CN114815844A - Control method, device, server, medium and equipment for intelligent robot - Google Patents

Abstract

The disclosure relates to a control method, a control device, a control server, a control medium and a control device of an intelligent robot, wherein the method comprises the following steps: the method comprises the steps of responding to a task interrupt signal sent by the intelligent robot, obtaining task information and current position information of the intelligent robot, determining target position information of the intelligent robot according to the task information and the current position information, sending the target position information and the current position information to a control terminal, and controlling the intelligent robot to move to a target position according to a target control instruction fed back by the control terminal. Therefore, when the task is interrupted, the intelligent robot can quickly and timely solve the problem, frequent field treatment is avoided, and manpower and material resources are effectively saved.

Description

Control method, device, server, medium and equipment for intelligent robot

technical field

The present disclosure relates to the field of robotics, and in particular, to a control method, device, server, medium and device for an intelligent robot.

Background technique

In the existing technology, robots have been gradually applied in various buildings, shopping malls, hotels and other scenarios, and can provide users with services such as guidance and distribution. Due to the complex application scenarios, the robot is prone to encounter some unexpected situations in the process of performing tasks. For example, the elevator signal is not good and cannot receive control commands. The working route changes and the planned task route is abnormal. Due to the large size of the robot, it is impossible to Passing through a narrow area, etc., cause the robot to execute the task abnormally and fail to complete the task normally. Therefore, how to solve the problem that the robot can still complete the task normally after encountering an emergency is an urgent problem to be solved at present.

SUMMARY OF THE INVENTION

In order to overcome the problems existing in the related art, the purpose of the present disclosure is to provide a control method, device, server, medium and equipment for an intelligent robot, which are used to control the intelligent robot to normally complete tasks even after encountering an emergency.

According to a first aspect of the embodiments of the present disclosure, a method for controlling an intelligent robot is provided, the method comprising:

Acquiring task information and current position information of the intelligent robot in response to the task interruption signal sent by the intelligent robot;

Determine the target position information of the intelligent robot according to the task information and the current position information;

sending the target location information and the current location information to the control terminal;

The intelligent robot is controlled to move to the target position according to the target control instruction fed back by the control terminal.

Optionally, the determining the target position information of the intelligent robot according to the task information and the current position information includes:

Determine the task planning route of the intelligent robot according to the task information;

Determine the task node of the intelligent robot based on the position of the current position information in the task planning route;

According to the task node, the target position information of the intelligent robot is determined.

Optionally, the method includes:

updating the task node of the intelligent robot in response to the intelligent robot moving to the target position;

According to the updated task node and the task information, the intelligent robot is controlled to continue to perform the task.

Optionally, the controlling the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal includes:

receiving the target control instruction fed back by the control terminal, where the target control instruction is generated when the control terminal determines a fault type of the intelligent robot, and the fault type is an abnormal line;

According to the fault type and the target control instruction, the intelligent robot is controlled to move to the target position.

Optionally, obtaining the task information and current position information of the intelligent robot in response to the task interruption signal sent by the intelligent robot includes:

In response to the task interruption signal sent by the intelligent robot, determine the device number of the intelligent robot;

Acquire task information of the intelligent robot according to the device number;

sending a data acquisition signal to the intelligent robot;

The current position information fed back by the intelligent robot is received.

According to a second aspect of the embodiments of the present disclosure, there is provided a control device for an intelligent robot, the device comprising:

an acquisition module, configured to acquire task information and current position information of the intelligent robot in response to the task interruption signal sent by the intelligent robot;

a determining module, configured to determine the target position information of the intelligent robot according to the task information and the current position information;

a sending module, configured to send the target location information and the current location information to the control terminal;

The execution module is configured to control the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal.

According to a third aspect of the embodiments of the present disclosure, a cloud server is provided, including a service management module and an emergency processing module, and the cloud server is used for:

In response to the task terminal signal sent by the intelligent robot, determine the device number of the intelligent robot;

Determine the task information corresponding to the device number based on the business management module, and obtain the current position information of the intelligent robot through the emergency processing module;

Determine the target position information of the intelligent robot according to the task information and the current position information;

sending the target location information and the current location information to the control terminal;

The intelligent robot is controlled to move to the target position according to the target control instruction fed back by the control terminal.

According to a fourth aspect of the embodiments of the present disclosure, there is provided a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of any one of the methods in the first aspect.

According to a fifth aspect of the embodiments of the present disclosure, there is provided an electronic device, comprising:

a memory on which a computer program is stored;

A processor for executing the computer program in the memory to implement the steps of any one of the methods in the first aspect.

Through the above technical solution, in response to the task interruption signal sent by the intelligent robot, the task information and current position information of the intelligent robot are obtained, the target position information of the intelligent robot is determined according to the task information and the current position information, and the target position information and the current position information are combined. Send it to the control terminal, and control the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal. Therefore, when an emergency situation occurs in the intelligent robot, the current situation data of the intelligent robot is sent to the control terminal, so that the control terminal feeds back control instructions according to the current situation data, so that the intelligent robot can normally complete the task in response to the emergency situation according to the control instructions. When the task is interrupted, the intelligent robot can solve the problem quickly and timely, avoid frequent on-site processing, and effectively save manpower and material resources.

Other features and advantages of the present disclosure will be described in detail in the detailed description that follows.

Description of drawings

The accompanying drawings are used to provide a further understanding of the present disclosure, and constitute a part of the specification, and together with the following detailed description, are used to explain the present disclosure, but not to limit the present disclosure. In the attached image:

Fig. 1 is a flow chart of a control method of an intelligent robot according to an exemplary embodiment.

Fig. 2 is a schematic diagram showing a method for acquiring location information according to an exemplary embodiment.

Fig. 3 is a flowchart of another method for controlling an intelligent robot according to an exemplary embodiment.

Fig. 4 is a block diagram of a control device of an intelligent robot according to an exemplary embodiment.

Fig. 5 is a block diagram of an electronic device according to an exemplary embodiment.

Detailed ways

The specific embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present disclosure, but not to limit the present disclosure.

It should be noted that all the actions of obtaining signals, information or data in the present disclosure are carried out under the premise of complying with the corresponding data protection laws and policies of the local country, and under the condition of obtaining authorization from the corresponding device owner.

Fig. 1 is a flowchart showing a control method of an intelligent robot according to an exemplary embodiment. Referring to Fig. 1 , the control method includes:

Step S11, in response to the task interruption signal sent by the intelligent robot, obtain task information and current position information of the intelligent robot.

It can be understood that the control method in this embodiment is applied to a cloud server, the cloud server and the intelligent robot perform signal transmission through wireless communication, and the intelligent robot performs tasks by sending control signals to the intelligent robot, so as to provide guidance, Intelligent services such as delivery. At the same time, the cloud server and the control terminal can be connected through wireless or wired communication, the cloud server receives the control signal of the control terminal, and controls the intelligent robot to complete the corresponding control operation. And the control results of the intelligent robot are fed back to the control terminal through the cloud server. The control terminal may be a mobile terminal device such as a PC computer, an ipad, and a smart phone, or may be a terminal device such as a terminal server. Intelligent robots can be cruise robots, delivery robots, interactive robots, access control robots, etc. The cloud server can control multiple types of intelligent robots, and according to the execution tasks sent by the control terminal, deploy suitable intelligent robots to perform tasks. For example, based on the delivery task sent by the control terminal, a nearby delivery robot can be called based on the starting point of the delivery task to execute the delivery task; based on the guidance task sent by the control terminal, a patrol robot can be deployed to perform the guidance task.

Usually, when an intelligent robot performs a corresponding task, it will go through several different types of execution stages to complete the task. For example, based on the delivery task, the delivery task can be divided into different types according to the different execution actions of the intelligent robot, driving to delivery. Point stage, pickup stage, delivery stage, delivery stage, return stage. In order to enable the cloud server to supervise the execution process of the intelligent robot at all times, in this embodiment, before controlling the intelligent robot to complete the task, the cloud server will configure the movement trajectory for the intelligent robot to complete the task according to the type of the task through the trajectory algorithm, and according to the stage type The complete movement trajectory is divided into multiple task nodes, which are issued to the intelligent robot in sequence. When the intelligent robot completes a task node, it feeds back the completion information to the cloud server, and the cloud server issues the next node task to the intelligent robot until the intelligent robot completes the delivery task. Make intelligent robots complete tasks in a distributed manner, which is convenient to deal with emergencies in the process of task execution.

It can be understood that, in the process of executing the task, the intelligent robot in this embodiment will send a task interruption signal to the cloud server when an emergency occurs and the task cannot continue to be executed. When the cloud server receives the task interruption signal sent by the intelligent robot , the unique number of the intelligent robot will be determined according to the interrupt signal, and the corresponding task information and current position information will be searched according to the number. The task information includes the task route of the intelligent robot and the task target of the intelligent robot at the current node; the current position information includes the plane position of the intelligent robot on the task route map, and also includes the camera device and distance detection device set on the intelligent robot. the spatial location of the intelligent robot. For example, for the application scenario where the delivery robot in the shopping mall cannot take the elevator due to elevator troubleshooting when performing tasks, the current location information fed back by the intelligent robot includes the floor information and plane position information of the shopping mall where the intelligent robot is located. , as well as the 360° live video of the intelligent robot and the distance information from markers such as elevators, store doors, and stairs, etc., to facilitate the relevant technical personnel to determine the specific location of the intelligent robot according to the current location information received by the control terminal.

FIG. 2 is a schematic diagram of a method for acquiring location information according to an exemplary embodiment. Referring to FIG. 2, it can be understood that the service management module in the cloud server in this embodiment is cloud AI1 (Artificial Intelligence, artificial intelligence) , the emergency processing module is cloud HA2 (Highly Available, high availability cluster). After the cloud server receives the task terminal signal sent by the intelligent robot 3, it determines the unique device number of the intelligent robot, queries the device number through the cloud AI1 to determine the task information of the intelligent robot 3, and compares the task information and the device number. It is transmitted to the cloud HA2, and the cloud HA2 sends the acquisition signal to the intelligent robot 3 through the device number, and determines the current position information of the intelligent robot 3 through the acquisition device arranged on the intelligent robot 3.

In step S12, the target position information of the intelligent robot is determined according to the task information and the current position information.

It can be understood that in this embodiment, after the cloud server determines the task route of the intelligent robot through the task information, it determines the task node where the intelligent robot is located according to the current position information, and determines the target position information of the intelligent robot according to the task node. For example, for the patrol robot in the building, there are task nodes for getting on and off the elevator in the patrol task. For the closed environment of the elevator, the intelligent robot cannot receive or feedback signals to the cloud server when taking the elevator. Therefore, under normal circumstances, it will be Taking the elevator up and down as a task node, when the intelligent robot cannot take the elevator due to the elevator congestion at the task node, it sends a task interruption signal to the cloud server, and determines the current position of the intelligent robot through the task information and current position information. On the 1st floor of the shopping mall, the corresponding task is to take the elevator to the 4th floor of the shopping mall, and the target location information at this time is outside the elevator on the 4th floor of the shopping mall.

Optionally, the above step S12 includes:

Determine the task planning route of the intelligent robot according to the task information.

Based on the position of the current position information in the task planning route, the task node of the intelligent robot is determined.

According to the task node, determine the target position information of the intelligent robot.

It can be understood that in this embodiment, after receiving the task instruction, the cloud server will formulate a complete mission planning route according to the mission instruction, and divide the entire mission planning route into multiple tasks according to the execution stage of the intelligent robot in the mission planning route. node, the task node includes the starting position information and task line information of each task node. The corresponding task planning route can be determined according to the task information fed back by the intelligent robot, the current task node of the intelligent robot is determined by the current position information, and the target position information of the intelligent robot is determined according to the task node.

In step S13, the target location information and the current location information are sent to the control terminal.

It can be understood that, through the communication connection established between the cloud server and the control terminal, the target position information and current position information obtained through the above steps are sent to the control terminal, so that the control terminal determines the intelligent robot according to the target position information and the current position information. The current state of , and the cause of the failure, for example, the cause of the failure can be when entering and leaving the elevator, the elevator is repaired or the elevator is crowded and the elevator cannot be entered; the road is blocked based on the previously planned route and other abnormal conditions such as impossibility.

Step S14, the intelligent robot is controlled to move to the target position according to the target control instruction fed back by the control terminal.

It can be understood that after the target position information and the current position information are sent to the control terminal through the above steps, the control terminal can determine the task state, location and target position of the intelligent robot; and feedback the target control according to the current state of the intelligent robot. The command is sent to the cloud server, and the cloud server controls the intelligent robot to move to the target position according to the target control command. For example, the current scene of the intelligent robot can be simulated in the control terminal according to the target position information and the current position information, so that the user can determine the reason for the task interruption of the intelligent robot through the control terminal, and according to the simulated scene, determine to restore the intelligent robot. Normal target control commands. For example, when the delivery robot cannot enter the elevator due to its wide width, the control terminal determines the status of the current intelligent robot through the target position information and the current position information, and presents the fault problems encountered by the current intelligent robot to the user. After diagnosing the problem in the actual situation, put forward the corresponding solution, and by simulating the feasibility of the experimental plan in the scene, after confirming through the simulation scene that the task of the intelligent robot can be restored to normal through the experimental plan, control the target corresponding to the experimental plan The command is sent to the cloud server, and the cloud server controls the intelligent robot to move to the target position based on the target control command.

Through the method for updating the task planning route in the above embodiment, the artificial intelligence algorithm of the cloud server is made more mature, and the AI capability is accumulated to enable the intelligent robot to cope with many complex working conditions.

Optionally, the control method may also include:

In response to the intelligent robot moving to the target position, the task node of the intelligent robot is updated.

According to the updated task node and task information, the intelligent robot is controlled to continue to perform the task.

It should be noted that after the intelligent robot sends a task interruption signal to the cloud server, the cloud server will change the task status of the intelligent robot to an abnormal state, and lock the task node and current location information of the intelligent robot. After the emergency management module of the cloud server moves the intelligent robot to the target position through the target control instructions, the emergency management module will transfer the control right of the intelligent robot to the business management module of the cloud server, so that the intelligent robot can continue according to the control instructions of the business management module. perform tasks. After the intelligent robot moves to the target position, the intelligent robot has completed the current task node. Therefore, the task node recorded in the business management module needs to be updated, so that the business management module can control the task node based on the current intelligent robot task node and the corresponding overall task information. The intelligent robot continues the task.

Optionally, the above step S14 includes:

The target control command fed back by the control terminal is received, and the target control command is generated when the control terminal determines the fault type of the intelligent robot, and the fault type is abnormal line.

According to the target control command, the intelligent robot is controlled to move to the target position.

It is understandable that in the process of performing tasks, the intelligent robot can send a task interruption signal due to equipment failure, route failure, human factors and other reasons. , the relevant technical personnel are required to go to the scene to deal with the fault; when a line fault occurs, the intelligent robot can be restored to normal based on the control terminal. Therefore, in this embodiment, after the target position information and the current position information are sent to the control terminal, the user determines the fault type of the intelligent robot is line abnormality through the data information received by the control terminal, and then determines the target control instruction according to the data information. , so that the cloud server controls the intelligent robot to move to the target position according to the target control instruction.

Optionally, the above step S11 includes:

In response to the task interruption signal sent by the intelligent robot, the device number of the intelligent robot is determined.

Obtain the task information of the intelligent robot according to the device number.

Send data acquisition signals to intelligent robots.

The current location information fed back by the intelligent robot is received.

It can be understood that in this embodiment, after receiving the task interruption signal sent by the intelligent robot, the cloud server determines the unique device number of the intelligent robot by analyzing the task interruption signal. Obtain the task information of the intelligent robot stored in the cloud server according to the device number. At the same time, the cloud server sends a data collection signal to the intelligent robot, collects the current position information of the intelligent robot through a collection device arranged on the intelligent robot, and feeds back the current position information to the cloud server.

Fig. 3 is a flowchart of another method for controlling an intelligent robot according to an exemplary embodiment. Referring to Fig. 3, the control method includes:

Step S21, the intelligent robot receives the task and needs to take the elevator, and detects that the intelligent robot enters the elevator abnormally, and notifies the cloud AI;

Step S22, the cloud AI receives the alarm signal and notifies the cloud HA to handle the abnormality;

Step S23, the cloud HA collects the current state information of the intelligent robot, and sends the current state information to the control terminal, so that the control terminal performs auxiliary operations;

Step S24, the control terminal sends the target control instructions of the elevator and the intelligent robot through information data such as maps and videos, so that the cloud server controls the intelligent robot to move to the target position according to the target control instructions;

In step S25, after the intelligent robot successfully completes the task of entering and exiting the elevator, it reports to the cloud AI, so that the cloud AI updates the state of the intelligent robot and controls the intelligent robot to continue to perform the task.

Through the above technical solution, in response to the task interruption signal sent by the intelligent robot, the task information and current position information of the intelligent robot are obtained, the target position information of the intelligent robot is determined according to the task information and the current position information, and the target position information and the current position information are combined. Send it to the control terminal, and control the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal. Therefore, when an emergency situation occurs in the intelligent robot, the current situation data of the intelligent robot is sent to the control terminal, so that the control terminal feeds back control instructions according to the current situation data, so that the intelligent robot can normally complete the task in response to the emergency situation according to the control instructions. When the task is interrupted, the intelligent robot can solve the problem quickly and timely, avoid frequent on-site processing, and effectively save manpower and material resources.

Based on the same inventive concept, the embodiments of the present disclosure also provide a cloud server, the cloud server includes a business management module and an emergency processing module, and the cloud server is used for:

In response to the task terminal signal sent by the intelligent robot, the device number of the intelligent robot is determined.

Based on the business management module, the task information corresponding to the device number is determined, and the current position information of the intelligent robot is obtained through the emergency processing module.

According to the task information and the current position information, the target position information of the intelligent robot is determined.

Send target location information and current location information to the control terminal.

Control the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal.

It should be noted that in this embodiment, the cloud server controls a plurality of intelligent robots to perform tasks, and the intelligent robot in an abnormal state sends a task interruption signal, which is a control abnormality. For the interference of the intelligent robot to other intelligent robots, the cloud server in this embodiment includes a business management module and an emergency processing module. Among them, the business management module is used to control the intelligent robot to perform tasks normally, and the business management module may include a task system, which is used for task planning and feedback management of the starting point, target point and each segmented task of tasks such as delivery and guidance; The intelligent scheduling system is used for cloud management and remote control of multiple intelligent robots connected to the cloud server, and based on the task type and the task status of each intelligent robot, the corresponding type of intelligent robot is scheduled to complete the task. The emergency processing module in the cloud server is used to deal with the abnormal state. When the cloud server receives the task interruption signal sent by the intelligent robot, the control right of the intelligent robot is transferred from the business management module to the emergency processing module, so that the emergency processing module can respond according to the intelligent robot. The current state of the control intelligent robot returns to normal. Illustratively, the application processing module may include a position detection system, which is used to determine the map position, real-time position, laser point position, and the actual position between the current position and the designated position through the detection device provided on the intelligent robot. Distance, etc.; video acquisition module, used to collect real-time video and related auxiliary lines through the camera on the intelligent robot; task information module, used to change the task status of the intelligent robot after controlling the intelligent robot to return to normal The control right is transferred to the business management module.

Send the target position information and the current position information to the control terminal, so that the control terminal can determine the target control instruction for moving the intelligent robot to the target position according to the target position information and the current position, and feedback the target control instruction to the cloud server, through the cloud server The emergency processing module controls the intelligent robot to move to the target position, and transfers the control right of the intelligent robot to the business management module of the cloud server after the intelligent robot moves to the target position, so that the intelligent robot continues to complete the control under the control of the business management module. Task.

FIG. 4 is a block diagram of a control device of an intelligent robot according to an exemplary embodiment. Referring to FIG. 4 , the control device 100 includes an acquisition module 110 , a determination module 120 , a transmission module 130 , and an execution module 140 .

The obtaining module 110 is configured to obtain task information and current position information of the intelligent robot in response to the task interruption signal sent by the intelligent robot.

The determining module 120 is configured to determine the target position information of the intelligent robot according to the task information and the current position information.

The sending module 130 is configured to send the target location information and the current location information to the control terminal.

The execution module 140 is configured to control the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal.

Optionally, the control device 100 can be applied to a cloud server, and the cloud server includes a service management module and an emergency processing module, and the acquisition module 110 can be used for:

In response to the task interruption signal sent by the intelligent robot, the device number corresponding to the intelligent robot is determined.

The task information corresponding to the device number is determined based on the service management module.

And obtain the current position information of the intelligent robot through the emergency processing module.

Optionally, the determining module 120 can also be used to:

Determine the task planning route of the intelligent robot according to the task information.

Based on the position of the current position information in the task planning route, the task node of the intelligent robot is determined.

According to the task node, determine the target position information of the intelligent robot.

Optionally, the control module 100 further includes an update module, which is used for:

According to the target control instructions, the target movement trajectory of the intelligent robot is determined.

Update the mission planning route according to the target movement trajectory.

Optionally, the control module 100 further includes a change module, and the change module is used for:

In response to the intelligent robot moving to the target position, the task node of the intelligent robot is updated.

According to the updated task node and task information, the intelligent robot is controlled to continue to perform the task.

Optionally, the determining module 120 can also be used to:

Receive the target control instruction fed back by the control terminal, where the target control instruction is generated when the control terminal determines the fault type of the intelligent robot, and the fault type is abnormal line.

According to the fault type and the target control instruction, the intelligent robot is controlled to move to the target position.

Optionally, the obtaining module 110 can also be used for:

In response to the task interruption signal sent by the intelligent robot, the device number of the intelligent robot is determined.

Obtain the task information of the intelligent robot according to the device number.

Send data acquisition signals to intelligent robots.

The current location information fed back by the intelligent robot is received.

Regarding the apparatus in the above-mentioned embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be described in detail here.

FIG. 5 is a block diagram of an electronic device 500 according to an exemplary embodiment. For example, the electronic device 500 may be provided as a server. 5 , the electronic device 500 includes a processor 522 , which may be one or more in number, and a memory 532 for storing a computer program executable by the processor 522 . The computer program stored in memory 532 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 522 may be configured to execute the computer program to execute the above-mentioned control method of the intelligent robot.

In addition, the electronic device 500 may also include a power supply assembly 526, which may be configured to perform power management of the electronic device 500, and a communication component 550, which may be configured to enable communication of the electronic device 500, eg, wired or wireless communication. Additionally, the electronic device 500 may also include an input/output (I/O) interface 558 . Electronic device 500 may operate based on an operating system stored in memory 532, such as Windows Server ^™ , Mac OSX ^™ , Unix ^™ , Linux ^™ , and the like.

In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned intelligent robot control method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 532 including program instructions, and the above-mentioned program instructions can be executed by the processor 522 of the electronic device 500 to complete the above-mentioned control method of an intelligent robot.

In another exemplary embodiment, there is also provided a computer program product comprising a computer program executable by a programmable apparatus, the computer program having, when executed by the programmable apparatus, for performing the above The code part of the control method of the intelligent robot.

The preferred embodiments of the present disclosure have been described above in detail with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above-mentioned embodiments. Various simple modifications can be made to the technical solutions of the present disclosure within the scope of the technical concept of the present disclosure. These simple modifications all fall within the protection scope of the present disclosure.

In addition, it should be noted that each specific technical feature described in the above-mentioned specific implementation manner may be combined in any suitable manner under the circumstance that there is no contradiction.

In addition, the various embodiments of the present disclosure can also be arbitrarily combined, as long as they do not violate the spirit of the present disclosure, they should also be regarded as the contents disclosed in the present disclosure.

Claims (10)

1. a control method of an intelligent robot, is characterized in that, comprises: Acquiring the task information and current position information of the intelligent robot in response to the task interruption signal sent by the intelligent robot; Determine the target position information of the intelligent robot according to the task information and the current position information; sending the target location information and the current location information to the control terminal; The intelligent robot is controlled to move to the target position according to the target control instruction fed back by the control terminal. 2. The control method according to claim 1, wherein the determining the target position information of the intelligent robot according to the task information and the current position information comprises: Determine the task planning route of the intelligent robot according to the task information; Determine the task node of the intelligent robot based on the position of the current position information in the task planning route; According to the task node, the target position information of the intelligent robot is determined. 3. The control method according to claim 2, wherein the method comprises: updating the task node of the intelligent robot in response to the intelligent robot moving to the target position; According to the updated task node and the task information, the intelligent robot is controlled to continue to perform the task. 4. The control method according to claim 1, wherein the controlling the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal, comprising: receiving the target control instruction fed back by the control terminal, where the target control instruction is generated when the control terminal determines a fault type of the intelligent robot, and the fault type is an abnormal line; According to the fault type and the target control instruction, the intelligent robot is controlled to move to the target position. 5. The control method according to claim 1, wherein, acquiring the task information and current position information of the intelligent robot in response to a task interruption signal sent by the intelligent robot, comprising: In response to the task interruption signal sent by the intelligent robot, determine the device number of the intelligent robot; Acquire task information of the intelligent robot according to the device number; sending a data acquisition signal to the intelligent robot; The current position information fed back by the intelligent robot is received. 6. A control device for an intelligent robot, wherein the device comprises: an acquisition module, configured to acquire task information and current position information of the intelligent robot in response to the task interruption signal sent by the intelligent robot; a determining module, configured to determine the target position information of the intelligent robot according to the task information and the current position information; a sending module, configured to send the target location information and the current location information to the control terminal; The execution module is configured to control the intelligent robot to move to the target position according to the target control instruction fed back by the control terminal. 7. The control device according to claim 6, wherein the determining module can also be used for: Determine the task planning route of the intelligent robot according to the task information; Determine the task node of the intelligent robot based on the position of the current position information in the task planning route; According to the task node, the target position information of the intelligent robot is determined. 8. A cloud server, comprising a business management module and an emergency processing module, and the cloud server is used for: In response to the task terminal signal sent by the intelligent robot, determine the device number of the intelligent robot; Determine the task information corresponding to the device number based on the business management module, and obtain the current position information of the intelligent robot through the emergency processing module; Determine the target position information of the intelligent robot according to the task information and the current position information; sending the target location information and the current location information to the control terminal; The intelligent robot is controlled to move to the target position according to the target control instruction fed back by the control terminal. 9. A computer-readable storage medium on which a computer program is stored, characterized in that, when the program is executed by a processor, the steps of the method according to any one of claims 1-5 are implemented. 10. An electronic device, comprising: a memory on which a computer program is stored; A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-5.

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