CN112433528A - Method and device for robot to take advantage of elevator, robot and storage medium - Google Patents
Method and device for robot to take advantage of elevator, robot and storage medium Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
- B66B1/14—Control systems without regulation, i.e. without retroactive action electric with devices, e.g. push-buttons, for indirect control of movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
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- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0285—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using signals transmitted via a public communication network, e.g. GSM network
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Abstract
The invention discloses a method and a device for a robot to take advantage of an elevator, the robot and a computer readable storage medium, wherein the method for the robot to take advantage of the elevator comprises the following steps: determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map; and judging that the robot enters a real-time entering state of the elevator to be taken according to the current position, and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state. Compared with the existing mode of laying a specific marker for the robot to determine the current position of the robot and further determine the elevator taking operation, the method and the device have the advantages that the marker is laid without consuming higher operation and maintenance cost, the robot can determine the current position relative to the elevator and judge the real-time entering state based on the grid map, and the stability of the robot entering the elevator taking operation and the overall efficiency of the elevator taking operation are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for a robot to take advantage of an elevator, the robot and a computer readable storage medium.
Background
With the continuous development and maturity of the robot technology, the robot is widely used in various scenes to replace people to complete work. However, the actual applied scene of the robot is usually very complicated, so that the robot needs to flexibly and accurately cope with various complicated situations in the actual applied scene.
At present, the first problem faced by a robot when riding an elevator is how to accurately enter the elevator, that is, the robot needs to accurately judge the position of the robot relative to the elevator when entering the elevator, judge whether to enter the elevator under the condition of friendly avoidance of pedestrians, and the like. The operation means usually adopted in the prior art for enabling a robot to accurately enter an elevator is as follows: a specific marker (such as a two-dimensional code and the like) which can be identified by the robot is pasted in the elevator, so that the robot can determine the relative position of the robot based on the marker to enter the elevator to ride the elevator. As such, not only is the laying of the marker costly in terms of economy and time, but the robot cannot successfully ride the elevator once the marker is accidentally dropped or blocked by a pedestrian.
In conclusion, in the prior art, the operation and maintenance cost of the robot for the elevator is high, the stability is poor, and the efficiency of the robot for the elevator is low.
Disclosure of Invention
The invention mainly aims to provide a method and a device for a robot to ride an elevator, the robot and a computer readable storage medium, and aims to solve the problem that in the prior art, the operation and maintenance cost of the robot to ride the elevator is high, the stability is poor, and the efficiency of the robot to ride the elevator is low.
In order to achieve the above object, the present invention provides a method for a robot to ride an elevator, which is applied to a robot, the method for the robot to ride the elevator comprising:
determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map;
and judging that the robot enters a real-time entering state of the elevator to be taken according to the current position, and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
Optionally, the real-time entry state includes: not yet entered, entering and entered,
the determining that the robot enters the real-time entering state of the elevator to be used according to the current position includes:
planning an entry path for the robot to enter the elevator to be taken based on the current position;
and judging that the current real-time entering state of the robot entering the elevator to be taken is the state of not entering the elevator, entering the elevator or entering the elevator according to the entering path.
Optionally, the determining, according to the entry path, that the real-time entry state that the robot currently enters the elevator to be used is that the robot has entered the elevator, is entering the elevator, or has not entered the elevator includes:
determining an elevator outer path in an area outside the elevator to be taken, an elevator door path in an area of the elevator door to be taken, and an elevator inner path in an area inside the elevator to be taken in the entry path;
if the current position is detected to belong to the outer path of the elevator, the real-time entering state of the robot is judged to be that the robot does not enter the elevator; alternatively, the first and second electrodes may be,
if the current position is detected to belong to the elevator door path, judging that the real-time entering state of the robot is the entering elevator; in the alternative to this, either,
and if the current position is detected to belong to the path in the elevator, judging that the real-time entering state of the robot is the entered elevator.
Optionally, the planning an entry path for the robot to enter the elevator to be taken based on the current position includes:
and acquiring a target position belonging to the internal area of the elevator to be taken, calling a preset calculation rule to draw a global path of the robot from the current position to the target position, and taking the global path as an access path for the robot to enter the elevator to be taken.
Optionally, the multiplying operation comprises: no ride, ready ride and on ride,
the determining the riding operation of the robot on the elevator to be ridden according to the real-time entering state comprises the following steps:
if the real-time entering state is that the elevator is not entered, determining that the current riding operation of the robot for the elevator to be ridden is not ridden; alternatively, the first and second electrodes may be,
if the real-time entering state is that the elevator is entering, determining that the current riding operation of the robot for the elevator to be ridden is the preparation riding; in the alternative to this, either,
if the real-time entering state is the entered elevator, determining that the current riding operation of the robot aiming at the elevator to be ridden is the riding.
Optionally, the multiplying operation comprises: the use of the passenger is abandoned,
the determining the riding operation of the robot on the elevator to be ridden according to the real-time entering state further comprises:
and if the real-time entering state is that the elevator is not entered or the elevator is entered and the current available space of the elevator to be taken is detected to be smaller than a preset space threshold value, determining that the current taking operation of the robot for the elevator to be taken is the abandoning taking.
Optionally, the determining the current position of the robot relative to the elevator to be used based on the preset grid map includes:
constructing a map likelihood field of the grid map;
and determining the current position of the robot relative to the elevator to be taken at the current moment according to the map likelihood field.
In order to achieve the above object, the present invention also provides an apparatus for a robot to ride an elevator, which is disposed on a robot, the apparatus for a robot to ride an elevator comprising:
the apparatus for the robot to ride on the elevator includes:
the position determining module is used for determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map;
and the elevator taking module is used for judging the real-time entering state of the robot entering the elevator to be taken according to the current position and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
To achieve the above object, the present invention also provides a robot comprising: a memory, a processor and a program of a robot riding an elevator stored on the memory and operable on the processor, which program of a robot riding an elevator is executed by the processor to implement the steps of the method of a robot riding an elevator as described above.
Furthermore, to achieve the above object, the present invention also proposes a computer-readable storage medium having stored thereon a program for a robot to ride an elevator, which program, when executed by a processor, implements the steps of the method for a robot to ride an elevator as described above.
In the invention, the current position of the robot relative to the elevator to be taken is determined by the robot based on the preset grid map, so that the robot can judge the real-time entering state of the robot relative to the elevator to be taken at the current moment according to the current position, and further accurately determine the taking operation of the robot relative to the elevator to be taken based on the real-time entering state. Compared with the existing mode of laying a specific marker for the robot to determine the current position of the robot and further determine the elevator taking operation, the method and the device have the advantages that the marker is laid without consuming higher operation and maintenance cost, the robot can determine the current position relative to the elevator and judge the real-time entering state based on the grid map, and the stability of the robot entering the elevator taking operation and the overall efficiency of the elevator taking operation are improved.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a first embodiment of the method of the invention for a robot to ride an elevator;
fig. 3 is a grid map according to an embodiment of the method for a robot to ride an elevator of the present invention;
fig. 4 is a schematic view of a scenario involved in an implementation of the method of the invention for a robot to ride an elevator;
fig. 5 is a schematic view of another scenario involved in an implementation of the method of the invention for a robot to ride an elevator;
fig. 6 is a functional block diagram of a preferred embodiment of the apparatus for riding an elevator by a robot according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
It should be noted that, the device in the embodiment of the present invention may be a device with data processing capability, such as a smart phone, a personal computer, and a server, and the device may be deployed in a mobile robot, which is not limited herein.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is a kind of computer storage medium, may include therein programs of an operating system, a network communication module, a user interface module, and a robot riding elevator. The operating system is a program that manages and controls the hardware and software resources of the device, supporting the operation of the robot ride elevator program and other software or programs. In the device shown in fig. 1, the user interface 1003 is mainly used for data communication with a client; the network interface 1004 is mainly used for establishing communication connection with a server; and the processor 1001 may be used to call a program stored in the memory 1005 for the robot to ride the elevator and perform the following operations:
determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map;
and judging that the robot enters a real-time entering state of the elevator to be taken according to the current position, and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
Further, the real-time entry state includes: not yet entered, entering, and entered, the processor 1001 may also be used to invoke a program stored in the memory 1005 for the robot to ride the elevator, further performing the following operations:
planning an entry path for the robot to enter the elevator to be taken based on the current position;
and judging that the current real-time entering state of the robot entering the elevator to be taken is the state of not entering the elevator, entering the elevator or entering the elevator according to the entering path.
Further, the processor 1001 may also be used to invoke a program stored in the memory 1005 for the robot to ride the elevator, and also perform the following operations:
determining an elevator outer path in an area outside the elevator to be taken, an elevator door path in an area of the elevator door to be taken, and an elevator inner path in an area inside the elevator to be taken in the entry path;
if the current position is detected to belong to the outer path of the elevator, the real-time entering state of the robot is judged to be that the robot does not enter the elevator; alternatively, the first and second electrodes may be,
if the current position is detected to belong to the elevator door path, judging that the real-time entering state of the robot is the entering elevator; in the alternative to this, either,
and if the current position is detected to belong to the path in the elevator, judging that the real-time entering state of the robot is the entered elevator.
Further, the processor 1001 may also be configured to call a program stored in the memory 1005 for the robot to ride the elevator, and perform the following operations:
and acquiring a target position belonging to the internal area of the elevator to be taken, calling a preset calculation rule to draw a global path of the robot from the current position to the target position, and taking the global path as an access path for the robot to enter the elevator to be taken.
Further, the multiplying operation comprises: the processor 1001 may also be used to call a program stored in the memory 1005 for the robot to ride the elevator, and to perform the following operations:
if the real-time entering state is that the elevator is not entered, determining that the current riding operation of the robot for the elevator to be ridden is not ridden; alternatively, the first and second electrodes may be,
if the real-time entering state is that the elevator is entering, determining that the current riding operation of the robot for the elevator to be ridden is the preparation riding; in the alternative to this, either,
if the real-time entering state is the entered elevator, determining that the current riding operation of the robot aiming at the elevator to be ridden is the riding.
Further, the multiplying operation comprises: the ride is abandoned and the processor 1001 may also be used to call the program stored in the memory 1005 for the robot to ride the elevator and perform the following operations:
and if the real-time entering state is that the elevator is not entered or the elevator is entered and the current available space of the elevator to be taken is detected to be smaller than a preset space threshold value, determining that the current taking operation of the robot for the elevator to be taken is the abandoning taking.
Further, the processor 1001 may also be configured to call a program stored in the memory 1005 for the robot to ride the elevator, and perform the following operations:
constructing a map likelihood field of the grid map;
and determining the current position of the robot relative to the elevator to be taken at the current moment according to the map likelihood field.
Based on the above structure, various embodiments of the method for the robot to ride on the elevator are provided.
Referring to fig. 2, fig. 2 is a schematic flow chart of a first embodiment of a method for a robot to ride an elevator of the present invention.
Embodiments of the present invention provide embodiments of a method of using an elevator by a robot, it being noted that although a logical order is shown in the flow chart, in some cases the steps shown or described may be performed in an order different than here. The execution main body of each embodiment of the method for the robot to ride the elevator can be the robot, the robot can be a conventional robot controlled by an automatic control program, or the robot can be used for carrying goods, planning a path, distributing and acquiring and the like, and the type and the specific implementation details of the robot are not limited in each embodiment. In the present embodiment, the method of the robot riding the elevator includes the following steps S10-S20:
step S10, determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map;
when needing to take the elevator, the robot acquires a grid map containing an elevator grid image of the elevator to be taken, and then determines the current position of the robot relative to the elevator to be taken at the current moment based on the grid map.
In this embodiment, please refer to the grid map shown in fig. 3, and the grid map obtained by the robot includes an elevator grid image (an image area enclosed by a dotted line in fig. 3) of the elevator to be used currently. The grid map may be divided in advance based on an original data format, that is, a value (feature value) of an unknown region in the grid map is marked as-1, a value of an obstacle region is marked as 1, and a value of an obstacle-free region is marked as 0, so that after the robot reads the grid map from a local storage device or receives the grid map from a control terminal, the robot may obtain the grid map according to the values: 1, 1 and 0 distinguish unknown regions (all dark grey regions shown in FIG. 3), obstacle regions (all black regions shown in FIG. 3) and obstacle-free regions (all light grey regions shown in FIG. 3, or may be referred to as free regions) in the grid map. It should be understood that the grid map may also adopt other division forms for the robot to distinguish each area based on different design requirements of practical application, and the method for the robot to take the elevator of the present invention is not limited to the grid map specifically.
Further, in an embodiment, the grid map may be pre-stored in a local storage device of the robot, and the grid map may be temporarily issued to the robot based on a control terminal connected to the robot. It should be understood that, based on different design requirements of practical applications, in other possible embodiments, the robot may obtain the grid map in a manner different from that illustrated in the present embodiment, and the method for the robot to take the elevator according to the present invention is not specifically limited to the manner in which the robot obtains the grid map.
Specifically, for example, in this embodiment, please refer to an application scenario of the embodiment of the present invention as shown in fig. 4, when the robot receives an instruction for riding an elevator issued by a control terminal that establishes a communication connection in advance, the robot immediately extracts a grid map associated with the elevator to be ridden (including a grid image of the elevator to be ridden) pointed by the instruction from a local storage device, and according to a value marked in advance in the grid map: 1, 1 and 0, distinguishing unknown areas, obstacle areas and obstacle-free areas in the grid map, and then integrating the robot position information acquired in real time based on a positioning device preset by the robot into the grid map, so as to form the current position of the robot relative to the elevator to be used at the current moment: 1.
it should be noted that, in this embodiment, the robot may specifically perform calculation and adaptation by using a position coordinate system to which the robot position information acquired by the positioning device in real time belongs and a position coordinate system to which the position of the elevator to be used included in the grid map belongs, so as to integrate the robot position information into the grid map to obtain the current position: 1. it should be understood that, based on different design requirements of practical applications, in other possible embodiments, the robot may also integrate the robot position information collected by the positioning device in real time to form the current position in the grid map in a manner different from that illustrated in the present embodiment.
Further, in a possible embodiment, the step S10 of determining the current position of the robot relative to the elevator to be used based on the preset grid map includes:
step S101, constructing a map likelihood field of the grid map;
after the robot obtains the grid map containing the elevator grid image of the elevator to be used, in order to further improve the distinguishing precision of the unknown area, the obstacle area and the obstacle-free area in the grid map, the robot immediately constructs a map likelihood field of the grid map.
In this embodiment, the robot may directly use any existing mature likelihood field construction model to construct the map likelihood field of the grid map.
Specifically, for example, in the present embodiment, the control terminal to which the robot is connected previously models the likelihood field: the cost (-1.0 weight value) is transmitted to the robot for storage, so that when the robot receives an elevator riding instruction issued by a control terminal which establishes communication connection in advance, and after a grid map associated with the elevator to be ridden and pointed by the instruction is extracted from a local storage device, the likelihood field construction model is directly called: cost is exp (-1.0 weight value), and the likelihood field is modeled: in cost (-1.0 weight value), "weight" is set to "5.0", so that according to the value marked in advance in the grid map: -1, 1 and 0, constructing a map likelihood field resulting in the grid map.
It should be noted that, in this embodiment, the likelihood field construction model: the weight in the cost (-1.0 weight value) is a weight value, which affects the variation trend of the map likelihood field finally constructed. Based on different design requirements of practical application, in other possible embodiments, the value of "weight" may not be set to "5.0" listed in this embodiment, and the method for the robot to take advantage of the elevator in the present invention is not specifically limited to the type of the likelihood field construction model used by the robot, and the value setting of the elements in the likelihood field model.
And S102, determining the current position of the robot relative to the elevator to be taken at the current moment according to the map likelihood field.
After the robot constructs the obtained map likelihood field of the grid map, the corresponding elevator likelihood field of the elevator grid image of the elevator to be taken is determined in the map likelihood field, and then adaptive calculation is carried out on the coordinate system to which the elevator likelihood field belongs in the position and the coordinate system to which the robot position information acquired by the robot preset positioning device in real time based on the elevator likelihood field, so that the current position of the robot relative to the replacement to be taken at the current moment is obtained.
And step S20, judging that the robot enters the real-time entering state of the elevator to be taken according to the current position, and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
After the robot determines the current position of the current moment relative to the elevator to be taken, the robot further performs global path planning according to the current position so as to determine that the current moment enters the real-time entering state of the elevator to be taken, and finally, the robot determines the current taking operation aiming at the elevator to be taken according to the real-time entering state.
Further, in one possible embodiment, the real-time entry state of the robot into the elevator to be taken at the current moment includes, but is not limited to: not yet entered, entering, and entered. The step S20 of determining the real-time entry state of the robot into the elevator to be used based on the current position includes:
step S201, planning an entering path of the robot entering the elevator to be taken based on the current position;
after determining the current position of the current moment relative to the elevator to be occupied, the robot plans an access path for the current travel to reach the target position to enter the inner area of the elevator to be occupied based on the current position and the target position belonging to the inner area of the elevator to be occupied.
It should be noted that, in this embodiment, the target position belonging to the internal area of the elevator to be used may be issued to the robot by the control terminal connected to the robot in advance, and stored in the local storage device by the robot, or the target position may also be synchronously encapsulated in the instruction when the control terminal temporarily issues the instruction to the robot to enter the elevator to be used.
Further, in a possible embodiment, the step S201, planning an entry path of the robot into the elevator to be ridden based on the current position, includes:
step S2011, a target position belonging to the internal area of the elevator to be taken is obtained, a preset algorithm is called to plan a global path from the current position to the target position, and the global path is used as an entrance path for entering the elevator to be taken.
It should be noted that, in this embodiment, the preset algorithm is any algorithm used for planning a travel path of the robot in the prior art, and the preset algorithm may be issued to the robot by a control terminal connected to the robot and locally stored by the robot, so as to be invoked at any time. In addition, the preset algorithm may be an open source algorithm or other topological path algorithm commonly used in the market at present, it should be understood that, based on different design requirements of practical applications, the robot may store and call any kind of algorithm for path planning, the method for the robot to take advantage of the elevator of the present invention is not specifically limited for the kind of the preset algorithm,
the robot calls a preset algorithm for planning a path by acquiring a target position belonging to an internal area of the elevator to be taken and then based on and the determined current position of the current time relative to the elevator to be taken, so that a global path which can travel from the current position to the target position at the current time is planned, and the global path is marked as an access path which enters the internal area of the elevator to be taken currently.
Specifically, for example, in this embodiment, please refer to the application scenario shown in fig. 4, after receiving an instruction for riding an elevator issued by a control terminal that establishes a communication connection in advance, the robot extracts a target point belonging to the interior of the elevator to be ridden and packaged by the control terminal from the instruction: 0, so that the robot extracts the grid map associated with the elevator to be ridden, which is pointed by the instruction, from the local storage device, and further determines the current position of the robot relative to the elevator to be ridden at the current moment: after 1, the robot can automatically plan a new path from the current position by calling an open source algorithm or a topological path algorithm stored in the local storage device: 1 travel to target position: 0 and finally, the robot marks the global path as an entry path which can enter the internal area of the elevator to be taken at the current moment.
Step S202, judging that the current real-time entering state of the robot entering the elevator to be taken is the state of not entering the elevator, entering the elevator or entering the elevator according to the entering path.
After the robot obtains an entry path which can enter an internal area of the elevator to be taken at the current moment in a planning mode, the robot further determines a path in the entry path relative to different areas of the elevator to be taken, and then determines that the real-time entry state of the current moment relative to the elevator to be taken is based on the path where the current position is located: not yet entered, entering, or entered.
Further, in a possible embodiment, the step S202, determining that the real-time entering status of the currently entering elevator to be used is the yet-to-enter elevator, the entering elevator or the entered elevator according to the entering route, includes:
step S2021, determining an elevator outer path in an area outside the elevator to be used, an elevator door path in an area of the elevator door to be used, and an elevator inner path in an area inside the elevator to be used in the entering path;
after the robot obtains the entry path that can enter into the elevator inner area to be taken at the present moment in the planning, calculate in the grid map to take in the elevator different areas with this entry path to the perpendicular coordinate point, and then will belong to the coordinate point of same area and form the coordinate point set, then with the coordinate point set that corresponds respectively in this entry path to determine the elevator outer route that is in the elevator outside area to be taken in this entry path, be in the elevator door route of elevator door area to be taken in, and be in the elevator inner area to be taken in.
Specifically, for example, in the present embodiment, please refer to the application scenario shown in fig. 5, the robot can obtain, in planning, the current position: 1 travel to target position: after the entry path of 0, the robot first extracts any two path points p from the entry path: (x1, y1) and t: (x2, y2) constitutes a straight line, and the slope of the straight line is determined as follows: θ is atan2(y2-y1, x2-x1), and then the robot calculates the slope of the vertical line perpendicular to the line in the grid map where the entry path is located: α ═ θ -3.14/2, and any two path points p extracted from the entry path: (x1, y1) and t: (x2, y2) the grid map is calculated based on mathematical model 1 shown below, in which a set of coordinate points B1 belonging to the area outside the elevator to be occupied, a set of coordinate points B2 belonging to the door opening area of the elevator to be occupied, and a set of coordinate points B3 belonging to the internal area of the elevator to be occupied are found, and finally, the robot determines the section of the entry path with the same length as the section of the line formed by the coordinate point set B1 as the elevator outer path in the area outside the elevator to be taken, and the section with the same length as the line segment formed by the coordinate point set B2 in the entry path is determined as the elevator door path in the elevator door opening area to be used in the entry path, and determining a section of the entry path with the same length as the line segment formed by the coordinate point set B3 as an intra-elevator path in the internal area of the elevator to be used.
Mathematical model 1:
x＝x1+0.05*cosαy＝y1+0.05*sinα
x＝x2+0.05*cosαy＝y2+0.05*sinα
it should be noted that, in this embodiment, based on different design requirements of practical applications, in other possible embodiments, the robot may naturally calculate the coordinate point set by using a data model 1 different from that listed in this embodiment, and the method for the robot to ride on the elevator according to the present invention is not specifically limited to the type of the mathematical model 1.
Step S2022, if the current position is detected to belong to the elevator outer path, determining that the real-time entering state of the robot is that the robot does not enter the elevator;
after determining an elevator outer path in an area outside a to-be-used elevator, an elevator door path in an elevator door opening area to be used and an elevator inner path in an elevator inner area to be used in a planned access path, the robot detects a section to which a current position belongs in the access path, namely the section belongs to the elevator outer path, the elevator door path or the elevator inner path, and when detecting that the current position belongs to the elevator outer path, the robot judges that the real-time access state of the current time relative to the to-be-used elevator robot is as follows: the elevator has not been entered.
Specifically, for example, in this embodiment, please refer to the application scenario shown in fig. 5, after the robot determines the elevator outer path, the elevator door path, and the elevator inner path in the entry path, the robot determines that the current position belongs to the elevator outer path, the elevator door path, or the elevator inner path by detecting that the coordinates of the current position relative to the elevator to be used at the current moment are the path coordinates belonging to the elevator outer path, the elevator door path, or the elevator inner path. Therefore, when the robot detects and determines that the current position belongs to the outer path of the elevator, the robot can directly judge that the real-time entering state of the current moment relative to the elevator robot to be used is as follows: the elevator has not been entered.
Step S2023, if the current position is detected to belong to the elevator door path, judging that the real-time entering state of the robot is the entering elevator;
specifically, for example, in the present embodiment, please refer to the application scenario shown in fig. 5, when the robot detects and determines that the current position belongs to the elevator door path, the robot can directly determine that the real-time entering state of the current time relative to the elevator robot to be used is: is entering the elevator.
Step S2024, if the current position is detected to belong to the in-elevator path, determining that the real-time entering state of the robot is the entered elevator.
Specifically, for example, in the present embodiment, please refer to the application scenario shown in fig. 5, when the robot detects and determines that the current position belongs to the intra-elevator path, the robot can directly determine that the real-time entering state of the current time relative to the elevator robot to be used is: has entered the elevator.
It should be noted that, in this embodiment, when the current position of the robot relative to the elevator with the elevator belongs to the internal area of the elevator to be used, the entry path planned by the robot may specifically include only the above-mentioned intra-elevator path. Or, in another possible embodiment, when the robot determines that the current position belongs to the internal area of the elevator to be occupied, the robot may automatically determine that the current real-time entering state relative to the elevator to be occupied is: has entered the elevator.
Further, in one possible embodiment, the riding operation for which the robot is currently engaged in an elevator to be ridden includes, but is not limited to: no ride, ready ride, and riding. In the step S20, the "determining the operation of the robot for riding the elevator to be ridden based on the real-time entry state" includes:
step S203, if the real-time entering state is that the elevator is not entered, determining that the current riding operation of the robot for the elevator to be ridden is not occupied;
after judging the real-time entering state of the elevator to be taken at the current time, the robot can determine the current taking operation of the elevator to be taken based on the real-time entering state and feed back the taking operation to the control terminal which establishes communication connection in advance.
Specifically, for example, in the present embodiment, the real-time entry state of the robot with respect to the elevator to be occupied at the current time is determined as follows: when the elevator is not entered, the robot can automatically determine that the current riding operation relative to the elevator to be ridden is not riding, and synchronously feed back the non-riding state prompt information to a control terminal connected in advance.
Step S204, if the real-time entering state is that the elevator is entering, determining that the current riding operation of the robot for the elevator to be ridden is the preparation riding;
specifically, for example, in the present embodiment, the real-time entry state of the robot with respect to the elevator to be occupied at the current time is determined as follows: when the elevator enters, the robot can automatically determine that the current riding operation relative to the elevator to be ridden is ready for riding, and synchronously feed back the state prompt information of the ready riding to a control terminal connected in advance.
Step S205, if the real-time entering state is the entered elevator, determining that the current riding operation of the robot for the elevator to be ridden is the riding.
Specifically, for example, in the present embodiment, the real-time entry state of the robot with respect to the elevator to be occupied at the current time is determined as follows: when the elevator enters, the robot can automatically determine that the current riding operation relative to the elevator to be ridden is riding and synchronously feed back riding state prompt information to a control terminal connected in advance.
Further, the present riding operation of the robot for the elevator to be ridden further includes: the ride is abandoned. In another possible embodiment, the step S20, determining the operation of the robot for riding the elevator to be ridden according to the real-time entry state, further includes:
step S206, if the real-time entering state is that the elevator is not entered yet or the elevator is entered and the current available space of the elevator to be used is detected to be smaller than a preset space threshold value, determining that the current taking operation of the robot for the elevator to be used is the abandoning taking.
When the robot determines that the current riding operation process for the elevator to be ridden is based on the real-time entering state, if the robot judges that the real-time entering state of the current moment relative to the elevator to be ridden is as follows: if the robot does not enter the elevator or is entering the elevator, the robot needs to detect the current available space in the elevator to be taken at the current moment, so that when the robot detects that the current available space is smaller than a preset space threshold value, the current taking operation for the elevator to be taken is determined as follows: the ride is abandoned and the ride operation is synchronously fed back to the control terminal which establishes the communication connection in advance.
It should be noted that, in this embodiment, the robot may detect the current available space in the elevator to be used through a preset device for determining the size of the remaining space in the elevator to be used, where the device may specifically be an infrared scanning device or a binocular imaging device, and the preset space threshold is set in advance based on the minimum elevator space required by the robot itself. It should be understood that, based on different design requirements of practical applications, the robot may select an arbitrary mature manner to detect the current available space in the elevator to be taken, and the preset space threshold may also be set based on parameters such as the volume of the robots of different sizes, and the method for the robot to enter the elevator of the present invention is not specifically limited with respect to the manner in which the robot detects the current available space and the setting of the preset space threshold.
Specifically, for example, in the present embodiment, the real-time entry state of the robot with respect to the elevator to be occupied at the current time is determined as follows: when the robot does not enter the elevator or is entering the elevator, if the robot synchronously detects that the current available space in the internal area of the elevator to be used is smaller than the preset space threshold, the robot can automatically determine that the current use operation relative to the elevator to be used is to give up the use, and synchronously feed back the non-use state prompt information to a control terminal connected in advance.
In the embodiment, when the robot needs to take the elevator, a grid map containing an elevator grid image of the elevator to be taken is obtained, and then the current position of the robot relative to the elevator to be taken at the current moment is determined based on the grid map; after the robot determines the current position of the current moment relative to the elevator to be taken, the robot further performs global path planning according to the current position so as to determine that the current moment enters the real-time entering state of the elevator to be taken, and finally, the robot determines the current taking operation aiming at the elevator to be taken according to the real-time entering state.
Compared with the existing mode of laying a specific marker for the robot to determine the current position of the robot and further determine the elevator taking operation, the method and the device have the advantages that the marker is laid without consuming higher operation and maintenance cost, the robot can determine the current position relative to the elevator and judge the real-time entering state based on the grid map, and the stability of the robot entering the elevator taking operation and the overall efficiency of the elevator taking operation are improved.
In addition, an embodiment of the present invention further provides an apparatus for a robot to ride on an elevator, where the apparatus is disposed on a robot, and referring to fig. 6, the apparatus for a robot to ride on an elevator includes:
the position determining module 10 is configured to determine a current position of the robot relative to the elevator to be used based on a preset grid map;
and the elevator taking module 20 is used for judging the real-time entering state of the robot into the elevator to be taken according to the current position and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
Further, the real-time entry state includes: not yet entered, entering, and entered, the elevator ride module 20, comprising:
a path planning unit for planning an entry path for the robot to enter the elevator to be taken based on the current position;
and the judging unit is used for judging that the current real-time entering state of the robot entering the elevator to be taken is the state of not entering the elevator, entering the elevator or entering the elevator according to the entering path.
Further, the determination unit includes:
a determination subunit, configured to determine an elevator outer path in an area outside the elevator to be used, an elevator door path in an area of the elevator door to be used, and an elevator inner path in an area inside the elevator to be used in the entry path;
the first judgment subunit is used for judging that the real-time entering state of the robot is the state that the robot does not enter the elevator if the current position is detected to belong to the elevator outer path; alternatively, the first and second electrodes may be,
a second determining subunit, configured to determine that the real-time entry state of the robot is the entering elevator if it is detected that the current position belongs to the elevator door path; in the alternative to this, either,
and the third judgment subunit is used for judging that the real-time entering state of the robot is the entered elevator if the current position is detected to belong to the path in the elevator.
Further, the path planning unit is further configured to obtain a target position of the elevator to be taken, call a preset calculation rule to plan a global path of the robot from the current position to the target position, and use the global path as an entry path of the robot into the elevator to be taken.
Further, the multiplying operation comprises: unoccupied, ready to ride, and riding, the elevator ride module 20, further comprising:
a first occupancy determination unit, configured to determine that the current occupancy operation of the robot for the elevator to be occupied is the non-occupancy if the real-time entry state is that the elevator has not been entered; alternatively, the first and second electrodes may be,
a second riding determination unit, configured to determine that the current riding operation of the robot for the elevator to be ridden is the preparation riding if the real-time entry state is the entering elevator; in the alternative to this, either,
a third occupancy determination unit, configured to determine that the current occupancy operation of the robot for the elevator to be occupied is the on-occupancy if the real-time entry status is that the elevator has entered.
Further, the multiplying operation comprises: abandoning the ride, the elevator ride module 20 further comprises:
a fourth riding determination unit, configured to determine that the current riding operation of the robot for the elevator to be ridden is the abandoned riding if the real-time entering state is that the elevator has not been entered or is entering the elevator and it is detected that the current available riding space of the elevator to be ridden is smaller than a preset space threshold.
Further, the position determination module 10 includes:
the construction unit is used for constructing a map likelihood field of the grid map;
and the determining unit is used for determining the current position of the robot relative to the elevator to be occupied at the current moment according to the map likelihood field.
The specific implementation of the elevator riding device of the robot of the invention has basically the same expansion content as the above embodiments of the elevator riding method of the robot, and the detailed description is omitted here.
Furthermore, an embodiment of the present invention also provides a computer-readable storage medium having a program for a robot to ride an elevator stored thereon, where the program for the robot to ride an elevator is executed by a processor to implement the steps of the method for a robot to ride an elevator as described below.
The embodiments of the robot and the computer-readable storage medium of the present invention can refer to the embodiments of the method for using an elevator by the robot of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A method of using an elevator by a robot, the method comprising:
determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map;
and judging that the robot enters a real-time entering state of the elevator to be taken according to the current position, and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
2. The method of robot riding an elevator of claim 1, wherein the real-time entry state comprises: not yet entered, entering and entered,
the determining that the robot enters the real-time entering state of the elevator to be used according to the current position includes:
planning an entry path for the robot to enter the elevator to be taken based on the current position;
and judging that the current real-time entering state of the robot entering the elevator to be taken is the state of not entering the elevator, entering the elevator or entering the elevator according to the entering path.
3. The method of robot riding an elevator of claim 2, wherein the determining, from the entry path, whether the real-time entry status that the robot currently enters the elevator to be ridden is entered, entering an elevator, or not entered, comprises:
determining an elevator outer path in an area outside the elevator to be taken, an elevator door path in an area of the elevator door to be taken, and an elevator inner path in an area inside the elevator to be taken in the entry path;
if the current position is detected to belong to the outer path of the elevator, the real-time entering state of the robot is judged to be that the robot does not enter the elevator; alternatively, the first and second electrodes may be,
if the current position is detected to belong to the elevator door path, judging that the real-time entering state of the robot is the entering elevator; in the alternative to this, either,
and if the current position is detected to belong to the path in the elevator, judging that the real-time entering state of the robot is the entered elevator.
4. The method of robot riding an elevator of claim 2, wherein the planning an entry path for the robot into the elevator to be ridden based on the current location comprises:
and acquiring a target position belonging to the internal area of the elevator to be taken, calling a preset calculation rule to draw a global path of the robot from the current position to the target position, and taking the global path as an access path for the robot to enter the elevator to be taken.
5. The method of robot riding an elevator of claim 2 or 3, wherein the riding operation includes: no ride, ready ride and on ride,
the determining the riding operation of the robot on the elevator to be ridden according to the real-time entering state comprises the following steps:
if the real-time entering state is that the elevator is not entered, determining that the current riding operation of the robot for the elevator to be ridden is not ridden; alternatively, the first and second electrodes may be,
if the real-time entering state is that the elevator is entering, determining that the current riding operation of the robot for the elevator to be ridden is the preparation riding; in the alternative to this, either,
if the real-time entering state is the entered elevator, determining that the current riding operation of the robot aiming at the elevator to be ridden is the riding.
6. The method of robot riding an elevator of claim 4, wherein the riding operation comprises: the use of the passenger is abandoned,
the determining the riding operation of the robot on the elevator to be ridden according to the real-time entering state further comprises:
and if the real-time entering state is that the elevator is not entered or the elevator is entered and the current available space of the elevator to be taken is detected to be smaller than a preset space threshold value, determining that the current taking operation of the robot for the elevator to be taken is the abandoning taking.
7. The method of robot riding an elevator as claimed in claim 1, wherein the determining the current position of the robot with respect to the elevator to be ridden based on a preset grid map comprises:
constructing a map likelihood field of the grid map;
and determining the current position of the robot relative to the elevator to be taken at the current moment according to the map likelihood field.
8. An apparatus for a robot to ride an elevator, the apparatus being deployed to a robot, the apparatus for the robot to ride an elevator comprising:
the position determining module is used for determining the current position of the robot relative to the elevator to be taken on the basis of a preset grid map;
and the elevator taking module is used for judging the real-time entering state of the robot entering the elevator to be taken according to the current position and determining the taking operation of the robot on the elevator to be taken according to the real-time entering state.
9. A robot, characterized in that the robot comprises: memory, a processor and a program of a robot riding an elevator stored on the memory and being executable on the processor, the program of a robot riding an elevator realizing the steps of the method of a robot riding an elevator as claimed in any one of claims 1 to 7 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a program for a robot to ride an elevator, which program, when being executed by a processor, realizes the steps of the method for a robot to ride an elevator according to any one of claims 1 to 7.
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