ROBOT CONTROL METHOD, DEVICE, ROBOT, STORAGE MEDIUM, AND PROGRAM PRODUCT

Abstract

The present invention relates to a robot control method, a device, a robot, a storage medium, and a program product. The robot control method includes acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in a car (S101), and controlling the robot to move toward the destination boarding location at a preset speed until the robot enters the car if the distance is greater than a preset distance threshold (S102).

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application claims priority to a Chinese patent application filed with the China Patent Office on May 11, 2022, bearing application number 202210509558.7 and title "Robot control method, apparatus, robot, storage medium and program product," the entire contents of which are incorporated herein by reference.

[0002] The present application relates to the technical field of robots, and in particular to a robot control method, device, robot, storage medium, and program product. [Background technology]

[0003] With the development of robot technology, robots can ride in elevators with people and arrive at each floor of a building to perform tasks.

[0004] In the prior art, a robot elevator rider selects an elevator in a building that has a low traffic flow and is less busy as a destination elevator, and issues a call request to the destination elevator to get into the elevator.

[0005] However, in situations where there is a large flow of people, the robot may not be able to get on the elevator. Summary of the Invention [Problem to be solved by the invention]

[0006] Various embodiments of the present application provide a robot control method, an apparatus, a robot, a storage medium, and a program product. [Means for solving the problem]

[0007] In a first aspect, the present application provides a method of controlling a robot, the method comprising: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in a car; If the distance is greater than a preset distance threshold, controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the elevator.

[0008] In a second aspect, the present application further provides a robot controller, the controller comprising: a first acquisition module used for acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in a car; and a first control module adapted to control the robot to proceed toward the destination boarding location at a preset speed until the robot enters the elevator if the distance is greater than a preset distance threshold.

[0009] In a third aspect, the present application provides a robot including a memory and a processor, the memory storing a computer program, the processor executing the computer program to achieve the steps of: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in a car; If the distance is greater than a preset distance threshold, a step of controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the elevator is realized.

[0010] In a fourth aspect, the present application further provides a computer readable storage medium having stored thereon a computer program, the computer program being executed by a processor to achieve the following steps: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in a car; If the distance is greater than a preset distance threshold, a step of controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the elevator is realized.

[0011] In a fifth aspect, the present application further provides a computer program product comprising a computer program, the computer program being executed by a processor to effect the steps of: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in a car; If the distance is greater than a preset distance threshold, a step of controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the elevator is realized.

[0012] The details of one or more embodiments of the application are set forth in the drawings and description below. Other features and advantages of the application will become apparent from the description, drawings, and claims.

[0013] In the following, in order to more clearly explain the embodiments of the present application or the technical solutions of the prior art, drawings necessary for the description of the embodiments or the prior art will be briefly described. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can obtain drawings of other embodiments from these drawings without expending inventive efforts. [Brief description of the drawings]

[0014] [Figure 1] 1 is a flowchart of a robot control method provided in an embodiment of the present application. [Diagram 2] 1 is a scene graph of a robot elevator rider provided in an embodiment of the present application. [Diagram 3] 1 is a flowchart of a method for acquiring a robot stop position and a stop duration provided in an embodiment of the present application. [Figure 4] FIG. 2 is a schematic diagram showing the presence of an obstacle in front of the robot provided in the embodiment of the present application. [Diagram 5] FIG. 2 is a schematic diagram showing an obstacle provided in an embodiment of the present application being at a distance from the robot. [Figure 6] FIG. 1 is a schematic diagram showing a robot provided in an embodiment of the present application moving forward and approaching an obstacle. [Figure 7] 1 is a flowchart of a method for a robot to ride an elevator provided in an embodiment of the present application. [Figure 8] FIG. 2 is a structural block diagram of a robot control device provided in an embodiment of the present application. [Figure 9] FIG. 1 is a diagram showing an internal configuration of a robot according to an embodiment of the present application. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0015] In order to facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings, in which: The drawings illustrate preferred embodiments of the present application; however, the present application may be embodied in many different forms and is not limited to the embodiments set forth herein; rather, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure.

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of the present application. The terms used in the present application are only for the purpose of describing specific examples and are not intended to limit the present application. The term "and / or" used herein includes any and all combinations of one or more of the associated listed items.

[0017] In this embodiment, a robot control method is provided, and the method is described by taking the case where the method is applied to a robot as an example. It should be understood that the method can also be applied to a server, and can also be applied to a system including a robot and a server, and is realized by the interaction between the robot and the server.

[0018] FIG. 1 is a flowchart of a robot control method provided in an embodiment of the present application, which is applied to a robot or a server, and in one embodiment, as shown in FIG. 1, includes the following steps:

[0019] In S101, while the robot is moving from a destination waiting location to a destination boarding location in a car, the distance between the robot and an obstacle is acquired.

[0020] In this embodiment, the destination waiting location, the destination boarding location, and the area in which the car is located are all preset by a person skilled in the art, and a scene graph of the boarding process in which the robot proceeds from the destination waiting location to the destination boarding location in the car is, for example, as shown in Figure 2. Figure 2 is a scene graph of the robot getting into the elevator provided in the embodiment of the present application, and in Figure 2, a plane coordinate system is created with the horizontal direction as the X-axis, and A is the set destination waiting location, B is the set destination boarding location, and C is the area in which the set car is located.

[0021] In this embodiment, the distance between the robot and an obstacle is obtained by attaching a sensor to the robot, and the sensor includes, but is not limited to, a depth camera, a lidar, and a device that can measure the distance between the two.

[0022] The obstacle may be a person, a cart, a pillar, or another object, and is not limited thereto.

[0023] At S102, if the distance is greater than a preset distance threshold, the robot is controlled to proceed toward the destination boarding location at a preset speed until it enters the car.

[0024] In this embodiment, the preset distance threshold is, for example, 2 cm, the preset speed is, for example, 0.1 m / s, and the preset distance threshold is set to 2 cm, which has the advantage that in scenes with a large flow of people, the distance between the robot and obstacles can be further reduced, thereby ensuring that the robot can enter the elevator.

[0025] In the above robot control method, while the robot is moving from the destination waiting location to the destination boarding location in the car, the distance between the robot and the obstacle is acquired, and if the distance is greater than a preset distance threshold, the robot is controlled to move toward the destination boarding location at a preset speed until it enters the car. In the conventional technology, the robot first judges the busyness of the elevator, and then calls an elevator with a low flow of people and gets on. On the other hand, in this embodiment, regardless of the flow of people, if the robot arrives at the destination boarding location and calls an elevator, it can get on the elevator, and the problem that the robot cannot get on the elevator in a scene with a high flow of people can be solved.

[0026] In some embodiments, the method further comprises controlling the robot to stop motion if the distance is less than a preset distance threshold.

[0027] In this embodiment, when the distance between the robot and the obstacle is less than 2 cm, the robot is controlled to stop moving, and the robot approaches the obstacle by inertia. In addition, since the preset speed at which the robot advances is small and a certain spatial distance is ensured, even if the robot approaches the obstacle by inertia and collides with the obstacle, there is no danger to the robot or the obstacle, and the safety of the robot to continue exploring forward can be guaranteed. In this case, as long as the distance is greater than the preset distance threshold, the robot will ride toward the inside of the car.

[0028] 3 is a flowchart of a method for acquiring a robot stop position and a stop duration provided in an embodiment of the present application. Referring to FIG. 3, this embodiment relates to a possible implementation of how to determine the next movement of the robot based on the current position information and the duration when the robot stops moving. In addition to the above embodiment, it further includes the following steps.

[0029] In S301, the current position information when the robot stopped its current operation is obtained.

[0030] In this embodiment, the current position information when the robot stopped its current operation is represented by coordinates (X, Y, theta) on the plane coordinate system of FIG. 2, where theta indicates the orientation angle of the robot at that time, i.e., the angle between the front of the robot and the X-axis, as shown by angle T in FIG. 2, for example.

[0031] In S302, the duration during which the robot has maintained the motionless state this time is acquired.

[0032] In S303, if the current location information is within the car and the duration is greater than a preset first time threshold, stop acquiring the distance between the robot and the obstacle.

[0033] In this embodiment, the preset first time threshold is, for example, 5 seconds, and when the robot is already in the car and the staying time exceeds 5 seconds, it is considered that the robot cannot move forward within a certain time, and therefore the acquisition of the distance between the robot and the obstacle is stopped, so that the internal energy of the robot can be saved and the waste of resources can be avoided.

[0034] In some embodiments, if the current location information is within a car and the duration is less than or equal to a first predetermined time threshold, the method further includes returning to obtain a distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the predetermined distance threshold, controlling the robot to proceed toward a destination boarding location at a predetermined speed.

[0035] In this embodiment, when the robot is already located in the elevator, if it is detected that the distance between the robot and the obstacle is greater than a preset distance threshold, the robot is controlled to continue moving toward the destination, so that in an elevator riding scene with a large flow of people, the waste of elevator resources is further reduced, more people can ride the elevator, and a good experience feeling of people riding the elevator is guaranteed, so that people want to ride the elevator with the robot. In addition, in the prior art, a large space is often required around the robot to ride the elevator, but in this application, it is possible to realize a robot riding the elevator like a person.

[0036] In some embodiments, if the current location information is not within the elevator and the duration is greater than a preset second time threshold, the method further includes controlling the robot to proceed to a destination waiting location, and calling the elevator again.

[0037] In this embodiment, the preset second time threshold is, for example, 30 seconds, and if the robot is not in the elevator car and the dwell time is as long as 30 seconds, it is considered that the robot may not be able to board the elevator this time. Therefore, it is necessary to control the robot to proceed to the target waiting place and then call the elevator car again so that the robot can finally board the elevator. The reason why the robot is made to proceed to the target waiting place rather than waiting there is that the actual situation at the site is complicated, and there is a possibility that the robot may be too close to the elevator and be prone to danger.

[0038] In some embodiments, if the current location information is not within a car and the duration is less than or equal to a second predetermined time threshold, the method further includes returning to obtain a distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the predetermined distance threshold, controlling the robot to proceed toward a destination boarding location at a predetermined speed.

[0039] In this embodiment, the robot has not yet entered the elevator car and does not remain there for a long time. Therefore, the robot is controlled to continue moving forward and can board the elevator in one go, eliminating the waiting time of having to call the elevator again and improving the efficiency with which the robot can board the elevator.

[0040] In the embodiment of the present application, a single progression process in which the robot encounters an obstacle will be described below.

[0041] First, the robot encounters an obstacle, for example, as shown in Fig. 4. Fig. 4 is a schematic diagram showing the presence of an obstacle in front of the robot provided in the embodiment of the present application, in which B is the destination boarding location, D is the center of the circle and indicates the current position information of the robot, the DE segment is a line segment with several points connected, indicating the historical movement trajectory of the robot, DF indicates the current direction of the robot, and the shaded area indicates the location of the obstacle. As can be seen from Fig. 4, at this time, the distance between the robot and the obstacle is smaller than the preset distance threshold, and the robot is controlled to stop moving.

[0042] Then, the robot continues to acquire the distance between the robot and the obstacle until it detects that the distance between the robot and the obstacle is greater than the preset distance threshold, and at this time, the obstacle is away from the robot, for example as shown in FIG. 5. FIG. 5 is a schematic diagram showing that the obstacle provided in the embodiment of the present application is away from the robot at a certain distance, in FIG. 5, B is the destination boarding place, D is the center of the circle and indicates the current position information of the robot, the DE segment is a line segment with several points connected, and indicates the historical movement trajectory of the robot, DF indicates the current orientation of the robot, and the shaded area indicates the location of the obstacle. As can be easily seen from FIG. 5, at this time, the obstacle is away from the robot at a certain distance.

[0043] Finally, the robot detects that the distance between the obstacle and the robot is greater than the preset distance threshold, and proceeds toward the target boarding location B at a preset speed until the distance between the obstacle and the robot becomes smaller than the preset distance threshold. The position at that time is shown in FIG. 6, for example. FIG. 6 is a schematic diagram provided in an embodiment of the present application showing the robot moving forward and approaching an obstacle. In FIG. 6, B is the target boarding location, D' is the center of the circle and indicates the current position information of the robot, the D'E segment is a line segment with several points connected and indicates the historical movement trajectory of the robot, D'F' indicates the current orientation of the robot, and the shaded area indicates the location of the obstacle. As can be seen from FIG. 6, the robot approaches the obstacle and stops moving.

[0044] FIG. 7 is a flow chart of a method for a robot to ride an elevator provided in an embodiment of the present application. Referring to FIG. 7, this embodiment relates to one implementation of how to control a robot to ride an elevator. When a robot rides an elevator for the first time, a technician places the robot at a destination floor, for example, the first floor, and records that the robot is at the first floor at that time. After that, the robot can go to any floor by riding the elevator and record the floor where the robot is. In addition to the above embodiment, the process of a robot riding an elevator includes the following steps:

[0045] In S701, the robot heads to the destination waiting location where it has been placed.

[0046] For example, when the robot receives a command from an elevator rider, the robot starts executing the robot control method and is controlled to move toward the destination waiting location where the robot is located.

[0047] In S702, an elevator is called to come to the floor where the robot is located.

[0048] For example, the robot may call an elevator via a communication protocol to come to the floor where the robot is located.

[0049] In S703, the elevator doors open and the robot is controlled to proceed toward the destination boarding location in the elevator car.

[0050] For example, the robot senses the opening of an elevator door via a communication protocol, and after the elevator door opens, the robot is controlled to proceed toward a destination boarding location in the car in which it is located.

[0051] In S704, it is determined whether or not the vehicle will collide with an obstacle when it moves forward by 2 cm.

[0052] For example, the distance between the robot and an obstacle is obtained by a sensor in the robot, and based on the distance between the robot and the obstacle, it is determined whether the robot will collide with the obstacle when it moves forward 2 cm.

[0053] If the vehicle does not collide with an obstacle when moving forward 2 cm, S705 is executed, and if the vehicle collides with an obstacle when moving forward 2 cm, S707 is executed.

[0054] In S705, progress is permitted.

[0055] In S706, a speed command is sent to control the robot to move forward at a slow speed.

[0056] For example, a speed command is sent to the robot, and the robot is controlled to continue moving at a slow speed, for example 0.1 m / s.

[0057] At S707, progression is prohibited.

[0058] In S708, the duration of the movement stop is accumulated.

[0059] For example, the duration during which the robot has stopped moving this time is accumulated.

[0060] In S709, the current position information of the robot is acquired.

[0061] For example, the current position coordinates where the robot has stopped moving, such as coordinates (X, Y, theta), are obtained.

[0062] In S710, it is determined whether the robot is in the car.

[0063] For example, it is determined whether the robot is currently in a car based on whether the robot's current position coordinates are within an area in which the car is located.

[0064] If the robot is in the car, S711 is executed, and if the robot is not in the car, S712 is executed.

[0065] In S711, it is determined whether the robot has been stopped for more than 5 seconds.

[0066] If the robot stops for more than 5 seconds, it indicates that the robot has successfully boarded the elevator, and the acquisition of the distance between the robot and the obstacle is stopped, and the robot's elevator boarding process is terminated. If the robot stops for less than 5 seconds, return to step S704.

[0067] In S712, it is determined whether the robot has been stopped for more than 30 seconds.

[0068] If the robot stop time exceeds 30 seconds, return to step S701. If the robot stop time is 30 seconds or less, return to step S704.

[0069] Please refer to FIG. 8, which is a structural block diagram of a robot control device provided in an embodiment of the present application, where the device 800 includes: a first acquisition module 801 and a first control module 802 .

[0070] The first acquisition module 801 is used to acquire the distance between the robot and an obstacle while the robot is traveling from a destination waiting location to a destination boarding location in the elevator.

[0071] The first control module 802 is used to control the robot to proceed towards the destination boarding location at a preset speed until it enters the car if the distance is greater than a preset distance threshold.

[0072] The robot control device provided in this embodiment obtains the distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in the car, and if this distance is greater than a preset distance threshold, controls the robot to move toward the destination boarding location at a preset speed until it enters the car. In the conventional technology, the robot first judges the busyness of the elevator, and then calls an elevator with a low flow of people and gets on. On the other hand, in this embodiment, regardless of the flow of people, if the robot arrives at the destination boarding location and calls an elevator, it can get on the elevator, and the problem that the robot cannot get on the elevator in a scene with a high flow of people can be solved.

[0073] Optionally, the apparatus 800 further includes a second control module used to control the robot to stop moving if the distance is less than a preset distance threshold.

[0074] Optionally, the apparatus 800 comprises: a second acquisition module used for acquiring current location information when the robot stops its current operation; a third acquisition module used to acquire the duration during which the robot is currently in a motionless state; and a third control module used for stopping obtaining the distance between the robot and the obstacle if the current location information is within the car and the duration is greater than a preset first time threshold.

[0075] Optionally, the third control module is further used to return to acquiring a distance between the robot and an obstacle if the current location information is within the elevator and the duration is less than or equal to a predetermined first time threshold, and to control the robot to proceed toward a destination boarding location at a predetermined speed if the acquired distance between the robot and the obstacle is greater than a predetermined distance threshold.

[0076] Optionally, the third control module is further used to control the robot to proceed to a destination waiting location and to call the car again if the current location information is not within the car and the duration is greater than a preset second time threshold.

[0077] Optionally, the third control module is further used to return to acquiring the distance between the robot and the obstacle if the current location information is not within the elevator and the duration is less than or equal to a second predetermined time threshold, and to control the robot to proceed toward the destination boarding location at a preset speed if the acquired distance between the robot and the obstacle is greater than the preset distance threshold.

[0078] All or part of each module in the robot control device described above may be realized by software, hardware, or a combination of them. Each of the above modules may be built into the processor of the robot as hardware or may be independent, or may be stored in the memory of the robot as software so that the processor can easily call and execute operations corresponding to each of the above modules.

[0079] FIG. 9 is an internal configuration diagram of a robot in an embodiment of the present application. In this embodiment, a robot is provided, and its internal configuration diagram may be as shown in FIG. 9. The robot includes a processor, a memory, a communication interface, a display, and an input device, which are connected by a system bus. The processor of the robot is used to provide calculation and control capabilities. The memory of the robot includes a non-volatile storage medium and an internal memory. An operating system and a computer program are stored in the non-volatile storage medium. The internal memory provides an environment for the execution of the operating system and the computer program in the non-volatile storage medium. The communication interface of the robot is for wired or wireless communication with an external terminal, and the wireless method can be realized by WIFI, a mobile cellular network, NFC (near field communication) or other technologies. When the computer program is executed by the processor, a robot control method is realized. The robot's display may be a liquid crystal display or an electronic ink display, and the robot's input device may be a touch layer covered by the display, or may be buttons, a trackball or a touchpad on the robot's housing, or may be an external keyboard, touchpad or mouse, etc.

[0080] The structure shown in FIG. 9 is merely a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the robot to which the aspects of the present application can be applied; those skilled in the art will understand that a specific robot may include more or fewer parts than those shown in the drawing, or a combination of parts, or may have a different component arrangement.

[0081] In one embodiment, a robot is provided that includes a memory in which a computer program is stored and a processor. When the computer program is executed by the processor, the steps of the robot control method provided in the above embodiment are realized, namely: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in the elevator; If the distance is greater than a preset distance threshold, the step of controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the car is realized.

[0082] In one embodiment, when the computer program is executed by the processor, A further step is realized of controlling the robot to stop moving if the distance is less than a preset distance threshold.

[0083] In one embodiment, when the computer program is executed by the processor, acquiring current location information when the robot stopped moving; acquiring a duration during which the robot has maintained a motionless state; The step of stopping acquiring the distance between the robot and the obstacle if the current location information is within the car and the duration is greater than a preset first time threshold is further implemented.

[0084] In one embodiment, when the computer program is executed by the processor, If the current location information is within the elevator and the duration is equal to or less than a predetermined first time threshold, the step of returning to obtain the distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the predetermined distance threshold, controlling the robot to proceed toward the destination boarding location at a predetermined speed is further implemented.

[0085] In one embodiment, when the computer program is executed by the processor, If the current location information is not within the elevator and the duration is greater than a preset second time threshold, the steps of controlling the robot to proceed to a destination waiting location and calling the elevator again are further implemented.

[0086] In one embodiment, when the computer program is executed by the processor, If the current location information is not in the elevator and the duration is equal to or less than the second preset time threshold, the step of returning to obtain the distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the preset distance threshold, the step of controlling the robot to proceed toward the destination boarding location at a preset speed is further implemented. The implementation principle and technical effect of the above embodiment are similar to those of the above method embodiment, and therefore will not be described here.

[0087] In one embodiment, a computer readable storage medium having a computer program stored thereon is provided, which, when executed by a processor, achieves the steps of the robot control method provided in the above embodiment, namely: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in the elevator; If the distance is greater than a preset distance threshold, the step of controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the car is realized.

[0088] In one embodiment, when the computer program is executed by the processor, A further step is realized of controlling the robot to stop moving if the distance is less than a preset distance threshold.

[0089] In one embodiment, when the computer program is executed by the processor, acquiring current location information when the robot stopped moving; acquiring a duration during which the robot has maintained a motionless state; The step of stopping acquiring the distance between the robot and the obstacle if the current location information is within the car and the duration is greater than a preset first time threshold is further implemented.

[0090] In one embodiment, when the computer program is executed by the processor, If the current location information is within the elevator and the duration is equal to or less than a predetermined first time threshold, the step of returning to obtain the distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the predetermined distance threshold, controlling the robot to proceed toward the destination boarding location at a predetermined speed is further implemented.

[0091] In one embodiment, when the computer program is executed by the processor, If the current location information is not within the elevator and the duration is greater than a preset second time threshold, the steps of controlling the robot to proceed to a destination waiting location and calling the elevator again are further implemented.

[0092] In one embodiment, when the computer program is executed by the processor, If the current location information is not in the elevator and the duration is equal to or less than the second preset time threshold, the step of returning to obtain the distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the preset distance threshold, the step of controlling the robot to proceed toward the destination boarding location at a preset speed is further implemented. The implementation principle and technical effect of the above embodiment are similar to those of the above method embodiment, and therefore will not be described here.

[0093] In one embodiment, a computer program product is provided that includes a computer program, which, when executed by a processor, performs the following steps: acquiring a distance between the robot and an obstacle while the robot is moving from a destination waiting location to a destination boarding location in the elevator; If the distance is greater than a preset distance threshold, the step of controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the car is realized.

[0094] In one embodiment, when the computer program is executed by the processor, A further step is realized of controlling the robot to stop moving if the distance is less than a preset distance threshold.

[0095] In one embodiment, when the computer program is executed by the processor, acquiring current location information when the robot stopped moving; acquiring a duration during which the robot has maintained a motionless state; The step of stopping acquiring the distance between the robot and the obstacle if the current location information is within the car and the duration is greater than a preset first time threshold is further implemented.

[0096] In one embodiment, when the computer program is executed by the processor, If the current location information is within the elevator and the duration is equal to or less than a predetermined first time threshold, the step of returning to obtain the distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the predetermined distance threshold, controlling the robot to proceed toward the destination boarding location at a predetermined speed is further implemented.

[0097] In one embodiment, when the computer program is executed by the processor, If the current location information is not within the elevator and the duration is greater than a preset second time threshold, the steps of controlling the robot to proceed to a destination waiting location and calling the elevator again are further implemented.

[0098] In one embodiment, when the computer program is executed by the processor, If the current location information is not within the elevator and the duration is equal to or less than a preset second time threshold, the step of returning to obtain the distance between the robot and the obstacle, and if the obtained distance between the robot and the obstacle is greater than the preset distance threshold, controlling the robot to proceed toward the destination boarding location at a preset speed is further implemented.

[0099] The implementation principles and technical effects of the above-mentioned embodiments are similar to those of the above-mentioned method embodiments, so they will not be described here.

[0100] It should be noted that all user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data for analysis, stored data, presented data, etc.) in this application is information and data authorized by the user or fully authorized by all parties.

[0101] It will be understood by those skilled in the art that the entire or part of the flow in the method of the above-mentioned embodiment can be realized by instructing the relevant hardware by a computer program, and the computer program may be stored in a non-volatile computer-readable storage medium, and when the computer program is executed, the flow of each of the above-mentioned embodiment of the method is realized. Any reference to a memory, database, or other medium used in each embodiment provided in the present application may include at least one of a non-volatile memory and a volatile memory. The non-volatile memory may include a read-only memory (ROM), a magnetic tape, a flexible disk, a flash memory, an optical memory, a high-density embedded non-volatile memory, a resistive memory (ReRAM), a magnetoresistive random access memory (MRAM), a ferroelectric random access memory (FRAM), a phase change memory (PCM), a graphene memory, etc. The volatile memory may include a random access memory (RAM) or an external cache memory, etc. By way of example and not limitation, the RAM may be in various forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The database according to each embodiment provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database. The processor according to each embodiment provided herein may be, but is not limited to, a general-purpose processor, a central processor, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, and the like.

[0102] The technical features of the embodiments described above can be combined in any manner, and for the sake of brevity, not all possible combinations of the technical features in the embodiments described above have been 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 described in this specification.

[0103] The above examples merely show some embodiments of the present application, and although the description is specific and detailed, it should not be understood as limiting the scope of the present invention. It should be noted that those skilled in the art can make some modifications and improvements that fall within the scope of the present application without departing from the idea of ​​the present application. Therefore, the scope of the patent of the present application shall be subject to the scope of the attached claims.

Claims

1. A robot control method, comprising: acquiring a distance between the robot and an obstacle on a travel route in real time while the robot is traveling from a destination waiting location to a destination boarding location in a car; If the distance is greater than a preset distance threshold, controlling the robot to proceed toward the destination boarding location at a preset speed until the robot enters the elevator.

2. 2. The method of claim 1, further comprising controlling the robot to stop moving if the distance is less than the preset distance threshold.

3. The method according to claim 2, further comprising: acquiring current location information when the robot stopped moving this time; acquiring a duration during which the robot maintained a stopped state this time; and, if the current location information is within the elevator and the duration is greater than a predetermined first time threshold, stopping acquisition of the distance between the robot and the obstacle.

4. The method of claim 3, further comprising: if the current location information is within the elevator and the duration is less than or equal to the first preset time threshold, returning to obtain the distance between the robot and the obstacle; and if the obtained distance between the robot and the obstacle is greater than the preset distance threshold, controlling the robot to proceed toward the destination boarding location at the preset speed.

5. The method according to claim 3 or 4, further comprising: if the current location information is not within the elevator and the duration is greater than a second predetermined time threshold, controlling the robot to proceed to the destination waiting location and calling the elevator again.

6. The method of claim 5, further comprising: if the current location information is not within the elevator and the duration is less than or equal to the second preset time threshold, returning to obtain the distance between the robot and the obstacle; and if the obtained distance between the robot and the obstacle is greater than the preset distance threshold, controlling the robot to proceed toward the destination boarding location at the preset speed.

7. 2. The method according to claim 1, further comprising: when the robot receives an instruction from an elevator passenger, controlling the robot to move toward the destination waiting location where the robot is located; calling the car via a first communication protocol to move the robot to the floor where the robot is located, detecting whether the car door has opened via a second communication protocol; and when the car door has opened, controlling the robot to proceed toward the destination boarding location in the car where the robot is located.

8. A robot control device comprising: a first acquisition module used to acquire a distance between the robot and an obstacle while the robot is traveling from a destination waiting location toward a destination boarding location in a car; and a first control module used to control the robot to proceed toward the destination boarding location at a preset speed until the robot enters the car if the distance is greater than a preset distance threshold.

9. 10. The apparatus of claim 8, further comprising a second control module adapted to control the robot to stop motion if the distance is less than the preset distance threshold.

10. The device of claim 9, further comprising: a second acquisition module used to acquire current location information when the robot stops moving this time; a third acquisition module used to acquire a duration during which the robot has maintained a stopped state this time; and a third control module used to stop acquiring the distance between the robot and the obstacle if the current location information is within the elevator and the duration is greater than a predetermined first time threshold.

11. The device described in claim 10, characterized in that the third control module is further used to return to acquiring the distance between the robot and the obstacle if the current location information is within the elevator and the duration is less than the preset first time threshold, and to control the robot to proceed toward the destination boarding location at the preset speed if the acquired distance between the robot and the obstacle is greater than the preset distance threshold.

12. The apparatus described in claim 10 or 11, characterized in that the third control module is further used to control the robot to proceed to the destination waiting location and to call the elevator again if the current location information is not within the elevator and the duration is greater than a predetermined second time threshold.

13. The device described in claim 12, characterized in that the third control module is further used to return to acquiring the distance between the robot and the obstacle if the current location information is not within the elevator and the duration is less than the preset second time threshold, and to control the robot to proceed toward the destination boarding location at the preset speed if the acquired distance between the robot and the obstacle is greater than the preset distance threshold.

14. A robot comprising a memory in which a computer program is stored and a processor for implementing the steps of the method according to any one of claims 1 to 7 by executing said computer program.

15. A computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

16. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 7.

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