Robot control method, program product, self-moving device, and robot

Abstract

The application relates to a robot control method, a program product, a self-moving device and a robot. The method comprises the following steps: executing a preset elevator entering and exiting instruction to control the robot to move from a parking point to an elevator car entering direction or an elevator car exiting direction; and detecting a mark in an environment around the robot during movement of the robot or when the robot moves to a target position to determine whether the robot successfully enters or exits the elevator. The application effectively avoids the situation of robot misjudgment, so that the robot can accurately determine whether the robot actually enters or exits the elevator car, thereby helping the robot to smoothly ride the elevator and complete the task.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on January 6, 2021, with application number 202110015265.9 and application name “Robot control method, program product, self-moving device and robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of robot control technology, and in particular to a robot control method, a program product, a self-moving device, and a robot. Background Art

[0004] When performing navigation tasks, robots often need to take elevators to successfully reach their destinations. Traditional robots or self-driving vehicles use their onboard LiDAR to scan the environment, obtaining point cloud data in their forward direction. This data is then used to determine whether the robot should enter or exit an elevator car.

[0005] However, lidar detection technology is greatly affected by the environment. When the environment around the robot changes significantly, it may affect the robot's judgment and easily cause the robot to make wrong judgments, resulting in the robot failing to enter or exit the ladder and failing to complete the task successfully. Summary of the Invention

[0006] Based on this, it is necessary to provide a robot control method, program product, self-moving equipment and robot to address the problems in the above-mentioned background technology, which can accurately determine whether the robot has actually entered or exited the elevator car, so as to help the robot take the elevator smoothly and complete the task.

[0007] To achieve the above and other objectives, the first aspect of the present application provides a robot control method, comprising:

[0008] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0009] During the movement of the robot or when the robot moves to a target position, the identification in the robot's surrounding environment is detected to determine whether the robot has successfully entered or exited the ladder.

[0010] In the robot control method of the above-described embodiment, an identifier is provided for the robot to detect and identify, thereby helping the robot determine whether it has accurately entered or exited the elevator car. The robot is then controlled to detect the identifier in the robot's surrounding environment during the process of executing preset entry and exit commands, moving from a stop toward the direction of entering or exiting the elevator car, or when moving to a target position, to determine whether the robot has successfully entered or exited the elevator. Compared to traditional robots that use lidar scanning to obtain point cloud data of the forward-moving environment and then determine whether the robot has entered or exited the elevator car based on this point cloud data, the identifier is less affected by the environment, effectively preventing the robot from misjudging the situation. This allows the robot to accurately determine whether it has indeed entered or exited the elevator car, thereby helping the robot to successfully ride the elevator and complete its tasks.

[0011] In one embodiment, during the movement of the robot or when the robot moves to a target position, detecting a marker in the robot's surrounding environment to determine whether the robot has successfully entered or exited a ladder includes:

[0012] Detecting landmarks in the robot's surroundings;

[0013] Match the identifier with the preset identifier to obtain a matching result

[0014] Based on the matching result, determining whether the robot successfully enters or exits the ladder;

[0015] The preset mark is a first preset mark for indicating that the robot has successfully entered the ladder and / or a second preset mark for indicating that the robot has successfully exited the ladder.

[0016] In the control method of the robot in the above embodiment, a preset mark is set in the memory on the robot, and the preset mark is a first preset mark for indicating that the robot has successfully entered the elevator and / or a second preset mark for indicating that the robot has successfully exited the elevator. The preset mark can correspond to a mark set in the environment for being detected and identified by the robot to help the robot determine whether it has accurately entered or exited the elevator car; during the movement of the robot or when the robot moves to the target position, the mark in the environment around the robot is detected and saved in the memory, so as to match the mark in the memory with the preset mark, thereby accurately determining whether the robot has successfully entered or exited the elevator.

[0017] In one embodiment, the identifier is a barcode or a QR code, and matching the identifier with a preset identifier to obtain a matching result; and determining whether the robot successfully enters or exits the ladder based on the matching result includes:

[0018] Obtaining data information corresponding to the identifier;

[0019] Matching the data information corresponding to the identifier with the data information corresponding to the preset identifier to obtain a matching result;

[0020] If the matching result is a successful match, it is determined that the robot has successfully entered the ladder or successfully exited the ladder.

[0021] In the robot control method of the above embodiment, a barcode or QR code is provided for the robot to detect and identify to help the robot determine whether it has accurately entered or exited the elevator car. The robot is controlled to detect the barcode or QR code in the robot's surrounding environment and save it to a memory when executing a preset entry and exit instruction and moving from a stop point toward the direction of entering or exiting the elevator car or when moving to a target position. The robot obtains the data information corresponding to the barcode or QR code in the memory and matches the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier. If the match is successful, the robot is determined to have successfully entered or exited the elevator. The barcode or QR code is less affected by the environment, effectively avoiding the robot's misjudgment, allowing the robot to accurately determine whether it has indeed entered or exited the elevator car, thereby helping the robot to successfully ride the elevator and complete the task.

[0022] In one embodiment, the detecting of the markers in the robot's surrounding environment to determine whether the robot has successfully entered or exited the ladder further includes:

[0023] When the robot executes the preset elevator entry and exit instructions for a preset time and does not detect an identifier matching the preset identifier, it is determined that the robot fails to enter the elevator or fails to exit the elevator.

[0024] In one embodiment, the method further comprises:

[0025] When the robot fails to enter or exit the elevator, the robot is controlled to return to a stop point, wherein the stop point includes a first stop point outside the elevator car and / or a second stop point inside the elevator car;

[0026] After the robot returns to the docking point, it continues to execute the preset elevator entry and exit instructions.

[0027] In one embodiment, the first preset mark is set on the inner side of the elevator car, and the second preset mark is set on the outer side of the elevator car.

[0028] In one embodiment, the first preset mark is set on a side wall of the elevator car entrance and exit, and the second preset mark is set on the other side wall of the elevator car entrance and exit.

[0029] A second aspect of the present application provides a program product having a computer program stored thereon, which implements the method described in any one of the embodiments of the present application when the computer program is executed by a processor.

[0030] The third aspect of the present application provides a self-mobile device, comprising a processor and a memory, wherein the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code to implement the method described in any embodiment of the present application.

[0031] A fourth aspect of the present application provides a robot, comprising:

[0032] a detection device configured to detect a first preset identifier after the robot enters the elevator car, and to detect a second preset identifier after the robot exits the elevator car;

[0033] a controller connected to the detection device and configured to execute preset elevator entry and exit instructions to control the robot to move from a stop point toward the direction of entering or exiting the elevator car; and

[0034] During the movement of the robot or when the robot moves to a target position, the identification in the robot's surrounding environment is detected to determine whether the robot has successfully entered or exited the ladder. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, without paying any creative work, they can also obtain drawings of other embodiments based on these drawings.

[0036] Figure 1 This is a flow chart of a robot control method provided in the first embodiment of the present application;

[0037] Figure 2 This is a flow chart of a robot control method provided in the second embodiment of the present application;

[0038] Figure 3 This is a flow chart of a robot control method provided in the third embodiment of the present application;

[0039] Figure 4 This is a flow chart of a robot control method provided in the fourth embodiment of the present application;

[0040] Figure 5 This is a flowchart of a robot control method provided in the fifth embodiment of the present application;

[0041] Figure 6 This is a schematic structural diagram of a robot provided in the sixth embodiment of the present application;

[0042] Figure 7a This is a schematic diagram of an application scenario of a robot entering an elevator provided in the seventh embodiment of the present application;

[0043] Figure 7b This is a schematic diagram of an application scenario of a robot exiting an elevator provided in the seventh embodiment of the present application;

[0044] Figure 8a This is a schematic diagram of an application scenario of a robot entering an elevator provided in the eighth embodiment of the present application;

[0045] Figure 8b This is a schematic diagram of an application scenario of a robot exiting an elevator provided in the eighth embodiment of the present application;

[0046] Figure 9 This is a structural diagram of a self-moving device provided in the ninth embodiment of the present application. DETAILED DESCRIPTION

[0047] To facilitate understanding of the present application, the present application will be described more fully below with reference to the accompanying drawings. The accompanying drawings illustrate preferred embodiments of the present application. However, the present application may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the disclosure of the present application.

[0048] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0049] In the case of using “including,” “having,” and “comprising” described herein, another component may be added unless a clear limiting term such as “only,” “consisting of,” etc. is used. Unless mentioned otherwise, a term in the singular form may include a plural form and should not be understood as having one number.

[0050] It should be understood that although the terms "first," "second," etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element, without departing from the scope of this application.

[0051] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to direct connections, indirect connections through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0052] Please refer to Figure 1 In one embodiment of the present application, a method for controlling a robot is provided, comprising the following steps:

[0053] Step 22: Execute the preset elevator entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0054] Step 24 : During the movement of the robot or when the robot moves to the target position, detect the markers in the robot's surrounding environment to determine whether the robot has successfully entered or exited the ladder.

[0055] For details, please refer to Figure 1 By setting a preset mark for the robot to detect and identify to help the robot determine whether it has accurately entered or exited the elevator car, and controlling the robot to detect the mark in the robot's surrounding environment when executing the preset entry and exit instructions, moving from the stop point to the direction of entering or exiting the elevator car, or when moving to the target position, to determine whether the robot has successfully entered or exited the elevator. Compared with traditional robots that use lidar scanning to obtain point cloud data in the forward direction of the environment and determine whether the robot has entered or exited the elevator car based on the point cloud data, the set mark is less affected by the environment, effectively avoiding the robot's misjudgment, allowing the robot to accurately determine whether the robot has indeed entered or exited the elevator car, thereby helping the robot to smoothly ride the elevator and complete the task.

[0056] For further information, please refer to Figure 2 In one embodiment of the present application, during the movement of the robot or when the robot moves to a target position, detecting a marker in the robot's surrounding environment to determine whether the robot has successfully entered or exited a ladder includes:

[0057] Step 242 , during the movement of the robot or when the robot moves to a target location, detecting identifiers in the robot's surrounding environment and saving them to a memory;

[0058] Step 244, matching the identifier in the memory with a preset identifier to determine whether the robot successfully enters the ladder or successfully exits the ladder, wherein the preset identifier is a first preset identifier for indicating that the robot successfully enters the ladder and / or a second preset identifier for indicating that the robot successfully exits the ladder.

[0059] For details, please refer to Figure 2 , by setting a preset mark in the memory on the robot, the preset mark is a first preset mark for indicating that the robot has successfully entered the elevator and / or a second preset mark for indicating that the robot has successfully exited the elevator. The preset mark can correspond to a mark set in the environment for being detected and identified by the robot to help the robot determine whether it has accurately entered or exited the elevator car; during the movement of the robot or when the robot moves to the target position, the mark in the robot's surrounding environment is detected and saved in the memory, so as to match the mark in the memory with the preset mark to obtain a matching result. Based on the matching result, it can be accurately determined whether the robot has successfully entered or exited the elevator.

[0060] For further information, please refer to Figure 3 In one embodiment of the present application, the identifier is a barcode or a QR code, and matching the identifier in the memory with a preset identifier to determine whether the robot successfully enters or exits the ladder includes:

[0061] Step 2441, obtaining data information corresponding to the identifier in the memory;

[0062] Step 2442: Match the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier to obtain a matching result;

[0063] Step 2443: If the matching result is successful, it is determined whether the robot has successfully entered the elevator or exited the elevator.

[0064] For details, please refer to Figure 3By setting a barcode or QR code for the robot to detect and identify to help the robot determine whether it has accurately entered or exited the elevator car, the robot is controlled to detect the barcode or QR code in the robot's surrounding environment and save it to the memory when executing the preset entry and exit instructions and moving from the stop point to the direction of entering or exiting the elevator car or when moving to the target position; by obtaining the data information corresponding to the barcode or QR code in the memory, and matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier, if the match is successful, it is determined that the robot has successfully entered or exited the elevator. The barcode or QR code is less affected by the environment, effectively avoiding the robot's misjudgment, allowing the robot to accurately determine whether the robot has indeed entered or exited the elevator car, thereby helping the robot to successfully ride the elevator and complete the task.

[0065] For further information, please refer to Figure 4 In one embodiment of the present application, the detecting of the identification in the robot's surrounding environment to determine whether the robot has successfully entered or exited the ladder further includes:

[0066] Step 2444: When the robot executes the preset elevator entry and exit instructions for a preset time and does not detect an identifier that matches the preset identifier, it is determined that the robot fails to enter the elevator or fails to exit the elevator.

[0067] For details, please refer to Figure 4 , robot stopping points are set inside and outside the elevator car. When the robot executes the steps of entering and exiting the elevator and moves from the stopping point to the direction of entering the elevator car or exiting the elevator car, no identifier matching the preset identifier is detected, and the duration of this state reaches a preset time, it is judged that the robot fails to enter the elevator or fails to exit the elevator, so that the robot can be controlled to return to the stopping point and continue to execute the preset entry and exit instructions, so as to avoid the robot staying at the elevator door or in the elevator car due to failure to detect the identifier matching the preset identifier, causing congestion and resulting in the robot failing to take the elevator, thereby reducing the efficiency of the robot in performing the task.

[0068] For further information, please refer to Figure 5 In one embodiment of the present application, the method further includes:

[0069] Step 25: When the robot fails to enter or exit the elevator, the robot is controlled to return to a stop point, wherein the stop point includes a first stop point outside the elevator car and / or a second stop point inside the elevator car;

[0070] Step 26: After the robot returns to the docking point, continue to execute the preset elevator entry and exit instructions.

[0071] For details, please refer to Figure 5The first stop point can be arranged outside the elevator car and the second stop point can be arranged inside the elevator car, so that the robot takes the stop point as a starting point for executing the preset elevator entering and exiting instruction; during the movement of the robot from the stop point to the direction of entering or exiting the elevator car, or when the robot moves to the target position, if no identification matching the preset identification is detected and the duration of this state reaches a preset time, it is determined that the robot fails to enter or exit the elevator, and the robot is controlled to return to the stop point and continue to execute the preset elevator entering and exiting instruction after returning to the stop point. This avoids the situation that the robot stops executing the task due to the temporary obstruction of an obstacle during the process of entering or exiting the elevator, and realizes intelligent obstacle avoidance of the robot during the process of taking the elevator and continues to execute the preset elevator entering and exiting instruction after the obstacle disappears to complete the task.

[0072] For example, in an embodiment of the present application, the first preset identification is arranged on the inner side of the elevator car, and the second preset identification is arranged on the outer side of the elevator car. The first preset identification can be a first two-dimensional code, the second preset identification can be a second two-dimensional code, and a detection device for detecting and identifying the first two-dimensional code and the second two-dimensional code can be arranged on the back side of the robot. When the robot enters the inside of the elevator car, the detection device detects the first two-dimensional code and determines that the robot successfully enters the elevator based on the first two-dimensional code; when the robot exits the elevator car, the detection device detects the second two-dimensional code and determines that the robot successfully exits the elevator based on the second two-dimensional code.

[0073] For example, in an embodiment of the present application, the first preset identification is arranged on the side wall of the entrance and exit of the elevator car, and the second preset identification is arranged on the other side wall of the entrance and exit of the elevator car. The first preset identification can be a first two-dimensional code, which is arranged on the left side wall of the entrance of the elevator car, and the left side wall of the elevator car is the left side wall of the elevator car when the robot enters the elevator car; the second preset identification can be a second two-dimensional code, which is arranged on the right side wall of the elevator car, and the right side wall of the elevator car is the right side wall of the elevator car when the robot enters the elevator car and is the left side wall of the elevator car when the robot exits the elevator car. A detection device for detecting and identifying the first two-dimensional code and the second two-dimensional code can be arranged on the left side of the robot. During the process of the robot entering the elevator car, the detection device detects the first two-dimensional code and determines that the robot successfully enters the elevator based on the first two-dimensional code; when the robot exits the elevator car, the detection device detects the second two-dimensional code and determines that the robot successfully exits the elevator based on the second two-dimensional code.

[0074] Further, please refer to Figure 6In one embodiment of the present application, a robot is provided, comprising a detection device 12 and a controller 14, wherein the detection device 12 is configured to detect a first preset identifier after the robot enters an elevator car, and to detect a second preset identifier after the robot exits the elevator car; the controller 14 is connected to the detection device 12 and is configured to execute preset entry and exit instructions to control the robot to move from a stop point toward the direction of entering or exiting the elevator car; and

[0075] During the movement of the robot or when the robot moves to a target position, the identification in the robot's surrounding environment is detected to determine whether the robot has successfully entered or exited the ladder.

[0076] As an example, in one embodiment of the present application, please refer to Figure 7a and Figure 7b , set a first preset mark 202 on the left side wall 201 of the elevator car entrance, the left side wall 201 of the elevator car is the left side wall of the elevator car 200 when the robot enters the elevator car 200; set a second preset mark 203 on the right side wall 204 of the elevator car, the right side wall 204 of the elevator car is the right side wall of the elevator car 200 when the robot enters the elevator car 200; set a detection device 12 for detecting and identifying the first preset mark 202 and the second preset mark 203 on the left side of the robot. Please refer to Figure 7a When the robot enters the elevator car 200, the detection device 12 detects the first preset mark 202 and determines that the robot has successfully entered the elevator based on the first preset mark 202; please refer to Figure 7b When the robot exits the elevator car 200, the detection device 12 detects the second preset mark 203 and determines that the robot has successfully exited the elevator based on the second preset mark 203. The first preset mark 202 and the second preset mark 203 can be barcodes or QR codes.

[0077] As an example, in one embodiment of the present application, please refer to Figure 8a and Figure 8b A first preset identifier 202 is placed on the inside of the elevator car 200, and a second preset identifier 203 is placed on the outside of the elevator car 200. A detection device 12 is placed on the rear side of the robot 100 to detect and identify the first preset identifier 202 and the second preset identifier 203. When the robot 100 enters the elevator car, the detection device 12 detects the first preset identifier 202 and determines that the robot 100 has successfully entered the elevator based on the first preset identifier 202. When the robot 100 exits the elevator car, the detection device 12 detects the second preset identifier 203 and determines that the robot 100 has successfully exited the elevator based on the second preset identifier 203. The first preset identifier 202 and the second preset identifier 203 can be barcodes or QR codes.

[0078] For further information, please refer to Figure 9 In one embodiment of the present application, a self-mobile device is provided, comprising a processor and a memory, wherein the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code to implement the method described in any embodiment of the present application.

[0079] Those skilled in the art will understand that Figure 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the self-moving device to which the solution of the present application is applied. The specific self-moving device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0080] In one embodiment of the present application, a mobile device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the following steps are implemented:

[0081] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0082] During the movement of the robot or when the robot moves to a target position, the identification in the robot's surrounding environment is detected to determine whether the robot has successfully entered or exited the ladder.

[0083] In one embodiment of the present application, when the processor executes the computer program, the processor further implements the following steps:

[0084] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0085] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0086] The identifier in the memory is matched with a preset identifier to determine whether the robot successfully enters the ladder or successfully exits the ladder, wherein the preset identifier is a first preset identifier for indicating that the robot successfully enters the ladder and / or a second preset identifier for indicating that the robot successfully exits the ladder.

[0087] In one embodiment of the present application, when the processor executes the computer program, the processor further implements the following steps:

[0088] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0089] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0090] Obtaining data information corresponding to the identifier in the memory;

[0091] Matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier;

[0092] If the match is successful, it is determined that the robot has successfully entered or exited the elevator.

[0093] In one embodiment of the present application, when the processor executes the computer program, the processor further implements the following steps:

[0094] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0095] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0096] Obtaining data information corresponding to the identifier in the memory;

[0097] Matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier;

[0098] If the match is successful, it is determined that the robot has successfully entered or exited the elevator;

[0099] When the robot executes the preset elevator entry and exit instructions for a preset time and does not detect an identifier matching the preset identifier, it is determined that the robot fails to enter the elevator or fails to exit the elevator.

[0100] In one embodiment of the present application, when the processor executes the computer program, the processor further implements the following steps:

[0101] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0102] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0103] Obtaining data information corresponding to the identifier in the memory;

[0104] Matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier;

[0105] If the match is successful, it is determined that the robot has successfully entered or exited the elevator;

[0106] When the robot executes the preset entry and exit instructions for a preset time and no identifier matching the preset identifier is detected, it is determined that the robot fails to enter the elevator or fails to exit the elevator;

[0107] When the robot fails to enter or exit the elevator, the robot is controlled to return to a stop point, wherein the stop point includes a first stop point outside the elevator car and / or a second stop point inside the elevator car;

[0108] After the robot returns to the docking point, it continues to execute the preset elevator entry and exit instructions.

[0109] In one embodiment of the present application, a program product is provided, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0110] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0111] During the movement of the robot or when the robot moves to a target position, the identification in the robot's surrounding environment is detected to determine whether the robot has successfully entered or exited the ladder.

[0112] In one embodiment of the present application, when the computer program is executed by a processor, the following steps are further implemented:

[0113] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0114] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0115] The identifier in the memory is matched with a preset identifier to determine whether the robot successfully enters the ladder or successfully exits the ladder, wherein the preset identifier is a first preset identifier for indicating that the robot successfully enters the ladder and / or a second preset identifier for indicating that the robot successfully exits the ladder.

[0116] In one embodiment of the present application, when the computer program is executed by a processor, the following steps are further implemented:

[0117] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0118] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0119] Obtaining data information corresponding to the identifier in the memory;

[0120] Matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier;

[0121] If the match is successful, it is determined that the robot has successfully entered or exited the elevator.

[0122] In one embodiment of the present application, when the computer program is executed by a processor, the following steps are further implemented:

[0123] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0124] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0125] Obtaining data information corresponding to the identifier in the memory;

[0126] Matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier;

[0127] If the match is successful, it is determined that the robot has successfully entered or exited the elevator;

[0128] When the robot executes the preset elevator entry and exit instructions for a preset time and does not detect an identifier matching the preset identifier, it is determined that the robot fails to enter the elevator or fails to exit the elevator.

[0129] In one embodiment of the present application, when the computer program is executed by a processor, the following steps are further implemented:

[0130] Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car;

[0131] During the movement of the robot or when the robot moves to a target position, detecting identification in the robot's surrounding environment and saving the identification to a memory;

[0132] Obtaining data information corresponding to the identifier in the memory;

[0133] Matching the data information corresponding to the identifier in the memory with the data information corresponding to the preset identifier;

[0134] If the match is successful, it is determined that the robot has successfully entered or exited the elevator;

[0135] When the robot executes the preset entry and exit instructions for a preset time and no identifier matching the preset identifier is detected, it is determined that the robot fails to enter the elevator or fails to exit the elevator;

[0136] When the robot fails to enter or exit the elevator, the robot is controlled to return to a stop point, wherein the stop point includes a first stop point outside the elevator car and / or a second stop point inside the elevator car;

[0137] After the robot returns to the docking point, it continues to execute the preset elevator entry and exit instructions.

[0138] It should be understood that although Figure 1-Figure 5 The steps in the flowchart are shown in sequence as indicated by the arrows, but these steps are not necessarily executed in the order indicated by the arrows. Unless otherwise specified in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, although Figure 1-Figure 5 At least part of the steps may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least part of the sub-steps or stages of other steps.

[0139] Those skilled in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. 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 various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0140] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0141] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A robot control method, characterized in that: include: Execute preset entry and exit instructions to control the robot to move from the stop point to the direction of entering or exiting the elevator car; During the robot's movement, the robot detects the signs in its surroundings to determine whether the robot has successfully entered or exited the ladder. This also includes: When the robot executes the preset entry and exit instructions for the preset time and the detection device configured on the left side of the robot does not detect an identifier that matches the preset identifier, it is determined that the robot has failed to enter the elevator or failed to exit the elevator, and the robot is controlled to return to the stop point and continue to execute the preset entry and exit instructions after returning to the stop point. The stop point includes a first stop point outside the elevator car and / or a second stop point inside the elevator car. The preset identifiers include a first preset identifier, which is set on the left wall of the elevator car entrance and a second preset identifier is set on the right wall of the elevator car entrance. The identifier is a QR code.

2. The method according to claim 1, characterized in that The detection robot's surrounding environment is used to identify Determine whether the robot has successfully entered or exited the elevator, including: Detecting landmarks in the robot's surroundings; Matching the identifier with a preset identifier to obtain a matching result; Based on the matching result, it is determined whether the robot has successfully entered or exited the ladder.

3. The method according to claim 2, characterized in that The identification is matched with a preset identification to obtain a matching result; and based on the matching result, determining whether the robot successfully enters or exits the ladder comprises: Obtaining data information corresponding to the identifier; Matching the data information corresponding to the identifier with the data information corresponding to the preset identifier to obtain a matching result; If the matching result is a successful match, it is determined that the robot has successfully entered the ladder or successfully exited the ladder.

4. The method according to claim 2, characterized in that When the robot moves to the target position, detecting the markers in the robot's surrounding environment, The first preset mark is set on the inner side of the elevator car, and the second preset mark is set on the outer side of the elevator car.

5. A program product having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 4 is implemented.

6. A self-propelled device, characterized in that: The system comprises a processor and a memory, wherein the processor reads the executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the method according to any one of claims 1 to 4.

7. A robot, characterized in that: include: A detection device for detecting and identifying a first preset mark and a second preset mark is provided on the left side of the robot, the first preset mark is provided on the left wall of the elevator car entrance, and the second preset mark is provided on the right wall of the elevator car; A controller, connected to the detection device, is used to execute preset elevator entry and exit instructions to control the robot to move from the parking point to the direction of entering or exiting the elevator car; as well as During the movement of the robot, the identification mark in the robot's surrounding environment is detected to determine whether the robot has successfully entered or exited the ladder. If no identification mark matching the preset identification mark is detected and the duration of this state reaches the preset time, it is determined that the robot has failed to enter or exit the ladder, and the robot is controlled to return to the stop point and continue to execute the preset entry and exit instructions after returning to the stop point.

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