CN-122018501-A - Robot control method, apparatus and readable storage medium

Abstract

The application provides a control method, a device and a readable storage medium of a robot, wherein the control method of the robot comprises the steps of obtaining associated configuration information of at least one alarm triggering device and a plurality of subareas in a first area; the method comprises the steps of obtaining target sub-area identification of at least one target sub-area corresponding to alarm triggering equipment according to associated configuration information, obtaining emergency evacuation areas in the target sub-area and area data of the emergency evacuation areas based on the target sub-area identification, determining position associated data of robots and the emergency evacuation areas according to the area data of the emergency evacuation areas and the state data of the robots, and executing avoidance control on the robots with paths coincident with the emergency evacuation areas according to the position associated data. According to the method, through the closed loop logic of the targeted avoidance control, the situation that the alarm signal cannot be accurately associated with a specific area is avoided, and the accurate control of the robot in the special environment is improved.

Inventors

• CHEN YIHUI

Assignees

• 库卡机器人(广东)有限公司

Dates

Publication Date

20260512

Application Date

20260128

Claims (15)

1. 1. A control method for a robot, characterized by a robot control system comprising at least one robot arranged in a first area, the first area comprising a plurality of sub-areas, the control method for a robot comprising: acquiring associated configuration information of at least one alarm triggering device and a plurality of subareas in the first area; Acquiring a target sub-region identifier of at least one target sub-region corresponding to the alarm triggering device according to the associated configuration information; Acquiring an emergency evacuation area in the target sub-area and area data of the emergency evacuation area based on the target sub-area identification; Determining position-related data of the robot and the emergency evacuation area according to the area data and the robot state data of the emergency evacuation area; And executing avoidance control on the robots with paths overlapping with the emergency evacuation areas according to the position association data.
2. 2. The method according to claim 1, wherein the position-related data includes real-time position data and travel path data of the robot, and the performing avoidance control on the robot having a path overlapping with the emergency evacuation area based on the position-related data includes: Determining a target robot which is positioned in the emergency evacuation area and passes through the emergency evacuation area in a travel path according to the real-time position data and the travel path data; And suspending the current task of the target robot, planning a escape path based on the regional data of the emergency evacuation region, and controlling the robot to drive away from the emergency evacuation region along the escape path.
3. 3. The method according to claim 1, wherein the position-related data includes real-time position data and travel path data of the robot, and the performing avoidance control on the robot having a path overlapping with the emergency evacuation area based on the position-related data includes: Determining a target robot with an overlapping travel path and the emergency evacuation area but a real-time position of the target robot does not enter the emergency evacuation area according to the real-time position data and the travel path data; and re-planning the travel path of the robot based on the regional data of the emergency evacuation region and the surrounding regional environment data.
4. 4. A control method of a robot according to claim 3, wherein the re-planning the travel path of the robot based on the area data of the emergency evacuation area and the surrounding area environment data comprises: And guiding the robot to bypass the emergency evacuation area based on the area data of the emergency evacuation area and the surrounding area environment data.
5. 5. A control method of a robot according to claim 3, wherein the re-planning the travel path of the robot based on the area data of the emergency evacuation area and the surrounding area environment data comprises: And suspending the robot from advancing based on the regional data of the emergency evacuation region and the surrounding regional environment data, and restoring the original path or reassigning the task after the emergency state is released.
6. 6. The method for controlling a robot according to claim 1, wherein the associated configuration information is rule chain binding configuration information of the alarm trigger device and a plurality of the sub-areas; the alarm triggering device comprises automatic alarm equipment and a manual alarm triggering component.
7. 7. A control method of a robot according to claim 1, characterized in that the zone data of the emergency evacuation zone comprises geographical area coordinates, function usage identification and zone rule priority data of the emergency evacuation zone.
8. 8. The method of claim 1, wherein the robot state data includes current position coordinates of the robot, real-time travel track data, task target point coordinates, and operation state parameters.
9. 9. The method of controlling a robot according to claim 1, further comprising: receiving configuration operation information, acquiring the affiliated subareas, area names and function use information according to the configuration operation information, and demarcating an area range through a frame selection selector to generate the emergency evacuation area and corresponding area data; The emergency evacuation area is configured as a disabled state by default, only activated after an alarm is triggered.
10. 10. The method of controlling a robot according to claim 1, further comprising: Receiving a cancel alarm request, and acquiring first selection data and snapshot data of an alarm subarea at the time of submitting the request; And sending a task recovery instruction and an emergency evacuation area disabling instruction to the robot according to the first selection data and the alarm sub-area snapshot data, and recovering the original area rule covered by the emergency evacuation area.
11. 11. The control method of a robot according to claim 1, wherein when the emergency evacuation area has an overlapping or juxtaposed relationship with other areas than the emergency evacuation area in the first area, the control method of a robot further comprises: Under the condition that the emergency evacuation area is overlapped with other areas except the emergency evacuation area in the first area, the original rule of the overlapped area fails, only the evacuation strategy of the emergency evacuation area is executed, and the original rule is recovered after the emergency evacuation area is deactivated; under the condition that the emergency evacuation area is parallel to the forbidden area, controlling the robot to re-plan the fastest evacuation path; under the condition that the periphery of the robot is a forbidden access area, the robot is controlled to stop at the edge of the emergency evacuation area and feedback error reporting information.
12. 12. The method of controlling a robot according to claim 2, wherein the method of controlling a robot further comprises, after the target robot leaves an emergency evacuation area: Under the condition that a task target point is positioned in an emergency evacuation area, controlling the robot to park at the periphery of the area, and suspending the current task; and under the condition that the task target point is positioned outside the emergency evacuation area, controlling the robot to re-plan the path to bypass the emergency evacuation area and go to the target point.
13. 13. A control device of a robot, characterized in that the control device of the robot is used in a robot control system comprising at least one robot arranged in a first area comprising a plurality of sub-areas, the control device of the robot comprising: The first acquisition module is used for acquiring the associated configuration information of at least one alarm triggering device and a plurality of subareas in the first area; the second acquisition module is used for acquiring a target sub-area identifier of at least one target sub-area corresponding to the alarm triggering equipment according to the associated configuration information; The third acquisition module is used for acquiring an emergency evacuation area in the target subarea and area data of the emergency evacuation area based on the target subarea identification; The first determining module is used for determining position related data of the robot and the emergency evacuation area according to the area data and the robot state data of the emergency evacuation area; and the first execution module is used for executing avoidance control on the robots with paths overlapping with the emergency evacuation area according to the position related data.
14. 14. A control device for a robot, comprising: A processor; A memory in which a program or instructions are stored, the processor implementing the steps of the control method of a robot according to any one of claims 1 to 12 when executing the program or instructions in the memory.
15. 15. A readable storage medium, characterized in that the readable storage medium has stored thereon a program or instructions which, when executed by a processor, implement the steps of the method of controlling a robot according to any of claims 1 to 12.

Description

Robot control method, apparatus and readable storage medium Technical Field The present invention relates to the field of robotics, and in particular, to a method and apparatus for controlling a robot, and a readable storage medium. Background In the related art, with the development of intelligent warehouse and industrial automation, mobile robots are widely used in warehouse and factory logistics management. However, in case of fire or other emergency, the dispatching system lacks an effective emergency response mechanism, so that the alarm signal in the emergency cannot be accurately associated with the target area, so that the robot is difficult to accurately control when the path of the robot coincides with that of the emergency evacuation area, and the rescue channel is blocked from passing. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art or related art. To this end, a first aspect of the present invention proposes a control method of a robot. A second aspect of the present invention proposes a control device for a robot. A third aspect of the present invention proposes another control device for a robot. A fourth aspect of the application proposes a readable storage medium. In view of the above, a first aspect of the present invention provides a control method of a robot for a robot control system, the robot control system including at least one robot disposed in a first area, the first area including a plurality of sub-areas, the control method of the robot including acquiring association configuration information of at least one alarm trigger device and the plurality of sub-areas in the first area, acquiring a target sub-area identification of at least one target sub-area corresponding to the alarm trigger device according to the association configuration information, acquiring an emergency evacuation area in the target sub-area and area data of the emergency evacuation area based on the target sub-area identification, determining position association data of the robot and the emergency evacuation area according to the area data of the emergency evacuation area and the robot state data, and performing avoidance control on the robot having a path overlapping with the emergency evacuation area according to the position association data. The control method of the robot is used for a robot control system, the robot control system comprises at least one robot, the robot is arranged in a first area, and the first area comprises a plurality of subareas. The method solves the problems that an alarm signal cannot be accurately associated with a specific area and a control range of a robot is fuzzy through closed loop logic of equipment, area association, target area positioning, evacuation area data calling, robot position judgment and targeted avoidance control, ensures that the control range is only focused on the alarm related area through association configuration and target sub-area identification locking, and avoids full-field indiscriminate control. Secondly, the accurate recognition of the spatial relationship between the robot and the emergency evacuation area is realized, and the situation that the robot obstructs a rescue channel due to missed judgment or misjudgment is avoided in the whole scene such as the robot in the coverage area and the robot to enter the area. Meanwhile, on the premise of ensuring that an emergency evacuation area is smooth (for example, adapting to emergency scene rescue requirements such as fire and the like), the influence on normal operation of the robot in the non-alarm area is reduced through differential avoidance control, and rescue safety and operation continuity are considered. And acquiring the associated configuration information of the alarm triggering equipment and the sub-areas in the first area. The method can be understood as the rule chain binding configuration of the automatic triggering alarm equipment and the specific sheet area, the step can realize the accurate mapping of the alarm triggering equipment and the sub-area, the situation that alarm signals cover the whole first area indiscriminately is avoided, and the alarm area is convenient to accurately position. Specifically, the range of the subarea corresponding to the alarm equipment can be locked through preset association logic, so that subsequent control misalignment caused by fuzzy association of the subarea is avoided. According to the association configuration information, the target sub-area identification is obtained, the alarm signal is further converted into a specific controllable sub-area object, the accurate positioning of the alarm area is realized, the target sub-area identification is directly extracted from the alarm signal through the mapping relation in the association configuration information, the misjudgment or missed judgment of the alarm area is avoided, and the control range is ensured to be focu