the robot and improving the quality of service.

Description of the drawings

The drawings described here are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments and descriptions of the present invention are used to explain the present invention, and do not constitute an improper limitation of the present invention. In the attached picture:

Fig. 1 is a hardware structure block diagram of a server of a method for controlling a robot according to an embodiment of the present invention;

Fig. 2 is a flowchart of an optional robot control method according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of an optional robot control method according to an embodiment of the present invention;

4 is a schematic diagram of another optional robot control method according to an embodiment of the present invention;

Fig. 5 is a structural block diagram of an optional robot control device according to an embodiment of the present invention.

detailed description

Hereinafter, the present invention will be described in detail with reference to the drawings and in conjunction with the embodiments. It should be noted that the embodiments in this application and the features in the embodiments can be combined with each other if there is no conflict.

It should be noted that the terms "first" and "second" in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and not necessarily used to describe a specific sequence or sequence.

The method embodiments provided in the embodiments of the present application can be executed in a server, a robot, or a similar computing device. Taking running on a server as an example, FIG. 1 is a hardware structural block diagram of a server in a method for controlling a robot according to an embodiment of the present invention. As shown in FIG. 1, the server 10 may include one or more (only one is shown in FIG. 1) processor 102 (the processor 102 may include, but is not limited to, a processing device such as a microprocessor MCU or a programmable logic device FPGA) And the memory 104 for storing data. Optionally, the aforementioned server may also include a transmission device 106 and an input/output device 108 for communication functions. A person of ordinary skill in the art can understand that the structure shown in FIG. 1 is only for illustration, and does not limit the structure of the foregoing server. For example, the server 10 may also include more or fewer components than shown in FIG. 1, or have a different configuration from that shown in FIG.

The memory 104 may be used to store computer programs, for example, software programs and modules of application software, such as the computer programs corresponding to the robot control method in the embodiment of the present invention. The processor 102 executes the computer programs stored in the memory 104 by running Various functional applications and data processing, namely to achieve the above methods. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the storage 104 may further include storage remotely provided with respect to the processor 102, and these remote storages may be connected to the server 10 through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

The transmission device 106 is used to receive or send data via a network. The foregoing specific examples of the network may include a wireless network provided by the communication provider of the server 10. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, NIC for short), which can be connected to other network devices through a base station to communicate with the Internet. In an example, the transmission device 106 may be a radio frequency (Radio Frequency, referred to as RF) module, which is used to communicate with the Internet in a wireless manner.

Optionally, the foregoing server may be a single server, a server cluster composed of multiple servers, or a cloud server.

Optionally, in this embodiment, as an optional implementation manner, the method may be executed by the server, or may be executed by the robot, or executed by the server and the robot. In this embodiment, the execution by the server is Examples are explained. As shown in Figure 2, the flow of the above-mentioned robot control method may include steps:

Step S202: It is detected that the first robot and the second robot compete to pass through the first area, where the passage width of the first area allows only one robot to pass through;

Step S204, when the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area, control the first robot to pass through the first area;

Step S206, in the process of controlling the first robot to pass through the first area, control the second robot to be located at a position outside the first area.

Optionally, the above-mentioned robot control device may be, but not limited to, the process of using the robot to deliver items in the building, or in other scenarios where the robot is controlled to perform tasks.

Through this embodiment, it is detected that the first robot and the second robot compete to pass through the first area, wherein the passage width of the first area allows only one robot to pass; the first robot has a higher priority than the second robot when passing through the first area In the case of passing the priority of the first area, the first robot is controlled to pass through the first area; in the process of controlling the first robot to pass through the first area, the second robot is controlled to be located outside the first area, which solves the related technology In the process of multiple robots traveling in the same building at the same time, when passing through turnstiles, narrow passages, or using elevators, there may be conflicts, jams, etc., which may cause low efficiency of robots, which improves the efficiency of robots. Improved service quality.

In step S202, it is detected that the first robot and the second robot compete to pass through the first area, wherein the passage width of the first area allows only one robot to pass.

The first robot and the second robot may be delivery robots that deliver items in the same building. In the same building, the delivery robot can move according to a movement path configured by a server (for example, a cloud server). The cloud can configure the movement paths of all connected robots. For the distribution robot, it can be set in the passable area, the competitive area and the non-competitive area in the building. Among them,

(1) The path is a path edited by the cloud to a location that the robot connected to the cloud may rely on. The robot will travel along this path. If the path is occupied, the robot can bypass itself.

(2) The passable area is the area where the robot is allowed to travel. The passable area can be determined by setting the middle passable width on the left and right sides of the point on the path.

(3) The competition area is an area along the path where only one robot is allowed to pass (for example, the competition area may be an area with a passable width less than 2 m along the path). When the first robot occupies the competition area, the scheduling behavior is performed when the second or more robots want to occupy the competition area. The competition area may include the first area.

(4) The non-competitive area is an area along the path that allows more than one robot to pass (for example, the non-competitive area may be an area along the path with a passable width greater than 2 m). The aforementioned non-competitive area may include a second area.

Optionally, one or more scheduling points may be preset in each non-competition area, and the foregoing scheduling points may be any position in the middle of the non-competition area. At each scheduling point, when multiple robots compete to pass through the competition area, the robots competing to the first area can be parked at a stop point, so as to facilitate subsequent scheduling without affecting the operation of other robots.

In the cloud, the building can be represented as a Graph data structure. Each edge adds attributes, including whether it is a competitive area, and the coordinates of the dispatch point (only available in non-competitive areas). It is not a vertex of a non-competitive edge; a non-competitive edge can be divided into multiple non-competitive edges by adding control points (to avoid the scheduling point being too far away).

For example, for the route and passable area in the building on the map shown in Figure 3, the cloud can construct it as a graph as shown in Figure 4, which shows the competitive area, non-competitive area, and Scheduling point.

Optionally, in this embodiment, detecting that the first robot and the second robot compete to pass through the first area includes: acquiring the first position where the first robot is located and the second position where the second robot is located; The position and the second position determine that the first robot and the second robot compete to pass through the first area.

The navigation behaviors of all robots (robots connected to the cloud) (for example, the starting point of the navigation task, the target point, the path from the starting point to the target point) are issued by the cloud. The robot can send its position information to the cloud in real time, and the cloud can obtain the first position of the first robot and the second position of the second robot by receiving the real-time positions sent by the first robot and the second robot.

The robot (including: the first robot and the second robot) may be provided with a positioning module for positioning. The above positioning module may be a GPS (Global Position System) module or a WIFI module. The robot and the cloud You can establish a wireless connection (for example, 4G, 5G, etc.) and use the established connection to communicate. For example, the cloud sends delivery instructions and navigation tasks (which can include moving routes) to the robot through the established wireless connection. The robot can establish The wireless connection sends location information to the cloud.

For example, the first robot and the second robot can periodically (for example, 1s, 3s, 5s, etc.) obtain real-time positions, and combine the obtained position information (first position information used to indicate the first position, and used to indicate the second position). The second location information of the location) is sent to the cloud server.

After acquiring the first position and the second position, the server may determine that the first robot and the second robot compete to pass through the first area according to the first position and the second position.

Through this embodiment, it is determined that the robot competes through the competition area according to the position information of the robot, which can ensure the accuracy of the determination result and improve the control ability of the robot.

Multiple delivery robots running in the same building may occur in narrow passages, elevator rooms, etc., where only one robot can run, and more than one robot may navigate through narrow passages or take passenger elevators to navigate across floors. Failure to pass smoothly causes the robot to get stuck.

In order to ensure that the delivery robot can safely use the elevator, the server that controls the robot can communicate with the elevator center (or, the two can be integrated into the same device), and control it on the first floor by sending specific instructions to the elevator center (the robot is waiting to enter the elevator The floor) is when the robot presses the elevator button. After the elevator reaches the first floor, the elevator center sends instructions to the server for the elevator to reach the first floor, and the server sends the elevator entry instruction to the robot to control the robot to enter the elevator . After the robot enters the elevator, press the target floor for the robot (the destination floor where the robot takes the elevator). When the elevator arrives at the target floor, the elevator center can send instructions to the server to indicate the arrival of the target floor, and the server sends an elevator exit instruction to the robot to control the robot to move out of the elevator.

It should be noted that the robot can also directly interact with the elevator center through a network connection. The elevator center controls the robot to press the elevator button, control the robot to enter the elevator, press the target floor for the robot, and control the robot to move out of the elevator.

For different scenarios, multiple methods can be used to determine that the first robot and the second robot compete to pass through the first area. The behavior of occupying the competition area (competing through the first area) can be: the robot position enters the competition area (the first area); it can also be the elevator center sending the target floor to arrive (after the robot reaches the target floor, move out of the elevator to enter the competition area).

For example, for a scene where two robots move in a specific direction (the two robots can move in the same or different directions) and enter the first area, the first robot and the second robot can be determined according to the first position and the second position If both are located in the first area, it is determined that the first robot and the second robot compete to pass through the first area.

For another example, for a scene where a robot moves in a specific way and enters the first area, and another robot takes an elevator to reach the first area, it can be determined according to the first position and the second position that the first elevator where the first robot is located and the The first area corresponds to the target floor, and the second robot is located in the first area, where the target floor is the destination floor for the first robot to take the first elevator, and the first area includes the exit area of the target floor; or, according to the first The position and the second position determine that the second elevator where the second robot is located reaches the target floor corresponding to the first area, and the first robot is located in the first area, where the target floor is the purpose of the second robot taking the second elevator Floor, the first area includes the exit area of the target floor.

For another example, for a scene in which two robots both take the elevator (the same elevator or different elevators) to reach the first area, the first location and the second location can be used to determine the second location where the first robot is located. An elevator and a second elevator where the second robot is located arrive at the target floor corresponding to the first area at the same time, where the target floor is the destination floor where the first robot takes the first elevator, and the second elevator where the second robot takes the second elevator. , The first area includes the exit area of the target floor.

Through this embodiment, different methods are used to determine that robots compete through the competition area for different scenarios, which can ensure the accuracy of the determination result and improve the control ability of the robot.

In addition to determining that robots compete through the competition area based on location information, the server may also use other methods to determine that robots compete through the competition area. For example, the first area can be photographed by means of a camera (or other image acquisition device) set in the first area or at a position capable of photographing the first area, according to the robot information contained in the photographed image (whether it contains Robots, which robots are included) determine the robots to compete through the competition area.

When determining the robot information contained in the captured image, you can determine the robot included in the captured image based on the characteristics of the robot, and identify the robot number (for example, the actual number, the graphic code representing the actual number) at the specific position of the included robot , So that the server can manage the robot.

Optionally, in this embodiment, detecting that the first robot and the second robot compete to pass through the first area includes one of the following:

(1) When the first robot is located in the first area, it is detected that the second robot has entered the first area;

(2) When the second robot is located in the first area, detecting that the first robot has entered the first area;

(3) It is detected that the first robot and the second robot enter the first area at the same time;

(4) In the case that the second robot is located in the first area, it is detected that the first elevator where the first robot is located has reached the target floor corresponding to the first area, where the target floor is the purpose of the first robot taking the first elevator Floor, the first area includes the exit area of the target floor;

(5) When the first robot is located in the first area, it is detected that the second elevator where the second robot is located has reached the target floor corresponding to the first area, where the target floor is the purpose of the second robot taking the second elevator Floor, the first area includes the exit area of the target floor;

(6) It is detected that the first elevator where the first robot is located and the second elevator where the second robot is located have reached the target floor corresponding to the first area at the same time, where the target floor is the destination floor where the first robot takes the first elevator, and For the destination floor for the second robot to take the second elevator, the first area includes the exit area of the target floor.

The above detection process may be performed using the position information of the first robot and the position information of the second robot, or may be performed using the image information captured by the aforementioned camera.

Through this embodiment, different methods are adopted for different scenarios to determine that robots compete through the competition area, which can ensure the accuracy of the determination result, improve the control ability of the robot, and provide a basis for robot scheduling and improve the accuracy of scheduling.

The traveling directions of the first robot and the second robot in the first area may be the same or opposite (the two robots travel toward each other in the first area). In order to improve the task execution efficiency of the robot, by ensuring the operating efficiency of the robot, it is possible to control only the robot whose traveling direction is opposite.

In step S204, when the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area, the first robot is controlled to pass through the first area.

After detecting that the first robot and the second robot compete to pass through the first area, the priority of the robot passing through the first area can be determined, and the robot can be controlled according to the priority. The priority of passing through the first area can be determined according to the priority of the task, or can be determined according to the "first come, first passed" ("first come, first occupied") rule.

As an optional implementation manner, in a case where the first time when the first robot enters the first area is earlier than the second time when the second robot enters the first area, it is determined that the first robot has a higher priority to pass through the first area Priority for the second robot to pass through the first area.

The order of occupying the competing area (the order of passing the first area) can be set as: first come first occupied. The priority of passing through the first area may be determined according to the time when the robot enters the first area. The earlier the time to enter the first area, the higher the priority of passing through the first area.

As another optional implementation manner, when the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot is located in the first area, it is determined that the first robot passes through the first area The priority of is higher than the priority of the second robot passing through the first area, where the target floor is the destination floor of the first robot to take the first elevator, and the first area includes the exit area of the target floor.

You can set the elevator task as a high priority task, and the others as a general priority task. You can set the order of occupying the competition area as: high priority first. The higher the priority of executing the task, the higher the priority of passing the first area.

As yet another optional implementation manner, when the second elevator where the second robot is located reaches the target floor corresponding to the first area, and the first robot is located in the first area, it is determined that the first robot passes through the first area The priority of is higher than the priority of the second robot passing through the first area, where the target floor is the destination floor for the second robot to take the second elevator, and the first area includes the exit area of the target floor.

You can set the elevator task as a low priority task, and the others as a general priority task. You can set the order of occupying the competition area as: high priority first. The higher the priority of executing the task, the higher the priority of passing the first area.

Through this embodiment, the order of each robot passing through the first area is determined according to the priority of different robots passing through the first area, which can improve the passing efficiency while improving the service quality.

In the case that the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area, the navigation task of the first robot is not affected, and the first robot can be controlled to pass through the first area according to the original navigation task .

In step S206, in the process of controlling the first robot to pass through the first area, the second robot is controlled to be located outside the first area.

For different scenarios, multiple methods can be used to control the second robot to be located outside the first area.

As an optional implementation manner, controlling the second robot to be located outside the first area may include: controlling the second robot to move to a target scheduling point in the second area, where the second area is the same as the first area. It is adjacent to an area where the passage width allows at least two robots to pass, and the target dispatch point is a preset position that allows the second robot to stop.

For the car (the second robot) that is not in the elevator, when being dispatched, it can navigate to the nearest dispatch point that the car passes through, or the first non-competitive area in the forward direction of the car that occupies the competition area (the first robot) is dispatched point.

As another optional implementation manner, controlling the second robot to be located outside the first area may include: controlling the second robot when the second elevator where the second robot is located reaches the target floor corresponding to the first area Stay in the second elevator, where the target floor is the destination floor where the second robot takes the second elevator, and the first area includes the exit area of the target floor.

For the car in the elevator (the second robot), the cloud can cancel the elevator task but not release the elevator, and does not send the target floor arrival instruction (that is, the elevator exit instruction) to the robot.

It should be noted that the elevator can be used by other users on each floor, but the second robot stays in the elevator until it receives the elevator exit instruction sent by the server or other control equipment or is triggered by executing a specific operation on the second robot. Move out of the elevator after the exit instruction.

Through this embodiment, controlling the second robot to stop at different positions in different scenarios can improve the accuracy and rationality of determining the stop position of the second robot.

Optionally, in this embodiment, after step S206, after the first robot passes through the first area, the second robot may be controlled to pass through the first area.

After the first robot passes through the first area, the second robot may be allowed to pass through the first area, and the second robot may be controlled to pass through the first area.

Through this embodiment, after the first robot passes through the first area, the second robot is controlled to pass through the first area, which can ensure that all robots pass through the first area and ensure the integrity of the navigation task execution of each robot.

Optionally, in this embodiment, controlling the second robot to pass through the first area includes one of the following: restoring the navigation task of the second robot; setting the destination floor for the second robot to take the second elevator as the target floor, where the first One area includes the exit area of the target floor.

The recovery behavior in different scenarios can be defined: for the car not in the elevator (the second robot), the original navigation task is restored; for the car in the elevator (the second robot), the target floor can be called up to continue the navigation task.

If the second robot does not reach the target scheduling point when the first robot passes through the first area, you can set a route from the current position to the target point (navigation task) for the second robot, without the second robot reaching the target scheduling point before restarting Path planning can improve the operating efficiency of the robot.

Through this embodiment, performing targeted recovery actions on the second robot in different scenarios can ensure the efficiency of the navigation task execution of the second robot.

There can be multiple robots competing to pass through the first area. When scheduling, the robot with the highest priority (the first robot) may not be scheduled, and other robots (multiple second robots) may be controlled to be located outside the first area, and after the first robot passes through the first area, according to The priority of other robots is restored to each robot in turn.

The order of robot restoration can be: high-priority tasks first restore first; first dispatch first, restore first.

Optionally, in this embodiment, when there are multiple second robots, controlling the second robot to pass through the first area includes one of the following: according to the priority order of the navigation tasks of the multiple second robots, that is, the The multiple second robots pass through the first area in descending order of priority, and sequentially control multiple second robots to pass through the first area; according to the time sequence of scheduling the navigation tasks of multiple second robots, sequentially control multiple second robots Two robots pass through the first area.

Through this embodiment, when there are multiple second robots, each second robot is sequentially restored, which can prevent the robot from getting stuck when passing through the first area, and improve the operating efficiency of the robot.

Optionally, in this embodiment, after detecting that the first robot and the second robot compete to pass through the first area, the priority of the first robot passing through the first area is equal to the priority of the second robot passing through the first area. In this case, the robot selected from the first robot and the second robot is controlled to pass through the first area, and the other robot of the first robot and the second robot is controlled to be located outside the first area.

The priority of the robots competing to pass through the first area can be the same. In this case, one robot can be selected from the first robot and the second robot to pass through the first area first. The selection method can be random selection, or, You can choose according to predetermined rules. The operation performed by the selected robot is similar to the operation performed by the aforementioned first robot, and the operation performed by the other robot is similar to the operation performed by the aforementioned second robot, which will not be repeated here.

Through this embodiment, when the priority of the first robot passing through the first area is equal to the priority of the second robot passing through the first area, by selecting the way the robot passes through the first area, the efficiency of the robot passing through the first area can be ensured and the The operating efficiency of the robot.

The control method of the foregoing object will be described below in conjunction with an optional embodiment. In this optional embodiment, the application scenario is to deliver items in the same building, the first robot and the second robot are both delivery robots, and the control operation is performed by the cloud.

After the first robot occupies the competition area, when the cloud judges that a second robot enters the competition area through the real-time position of the robot, the scheduling operation is performed, and the second robot is dispatched to the scheduling point of the nearest non-competition area with the opposite direction. (If you enter at the same time, take the priority to judge); When the first robot leaves the competition area, it will perform the recovery behavior and resume the navigation task of the scheduled robot.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is Better implementation. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology can be embodied in the form of a software product, and the computer software product is stored in a storage medium (such as ROM/RAM, magnetic disk, The optical disc) includes a number of instructions to enable a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) to execute the method described in each embodiment of the present invention.

In this embodiment, a robot control device is also provided, and the robot control device is used to implement the above-mentioned embodiments and preferred implementations, and what has been described will not be repeated. As used below, the term "module" can implement a combination of software and/or hardware with predetermined functions. Although the devices described in the following embodiments are preferably implemented by software, hardware or a combination of software and hardware is also possible and conceived.

Fig. 5 is a structural block diagram of an optional robot control device according to an embodiment of the present invention. As shown in Fig. 5, the robot control device includes:

(1) The detection unit 52 is configured to detect that the first robot and the second robot compete to pass through the first area, wherein the passage width of the first area allows only one robot to pass;

(2) The first control unit 54 is connected to the detection unit 52 and is configured to control the first robot to pass through the first area when the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area A region

(3) The second control unit 56 is connected to the first control unit 54 and is configured to control the second robot to be located outside the first area during the process of controlling the first robot to pass through the first area.

Optionally, the detection unit 52 may be configured to perform step S202, the first control unit 54 may be configured to perform step S204, and the second control unit 56 may be configured to perform step S206.

As an optional technical solution, the detection unit 52 includes:

(1) The acquisition module is configured to acquire the first position where the first robot is located and the second position where the second robot is located;

(2) The first determining module is configured to determine that both the first robot and the second robot are located in the first area according to the first position and the second position; or,

(3) The second determination module is configured to determine, according to the first position and the second position, that the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot is located in the first area, where , The target floor is the destination floor where the first robot takes the first elevator, and the first area includes the exit area of the target floor; or,

(4) The third determining module is configured to determine, based on the first position and the second position, that the second elevator where the second robot is located reaches the target floor corresponding to the first area, and the first robot is located in the first area, where , The target floor is the target floor where the second robot takes the second elevator, and the first area includes the exit area of the target floor; or,

(5) The fourth determining module is configured to determine that the first elevator where the first robot is located and the second elevator where the second robot is located simultaneously arrive at the target floor corresponding to the first area according to the first position and the second position, wherein , The target floor is the destination floor where the first robot takes the first elevator, and is the destination floor where the second robot takes the second elevator, and the first area includes the exit area of the target floor.

As an optional technical solution, the detection unit 52 includes one of the following:

(1) The first detection module is configured to detect that the second robot enters the first area when the first robot is located in the first area;

(2) The second detection module is configured to detect that the first robot enters the first area when the second robot is located in the first area;

(3) The third detection module is set to detect that the first robot and the second robot simultaneously enter the first area;

(4) The fourth detection module is configured to detect that the first elevator where the first robot is located reaches the target floor corresponding to the first area when the second robot is located in the first area, where the target floor is the first The destination floor where the robot takes the first elevator, the first area includes the exit area of the target floor;

(5) The fifth detection module is configured to detect that the second elevator in which the second robot is located reaches the target floor corresponding to the first area when the first robot is located in the first area, where the target floor is the second The destination floor where the robot takes the second elevator, and the first area includes the exit area of the target floor;

(6) The sixth detection module is set to detect that the first elevator where the first robot is located and the second elevator where the second robot is located have reached the target floor corresponding to the first area at the same time, wherein the target floor is the The destination floor of an elevator is the destination floor of the second elevator for the second robot, and the first area includes the exit area of the target floor.

As an optional technical solution, the above device further includes one of the following:

(1) The first determining unit is configured to, before controlling the first robot to pass through the first area, when the first time when the first robot enters the first area is earlier than the second time when the second robot enters the first area, Determining that the priority of the first robot passing through the first area is higher than the priority of passing the second robot through the first area;

(2) The second determining unit is configured to determine that the first robot passes through the first area when the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot is located in the first area The priority of is higher than the priority of the second robot passing through the first area, where the target floor is the destination floor of the first robot to take the first elevator, and the first area includes the exit area of the target floor.

As an optional technical solution, the second control unit 56 includes one of the following:

(1) The first control module is configured to control the second robot to move to the target dispatch point in the second area, where the second area is an area adjacent to the first area and the passage width allows at least two robots to pass , The target scheduling point is a preset position where the second robot is allowed to stop;

(2) The second control module is configured to control the second robot to stay in the second elevator when the second elevator where the second robot is located arrives at the target floor corresponding to the first area, where the target floor is the second elevator The destination floor where the robot takes the second elevator. The first area includes the exit area of the destination floor.

As an optional technical solution, the foregoing device further includes:

(1) The third control unit is configured to, after detecting that the first robot and the second robot compete to pass through the first area, the priority of the first robot passing through the first area is equal to the priority of the second robot passing through the first area In this case, the robot selected from the first robot and the second robot is controlled to pass through the first area, and the other robot of the first robot and the second robot is controlled to be located outside the first area.

It should be noted that each of the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following manner, but not limited to this: the above modules are all located in the same processor; or, the above modules are combined in any combination The forms are located in different processors.

An embodiment of the present invention also provides a storage medium in which a computer program is stored, wherein the computer program is configured to execute the steps in any one of the foregoing method embodiments when running.

Optionally, in this embodiment, the above-mentioned storage medium may include, but is not limited to: U disk, read-only memory (Read-Only Memory, ROM for short), Random Access Memory (RAM for short), Various media that can store program codes, such as mobile hard disks, magnetic disks, or optical disks.

An embodiment of the present invention also provides an electronic device, including a memory and a processor, the memory is stored with a computer program, and the processor is configured to run the computer program to execute the steps in any of the foregoing method embodiments.

Optionally, the aforementioned electronic device may further include a transmission device and an input-output device, wherein the transmission device is connected to the aforementioned processor, and the input-output device is connected to the aforementioned processor.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the above-mentioned embodiments and optional implementation manners, and details are not described herein again in this embodiment.

Obviously, those skilled in the art should understand that the above-mentioned modules or steps of the present invention can be implemented by a general computing device. They can be concentrated on a single computing device or distributed in a network composed of multiple computing devices. Above, alternatively, they can be implemented with program codes executable by the computing device, so that they can be stored in the storage device for execution by the computing device, and in some cases, can be executed in a different order than here. Perform the steps shown or described, or fabricate them into individual integrated circuit modules, or fabricate multiple modules or steps of them into a single integrated circuit module to achieve. In this way, the present invention is not limited to any specific combination of hardware and software.

The foregoing descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention can have various modifications and changes. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the present invention should be included in the protection scope of the present invention.

Claims

A control method of a robot includes:

It is detected that the first robot and the second robot compete to pass through the first area, wherein the passage width of the first area allows only one robot to pass through;

In a case where the priority of the first robot passing through the first area is higher than the priority of passing the second robot through the first area, controlling the first robot to pass through the first area;

In the process of controlling the first robot to pass through the first area, the second robot is controlled to be located outside the first area.
The method of claim 1, wherein detecting that the first robot and the second robot compete to pass through the first area comprises:

Acquiring the first position where the first robot is located and the second position where the second robot is located;

According to the first position and the second position, it is determined that both the first robot and the second robot are located in the first area; or,

According to the first position and the second position, it is determined that the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot is located in the first area , Wherein the target floor is a destination floor where the first robot rides the first elevator, and the first area includes an exit area of the target floor; or,

According to the first position and the second position, it is determined that the second elevator where the second robot is located reaches the target floor corresponding to the first area, and the first robot is located in the first area , Wherein the target floor is a destination floor where the second robot takes the second elevator, and the first area includes an exit area of the target floor; or,

According to the first position and the second position, it is determined that the first elevator where the first robot is located and the second elevator where the second robot is located arrive at the target floor corresponding to the first area at the same time, wherein The target floor is the destination floor where the first robot takes the first elevator, and is the destination floor where the second robot takes the second elevator, and the first area includes the exit of the target floor area.
The method of claim 1, wherein detecting that the first robot and the second robot compete to pass through the first area comprises one of the following:

In the case that the first robot is located in the first area, detecting that the second robot enters the first area;

In the case that the second robot is located in the first area, detecting that the first robot enters the first area;

Detecting that the first robot and the second robot simultaneously enter the first area;

In the case that the second robot is located in the first area, it is detected that the first elevator where the first robot is located reaches the target floor corresponding to the first area, wherein the target floor is the A destination floor where a first robot rides on the first elevator, and the first area includes an exit area of the destination floor;

In the case that the first robot is located in the first area, it is detected that the second elevator where the second robot is located has reached the target floor corresponding to the first area, wherein the target floor is the A destination floor where a second robot rides on the second elevator, and the first area includes an exit area of the destination floor;

It is detected that the first elevator where the first robot is located and the second elevator where the second robot is located have reached the target floor corresponding to the first area at the same time, wherein the target floor is the seating area for the first robot The destination floor of the first elevator is a destination floor where the second robot rides on the second elevator, and the first area includes an exit area of the target floor.
The method according to claim 1, wherein before controlling the first robot to pass through the first area, the method further comprises one of the following:

If the first time when the first robot enters the first area is earlier than the second time when the second robot enters the first area, it is determined that the first robot passes through the first area. The priority is higher than the priority of the second robot passing through the first area;

When the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot is located in the first area, it is determined that the first robot passes through the first area. The priority of an area is higher than the priority of the second robot passing through the first area, wherein the target floor is the destination floor where the first robot takes the first elevator, and the first area includes The exit area of the target floor.
The method according to claim 1, wherein controlling the second robot to be located at a position outside the first area comprises one of the following:

The second robot is controlled to move to a target dispatch point in a second area, where the second area is an area adjacent to the first area and a passage width that allows at least two robots to pass through, and the target The scheduling point is a preset position that allows the second robot to stop;

In the case that the second elevator where the second robot is located reaches the target floor corresponding to the first area, control the second robot to stay in the second elevator, wherein the target floor is the The second robot rides on the destination floor of the second elevator, and the first area includes an exit area of the destination floor.
The method according to any one of claims 1 to 5, wherein, after detecting that the first robot and the second robot compete to pass through the first area, the method further comprises:

In the case that the priority of the first robot passing through the first area is equal to the priority of the second robot passing through the first area, control selects from the first robot and the second robot The robot passes through the first area, and controls the other of the first robot and the second robot to be located outside the first area.
A robot control device, which includes:

The detection unit is configured to detect that the first robot and the second robot compete to pass through the first area, wherein the passage width of the first area allows only one robot to pass through;

The first control unit is configured to control the first robot to pass through the first area when the priority of the first robot passing through the first area is higher than the priority of the second robot passing through the first area. The first area;

The second control unit is configured to control the second robot to be located outside the first area during the process of controlling the first robot to pass through the first area.
The device according to claim 7, wherein the detection unit comprises:

An acquiring module, configured to acquire the first position where the first robot is located and the second position where the second robot is located;

The first determining module is configured to determine that the first robot and the second robot are both located in the first area according to the first position and the second position; or,

The second determining module is configured to determine, according to the first position and the second position, that the first elevator where the first robot is located reaches the target floor corresponding to the first area, and the second robot Located in the first area, wherein the target floor is the destination floor where the first robot takes the first elevator, and the first area includes the exit area of the target floor; or,

The third determining module is configured to determine, according to the first position and the second position, that the second elevator where the second robot is located reaches the target floor corresponding to the first area, and the first robot Located in the first area, wherein the target floor is the destination floor where the second robot rides on the second elevator, and the first area includes the exit area of the target floor; or,

The fourth determining module is configured to determine, based on the first position and the second position, that the first elevator where the first robot is located and the second elevator where the second robot is located arrive at the same time as the first elevator. The target floor corresponding to the area, where the target floor is the destination floor where the first robot takes the first elevator, and is the destination floor where the second robot takes the second elevator, and the first area Including the exit area of the target floor.
A storage medium in which a computer program is stored, wherein the computer program is configured to execute the method described in any one of claims 1 to 6 when running.
An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the method described in any one of claims 1 to 6 through the computer program .