Robot control method and device and readable storage medium

Abstract

The invention provides a robot control method and device and a readable storage medium. The robot control method comprises the steps that association configuration information of at least one alarm triggering device and multiple sub-regions in a first region is acquired; obtaining a target sub-region identifier of at least one target sub-region corresponding to the alarm triggering equipment according to the associated configuration information; based on the target sub-region identifier, acquiring an emergency evacuation region in the target sub-region and region data of the emergency evacuation region; according to the area data of the emergency evacuation area and the state data of the robot, determining position association data of the robot and the emergency evacuation area; and according to the position associated data, performing avoidance control on the robot having a path coincident with the emergency evacuation area. Through the closed-loop logic of targeted avoidance control, the situation that the alarm signal cannot be accurately associated with the specific area is avoided, and accurate control over the robot in the special environment is improved.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically, to a robot control method, apparatus, and readable storage medium. Background Technology

[0002] In related technologies, with the development of intelligent warehousing and industrial automation, mobile robots are widely used in warehouse and factory logistics management. However, in the event of a fire or other emergency, the dispatch system lacks an effective emergency response mechanism. Therefore, alarm signals in emergency situations cannot be accurately associated with the target area, making it difficult to accurately control robots when their paths overlap with emergency evacuation areas, thus hindering the passage of rescue channels. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, the first aspect of the present invention proposes a method for controlling a robot.

[0005] A second aspect of the present invention provides a control device for a robot.

[0006] A third aspect of the present invention provides another control device for a robot.

[0007] The fourth aspect of this application proposes a readable storage medium.

[0008] In view of the above, a first aspect of the present invention provides a robot control method for a robot control system. The robot control system includes at least one robot, which is deployed in a first area. The first area includes multiple sub-areas. The robot control method includes: acquiring association configuration information between at least one alarm triggering device in the first area and the multiple sub-areas; acquiring a target sub-area identifier corresponding to at least one target sub-area of ​​the alarm triggering device based on the association configuration information; acquiring an emergency evacuation area within the target sub-area and area data of the emergency evacuation area based on the target sub-area identifier; determining position association data between the robot and the emergency evacuation area based on the area data of the emergency evacuation area and the robot's status data; and performing avoidance control on the robot whose path overlaps with the emergency evacuation area based on the position association data.

[0009] The robot control method provided in this application is used in a robot control system, which includes at least one robot deployed in a first area, which includes multiple sub-areas. This application solves the problem of unclear robot control range caused by alarm signals not being accurately associated with specific areas through closed-loop logic of equipment, area association, target area positioning, evacuation area data retrieval, robot position determination, and targeted avoidance control. By configuring association and locking target sub-area identifiers, it ensures that the control range focuses only on the alarm-related area, avoiding indiscriminate control across the entire area. Secondly, it achieves accurate identification of the spatial relationship between the robot and the emergency evacuation area, covering all scenarios including robots within the area and robots about to enter the area, avoiding situations where robots obstruct rescue channels due to missed or incorrect identification. Simultaneously, while ensuring unobstructed access to the emergency evacuation area (e.g., adapting to emergency rescue needs such as fires), differentiated avoidance control reduces the impact on the normal operation of robots in non-alarm areas, balancing rescue safety and operational continuity.

[0010] The system acquires the association configuration information between alarm triggering devices and multiple sub-regions within the first area. This can be understood as automatically binding alarm triggering devices with a rule chain configuration for specific areas. This step enables precise mapping between alarm triggering devices and sub-regions, preventing alarm signals from indiscriminately covering the entire first area and facilitating accurate alarm location. Specifically, preset association logic can be used to lock the sub-region range corresponding to the alarm device, avoiding subsequent control inaccuracies caused by ambiguous regional associations. Based on the aforementioned association configuration information, the target sub-region identifier is obtained, further transforming the alarm signal into a specific manageable sub-region object, achieving precise alarm location. Then, through the mapping relationship in the association configuration information, the target sub-region identifier is directly extracted from the alarm signal, avoiding misjudgment or omission of alarm areas and ensuring that the control range focuses only on the alarm-related sub-regions. Based on the target sub-region identifier, the emergency evacuation area and corresponding area data are acquired, including preset data such as geographical coordinates and functional uses. Furthermore, by calling the preset evacuation area configuration data from the fire management module, the system clearly understands the range of rescue channels that need to be kept clear, providing specific reference standards for robot position determination and avoidance control. The fire management module can be supplemented by other modules or devices that provide fire emergency response information and have information management capabilities. Based on emergency evacuation area data and robot status data (current location, trajectory, etc.), location correlation data is determined, enabling accurate identification of the spatial relationship between the robot and the emergency evacuation area. By comparing the robot's real-time status data with data such as the geographical scope and rule priorities of the evacuation area, it determines whether the robot's path overlaps with the evacuation area, providing a precise basis for subsequent targeted control and avoiding the omission of robots that need to be avoided or the miscontrol of irrelevant robots. Based on the location correlation data, avoidance control is implemented for robots with overlapping paths, ultimately ensuring that the emergency evacuation area remains unobstructed as a rescue channel. This is achieved by clearing obstacles from robots within and around the rescue channel through actions such as driving away robots in the area and bypassing or pausing robots about to enter. Simultaneously, a differentiated control strategy is adopted, minimizing the impact on normal operations while ensuring rescue safety, provided that the operation of robots in non-alarm areas is not affected.

[0011] In some technical solutions of this application, the location association data includes the robot's real-time location data and travel path data. Based on the location association data, the avoidance control for robots whose paths overlap with the emergency evacuation area includes: determining the target robot located in the emergency evacuation area and whose travel path passes through the emergency evacuation area based on the real-time location data and travel path data; pausing the target robot's current task; planning an escape path based on the area data of the emergency evacuation area; and controlling the robot to drive away from the emergency evacuation area along the escape path.

[0012] In this technical solution, by combining the robot's real-time location data and travel path data, it is possible to accurately locate the target robot located in the emergency evacuation area and whose travel path passes through the area, thereby avoiding mis-control of unrelated robots and ensuring the targeted and accurate control operation.

[0013] By further suspending the target robot's current task, operations that may obstruct rescue channels can be quickly terminated. Then, based on regional data such as the geographical coordinates and rule priorities of the emergency evacuation area, the optimal escape path can be planned to guide the robot to leave the emergency evacuation area efficiently and orderly. This not only prevents the congestion of the passage caused by the robot's lingering or disorderly movement in the area, but also ensures that no robot stays in the evacuation area to avoid affecting the rescue effect. Ultimately, it effectively removes robot obstacles in the emergency evacuation area, ensuring that the area remains unobstructed as a passage for personnel evacuation and fire rescue. At the same time, based on precise control of the target robot, unnecessary interference with the overall operation order of the robot control system is reduced, taking into account both rescue safety and system operation stability in emergency scenarios.

[0014] In some technical solutions of this application, the location association data includes the robot's real-time location data and travel path data. Based on the location association data, the avoidance control for robots whose paths overlap with the emergency evacuation area includes: determining, based on the real-time location data and travel path data, a target robot whose travel path overlaps with the emergency evacuation area but whose real-time location has not entered the emergency evacuation area; and replanning the robot's travel path based on the area data of the emergency evacuation area and the surrounding area environmental data.

[0015] In this technical solution, based on real-time location data and travel path data, robots that have not yet entered the evacuation area but whose paths overlap can be identified. Pre-emptive control is achieved through identification and replanning of the path. This can be understood as preventing robots about to enter the evacuation area from doing so. Firstly, by comparing real-time location data and travel path data, potentially risky robots that have not yet entered but will subsequently cross the evacuation area can be identified in advance, enabling pre-emptive interception and avoiding the passive situation of robots entering and then being driven away. This proactively prevents robots from entering the evacuation area.

[0016] Secondly, the replanning of routes should be based on both emergency evacuation area data and surrounding environmental data, rather than blindly bypassing them. This ensures that the new route does not touch the boundaries of the evacuation area and complies with the rules of the surrounding area (such as avoiding restricted areas and vehicle restrictions). When the evacuation area is adjacent to other prohibited areas, a feasible route must be replanned.

[0017] Ultimately, by identifying risks and planning routes in advance, robots are prevented from entering emergency evacuation areas at the source. This ensures unobstructed rescue channels while avoiding operational interruptions caused by robots being driven away after intrusion, thus balancing the safety of emergency scenarios with the continuity of robot operations.

[0018] In some technical solutions of this application, replanning the robot's travel path based on the regional data of the emergency evacuation area and the surrounding environmental data includes: guiding the robot to bypass the emergency evacuation area based on the regional data of the emergency evacuation area and the surrounding environmental data.

[0019] In this technical solution, the robot's travel path is replanned based on the regional data of the emergency evacuation area and the surrounding environmental data. This includes guiding the robot to bypass the emergency evacuation area. Specifically, the replanning method can be understood as follows: if the target point is outside the evacuation area, a new path is planned to bypass the evacuation area and reach the target point. Specifically, firstly, the bypass strategy is based on the geographical coordinates of the emergency evacuation area, which can accurately define the bypass boundaries, preventing the robot from mis-traveling or taking excessive detours, and ensuring the accuracy of the bypass operation.

[0020] Secondly, by combining the surrounding environmental data (such as the distribution of accessible paths and non-restricted areas), the optimal bypass route can be selected, ensuring that the robot can quickly reach the target point without violating other area rules (such as not entering restricted areas), that is, finding other paths to leave the evacuation area as quickly as possible.

[0021] Furthermore, the bypass strategy does not require pausing the robot's mission; it only adjusts the route, which can minimize interference with the robot's normal operation and avoid backlogs caused by mission pauses. In other words, it allows for flexible management without pausing the entire mission when evacuation areas are not triggered by fire alarms.

[0022] Ultimately, this application achieves a balance between rescue safety and operational efficiency by precisely defining boundaries, selecting optimal paths, and controlling the process without interrupting the mission, thus preventing robots from entering evacuation areas while ensuring operational continuity.

[0023] In some technical solutions of this application, the replanning of the robot's travel path based on the regional data of the emergency evacuation area and the surrounding environmental data includes: pausing the robot's movement based on the regional data of the emergency evacuation area and the surrounding environmental data, and resuming the original path or reassigning tasks after the emergency is lifted.

[0024] In this technical solution, for robots that have not entered the area but whose paths overlap, pausing their movement directly blocks their tendency to move towards the evacuation area, avoiding the risk of accidental entry due to path planning delays or complex environments. This prioritizes ensuring unobstructed passage in emergency situations, while considering operational continuity, thus improving efficiency and safety. Secondly, restoring the original path or reassigning tasks after the emergency ends ensures that robots can quickly return to normal operations without manual rescheduling, reducing maintenance costs. Furthermore, in scenarios with complex surrounding environments (such as no feasible alternative paths), the control logic of this application can prevent robots from getting lost or colliding due to forced detours. For example, if the robot is surrounded by prohibited areas, it can stop at the edge of the area and report an error, thereby reducing rescue interference. Finally, by directly blocking risks, ensuring seamless subsequent recovery, and adapting to complex environments, this solution can guarantee that emergency evacuation areas are not entered by robots even in extreme scenarios, while also considering the convenience of subsequent operations, thus improving the differentiated management system.

[0025] In some technical solutions of this application, the associated configuration information is the rule chain binding configuration information between the alarm triggering device and multiple sub-regions; the alarm triggering device includes automatic alarm devices and manual alarm triggering components.

[0026] In this technical solution, the associated configuration information refers to the rule chain binding configuration information between alarm triggering devices and multiple sub-regions; the alarm triggering devices include automatic alarm devices and manual alarm triggering components. This clarifies the implementation method of the associated configuration and the types of alarm devices. First, the rule chain binding configuration information achieves a one-to-one or one-to-many relationship between alarm triggering devices and sub-regions, avoiding ambiguity in the association between alarm signals and regions, and solving the problem of alarm signals indiscriminately covering the entire area.

[0027] The manual alarm component supports all roles, ensuring that anyone can quickly trigger an alarm in an emergency. The automatic alarm enables real-time monitoring in unattended scenarios. Together, they form a comprehensive alarm system with no blind spots. Precise mapping and dual alarm modes cover the entire scenario through rule chain binding, providing accurate preliminary data for subsequent target sub-area positioning and evacuation area deployment, ensuring the accurate starting point of the entire emergency control process.

[0028] In some technical solutions of this application, the regional data of the emergency evacuation area includes the geographical coordinates of the emergency evacuation area, the functional purpose identifier, and the regional rule priority data.

[0029] In this technical solution, the regional data for the emergency evacuation area includes the geographical coordinates, functional purpose identifiers, and regional rule priority data. First, the geographical coordinates are defined using a selection box, providing a clear spatial boundary for robot location determination. This avoids misjudgments and missed detections due to ambiguity in the evacuation area's boundaries, ensuring the system can accurately identify whether a robot is within the area and whether paths overlap. Second, functional purpose identifiers (such as "escape route" and "fire door") clarify the area's emergency attributes, ensuring the system prioritizes evacuation strategies over ordinary regional rules when accessing data. Regional rule priority data resolves conflicts arising from overlapping areas. Priority data ensures that evacuation strategies take precedence in conflict scenarios, preventing robot management chaos caused by conflicting regional rules. By defining boundaries through geographical scope, defining attributes through functional purpose, and defining rules through priority, comprehensive and accurate data support is provided for subsequent robot location association determination and avoidance control. This ensures the control logic of the evacuation area is completely consistent with the configuration rules in the supplementary materials, guaranteeing rule uniformity in emergency scenarios.

[0030] In some technical solutions of this application, robot status data includes: the robot's current position coordinates, real-time trajectory data, task target point coordinates, and operating status parameters.

[0031] In this technical solution, the current position coordinates determine whether the robot is within the emergency evacuation area, directly supporting the robot's removal from the area and meeting the basic requirement that robots must leave the evacuation area as quickly as possible. Real-time trajectory data can predict the robot's movement trend, providing data support for identifying robots about to enter the evacuation area. Furthermore, the target point coordinates are used for subsequent path replanning after the robot leaves. If the target point is within the evacuation area, the task is suspended; if it is outside the area, the path is replanned, ensuring seamless operation of the robot after avoidance control. Finally, operational status parameters (such as whether it is in operation and whether the battery is sufficient) can assist in optimizing control strategies. For example, for robots with low battery, short-distance escape paths can be prioritized to avoid control failures caused by ignoring operational status. Ultimately, this technical feature comprehensively reflects the robot's status through multi-dimensional data, ensuring that the system accurately determines the positional correlation data between the robot and the emergency evacuation area, providing comprehensive data support for differentiated avoidance control.

[0032] In some technical solutions of this application, the robot control method further includes: receiving configuration operation information, obtaining the sub-area, area name, and functional purpose information according to the configuration operation information, defining the area range through a box selector, and generating emergency evacuation area and corresponding area data; the emergency evacuation area is configured to be disabled by default and is only activated after an alarm is triggered.

[0033] This technical solution requires the collection of information on the sub-area, area name, function, and scope of the configuration, standardizing the creation process of evacuation areas and ensuring that each evacuation area has a clear ownership, purpose, and boundaries, avoiding subsequent management chaos caused by non-standard configuration. Secondly, configured evacuation areas are only displayed in the emergency management module, not in the regular area management interface, preventing confusion between evacuation areas and regular areas and preventing accidental deletion or modification, thus ensuring the independence and security of evacuation area configurations. Furthermore, evacuation areas are disabled by default and only activated after an alarm is triggered, preventing robots from needlessly avoiding areas due to accidental activation, ensuring they are only enabled in emergency scenarios, and supporting batch activation of all evacuation areas at the corresponding level after automatic or manual alarms. Through standardized configuration processes, independent storage and display, and conditional activation, a complete management system for evacuation areas from creation to activation is constructed, ensuring that the configuration of evacuation areas meets the needs of emergency scenarios while avoiding interference with normal operations.

[0034] In some technical solutions of this application, the robot control method further includes: receiving an alarm cancellation request and obtaining first selection data and snapshot data of the alarm sub-area at the time of request submission; sending a task resumption instruction and an emergency evacuation area disabling instruction to the robot based on the first selection data and the snapshot data of the alarm sub-area, and restoring the original area rules covered by the emergency evacuation area.

[0035] In this technical solution, an alarm cancellation request is received, and first selection data and snapshot data of the alarm sub-area at the time of request submission are obtained; based on the first selection data and the snapshot data of the alarm sub-area, a task resumption instruction and an emergency evacuation area disabling instruction are sent to the robot, and the original area rules covered by the emergency evacuation area are restored. The system employs several key features. First, it acquires snapshot data of the alarm sub-area at the time of request submission, and since this data is not updated in real time, it fixes the scope of alarm cancellation operations, preventing accidental restoration due to subsequent changes in alarm status (such as the addition of new alarm areas). This ensures that restoration operations are performed only on the areas selected by the user. Second, it supports multiple or all selection of alarm areas, meeting users' flexible restoration needs. For example, alarms in only some areas can be cancelled, adapting to restoration requirements in different scenarios. Third, the system features a triple operation of sending task restoration instructions, emergency evacuation area disabling instructions, and restoring the original rules of the overlapping areas. This forms a closed loop for alarm cancellation, restoring the robot's normal operation, disabling the emergency evacuation area, and making the rules of the covered original areas effective again. Finally, by fixing the restoration scope, supporting flexible selection, and executing closed-loop restoration operations, the system ensures that alarm cancellation operations are accurate and controllable, achieving a smooth transition from emergency to normal status.

[0036] In some technical solutions of this application, when the emergency evacuation area overlaps with or is parallel to other areas within the first area other than the emergency evacuation area, the robot control method further includes: when the emergency evacuation area overlaps with other areas within the first area other than the emergency evacuation area, the original rules of the overlapping area are invalidated, and only the evacuation strategy of the emergency evacuation area is executed; after the emergency evacuation area is deactivated, the original rules are restored; when the emergency evacuation area is parallel to the restricted area, the robot is controlled to replan the fastest evacuation route; when the robot is surrounded by restricted areas, the robot is controlled to stop at the edge of the emergency evacuation area and report error information.

[0037] In this technical solution, when the emergency evacuation area overlaps with or is parallel to other areas within the first area (excluding the emergency evacuation area), the robot control method further includes: when the emergency evacuation area overlaps with other areas within the first area (excluding the emergency evacuation area), the original rules for the overlapping area become invalid, and only the evacuation strategy of the emergency evacuation area is executed; the original rules are restored after the emergency evacuation area is deactivated; when the emergency evacuation area is parallel to restricted areas or areas with vehicle restrictions, the robot is controlled to replan the fastest evacuation route; when the robot is surrounded by restricted areas, the robot is controlled to stop at the edge of the emergency evacuation area and report an error. By clearly defining the rules for prioritizing the execution of evacuation strategies in overlapping areas, planning the fastest evacuation route in parallel areas, and stopping and reporting errors in extreme scenarios, the problem of conflicting area rules is solved, ensuring that the evacuation strategy takes priority, comprehensively covering complex area relationships, and ensuring that rescue channels remain unobstructed.

[0038] In some technical solutions of this application, after the target robot leaves the emergency evacuation area, the robot control method further includes: if the task target point is located within the emergency evacuation area, controlling the robot to stop at the periphery of the area and suspend the current task; if the task target point is located outside the emergency evacuation area, controlling the robot to replan the path to bypass the emergency evacuation area and proceed to the target point.

[0039] In this technical solution, after the target robot leaves the emergency evacuation area, the robot control method further includes: if the task target point is within the emergency evacuation area, controlling the robot to stop at the periphery of the area, pausing and suspending the current task; if the task target point is outside the emergency evacuation area, controlling the robot to replan its route to bypass the emergency evacuation area and proceed to the target point. This differentiated control based on the location of the task target point prevents the robot from re-entering the evacuation area while maintaining operational continuity, forming a closed loop of deportation and subsequent control, achieving a balance between rescue safety and operational efficiency.

[0040] A second aspect of the present invention provides a robot control device for use in a robot control system. The robot control system includes at least one robot deployed within a first area, which includes multiple sub-areas. The robot control device includes: a first acquisition module, a second acquisition module, a third acquisition module, a first determination module, and a first execution module. The first acquisition module is used to acquire the association configuration information between at least one alarm triggering device within the first area and the multiple sub-areas. The second acquisition module is used to acquire, based on the association configuration information, a target sub-area identifier corresponding to at least one target sub-area of ​​the alarm triggering device. The third acquisition module is used to acquire, based on the target sub-area identifier, an emergency evacuation area within the target sub-area, and area data of the emergency evacuation area. The first determination module is used to determine the position association data between the robot and the emergency evacuation area based on the area data of the emergency evacuation area and the robot's status data. The first execution module is used to perform avoidance control on robots whose paths overlap with the emergency evacuation area based on the position association data.

[0041] The robot control device provided in this application, through the coordinated operation of a first acquisition module, a second acquisition module, a third acquisition module, a first determination module, and a first execution module, constructs a closed-loop control system that includes associated configuration acquisition, target area positioning, evacuation data retrieval, positional relationship determination, and avoidance control execution. This system enables precise control of robots in alarm scenarios. It ensures the unobstructed flow of the evacuation area as a rescue channel by accurately identifying robots whose paths overlap with those of the emergency evacuation area and executing targeted avoidance, while also avoiding interference from indiscriminate control on the operation of non-associated robots. This system balances the safety of rescue operations in emergency scenarios with the continuity of system operations, effectively addressing the robot evacuation control needs in emergency situations such as fires.

[0042] A third aspect of the present invention provides a robot control device, including a processor and a memory, wherein the memory stores a program or instructions, and the processor, when executing the program or instructions in the memory, implements the steps of the robot control method as described in any of the above-described technical solutions. Therefore, the robot control device possesses all the beneficial effects of the robot control method as described in any of the above-described technical solutions.

[0043] A fourth aspect of the present invention provides a readable storage medium storing a program or instructions, which, when executed by a processor, implement the steps of the robot control method as described in any of the above-described technical solutions. Therefore, the readable storage medium possesses all the beneficial effects of the robot control method as described in any of the above-described technical solutions.

[0044] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0045] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0046] Figure 1 This is a flowchart illustrating a robot control method according to an embodiment of the present invention;

[0047] Figure 2 This is one of the schematic block diagrams of a robot control device according to an embodiment of the present invention;

[0048] Figure 3 This is a second schematic block diagram of a robot control device according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic block diagram of the hierarchical architecture of a robot emergency control system according to an embodiment of the present invention. Detailed Implementation

[0050] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0051] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0052] The following reference Figures 1 to 4 A robot control method, apparatus, and readable storage medium are described according to some embodiments of the present invention.

[0053] like Figure 1 As shown, embodiments of this application provide a robot control method for a robot control system. The robot control system includes at least one robot arranged within a first region, which includes multiple sub-regions. The robot control method includes the following steps:

[0054] Step 102: Obtain the association configuration information between at least one alarm triggering device and multiple sub-regions within the first region;

[0055] Step 104: Based on the associated configuration information, obtain the target sub-region identifier of at least one target sub-region corresponding to the alarm triggering device;

[0056] Step 106: Based on the target sub-region identifier, obtain the emergency evacuation area within the target sub-region, as well as the area data of the emergency evacuation area;

[0057] Step 108: Based on the area data of the emergency evacuation area and the robot status data, determine the location association data between the robot and the emergency evacuation area;

[0058] Step 110: Based on location association data, perform avoidance control on robots that have paths overlapping with the emergency evacuation area.

[0059] The robot control method provided in this application is used in a robot control system, which includes at least one robot deployed in a first area, which includes multiple sub-areas. This application solves the problem of unclear robot control range caused by alarm signals not being accurately associated with specific areas through closed-loop logic of equipment, area association, target area positioning, evacuation area data retrieval, robot position determination, and targeted avoidance control. By configuring association and locking target sub-area identifiers, it ensures that the control range focuses only on the alarm-related area, avoiding indiscriminate control across the entire area. Secondly, it achieves accurate identification of the spatial relationship between the robot and the emergency evacuation area, covering all scenarios including robots within the area and robots about to enter the area, avoiding situations where robots obstruct rescue channels due to missed or incorrect identification. Simultaneously, while ensuring unobstructed access to the emergency evacuation area (e.g., adapting to emergency rescue needs such as fires), differentiated avoidance control reduces the impact on the normal operation of robots in non-alarm areas, balancing rescue safety and operational continuity.

[0060] The alarm triggering device in step 102 refers to the device component that can trigger an emergency alarm signal, including automatic alarm devices, such as ECS (Emergency Control System) devices, which are bound to sub-areas through rule chains and automatically send an alarm signal after being triggered. It also includes manual alarm triggering components (such as the fire alarm icon in the top operation bar and the manual alarm button in the emergency management module, supporting user-initiated alarm triggering). The associated configuration information refers to the data set pre-set in the system to establish the correspondence between alarm triggering devices and sub-areas; specifically, it refers to the rule chain binding configuration information of the ECS in the rule chain for specific areas. The target sub-area in step 104 refers to the subdivided area associated with the alarm triggering device where an emergency (such as a fire) has occurred. This can be understood as a specific area in the hierarchical division of warehouses, maps, and areas (such as "1-1-1" or "2-1-1" areas). The target sub-area identifier refers to the hierarchical identifier data used to uniquely identify the target sub-area, with a format consistent with the "warehouse-map-area" triple selection logic (such as "warehouse A-area"). Figure 1- "Area 1-1-1" is used to accurately locate the alarm area; the emergency evacuation area in step 106 refers to the corridor space preset to ensure personnel evacuation and fire rescue in emergency situations, that is, the evacuation area created by the emergency area configuration module. After configuration, it is only displayed in the module, disabled by default, and activated after an alarm. The area data of the emergency evacuation area refers to the core parameters describing the emergency evacuation area, including geographical coordinates (defined by the box selector), functional purpose identification (such as "escape route" "fire door"), and area rule priority data (used to handle overlap / parallel relationships with other areas). The robot status data in step 108 refers to the data set reflecting the real-time operation of the robot, including the robot's current position coordinates, real-time travel trajectory data, task target point coordinates, and operating status parameters (such as whether it is in operation). "Location association data" refers to the data set obtained by using the robot status data. Based on the comparison with emergency evacuation area data, the spatial and path relationship data between the robot and the emergency evacuation area are obtained, including types such as "robot is located in the area", "robot is about to enter the area", "robot's travel path overlaps with the area", and "robot is not related to the area". "Path overlap" in step 110 refers to the overlap between the robot's real-time travel path and the geographical range of the emergency evacuation area, including two scenarios: one is that the robot is already in the emergency evacuation area and its travel path passes through the area; the other is that the robot's real-time position has not entered the area but its travel path will pass through the area (robot about to enter). Avoidance control refers to the emergency control operation performed on robots with overlapping paths. Specifically, it may include pausing the robot's current task, planning an escape path to drive away from the area, replanning a path to bypass the area, pausing forward movement until the emergency state is lifted, etc., thereby ensuring that there are no robots obstructing the emergency evacuation area.

[0061] The above steps can be implemented as follows: Step 102 involves obtaining the association configuration information between the alarm triggering devices and multiple sub-regions within the first area. This can be understood as the rule chain binding configuration between ECS devices and specific areas. This step enables precise mapping between alarm triggering devices and sub-regions, preventing alarm signals from indiscriminately covering the entire first area and facilitating accurate location of the alarm area. Specifically, the sub-region range corresponding to the alarm device can be locked through preset association logic, avoiding subsequent control inaccuracies caused by ambiguous regional associations. Step 104 involves obtaining the target sub-region identifier based on the aforementioned association configuration information, further converting the alarm signal into a specific manageable sub-region object, achieving precise location of the alarm area, and then directly extracting the target sub-region identifier from the alarm signal through the mapping relationship in the association configuration information, avoiding misjudgment or omission of the alarm area, and ensuring that the control range focuses only on the alarm-related sub-regions. Step 106 involves obtaining the emergency evacuation area and corresponding area data based on the target sub-region identifier, specifically including preset data such as geographical coordinates and functional uses. Furthermore, by calling the pre-set evacuation area configuration data from the fire management module, the system clearly understands the range of rescue channels that need to be kept clear, providing specific reference standards for robot position determination and avoidance control. The fire management module can be any other module or device that can provide fire emergency response information and has information management capabilities. Step 108 determines the location association data based on the emergency evacuation area data and the robot's status data (current position, travel trajectory, etc.), achieving accurate identification of the spatial relationship between the robot and the emergency evacuation area. By comparing the robot's real-time status data with data such as the geographical range and rule priorities of the evacuation area, it determines whether the robot's path overlaps with the evacuation area, providing accurate basis for subsequent targeted control and avoiding the omission of robots that need to be avoided or the miscontrol of irrelevant robots. Step 110 performs avoidance control on robots with overlapping paths based on location association data, ultimately ensuring that the emergency evacuation area remains unobstructed as a rescue channel. By driving away robots in the area and bypassing or pausing robots that are about to enter, robot obstructions in and around the rescue channel are cleared. At the same time, combined with differentiated control strategies, that is, if it does not affect the operation of robots in non-alarm areas, the impact on normal operations can be reduced while ensuring rescue safety.

[0062] In some embodiments of this application, the location association data includes the robot's real-time location data and travel path data. Based on the location association data, performing avoidance control on a robot whose path overlaps with the emergency evacuation area includes: determining a target robot located within the emergency evacuation area and whose travel path traverses the emergency evacuation area based on the real-time location data and travel path data; pausing the target robot's current task; planning an escape path based on the area data of the emergency evacuation area; and controlling the robot to leave the emergency evacuation area along the escape path.

[0063] In this embodiment, by combining the robot's real-time location data and travel path data, it is possible to accurately locate the target robot located within the emergency evacuation area and whose travel path passes through the area, thereby avoiding mis-control of unrelated robots and ensuring the targeted and accurate control operation.

[0064] By further suspending the target robot's current task, operations that may obstruct rescue channels can be quickly terminated. Then, based on regional data such as the geographical coordinates and rule priorities of the emergency evacuation area, the optimal escape path can be planned to guide the robot to leave the emergency evacuation area efficiently and orderly. This not only prevents the congestion of the passage caused by the robot's lingering or disorderly movement in the area, but also ensures that no robot stays in the evacuation area to avoid affecting the rescue effect. Ultimately, it effectively removes robot obstacles in the emergency evacuation area, ensuring that the area remains unobstructed as a passage for personnel evacuation and fire rescue. At the same time, based on precise control of the target robot, unnecessary interference with the overall operation order of the robot control system is reduced, taking into account both rescue safety and system operation stability in emergency scenarios.

[0065] In some embodiments of this application, the location association data includes the robot's real-time location data and travel path data. Based on the location association data, performing avoidance control on a robot whose path overlaps with the emergency evacuation area includes: determining a target robot whose travel path overlaps with the emergency evacuation area but whose real-time location has not entered the emergency evacuation area based on the real-time location data and travel path data; and replanning the robot's travel path based on the area data of the emergency evacuation area and the surrounding area environmental data.

[0066] In this embodiment, based on real-time location data and travel path data, robots that have not yet entered the evacuation area but whose paths overlap can be identified. Pre-emptive control is achieved by recognizing and replanning their paths. This can be understood as prohibiting robots about to enter the evacuation area. Firstly, by comparing real-time location data and travel path data, potentially risky robots that have not yet entered but will subsequently cross the evacuation area can be identified in advance, enabling pre-emptive interception and avoiding the passive situation of robots entering and then being driven away. This proactively prevents robots from entering the evacuation area.

[0067] Secondly, the replanning of routes should be based on both emergency evacuation area data and surrounding environmental data, rather than blindly bypassing them. This ensures that the new route does not touch the boundaries of the evacuation area and complies with the rules of the surrounding area (such as avoiding restricted areas and vehicle restrictions). When the evacuation area is adjacent to other prohibited areas, a feasible route must be replanned.

[0068] Ultimately, by identifying risks and planning routes in advance, robots are prevented from entering emergency evacuation areas at the source. This ensures unobstructed rescue channels while avoiding operational interruptions caused by robots being driven away after intrusion, thus balancing the safety of emergency scenarios with the continuity of robot operations.

[0069] In some embodiments of this application, replanning the robot's path based on the area data of the emergency evacuation area and the surrounding environment data includes: guiding the robot to bypass the emergency evacuation area based on the area data of the emergency evacuation area and the surrounding environment data.

[0070] In this embodiment, replanning the robot's path based on the regional data of the emergency evacuation area and the surrounding environmental data includes guiding the robot to bypass the emergency evacuation area. Specifically, the replanning method can be understood as follows: if the target point is outside the evacuation area, a new path is planned to bypass the evacuation area to reach the target point. Specifically, firstly, the bypass strategy is based on the geographical coordinates of the emergency evacuation area, which can accurately define the bypass boundary, preventing the robot from mis-traveling or taking excessive detours, and ensuring the accuracy of the bypass operation.

[0071] Secondly, by combining the surrounding environmental data (such as the distribution of accessible paths and non-restricted areas), the optimal bypass route can be selected, ensuring that the robot can quickly reach the target point without violating other area rules (such as not entering restricted areas), that is, finding other paths to leave the evacuation area as quickly as possible.

[0072] Furthermore, the bypass strategy does not require pausing the robot's mission; it only adjusts the route, which can minimize interference with the robot's normal operation and avoid backlogs caused by mission pauses. In other words, it allows for flexible management without pausing the entire mission when evacuation areas are not triggered by fire alarms.

[0073] Ultimately, this application achieves a balance between rescue safety and operational efficiency by precisely defining boundaries, selecting optimal paths, and controlling the process without interrupting the mission, thus preventing robots from entering evacuation areas while ensuring operational continuity.

[0074] In some embodiments of this application, replanning the robot's path based on the area data of the emergency evacuation area and the surrounding environment data includes: pausing the robot's movement based on the area data of the emergency evacuation area and the surrounding environment data, and resuming the original path or reassigning tasks after the emergency is lifted.

[0075] In this embodiment, for robots that have not entered the area but whose paths overlap, pausing their forward movement directly blocks their tendency to move towards the evacuation area, avoiding the risk of accidental entry due to path planning delays or complex environments. This prioritizes ensuring unobstructed passage in emergency situations, while considering operational continuity, thus improving efficiency and safety. Secondly, restoring the original path or reassigning tasks after the emergency ends ensures that the robot can quickly return to normal operation after the emergency ends, without the need for manual rescheduling, reducing maintenance costs. Furthermore, in scenarios with complex surrounding environments (such as no feasible alternative paths), the control logic of this application can prevent robots from getting lost or colliding due to forced detours. For example, if the robot is surrounded by prohibited areas, it can stop at the edge of the area and report an error, thereby reducing rescue interference. Finally, by directly blocking risks, ensuring seamless subsequent recovery, and adapting to complex environments, this system can guarantee that emergency evacuation areas are not entered by robots even in extreme scenarios, while also considering the convenience of subsequent operations, thus improving the differentiated management and control system.

[0076] In some embodiments of this application, the associated configuration information is the rule chain binding configuration information between the alarm triggering device and multiple sub-regions; the alarm triggering device includes automatic alarm devices and manual alarm triggering components.

[0077] In this embodiment, the associated configuration information refers to the rule chain binding configuration information between alarm triggering devices and multiple sub-regions; the alarm triggering devices include automatic alarm devices and manual alarm triggering components. This clarifies the implementation method of the associated configuration and the types of alarm devices. First, the rule chain binding configuration information achieves a one-to-one or one-to-many relationship between alarm triggering devices and sub-regions, avoiding ambiguity in the association between alarm signals and regions, solving the problem of alarm signals indiscriminately covering the entire region, and ensuring that after automatic alarm devices such as ECS are triggered, the system can directly locate the specific sub-region. This can be understood as the ECS transmitting a signal to WCS and MM after triggering, only pausing the area's tasks.

[0078] Secondly, the alarm triggering devices cover automatic alarm devices (such as ECS) and manual alarm triggering components (such as the top fire alarm icon and emergency management module button), covering two scenarios: automatic alarm detection by the device and emergency alarm detection by the user. This avoids the limitations of a single alarm method, enables continuous automatic alarm activation, and supports multiple selection functions for manual alarms, including warehouse, map, and area selection.

[0079] The manual alarm component supports all roles, ensuring that anyone can quickly trigger an alarm in an emergency. The automatic alarm enables real-time monitoring in unattended scenarios. Together, they form a comprehensive alarm system with no blind spots. Precise mapping and dual alarm modes cover the entire scenario through rule chain binding, providing accurate preliminary data for subsequent target sub-area positioning and evacuation area deployment, ensuring the accurate starting point of the entire emergency control process.

[0080] In some embodiments of this application, the regional data of the emergency evacuation area includes the geographical coordinates of the emergency evacuation area, the functional purpose identifier, and the regional rule priority data.

[0081] In this embodiment, the regional data of the emergency evacuation area includes the geographical coordinates of the emergency evacuation area, functional purpose identifiers, and regional rule priority data. First, the geographical coordinates are defined using a selection box, providing a clear spatial boundary for robot location determination. This avoids misjudgments and missed detections caused by ambiguous evacuation area boundaries, ensuring the system can accurately identify whether the robot is within the area and whether paths overlap. Second, functional purpose identifiers (such as "escape route" and "fire door") clarify the emergency attributes of the area, ensuring the system prioritizes evacuation strategies when calling data, rather than ordinary regional rules. Regional rule priority data resolves conflicts arising from overlapping areas. Priority data ensures that evacuation strategies take precedence in conflict scenarios, preventing robot management chaos due to conflicting regional rules. By defining boundaries through geographical scope, defining attributes through functional purpose, and defining rules through priority, comprehensive and accurate data support is provided for subsequent robot location association determination and avoidance control, ensuring the management logic of the evacuation area is completely consistent with the configuration rules in the supplementary materials, guaranteeing rule uniformity in emergency scenarios.

[0082] In some embodiments of this application, robot state data includes: the robot's current position coordinates, real-time trajectory data, task target point coordinates, and operating state parameters.

[0083] In this embodiment, the current position coordinates determine whether the robot is within the emergency evacuation area, directly supporting the robot's removal from the area and meeting the basic requirement that the robot must leave the evacuation area as quickly as possible. Real-time trajectory data can predict the robot's movement trend, providing data support for identifying robots about to enter the evacuation area. Furthermore, the target point coordinates are used for subsequent path replanning after the robot leaves. If the target point is within the evacuation area, the task is suspended; if it is outside the area, the path is replanned, ensuring seamless operation of the robot after avoidance control. Finally, operational status parameters (such as whether it is in operation or whether the battery is sufficient) can assist in optimizing control strategies. For example, for robots with low battery, short-distance escape paths can be prioritized to avoid control failures caused by ignoring operational status. Ultimately, this technical feature comprehensively reflects the robot's status through multi-dimensional data, ensuring that the system accurately determines the positional correlation data between the robot and the emergency evacuation area, providing comprehensive data support for differentiated avoidance control.

[0084] In some embodiments of this application, the robot control method further includes: receiving configuration operation information, obtaining the sub-region, region name, and functional purpose information according to the configuration operation information, defining the region range through a box selector, and generating an emergency evacuation region and corresponding region data; the emergency evacuation region is configured to be disabled by default and is only activated after an alarm is triggered.

[0085] In this embodiment, the configuration steps require collecting the sub-region, region name, function, and scope, standardizing the creation process of evacuation areas and ensuring that each evacuation area has a clear ownership, purpose, and boundaries, avoiding subsequent management chaos caused by non-standard configuration. Secondly, configured evacuation areas are only displayed in the emergency management module, not in the regular area management interface, preventing confusion between evacuation areas and regular areas, preventing accidental deletion or modification, and ensuring the independence and security of evacuation area configurations. Furthermore, evacuation areas are disabled by default and only activated after an alarm is triggered, avoiding meaningless robot avoidance due to accidental activation, ensuring activation only in emergency scenarios, and supporting batch activation of all evacuation areas at the corresponding level after automatic or manual alarms. Through standardized configuration processes, independent storage and display, and conditional activation, a complete management system for evacuation areas from creation to activation is constructed, ensuring that the configuration of evacuation areas meets the needs of emergency scenarios while avoiding interference with normal operations.

[0086] In some embodiments of this application, the robot control method further includes: receiving an alarm cancellation request and obtaining first selection data and snapshot data of the alarm sub-area at the time of request submission; sending a task resumption instruction and an emergency evacuation area disabling instruction to the robot based on the first selection data and the snapshot data of the alarm sub-area, and restoring the original area rules covered by the emergency evacuation area.

[0087] In this embodiment, a request to cancel an alarm is received, and first selection data and snapshot data of the alarm sub-area at the time of request submission are obtained; based on the first selection data and the snapshot data of the alarm sub-area, a task resumption instruction and an emergency evacuation area disabling instruction are sent to the robot, and the original area rules covered by the emergency evacuation area are restored. The system employs several key features. First, it acquires snapshot data of the alarm sub-area at the time of request submission, and since this data is not updated in real time, it fixes the scope of alarm cancellation operations, preventing accidental restoration due to subsequent changes in alarm status (such as the addition of new alarm areas). This ensures that restoration operations are performed only on the areas selected by the user. Second, it supports multiple or all selection of alarm areas, meeting users' flexible restoration needs. For example, alarms in only some areas can be cancelled, adapting to restoration requirements in different scenarios. Third, the system features a triple operation of sending task restoration instructions, emergency evacuation area disabling instructions, and restoring the original rules of the overlapping areas. This forms a closed loop for alarm cancellation, restoring the robot's normal operation, disabling the emergency evacuation area, and making the rules of the covered original areas effective again. Finally, by fixing the restoration scope, supporting flexible selection, and executing closed-loop restoration operations, the system ensures that alarm cancellation operations are accurate and controllable, achieving a smooth transition from emergency to normal status.

[0088] In some embodiments of this application, when the emergency evacuation area overlaps with or is parallel to other areas within the first area other than the emergency evacuation area, the robot control method further includes: when the emergency evacuation area overlaps with other areas within the first area other than the emergency evacuation area, the original rules of the overlapping area are invalidated, and only the evacuation strategy of the emergency evacuation area is executed; after the emergency evacuation area is deactivated, the original rules are restored; when the emergency evacuation area is parallel to the restricted area, the robot is controlled to replan the fastest evacuation route; when the robot is surrounded by restricted areas, the robot is controlled to stop at the edge of the emergency evacuation area and report error information.

[0089] In this embodiment, when the emergency evacuation area overlaps with or is parallel to other areas within the first region (excluding the emergency evacuation area), the robot control method further includes: when the emergency evacuation area overlaps with other areas within the first region (excluding the emergency evacuation area), the original rules for the overlapping area become invalid, and only the evacuation strategy of the emergency evacuation area is executed; the original rules are restored after the emergency evacuation area is deactivated; when the emergency evacuation area is parallel to restricted areas such as no-entry zones or restricted vehicle zones, the robot is controlled to replan the fastest evacuation route; when the robot is surrounded by restricted areas, the robot is controlled to stop at the edge of the emergency evacuation area and report an error. By clearly defining the rules for prioritizing the execution of evacuation strategies in overlapping areas, planning the fastest evacuation route in parallel areas, and stopping and reporting errors in extreme scenarios, the problem of conflicting regional rules is solved, ensuring that the evacuation strategy takes priority, comprehensively covering complex regional relationships, and ensuring that rescue channels remain unobstructed.

[0090] In some embodiments of this application, after the target robot leaves the emergency evacuation area, the robot control method further includes: if the task target point is located within the emergency evacuation area, controlling the robot to stop at the periphery of the area and suspending the current task; if the task target point is located outside the emergency evacuation area, controlling the robot to replan a path to bypass the emergency evacuation area and proceed to the target point.

[0091] In this embodiment, after the target robot leaves the emergency evacuation area, the robot control method further includes: if the task target point is within the emergency evacuation area, controlling the robot to stop at the periphery of the area, pausing and suspending the current task; if the task target point is outside the emergency evacuation area, controlling the robot to replan its path to bypass the emergency evacuation area and proceed to the target point. This differentiated control based on the location of the task target point prevents the robot from re-entering the evacuation area while maintaining operational continuity, forming a closed loop of expulsion and subsequent control, achieving a balance between rescue safety and operational efficiency.

[0092] like Figure 2 As shown, an embodiment of this application provides a robot control device 200. The robot control device 200 is used in a robot control system, which includes at least one robot arranged in a first area. The first area includes multiple sub-areas. The robot control device 200 includes: a first acquisition module 202, a second acquisition module 204, a third acquisition module 206, a first determination module 208, and a first execution module 210. The first acquisition module 202 is used to acquire the association configuration information between at least one alarm triggering device in the first area and multiple sub-areas; the second acquisition module 204 is used to acquire the target sub-area identifier of at least one target sub-area corresponding to the alarm triggering device according to the association configuration information; the third acquisition module 206 is used to acquire the emergency evacuation area in the target sub-area and the area data of the emergency evacuation area based on the target sub-area identifier; the first determination module 208 is used to determine the position association data between the robot and the emergency evacuation area according to the area data of the emergency evacuation area and the robot status data; the first execution module 210 is used to perform avoidance control on the robot that has a path overlapping with the emergency evacuation area according to the position association data.

[0093] The robot control device provided in this application, through the coordinated operation of the first acquisition module 202, the second acquisition module 204, the third acquisition module 206, the first determination module 208, and the first execution module 210, constructs a closed-loop control system that includes associated configuration acquisition, target area positioning, evacuation data retrieval, positional relationship determination, and avoidance control execution. This system enables precise control of robots in alarm scenarios. It ensures the unobstructed flow of the evacuation area as a rescue channel by accurately identifying robots whose paths overlap with those of the emergency evacuation area and executing targeted avoidance, while also avoiding interference from indiscriminate control on the operation of non-associated robots. This system balances the safety of rescue operations in emergency scenarios with the continuity of system operations, and efficiently meets the robot evacuation control needs in emergency situations such as fires.

[0094] like Figure 3 As shown, an embodiment of this application provides a robot control device 300, including a processor 302 and a memory 304. The memory 304 stores programs or instructions, and when the processor 302 executes the programs or instructions in the memory 304, it implements the steps of the robot control method as described in any of the above embodiments. Therefore, the robot control device 300 possesses all the beneficial effects of the robot control method as described in any of the above embodiments.

[0095] Embodiments of this application provide a readable storage medium storing a program or instructions that, when executed by a processor, implement the steps of the robot control method as described in any of the above embodiments. Therefore, the readable storage medium possesses all the beneficial effects of the robot control method as described in any of the above embodiments.

[0096] like Figure 4 As shown, attached Figure 4 The hierarchical architecture of the robot emergency management system is shown: it is divided into a decision layer 400, a perception layer, and an execution layer. The decision layer 400 includes a dynamic evacuation zone calculation engine 402 and a module with a task scheduling optimization algorithm 404.

[0097] The perception layer includes a fire alarm sensor 406 and a module with robot status 408. The two modules will upload the collected fire alarm information and robot status data to the dynamic evacuation area calculation engine of the decision layer. The execution layer is equipped with "Robot A" and "Robot B" to receive instructions from the task scheduling optimization algorithm in the decision layer and realize robot control in emergency scenarios.

[0098] In one embodiment, the entire process of robot emergency evacuation in a fire alarm scenario includes starting with "fire alarm signal triggering," first determining the evacuation area range through the "dynamic evacuation area calculation" module combined with heat map analysis, then proceeding to the "robot task reassignment" stage to perform pause or evacuation operations on relevant robots, then using the "collaborative path planning" module with the A* algorithm to complete the robot's avoidance path planning, and finally concluding with "evacuation completion confirmation." Each stage proceeds sequentially according to the arrow order, forming a closed-loop emergency control process from triggering the alarm to completing the evacuation.

[0099] In the claims, description, and accompanying drawings of this invention, the term "plural" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and simplifying the descriptive process, and are not intended to indicate or imply that the device or element referred to must have the described specific orientation, or be constructed and operated in a specific orientation. Therefore, these descriptions should not be construed as limiting the invention. The terms "connected," "installed," "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection between multiple objects, a detachable connection between multiple objects, or an integral connection; it can be a direct connection between multiple objects or an indirect connection between multiple objects through an intermediate medium. For those skilled in the art, the specific meaning of the above terms in this invention can be understood based on the specific circumstances described above.

[0100] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0101] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for controlling a robot, characterized in that, A robot control system includes at least one robot deployed within a first area, the first area comprising multiple sub-areas, the robot control method comprising: Obtain the association configuration information between at least one alarm triggering device in the first area and multiple sub-areas; Based on the associated configuration information, obtain the target sub-region identifier of at least one target sub-region corresponding to the alarm triggering device; Based on the target sub-region identifier, obtain the emergency evacuation area within the target sub-region, and the area data of the emergency evacuation area; Based on the area data of the emergency evacuation area and the robot status data, determine the location association data between the robot and the emergency evacuation area; Based on the location association data, avoidance control is performed on robots whose paths overlap with the emergency evacuation area.

2. The robot control method according to claim 1, characterized in that, The location association data includes the robot's real-time location data and travel path data. The step of performing avoidance control on robots whose paths overlap with the emergency evacuation area based on the location association data includes: Based on the real-time location data and the travel path data, a target robot is identified that is located within the emergency evacuation area and whose travel path traverses the emergency evacuation area; The current task of the target robot is paused, and an escape path is planned based on the regional data of the emergency evacuation area. The robot is then controlled to drive away from the emergency evacuation area along the escape path.

3. The robot control method according to claim 1, characterized in that, The location association data includes the robot's real-time location data and travel path data. The step of performing avoidance control on robots whose paths overlap with the emergency evacuation area based on the location association data includes: Based on the real-time location data and the travel path data, a target robot is identified whose travel path overlaps with the emergency evacuation area but whose real-time location has not entered the emergency evacuation area. Based on the regional data of the emergency evacuation area and the surrounding environmental data, the robot's travel path is replanned.

4. The robot control method according to claim 3, characterized in that, The process of replanning the robot's path based on the regional data of the emergency evacuation area and the surrounding environmental data includes: Based on the regional data of the emergency evacuation area and the surrounding environmental data, the robot is guided to bypass the emergency evacuation area.

5. The robot control method according to claim 3, characterized in that, The process of replanning the robot's path based on the regional data of the emergency evacuation area and the surrounding environmental data includes: Based on the regional data of the emergency evacuation area and the surrounding environmental data, the robot's movement is paused, and the original path is resumed or the task is reassigned after the emergency is lifted.

6. The robot control method according to claim 1, characterized in that, The associated configuration information is the rule chain binding configuration information between the alarm triggering device and multiple sub-regions; The alarm triggering device includes an automatic alarm device and a manual alarm triggering component.

7. The robot control method according to claim 1, characterized in that, The regional data of the emergency evacuation area includes the geographical coordinates of the emergency evacuation area, functional purpose identifiers, and regional rule priority data.

8. The robot control method according to claim 1, characterized in that, The robot status data includes: the robot's current position coordinates, real-time trajectory data, task target point coordinates, and operating status parameters.

9. The robot control method according to claim 1, characterized in that, Also includes: Receive configuration operation information, obtain the sub-region, region name, and functional purpose information according to the configuration operation information, delineate the region range through the box selector, and generate the emergency evacuation region and corresponding region data; The emergency evacuation area is configured to be disabled by default and is only activated after an alarm is triggered.

10. The robot control method according to claim 1, characterized in that, Also includes: Receive alarm cancellation request and obtain first selection data, as well as snapshot data of the alarm sub-area at the time of request submission; Based on the first selected data and the snapshot data of the alarm sub-area, a task resumption command and an emergency evacuation area disabling command are sent to the robot, and the original area rules covered by the emergency evacuation area are restored.

11. The robot control method according to claim 1, characterized in that, When the emergency evacuation area overlaps with or is adjacent to other areas within the first area (excluding the emergency evacuation area), the robot control method further includes: If the emergency evacuation area overlaps with other areas in the first area besides the emergency evacuation area, the original rules for the overlapping area become invalid, and only the evacuation strategy of the emergency evacuation area is executed. The original rules are restored after the emergency evacuation area is deactivated. When the emergency evacuation area and the restricted area are adjacent, the robot is controlled to replan the fastest evacuation route. When the robot is surrounded by restricted areas, control the robot to stop at the edge of the emergency evacuation area and report an error message.

12. The robot control method according to claim 2, characterized in that, After the target robot leaves the emergency evacuation area, the robot control method further includes: If the mission objective is located within an emergency evacuation area, control the robot to stop at the periphery of the area and suspend the current mission; If the target location is outside the emergency evacuation area, the robot will replan its route to bypass the emergency evacuation area and proceed to the target location.

13. A control device for a robot, characterized in that, The robot control device is used in a robot control system, which includes at least one robot arranged within a first area, the first area comprising multiple sub-areas. The robot control device includes: The first acquisition module is used to acquire the association configuration information between at least one alarm triggering device in the first area and multiple sub-areas; The second acquisition module is used to acquire, based on the associated configuration information, the target sub-region identifier of at least one target sub-region corresponding to the alarm triggering device; The third acquisition module is used to acquire, based on the target sub-region identifier, the emergency evacuation area within the target sub-region, and the area data of the emergency evacuation area; The first determining module is used to determine the location association data between the robot and the emergency evacuation area based on the area data of the emergency evacuation area and the robot status data; The first execution module is used to perform avoidance control on robots whose paths overlap with the emergency evacuation area based on the location association data.

14. A control device for a robot, characterized in that, include: processor; A memory storing programs or instructions, wherein the processor, when executing the programs or instructions in the memory, implements the steps of the robot control method as described in any one of claims 1 to 12.

15. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the robot control method as described in any one of claims 1 to 12.

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