CN114852804B - Robot floor determining method and related equipment - Google Patents
Robot floor determining method and related equipment Download PDFInfo
- Publication number
- CN114852804B CN114852804B CN202210440538.9A CN202210440538A CN114852804B CN 114852804 B CN114852804 B CN 114852804B CN 202210440538 A CN202210440538 A CN 202210440538A CN 114852804 B CN114852804 B CN 114852804B
- Authority
- CN
- China
- Prior art keywords
- robot
- target robot
- target
- distance
- controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000012423 maintenance Methods 0.000 claims description 44
- 230000004044 response Effects 0.000 claims description 42
- 238000004590 computer program Methods 0.000 claims description 20
- 238000007726 management method Methods 0.000 description 42
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008439 repair process Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
The application discloses a robot floor determining method and related equipment. The method comprises the following steps: when the first target robot cannot autonomously determine the current floor information, controlling the first target robot to send a floor determination help-seeking instruction; when the distance between the second target robot and the first target robot is smaller than the first distance, controlling the second target robot to move to an area which is smaller than the second distance from the first target robot, wherein the second distance is smaller than the first distance, and the second distance is the farthest distance which can be directly communicated by the two robots; and controlling the second target robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information. The method provided by the application does not need manual operation, and can be automatically activated under the condition that the first target robot cannot determine the current floor information, thereby being convenient and quick.
Description
Technical Field
The present disclosure relates to the field of robot control, and more particularly, to a method for determining a floor of a robot and related apparatus.
Background
In places such as hotels and restaurants, the robot can call the elevator by itself so as to finish the tasks of dispatching, patrol or guiding across floors. The robot is provided with a calling elevator transmitting device, a calling elevator receiving device is connected in a key circuit of the elevator car, and the calling elevator transmitting device can communicate with the calling elevator receiving device. When the robot arrives at the elevator waiting hall, an elevator taking instruction is sent to a calling elevator sending device of the robot, the elevator taking instruction comprises current floor information, and after receiving the elevator taking instruction, a calling elevator receiving device activates a button of the current floor, so that the elevator is controlled to run to the floor where the robot is located.
After the robot is electrified, floor calibration is required to be carried out on the calling elevator transmitting device of the robot, and the current floor information of the robot is updated continuously along with execution of tasks, but when the robot is powered off accidentally, the current floor information is lost, in the existing method, a worker is required to calibrate the calling elevator transmitting device manually after the robot is powered off, and the method is not intelligent enough, and can increase the working pressure of the worker.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In order to solve the problem that a robot cannot automatically acquire current floor information after power failure, in a first aspect, the invention provides a method for determining a floor of the robot, which comprises the following steps:
When the first target robot cannot autonomously determine the current floor information, controlling the first target robot to send a floor determination help-seeking instruction;
When the distance between the second target robot and the first target robot is smaller than the first distance, controlling the second target robot to move to an area which is smaller than the second distance from the first target robot, wherein the second distance is smaller than the first distance, and the second distance is the farthest distance which can be directly communicated by the two robots;
and controlling the second target robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information.
Optionally, the method further comprises:
acquiring the issued time length of the floor determination help-seeking instruction;
controlling the management robot to move to a position smaller than a second distance from the first target robot under the condition that the sent time length is longer than a first preset time length and the first target robot still does not acquire the current floor information;
And controlling the management robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information.
Optionally, the method further comprises:
And controlling the management robot to send a maintenance request instruction corresponding to the first target robot to a client corresponding to a maintenance person when the first target robot cannot acquire floor information corresponding to the management robot, wherein the maintenance request instruction comprises the position information of the first target robot, and the position information of the first target robot is acquired by the management robot.
Optionally, the method further comprises:
acquiring the response interval duration of the maintenance request instruction;
And controlling the management robot to drive the first target robot to move to a preset maintenance area under the condition that the response interval time is longer than the preset response time.
Optionally, the method further comprises:
acquiring task information of the first target robot;
And controlling the management robot to drive the target robot to move to a preset maintenance area under the condition that the response interval time is longer than the preset response time, wherein the method comprises the following steps of:
controlling the management robot to lead the target robot to complete the incomplete task under the condition that the response interval time is longer than the preset response time and the task information contains the incomplete task;
After the incomplete task is completed, the management robot is controlled to drive the target robot to move to a preset maintenance area.
Optionally, controlling the management robot to take the target robot to move to a preset maintenance area when the response interval time is longer than a preset response time, including:
Acquiring an unfinished task of a third target robot associated with the management robot under the condition that the response interval time is longer than a preset response time and the task information contains the unfinished task;
Acquiring the association degree of the incomplete task of the third target robot and the first target robot;
And the incomplete task of the first target robot with the association degree larger than the preset association degree is submitted to the third target robot to finish.
Optionally, the association degree is determined by at least one of a distance of the task execution place, a route overlap degree to the task execution place, and a task execution time.
In a second aspect, the present invention also proposes a robot floor determination device, including:
the first control unit is used for controlling the first target robot to send a floor determination help-seeking instruction under the condition that the first target robot cannot autonomously determine the current floor information;
A second control unit configured to control, when there is a second target robot having a distance from the first target robot smaller than a first distance, the second target robot to move to an area having a distance from the first target robot smaller than a second distance smaller than the first distance, the second distance being a farthest distance at which the two robots can directly communicate;
And a third control unit, configured to control the second target robot to send the corresponding floor information to the first target robot so that the first target robot obtains the current floor information.
In a third aspect, an electronic device, comprising: the robot floor determination method according to any one of the first aspect, comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the robot floor determination method according to any one of the first aspect when executing the computer program stored in the memory.
In a fourth aspect, the present invention also proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the robot floor determination method of any of the first aspects.
In summary, the method for determining the robot floor provided by the embodiment of the application comprises the following steps: when the first target robot cannot autonomously determine the current floor information, controlling the first target robot to send a floor determination help-seeking instruction; when the distance between the second target robot and the first target robot is smaller than the first distance, controlling the second target robot to move to an area which is smaller than the second distance from the first target robot, wherein the second distance is smaller than the first distance, and the second distance is the farthest distance which can be directly communicated by the two robots; and controlling the second target robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information. According to the method provided by the embodiment of the application, under the condition that the first target robot cannot acquire the current floor information, the second target robot in the first distance from the first target robot is controlled to move into the area capable of being directly communicated with the first target robot, and the second target robot is controlled to send the floor information corresponding to the second target robot to the first target robot, so that the purpose that the first target robot automatically acquires the current floor information is achieved.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to designate like parts throughout the figures. In the drawings:
Fig. 1 is a schematic flow chart of a method for determining a robot floor according to an embodiment of the present application;
Fig. 2 is a schematic diagram of a robot floor determining device according to an embodiment of the present application;
Fig. 3 is a schematic structural diagram of a robot floor determining electronic device according to an embodiment of the present application.
Detailed Description
According to the method provided by the embodiment of the application, under the condition that the first target robot cannot acquire the current floor information, the second target robot in the first distance from the first target robot is controlled to move into the area capable of being directly communicated with the first target robot, and the second target robot is controlled to send the floor information corresponding to the second target robot to the first target robot, so that the purpose that the first target robot automatically acquires the current floor information is achieved.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims and in the above drawings, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments.
Referring to fig. 1, a flow chart of a method for determining a robot floor according to an embodiment of the application is shown, and the method includes:
S110, controlling the first target robot to send a floor determination help-seeking instruction under the condition that the first target robot cannot autonomously determine the current floor information;
Illustratively, the first target robot is a robot incapable of autonomously determining the current floor, and the reason why the current floor information cannot be determined may be due to the fact that the first target robot is powered off and restarted, or a device for determining the floor is damaged, or the like. When the situation that the floors cannot be determined occurs, the first target robot sends out a floor determination help-seeking instruction, wherein the help-seeking instruction can be sent in a broadcast mode, so that a second robot nearby the first target robot can acquire the instruction, or the help-seeking instruction can be sent to a server corresponding to the first target robot, and the server determines how to help the first target robot to acquire current floor information.
S120, when the distance between the second target robot and the first target robot is smaller than a first distance, controlling the second target robot to move to an area smaller than a second distance from the first target robot, wherein the second distance is smaller than the first distance, and the second distance is the farthest distance that the two robots can directly communicate with;
In an exemplary case where the second target robot exists within the first distance around the first target robot, the second target robot is controlled to move within a range capable of directly communicating with the first target robot, that is, the second target robot is controlled to move to an area smaller than the second distance from the first target robot, and it is to be noted that the second distance is the farthest distance capable of directly communicating with two robots, for example: the furthest distance that two robots can directly communicate is 2 meters, then the second target robot moves to the region within 2 meters from the first target robot, and can directly communicate with the first target robot. The second distance is smaller than the first distance, for example the first distance may be 50 meters.
And S130, controlling the second target robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information.
In an exemplary case where the second target robot moves such that the distance between the first target robot and the second target robot is smaller than the second distance, the second target robot is controlled to transmit the floor information corresponding to the second target robot to the receiving device of the first target robot through the self transmitting device, so that the first target robot can take the floor information corresponding to the second target robot as the current floor information of the first target robot, and further, the subsequent tasks can be successfully completed.
In summary, in the method provided by the embodiment of the application, under the condition that the first target robot cannot acquire the current floor information, the second target robot in the first distance from the first target robot is controlled to move into the area capable of directly communicating with the first target robot, and the second target robot is controlled to send the corresponding floor information to the first target robot so as to realize the purpose that the first target robot automatically acquires the current floor information.
In some examples, the above method further comprises:
acquiring the issued time length of the floor determination help-seeking instruction;
controlling the management robot to move to a position smaller than a second distance from the first target robot under the condition that the sent time length is longer than a first preset time length and the first target robot still does not acquire the current floor information;
And controlling the management robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information.
For example, in order to prevent that the second target robot does not provide the current floor information for the first target robot within the first distance of the first target robot for a long time, the method provided by the embodiment obtains the sent time length of the help seeking instruction, and when the sent time length is longer than the first preset time length and the current floor information cannot be obtained, the task of the first target robot is prevented from being delayed, at this time, the management robot is controlled to move to an area capable of directly communicating with the first target robot, the management robot sends the corresponding floor information to the first target robot, and the first target robot uses the floor information as the current floor information. The management robot is a robot responsible for managing the first target robot, and may also manage other robots.
In summary, according to the method provided by the embodiment of the application, when the first target robot sends out the request instruction which is longer than the first preset time period and the current floor information is not acquired yet, the control management robot provides the current floor information for the first target robot, so that the problem that the first robot cannot acquire the current floor information for a long time so as to influence the completion of a subsequent task can be effectively avoided.
In some examples, the above method further comprises:
And controlling the management robot to send a maintenance request instruction corresponding to the first target robot to a client corresponding to a maintenance person when the first target robot cannot acquire floor information corresponding to the management robot, wherein the maintenance request instruction comprises the position information of the first target robot, and the position information of the first target robot is acquired by the management robot.
For example, in the case that the management robot sends out the corresponding floor information and the first target robot cannot still acquire the current floor information, at this time, it is considered that some functional components of the first target robot may malfunction, at this time, a maintenance request instruction is sent to a client of a maintenance person corresponding to the first target robot to ask the maintenance person to maintain the first target robot, the maintenance request instruction includes the location information of the first target robot, and the first target robot has malfunction, and the work of sending the maintenance request instruction and determining the location information of the first target robot is completed by the management robot.
In summary, in the method provided by the embodiment of the application, when the first target robot cannot acquire the floor information sent by the management robot, the management robot acquires the position information of the first target robot, generates a maintenance request instruction based on the position information of the first target robot, and sends the maintenance request instruction to the client corresponding to the maintenance personnel corresponding to the first target robot, so as to seek the maintenance personnel to maintain the first target robot, thereby effectively avoiding delaying the first target robot to complete the task when the first target robot cannot acquire the floor information sent by the management robot.
In some examples, the above method further comprises:
acquiring the response interval duration of the maintenance request instruction;
And controlling the management robot to drive the first target robot to move to a preset maintenance area under the condition that the response interval time is longer than the preset response time.
For example, after the management robot sends a maintenance instruction to the client corresponding to the maintenance personnel, if the maintenance personnel sees the maintenance task corresponding to the maintenance instruction, by clicking the corresponding receiving task button on the client, and generating a feedback instruction to the management robot, wherein the management robot can know that the maintenance personnel pay attention to the condition that the first target robot fails when receiving the feedback instruction, and can continue to execute other tasks. According to the embodiment of the application, the response interval time length of the maintenance request instruction is obtained, and under the condition that the response interval time length is longer than the preset response time length, the maintenance staff is considered to possibly not observe the maintenance request instruction, so that the first target robot is prevented from being delayed to execute subsequent tasks, and the management robot is led to move to the preset maintenance area, so that the first target robot is maintained.
In summary, in the method provided by the embodiment of the application, when the response interval time is longer than the preset response time, in order to avoid delaying the subsequent task of the first target robot, the management robot brings the first target robot to move to the preset maintenance area, so that the target robot can be maintained in time.
In some examples, the above method further comprises:
acquiring task information of the first target robot;
And controlling the management robot to drive the target robot to move to a preset maintenance area under the condition that the response interval time is longer than the preset response time, wherein the method comprises the following steps of:
controlling the management robot to lead the target robot to complete the incomplete task under the condition that the response interval time is longer than the preset response time and the task information contains the incomplete task;
After the incomplete task is completed, the management robot is controlled to drive the target robot to move to a preset maintenance area.
By way of example, when a serviceman of the first target robot cannot repair the first target robot in time, that is, when the response interval time is longer than the preset response time, task information of the first target robot is obtained, if the first target robot does not complete a task, the first target robot is firstly led to complete the task of the first target robot through the management robot, and then the first target robot is led to move to a preset repair area after the task is completed, so that task timeout of the first target robot can be effectively avoided.
In some examples, in a case where the response interval time is longer than the preset response time, controlling the management robot to take the target robot to move to a preset maintenance area includes:
Acquiring an unfinished task of a third target robot associated with the management robot under the condition that the response interval time is longer than a preset response time and the task information contains the unfinished task;
Acquiring the association degree of the incomplete task of the third target robot and the first target robot;
And the incomplete task of the first target robot with the association degree larger than the preset association degree is submitted to the third target robot to finish.
For example, under the condition that the response interval time is longer than the preset response time and the task information contains unfinished tasks, the unfinished tasks of a third robot associated with the management robot can be obtained, the third robot refers to a robot which is responsible for management by the management robot and is out of the first target robot, the relevance of the unfinished tasks of the first target robot and the third robot is compared, if the relevance is higher than the preset relevance, the relevance of the unfinished tasks of the third target robot and the first target robot is considered to be higher, and the unfinished tasks of the first target robot can be executed by the third target robot instead.
In some examples, the above-described degree of association is determined by at least one of a distance of the task execution place, a route overlap to the task execution place, and a task execution time.
For example, the management degree of the incomplete task may be a distance between the first target robot and the execution place of the third target robot for completing the task, for example, the smaller the distance, the greater the management degree. The degree of association may also be the degree of overlap of routes to the task execution sites, with greater degree of overlap being greater. The association degree may also be the time of task execution, for example, the third target robot is currently idle, and the association degree is higher. The degree of association can also take into account three factors.
Referring to fig. 2, an embodiment of a robot floor determining apparatus according to an embodiment of the present application may include:
a first control unit 21, configured to control the first target robot to send a floor determination help-seeking instruction when the first target robot cannot autonomously determine current floor information;
A second control unit 22 configured to control, when there is a second target robot having a distance from the first target robot smaller than a first distance, the second target robot to move to an area having a distance from the first target robot smaller than a second distance smaller than the first distance, the second distance being a farthest distance at which the two robots can directly communicate;
and a third control unit 23, configured to control the second target robot to send the corresponding floor information to the first target robot so that the first target robot obtains the current floor information.
As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 511 stored in the memory 320 and capable of running on the processor, where the processor 320 implements any of the steps of the method for determining a robot floor described above when executing the computer program 311.
Since the electronic device described in this embodiment is a device for implementing the robot floor determining apparatus in this embodiment of the present application, based on the method described in this embodiment of the present application, those skilled in the art can understand the specific implementation of the electronic device in this embodiment and various modifications thereof, so how the electronic device implements the method in this embodiment of the present application will not be described in detail herein, and as long as those skilled in the art implement the device for implementing the method in this embodiment of the present application, all fall within the scope of the present application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Embodiments of the present application also provide a computer program product comprising computer software instructions which, when run on a processing device, cause the processing device to perform the flow of the robot floor determination method as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tape), optical media (e.g., DVD), or semiconductor media (e.g., solid State Disk (SSD)) or the like.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (7)
1. A robot floor determination method, comprising:
when a first target robot cannot autonomously determine current floor information, controlling the first target robot to send a floor determination help-seeking instruction, wherein the first target robot is powered off and restarted or a device for determining the floor is damaged;
When the distance between the second target robot and the first target robot is smaller than a first distance, controlling the second target robot to move to an area which is smaller than a second distance from the first target robot, wherein the second distance is smaller than the first distance, and the second distance is the farthest distance which can be directly communicated by the two robots;
Controlling the second target robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information, wherein the current floor information is the floor information of the second target robot;
Acquiring the issued duration of the floor determination help-seeking instruction;
Controlling a management robot to move to a position smaller than a second distance from the first target robot under the condition that the sent time length is longer than a first preset time length and the first target robot still does not acquire the current floor information;
Controlling the management robot to send the corresponding floor information to the first target robot so that the first target robot can acquire the current floor information;
And under the condition that the first target robot cannot acquire floor information corresponding to the management robot, controlling the management robot to send a maintenance request instruction corresponding to the first target robot to a client corresponding to a maintenance person, wherein the maintenance request instruction comprises the position information of the first target robot, and the position information of the first target robot is acquired by the management robot.
2. The method as recited in claim 1, further comprising:
Acquiring the response interval duration of the maintenance request instruction;
and controlling the management robot to drive the first target robot to move to a preset maintenance area under the condition that the response interval time is longer than the preset response time.
3. The method as recited in claim 2, further comprising:
acquiring task information of the first target robot;
And under the condition that the response interval time is longer than the preset response time, controlling the management robot to drive the target robot to move to a preset maintenance area, wherein the method comprises the following steps of:
controlling the management robot to lead the target robot to complete the incomplete task under the condition that the response interval time is longer than the preset response time and the task information contains the incomplete task;
And after the incomplete task is completed, controlling the management robot to lead the target robot to move to a preset maintenance area.
4. A method according to claim 3, wherein controlling the management robot to take the target robot to a preset maintenance area in the case where the response interval time period is longer than a preset response time period comprises:
Acquiring an unfinished task of a third target robot associated with the management robot under the condition that the response interval time is longer than a preset response time and the task information contains unfinished tasks;
Acquiring the association degree of the unfinished tasks of the third target robot and the first target robot;
and the incomplete task of the first target robot with the association degree larger than the preset association degree is submitted to the third target robot to finish.
5. The method of claim 4, wherein the degree of association is determined by at least one of a distance to the task execution location, a route overlap to the task execution location, and a task execution time.
6. An electronic device, comprising: memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor is adapted to implement the steps of the robot floor determination method according to any one of claims 1-5 when executing the computer program stored in the memory.
7. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program, when executed by a processor, implements the robot floor determination method of any of claims 1-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210440538.9A CN114852804B (en) | 2022-04-25 | 2022-04-25 | Robot floor determining method and related equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210440538.9A CN114852804B (en) | 2022-04-25 | 2022-04-25 | Robot floor determining method and related equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114852804A CN114852804A (en) | 2022-08-05 |
| CN114852804B true CN114852804B (en) | 2024-10-22 |
Family
ID=82633860
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210440538.9A Active CN114852804B (en) | 2022-04-25 | 2022-04-25 | Robot floor determining method and related equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114852804B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111474561A (en) * | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN111890368A (en) * | 2020-08-06 | 2020-11-06 | 深圳优地科技有限公司 | Position calibration method, device and system based on robot and storage medium |
| CN112531830A (en) * | 2020-11-26 | 2021-03-19 | 深圳优地科技有限公司 | Robot charging method, device and storage medium |
Family Cites Families (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104237850B (en) * | 2013-06-20 | 2018-05-18 | 沈阳工业大学 | A kind of method and apparatus for being mutually located and confirming between multiple robots |
| JP6657436B1 (en) * | 2019-01-17 | 2020-03-04 | 東芝エレベータ株式会社 | Group management control device and method of assigning car number to autonomous mobile unit |
| CN109901582A (en) * | 2019-03-18 | 2019-06-18 | 深兰科技（上海）有限公司 | A kind of motion control method of robot, device, equipment and medium |
| CN110472909A (en) * | 2019-07-12 | 2019-11-19 | 坎德拉（深圳）科技创新有限公司 | Intelligent distribution system, method, server, robot and storage medium |
| CN110921444A (en) * | 2019-12-20 | 2020-03-27 | 上海有个机器人有限公司 | Robot elevator taking control method, medium, terminal and device |
| CN113401738A (en) * | 2020-03-16 | 2021-09-17 | 奥的斯电梯公司 | Elevator operation management method and device, elevator system and readable storage medium |
| CN111612312B (en) * | 2020-04-29 | 2023-12-22 | 深圳优地科技有限公司 | Robot distribution method, robot, terminal device, and storage medium |
| KR102363944B1 (en) * | 2020-07-15 | 2022-02-17 | 네이버랩스 주식회사 | Method and system for controlling elevator for which robot boards |
| JP7321981B2 (en) * | 2020-07-28 | 2023-08-07 | 株式会社東芝 | Autonomous mobile robot and program |
| CN112171665A (en) * | 2020-09-14 | 2021-01-05 | 深圳优地科技有限公司 | Motion control method and device, terminal equipment and storage medium |
| CN113911864A (en) * | 2021-10-13 | 2022-01-11 | 北京云迹科技有限公司 | Control method for robot to board elevator and related equipment |
| CN114012732B (en) * | 2021-11-26 | 2023-03-31 | 北京云迹科技股份有限公司 | Robot control method, device, equipment and medium |
| CN114046887B (en) * | 2021-12-10 | 2025-01-14 | 北京云迹科技股份有限公司 | A monitoring robot control method and related equipment |
| CN114237251B (en) * | 2021-12-17 | 2024-08-02 | 北京云迹科技股份有限公司 | Relay leading method and device for target site, electronic equipment and storage medium |
| CN114229632B (en) * | 2021-12-21 | 2023-11-03 | 江苏木盟智能科技有限公司 | Ladder taking control method, system, server and storage medium |
| CN114227698B (en) * | 2022-01-27 | 2024-04-26 | 上海擎朗智能科技有限公司 | Control method, device, equipment and storage medium for robot |
-
2022
- 2022-04-25 CN CN202210440538.9A patent/CN114852804B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111474561A (en) * | 2020-04-24 | 2020-07-31 | 深圳国信泰富科技有限公司 | Positioning system suitable for intelligent robot |
| CN111890368A (en) * | 2020-08-06 | 2020-11-06 | 深圳优地科技有限公司 | Position calibration method, device and system based on robot and storage medium |
| CN112531830A (en) * | 2020-11-26 | 2021-03-19 | 深圳优地科技有限公司 | Robot charging method, device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114852804A (en) | 2022-08-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| RU2564433C2 (en) | Monitoring remote control of hoisting system | |
| CN111153298B (en) | Robot elevator taking method | |
| US9050723B1 (en) | Human and robotic distributed operating system (HaRD-OS) | |
| CN109048996B (en) | Robot abnormal state processing method and device | |
| WO2017045622A1 (en) | Method of requesting help by device and responding to device help request, and device | |
| JP4521448B2 (en) | Remote monitoring / diagnosis system | |
| JP2018038081A5 (en) | ||
| US6587950B1 (en) | Cluster power management technique | |
| CN111190353B (en) | Intelligent household appliance instruction conflict processing method and device, storage medium and electronic device | |
| CN112777436B (en) | Robot calling method, device, terminal and storage medium | |
| CN113070906B (en) | Service robot system and network fault diagnosis method and device thereof | |
| CN113867181A (en) | Robot cooperation method and device and first robot | |
| CN114852804B (en) | Robot floor determining method and related equipment | |
| JP5558279B2 (en) | MONITORING / CONTROL SYSTEM, MONITORING / CONTROL DEVICE USED FOR SAME, AND MONITORING / CONTROL METHOD | |
| JP2018036730A5 (en) | Network system and control method in network system | |
| CN109245979A (en) | A kind of CANopen master-salve station Control for Dependability method and its overall management device | |
| CN114620567B (en) | Robot riding elevator control method and related equipment | |
| CN114852806B (en) | Robot ladder calling method and related equipment | |
| CN113246117A (en) | Robot control method and device and building management system | |
| CN116955232A (en) | Hardware identification method and device based on control system | |
| JP2019087256A (en) | Cable processing machine control system, cable processing machine system and method for monitoring and controlling a cable processing machine | |
| CN114851191B (en) | Distribution robot control method and related equipment | |
| JP4284732B2 (en) | Production system | |
| EP3506615B1 (en) | Contact centre system and method for establishing a communication session with sensor equipped devices in a contact center network | |
| JP7168058B1 (en) | Facility monitoring system, facility monitoring method, monitoring device, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |