CN112388641A - Robot control method, control equipment, robot and system - Google Patents
Robot control method, control equipment, robot and system Download PDFInfo
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- CN112388641A CN112388641A CN202110078246.0A CN202110078246A CN112388641A CN 112388641 A CN112388641 A CN 112388641A CN 202110078246 A CN202110078246 A CN 202110078246A CN 112388641 A CN112388641 A CN 112388641A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- Mechanical Engineering (AREA)
- Elevator Control (AREA)
Abstract
The application relates to a control method, control equipment, a robot and a system of the robot, wherein the method comprises the following steps: when the robot cannot enter the elevator or cannot exit the elevator, sending alarm information to the operation and maintenance platform; and receiving a control instruction sent by the operation and maintenance platform and responding to the control instruction to control the robot to enter or exit the elevator. According to the intelligent elevator taking control method and the intelligent elevator taking control system, information interaction can be carried out between the robot and the operation and maintenance platform when the robot takes the elevator abnormally, the robot is controlled to enter the elevator or exit the elevator based on the control command sent by the operation and maintenance platform, and the efficiency and the intelligence of the robot for executing tasks are effectively improved.
Description
Technical Field
The application relates to the technical field of interaction of robots and elevators, in particular to a control method, control equipment, a robot and a system of the robot.
Background
With the rapid development of artificial intelligence technology, various robots appear in the daily life of people to assist or replace some manual operations, thereby effectively improving the convenience of the daily life of people. For example, service robots are widely used in restaurants, hotels, or various public service places to help people order, carry, deliver, or guide their way.
However, when the traditional robot needs to take the elevator in the process of executing the task, the traditional robot often cannot normally take the elevator due to various reasons, and the robot can continue to complete the task only after relevant operation and maintenance personnel resend a new navigation task or go to the site to eliminate the abnormality, so that the time for the robot to execute the task is greatly wasted, and the working efficiency of the robot is seriously affected.
Disclosure of Invention
In view of the above, it is necessary to provide a control method, a control device, a robot and a system for a robot, which can intelligently interact information with an operation and maintenance platform when the robot has an abnormal elevator taking situation, and control the robot to enter or exit based on a control command sent by the operation and maintenance platform.
To achieve the above and other objects, the present application provides a control method of a robot, including:
sending an elevator interaction signal to an elevator control device, and judging that the robot cannot enter or exit the elevator when preset indication information is not obtained within preset time after the elevator interaction signal is sent to the elevator control device, wherein the preset indication information comprises any one of indication information representing that an elevator car is opened, indication information representing that the robot enters the elevator car and indication information representing that the robot leaves the elevator car;
sending alarm information for indicating that the robot cannot enter the elevator or cannot exit the elevator to the operation and maintenance platform;
and receiving a control instruction sent by the operation and maintenance platform and responding to the control instruction to control the robot to enter or exit the elevator.
In the control method of the robot in the above embodiment, it is determined that the robot cannot enter the elevator or cannot exit the elevator due to abnormal elevator taking in the process of executing the task by using that the preset indication information is not obtained within a preset time after the elevator interaction signal is sent to the elevator control device, and when the robot cannot enter the elevator or cannot exit the elevator, alarm information is sent to the operation and maintenance platform, so that the operation and maintenance platform generates a control instruction based on the received alarm information; the robot receives the control command sent by the operation and maintenance platform and responds to the control command to control the robot to enter the elevator or go out of the elevator, so that when the robot cannot enter the elevator or go out of the elevator, the robot sends alarm information to the operation and maintenance platform by itself to enable the operation and maintenance platform to send the control command and respond to the control command to control the robot to enter the elevator or go out of the elevator, the robot can continue to complete tasks, operation and maintenance personnel do not need to issue new navigation tasks again or go to the site to remove abnormity, the working pressure of the operation and maintenance personnel is relieved, and the efficiency and the intelligence of the robot for executing tasks are improved.
In one embodiment, the sending an elevator interaction signal to an elevator control device, and when preset indication information is not obtained within a preset time after the sending of the elevator interaction signal to the elevator control device, determining that the robot cannot enter the elevator or cannot exit the elevator comprises:
and if the elevator interaction signal is continuously sent to the elevator control device for multiple times and the preset indication information is not obtained within the preset time after the elevator interaction signal is sent to the elevator control device every time, judging that the robot cannot enter the elevator or cannot exit the elevator.
In one embodiment, the receiving a control instruction sent by an operation and maintenance platform and controlling the robot to enter or exit in response to the control instruction includes:
receiving a control instruction sent by an operation and maintenance platform;
sending an elevator interaction signal to an elevator control device in response to the control command to control the elevator car to open at a target floor;
and controlling the robot to enter the elevator car or exit the elevator car.
In one embodiment, the sending an elevator interaction signal to an elevator control device in response to the control command to control the opening of the elevator car at the target floor includes:
sending an elevator interaction signal to an elevator control device in response to the control command, controlling the elevator car to move to a target floor and open when the elevator car reaches the target floor when the floor where the elevator car is currently located is not the target floor, or
And when the floor where the elevator car is located at present is a target floor, controlling the elevator car to be opened at the floor where the elevator car is located at present.
In one embodiment, the control instruction is an elevator taking instruction, and the receiving of the control instruction sent by the operation and maintenance platform and the control of the robot to enter or exit in response to the control instruction includes:
receiving an elevator taking instruction sent by an operation and maintenance platform, wherein the elevator taking instruction is used for instructing a robot to enter an elevator car from an initial floor where the robot is located at present and leave the elevator car after the elevator car reaches a target floor;
responding to the elevator taking command and generating a call signal, so that an elevator control device controls an elevator car to stop at the initial floor based on the received call signal;
controlling the robot to execute an instruction to enter the elevator car from the initial floor;
and after the elevator car reaches the target floor, controlling the robot to execute a command of running out of the elevator car.
In one embodiment, the executing the instruction to enter the elevator car from the initial floor comprises:
obtaining the opening state information of an elevator door after an elevator car stops at the initial floor;
and controlling the robot to perform an action of entering an elevator car in response to the elevator door opening state information.
In one embodiment, the executing the command to exit the elevator car comprises:
obtaining the opening state information of the elevator door after the elevator car reaches the target floor;
and controlling the robot to perform the action of exiting the elevator car in response to the opening state information of the elevator door.
The present application also provides a control apparatus, characterized by comprising: comprising one or more memories, one or more processors coupled to the memories, and one or more programs, wherein the one or more programs are stored in the memories, the processors invoking the one or more programs to cause the control device to perform the steps of the method described in the above embodiments.
The application also provides a robot, which comprises a wireless communication device and a controller electrically connected with the wireless communication device;
the wireless communication device is used for establishing communication connection with an operation and maintenance platform so as to send information to the operation and maintenance platform and receiving instructions from the operation and maintenance platform, and the wireless communication device is also used for establishing communication connection with an elevator control device so as to send signals to the elevator control device;
the controller is used for sending an elevator interaction signal to the elevator control device through the wireless communication device, and judging that the robot cannot enter the elevator or cannot exit the elevator when preset indication information is not obtained within preset time after the elevator interaction signal is sent to the elevator control device, wherein the preset indication information comprises any one of indication information representing that the elevator car is opened, indication information representing that the robot enters the elevator car and indication information representing that the robot leaves the elevator car; sending alarm information for indicating that the robot cannot enter the elevator or cannot exit the elevator to the operation and maintenance platform through the wireless communication device; and receiving a control instruction sent by the operation and maintenance platform through the wireless communication device and controlling the robot to enter or exit the elevator in response to the control instruction.
In the robot in the above embodiment, when the robot cannot enter or exit the elevator, the wireless communication device sends alarm information to the operation and maintenance platform, and the wireless communication device receives the control instruction sent by the operation and maintenance platform and controls the robot to enter or exit the elevator in response to the control instruction, and when relevant operation and maintenance personnel do not reissue a new navigation task or visit the site to perform elevator taking abnormity troubleshooting on the robot, the robot sends the alarm information to the operation and maintenance platform by itself, so that the operation and maintenance platform sends the control instruction and controls the robot to enter or exit the elevator in response to the control instruction, and the robot can continue to complete tasks, thereby effectively improving efficiency and intelligence of the robot in executing tasks.
The application provides a system for interaction of a robot and an elevator, which comprises the robot, an operation and maintenance platform and an elevator control device in the embodiment;
the operation and maintenance platform receives the alarm information and sends a control instruction to the robot;
the elevator control device is used for performing information interaction with the robot or the operation and maintenance platform so as to control the elevator car to be opened at a target floor.
In the system in which the robot interacts with the elevator in the above embodiment, when the robot cannot enter or exit the elevator, the robot sends alarm information to the operation and maintenance platform, the operation and maintenance platform receives the alarm information and sends a control instruction to the robot, the robot receives the control instruction sent by the operation and maintenance platform and controls the robot to enter or exit the elevator in response to the control instruction, and the elevator control device controls the elevator car to be opened at a target floor based on the elevator taking instruction sent by the robot or the elevator taking instruction sent by the operation and maintenance platform, so that the robot completes an elevator entering action or an elevator exiting action. Under the condition that related operation and maintenance personnel do not issue a new navigation task again or the robot is checked for abnormal elevator taking by visiting the site, the robot sends alarm information to the operation and maintenance platform by itself so that the operation and maintenance platform sends a control instruction and controls the robot to enter or exit in response to the control instruction, the robot can continue to complete the task, and the efficiency and the intelligence of the robot for executing the task are effectively improved.
In one of the embodiments, the robot sends an elevator interaction signal to the elevator control device in response to the control command to control the opening of the elevator car at the target floor, an
And controlling the robot to enter the elevator car or to exit the elevator car when the elevator car is opened.
In one embodiment, after receiving the alarm information, the operation and maintenance platform sends an elevator interaction signal to the elevator control device to control the opening of the elevator car at the target floor, and sends a control instruction to the robot when the elevator car is opened at the target floor;
the robot controls the robot to enter or exit the elevator car in response to the control command.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain drawings of other embodiments based on these drawings without any creative effort.
Fig. 1 is a schematic flowchart of a control method for a robot according to a first embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a control method of a robot according to a second embodiment of the present application;
fig. 3 is a schematic flowchart of a control method of a robot according to a third embodiment of the present disclosure;
fig. 4 is a schematic flowchart of a control method of a robot according to a fourth embodiment of the present disclosure;
fig. 5 is a schematic flowchart of a control method of a robot according to a fifth embodiment of the present application;
fig. 6 is a schematic flowchart of a control method for a robot according to a sixth embodiment of the present application;
fig. 7 is a schematic flowchart of a control method for a robot according to a seventh embodiment of the present disclosure;
fig. 8 is a schematic flowchart of a control method of a robot according to an eighth embodiment of the present disclosure;
fig. 9 is a schematic structural view of a robot provided in a ninth embodiment of the present application;
fig. 10 is a schematic structural diagram of a robot and elevator interaction system provided in a tenth embodiment of the present application.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are illustrated in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Where the terms "comprising," "having," and "including" are used herein, another element may be added unless an explicit limitation is used, such as "only," "consisting of … …," etc. Unless mentioned to the contrary, terms in the singular may include the plural and are not to be construed as being one in number.
Throughout the description of the present application, it is to be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; the connection may be direct or indirect via an intermediate medium, and the connection may be internal to the two components. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
Referring to fig. 1, in one embodiment of the present application, there is provided a control method of a robot, in particular, a method of a robot interacting with an elevator, including the steps of:
and 24, receiving a control instruction sent by the operation and maintenance platform and controlling the robot to enter or exit the elevator in response to the control instruction.
Specifically, the robot takes an elevator abnormally in the process of executing a task, for example, the robot suddenly cannot normally perform information interaction with the elevator due to abnormal self-program, or the robot sends an elevator taking call instruction to the elevator and then the elevator does not respond, or the robot cannot normally enter or exit the elevator due to temporary elevator failure, and the like, the robot sends alarm information to the operation and maintenance platform, so that the operation and maintenance platform generates a control instruction based on the received alarm information, and the control instruction can control the elevator car to move to a target floor and then open, so that the robot normally enters or exits the elevator car and completes the task. Under the condition that related operation and maintenance personnel do not issue a new navigation task again or the robot is checked for abnormal elevator taking by visiting the site, the robot sends alarm information to the operation and maintenance platform by itself so that the operation and maintenance platform sends a control instruction and controls the robot to enter or exit in response to the control instruction, the robot can continue to complete the task, and the efficiency and the intelligence of the robot for executing the task are effectively improved.
Further, referring to fig. 2, in an embodiment of the application, when the robot cannot enter the elevator or cannot exit the elevator, the sending of the alarm information to the operation and maintenance platform includes the following steps:
And step 222, sending alarm information for indicating that the robot cannot enter the elevator or cannot exit the elevator to the operation and maintenance platform. The operation and maintenance platform can be a server loaded with operation and maintenance software, and the server is in communication connection with the robot through a wired network or a wireless network. Preferably, the operation and maintenance platform comprises a server, and a display device and an input device which are electrically connected with the server.
Specifically, when the robot needs to enter or exit a ladder in the task execution process, an elevator interaction signal is sent to an elevator control device, if preset indication information is not obtained within a preset time, such as 5S-10S, after the elevator interaction signal is sent to the elevator control device, it is judged that the robot cannot enter or exit the ladder, and then the robot sends alarm information representing that the robot cannot enter or exit the ladder to an operation and maintenance platform; the preset indication information comprises any one of indication information for representing that the elevator car is opened, indication information for representing that the robot enters the elevator car and indication information for representing that the robot leaves the elevator car. For example, the indication information representing the opening of the elevator car can be obtained based on a sensing device arranged on the elevator car; indication information representing that the robot enters the elevator car can be obtained based on a detection device arranged in the elevator car; the indication information characterizing the entry of the robot into the elevator car may be obtained on the basis of a detection device arranged outside the elevator car. The alarm information which represents that the robot cannot enter the elevator or cannot exit the elevator is sent to the operation and maintenance platform by the robot, and the alarm information can include field video information shot by the robot in real time, so that related operation and maintenance personnel can remotely watch the environment information of the site where the robot is located through the operation and maintenance platform, check abnormal conditions and take corresponding measures to help the robot to normally enter the elevator or exit the elevator to complete tasks. For example, when the robot encounters an elevator abnormality in the elevator car, and the robot does not obtain preset indication information within a preset time period, for example, 5S, after sending an elevator interaction signal to the elevator control device, it is determined that the robot cannot go out of the elevator, the robot sends alarm information to the operation and maintenance platform, the alarm information includes real-time video information that the robot shoots the elevator car, relevant operation and maintenance personnel know the alarm information via the operation and maintenance platform and determine a temporary elevator fault via the video information, the operation and maintenance personnel can remotely call the elevator operation and maintenance personnel to process elevator fault information in time, and after the elevator fault is relieved, the operation and maintenance platform sends a control instruction to the robot to control the robot to go out of the elevator car and continue to complete tasks.
Further, referring to fig. 3, in an embodiment of the present application, the sending an elevator interaction signal to an elevator control device, and determining that the robot cannot enter or exit the elevator when preset indication information is not obtained within a preset time after the sending of the elevator interaction signal to the elevator control device includes:
and 2211, if the elevator interaction signal is continuously sent to the elevator control device for multiple times and the preset indication information is not obtained within the preset time after the elevator interaction signal is sent to the elevator control device every time, judging that the robot cannot enter the elevator or cannot exit the elevator.
Specifically, when the robot sends an elevator interaction signal to the elevator control device, the information interaction between the robot and the elevator control device may fail due to obstruction, noise interference, or elevator short-time failure. The robot is arranged to repeatedly send elevator interaction signals to the elevator control device after information interaction between the robot and the elevator control device fails, so that the situation that the robot cannot enter or exit due to instantaneous interaction abnormity between the robot and the elevator control device is avoided. If the robot sends an elevator interaction signal to the elevator control device for multiple times continuously, and the elevator interaction signal is sent to the elevator control device at every time and then is not obtained within the preset time, the preset indication information is judged, the robot cannot enter the elevator or exit the elevator, and then alarm information is sent to the operation and maintenance platform, so that the problem that the robot has an alarm fault due to the fact that instantaneous interaction between the robot and the elevator control device is abnormal is avoided.
Further, referring to fig. 4, in an embodiment of the present application, the receiving a control instruction sent by an operation and maintenance platform and controlling a robot to enter or exit a ladder in response to the control instruction includes:
241, receiving a control instruction sent by the operation and maintenance platform;
and 243, controlling the robot to enter the elevator car or exit the elevator car.
Specifically, after the operation and maintenance platform generates a control instruction based on received alarm information sent by the robot, the robot receives the control instruction sent by the operation and maintenance platform, sends an elevator interaction signal to the elevator control device in response to the control instruction to control the elevator car to be opened at a target floor, then controls the robot to enter the elevator car or to exit the elevator car to continue to complete a task, so that related operation and maintenance personnel can remotely send the control instruction to the robot through the operation and maintenance platform, and the robot sends the elevator interaction signal to the elevator control device to control the elevator car to be opened at the target floor to normally enter the elevator or exit the elevator and continue to complete the task, thereby effectively improving the efficiency and intelligence of the robot in executing the task.
Further, referring to fig. 5, in an embodiment of the present application, the sending an elevator interaction signal to an elevator control device in response to the control command to control an elevator car to open at a target floor includes:
Specifically, after the operation and maintenance platform generates a control command based on the received alarm information sent by the robot, the robot receives the control command sent by the operation and maintenance platform and sends an elevator interaction signal to the elevator control device in response to the control command. If the current floor of the elevator car is not the target floor, the elevator control device controls the elevator car to move to the target floor and is opened when the elevator car reaches the target floor; if the floor where the elevator car is located at present is the target floor, the elevator car is controlled to be opened at the floor where the elevator car is located at present, information interaction between the robot and the elevator control device is normal, the robot enters the elevator normally or leaves the elevator normally and continues to complete tasks, and efficiency and intelligence of the robot in executing the tasks are effectively improved.
Further, referring to fig. 6, in an embodiment of the present application, the control command is a boarding command, and the receiving of the control command sent by the operation and maintenance platform and the control of the robot entering or exiting in response to the control command includes the following steps:
a step 24211 of responding to the elevator taking command and generating a call signal, so that the elevator control device controls the elevator car to stop at the initial floor based on the received call signal;
and 2432, controlling the robot to execute an instruction of exiting the elevator car after the elevator car reaches the target floor.
Specifically, when the operation and maintenance platform generates an elevator taking instruction based on received alarm information sent by the robot, the elevator taking instruction is used for indicating the robot to enter an elevator car from an initial floor where the robot is located at present and leave the elevator car after the elevator car reaches a target floor; the robot receives an elevator taking command sent by the operation and maintenance platform and responds to the elevator taking command and generates a call signal, so that the elevator control device controls the elevator car to stop at the initial floor based on the received call signal, and the robot executes a command of entering the elevator car from the initial floor to enter the elevator car; and after the elevator car reaches the target floor, controlling the robot to execute a command of driving out the elevator car so as to drive out the elevator car. Related operation and maintenance personnel can send control commands to the robot remotely through the operation and maintenance platform, so that the robot sends elevator interaction signals to the elevator control device to control the elevator car to be opened at a target floor, the elevator car can normally enter the elevator or exit the elevator and continue to complete tasks, and the efficiency and the intelligence of the robot for executing the tasks are effectively improved.
Further, referring to fig. 7, in an embodiment of the present application, the executing the command to enter the elevator car from the initial floor includes:
and 24312, responding to the opening state information of the elevator door, and controlling the robot to perform an action of entering the elevator car.
Specifically, when the robot receives an elevator taking instruction sent by the operation and maintenance platform and responds to the elevator taking instruction to generate a call signal, the elevator control device controls the elevator car to stop at the initial floor based on the received call signal, the robot acquires the opening state information of the elevator door after the elevator car stops at the initial floor, for example, the opening state information of the elevator door can be acquired based on a sensing device arranged on the elevator car, and the robot responds to the opening state information of the elevator door to control the robot to perform an action of entering the elevator car. As an example, the sensing device may be implemented by using an infrared sensing technology or an image recognition technology, and the principle of how to obtain the opening state information of the elevator door through the sensing device is common knowledge of those skilled in the art, and is not described herein again.
Further, referring to fig. 8, in an embodiment of the present application, the executing the command to exit the elevator car includes:
and 24322, controlling the robot to perform an action of exiting the elevator car in response to the opening state information of the elevator door.
Specifically, when the elevator control device controls the elevator car to stop at the target floor, the elevator door opening state information may be acquired based on a sensing device provided in the elevator car, and the robot responds to the elevator door opening state information and controls the robot to perform an action of exiting the elevator car. The floor information acquisition unit can be realized by adopting at least one of a wireless carrier communication positioning technology, a laser ranging technology, an image recognition technology and the like, and the specific realization principle of the floor information acquisition unit can be referred to the relevant content in the specification of the published patent application of 'automatic control system and control method for interaction of robot and elevator' (application number: 201911144612.7).
Further, referring to fig. 9, in one embodiment of the present application, a robot 100 is provided, the robot including a wireless communication device 12 and a controller 14; the wireless communication device 12 is used for establishing a communication connection with an operation and maintenance platform to send information to the operation and maintenance platform and receive instructions from the operation and maintenance platform; the controller 14 is configured to send alarm information to the operation and maintenance platform through the wireless communication device 12 when the robot 100 cannot enter the elevator or cannot exit the elevator, and receive a control instruction sent by the operation and maintenance platform through the wireless communication device 12 and control the robot 100 to enter the elevator or exit the elevator in response to the control instruction.
Specifically, please refer to fig. 9 continuously, when the robot 100 cannot enter or exit the elevator, the wireless communication device 12 sends alarm information to the operation and maintenance platform, and the wireless communication device 12 receives a control command sent by the operation and maintenance platform and controls the robot 100 to enter or exit the elevator in response to the control command, and when the relevant operation and maintenance personnel do not reissue a new navigation task or visit the site to check the abnormality of the elevator taking of the robot, the robot 100 sends the alarm information to the operation and maintenance platform by itself, so that the operation and maintenance platform sends the control command and controls the robot to enter or exit the elevator in response to the control command, and the robot can continue to complete the task, thereby effectively improving the efficiency and intelligence of the robot in executing the task.
Further, referring to fig. 10, in one embodiment of the present application, a system 10 for robot interaction with an elevator is provided, including a robot 100, an operation platform 200, and an elevator control device 300; when the robot 100 cannot enter or exit the elevator, sending alarm information to the operation and maintenance platform 200, receiving a control instruction sent by the operation and maintenance platform 200, and controlling the robot 100 to enter or exit the elevator in response to the control instruction; the operation and maintenance platform 200 receives the alarm information and sends a control instruction to the robot 100; the elevator control device 300 is used for information interaction with the robot 100 or the operation and maintenance platform 200 to control the opening of the elevator car at the target floor.
Specifically, please refer to fig. 10, when the robot 100 cannot enter or exit the elevator, the operation and maintenance platform 200 sends alarm information, the operation and maintenance platform 200 receives the alarm information and sends a control command to the robot 100, the robot 100 receives the control command sent by the operation and maintenance platform 200 and controls the robot 100 to enter or exit the elevator in response to the control command, and the elevator control device 300 controls the elevator car to open at the target floor based on the elevator taking command sent by the robot 100 or the elevator taking command sent by the operation and maintenance platform 200, so that the robot 100 completes an elevator entering action or an elevator exiting action. Under the condition that related operation and maintenance personnel do not issue a new navigation task again or the robot is checked for abnormal elevator taking in the scene, the robot 100 sends alarm information to the operation and maintenance platform by self so that the operation and maintenance platform sends a control instruction and controls the robot 100 to enter or exit in response to the control instruction, the robot 100 can continue to complete the task, and the efficiency and the intelligence of the robot 100 for executing the task are effectively improved.
As an example, continuing to refer to fig. 10, in one embodiment of the present application, the robot 100 sends an elevator interaction signal to the elevator control 300 in response to the control command to control the elevator car to open at the target floor, and to control the robot 100 to enter or exit the elevator car when the elevator car is open.
As an example, continuing to refer to fig. 10, in one embodiment of the present application, the operation and maintenance platform 200, after receiving the alarm message, sends an elevator interaction signal to the elevator control device 300 to control the opening of the elevator car at the target floor, and sends a control command to the robot when the elevator car is opened at the target floor; the robot 100 controls the robot 100 to enter or exit the elevator car in response to the control command.
It should be understood that although the various steps in the flowcharts of fig. 1-8 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, although at least some of the steps in fig. 1-8 may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, the order of performing the sub-steps or stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least some of the sub-steps or stages of other steps.
Note that the above embodiments are for illustrative purposes only and are not meant to limit the present application.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
For the sake of brevity, those skilled in the art will not understand that all or part of the processes of the methods according to the embodiments may be implemented by a computer program, which may be stored in a non-volatile computer-readable storage medium and may include the processes of the embodiments of the methods when executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the claims. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of controlling a robot, the method comprising:
sending an elevator interaction signal to an elevator control device, and judging that the robot cannot enter or exit the elevator when preset indication information is not obtained within preset time after the elevator interaction signal is sent to the elevator control device, wherein the preset indication information comprises any one of indication information representing that an elevator car is opened, indication information representing that the robot enters the elevator car and indication information representing that the robot leaves the elevator car;
sending alarm information for indicating that the robot cannot enter the elevator or cannot exit the elevator to the operation and maintenance platform;
and receiving a control instruction sent by the operation and maintenance platform and responding to the control instruction to control the robot to enter or exit the elevator.
2. The method of claim 1, wherein the sending an elevator interaction signal to an elevator control device and determining that the robot cannot enter or exit the elevator if preset indication information is not obtained within a preset time after the sending of the elevator interaction signal to the elevator control device comprises:
and if the elevator interaction signal is continuously sent to the elevator control device for multiple times and the preset indication information is not obtained within the preset time after the elevator interaction signal is sent to the elevator control device every time, judging that the robot cannot enter the elevator or cannot exit the elevator.
3. The method of claim 1, wherein the receiving the control instruction sent by the operation and maintenance platform and controlling the robot to enter or exit the elevator in response to the control instruction comprises:
receiving a control instruction sent by an operation and maintenance platform;
sending an elevator interaction signal to an elevator control device in response to the control command to control the elevator car to open at a target floor;
and controlling the robot to enter the elevator car or exit the elevator car.
4. The method of claim 3, wherein sending an elevator interaction signal to an elevator control device in response to the control command to control opening of the elevator car at the target floor comprises:
sending an elevator interaction signal to an elevator control device in response to the control command, controlling the elevator car to move to a target floor and open when the elevator car reaches the target floor when the floor where the elevator car is currently located is not the target floor, or
And when the floor where the elevator car is located at present is a target floor, controlling the elevator car to be opened at the floor where the elevator car is located at present.
5. The method of claim 1, wherein the control command is an elevator taking command, and the receiving the control command sent by the operation and maintenance platform and controlling the robot to enter or exit the elevator in response to the control command comprises:
receiving an elevator taking instruction sent by an operation and maintenance platform, wherein the elevator taking instruction is used for instructing a robot to enter an elevator car from an initial floor where the robot is located at present and leave the elevator car after the elevator car reaches a target floor;
responding to the elevator taking command and generating a call signal, so that an elevator control device controls an elevator car to stop at the initial floor based on the received call signal;
controlling the robot to execute an instruction to enter the elevator car from the initial floor;
and after the elevator car reaches the target floor, controlling the robot to execute a command of running out of the elevator car.
6. The method of claim 5, wherein the executing the command to enter the elevator car from the initial floor comprises:
obtaining the opening state information of an elevator door after an elevator car stops at the initial floor;
and controlling the robot to perform an action of entering an elevator car in response to the elevator door opening state information.
7. The method of claim 5, wherein the executing the command to exit the elevator car comprises:
obtaining the opening state information of the elevator door after the elevator car reaches the target floor;
and controlling the robot to perform the action of exiting the elevator car in response to the opening state information of the elevator door.
8. A control apparatus, characterized by comprising: comprising one or more memories, one or more processors coupled with the memories, and one or more programs, wherein the one or more programs are stored in the memories, the processors invoking the one or more programs to cause the control device to perform the steps of the method of any of claims 1-7.
9. A robot, characterized in that the robot comprises:
the wireless communication device is used for establishing communication connection with an operation and maintenance platform to send information to the operation and maintenance platform and receiving instructions from the operation and maintenance platform, and the wireless communication device is also used for establishing communication connection with an elevator control device to send signals to the elevator control device;
the controller is electrically connected with the wireless communication device and used for sending an elevator interaction signal to the elevator control device through the wireless communication device and judging that the robot cannot enter or exit the elevator when preset indication information is not obtained within preset time after the elevator interaction signal is sent to the elevator control device, wherein the preset indication information comprises any one of indication information representing that the elevator car is opened, indication information representing that the robot enters the elevator car and indication information representing that the robot leaves the elevator car; sending alarm information for indicating that the robot cannot enter the elevator or cannot exit the elevator to the operation and maintenance platform through the wireless communication device; and receiving a control instruction sent by the operation and maintenance platform through the wireless communication device and controlling the robot to enter or exit the elevator in response to the control instruction.
10. A system of robot and elevator interaction, characterized in that the system comprises an operation and maintenance platform, an elevator control and a robot according to claim 9;
the operation and maintenance platform receives the alarm information and sends a control instruction to the robot;
the elevator control device is used for performing information interaction with the robot or the operation and maintenance platform so as to control the elevator car to be opened at a target floor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110078246.0A CN112388641A (en) | 2021-01-21 | 2021-01-21 | Robot control method, control equipment, robot and system |
| CN202210054120.4A CN114310902A (en) | 2021-01-21 | 2022-01-18 | Ladder riding control method, ladder riding control device and ladder riding control equipment for robot and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110078246.0A CN112388641A (en) | 2021-01-21 | 2021-01-21 | Robot control method, control equipment, robot and system |
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| CN202110078246.0A Withdrawn CN112388641A (en) | 2021-01-21 | 2021-01-21 | Robot control method, control equipment, robot and system |
| CN202210054120.4A Pending CN114310902A (en) | 2021-01-21 | 2022-01-18 | Ladder riding control method, ladder riding control device and ladder riding control equipment for robot and robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210054120.4A Pending CN114310902A (en) | 2021-01-21 | 2022-01-18 | Ladder riding control method, ladder riding control device and ladder riding control equipment for robot and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113838136A (en) * | 2021-10-19 | 2021-12-24 | 泰州市祥龙五金制品有限公司 | Multi-stage conditioning system utilizing cloud storage |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116546050B (en) * | 2023-05-16 | 2024-05-14 | 山东上智智能科技有限公司 | Internet of things monitoring method, system, equipment and medium for cross-floor distribution |
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| CN114310902A (en) | 2022-04-12 |
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