CN108002154A - The method that control robot is moved across floor - Google Patents
The method that control robot is moved across floor Download PDFInfo
- Publication number
- CN108002154A CN108002154A CN201711175105.0A CN201711175105A CN108002154A CN 108002154 A CN108002154 A CN 108002154A CN 201711175105 A CN201711175105 A CN 201711175105A CN 108002154 A CN108002154 A CN 108002154A
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- China
- Prior art keywords
- robot
- floor
- elevator
- car door
- moved
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Classifications
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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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
Abstract
The invention discloses a kind of method for controlling robot to be moved across floor, this method includes：Robot obtains across floor movement task, and is moved in the elevator car door front region for being currently located floor；Robot sends the seating request key that voice request information prompting user presses elevator, if detecting, elevator car door is opened, and robot is moved in lift car；After, robot sends voice request information prompting user and presses and the matched floor key of destination；If robot detects that the floor information that elevator is reached is consistent with the floor information where objective, and detects that elevator car door is opened, robot is removed out of lift car；Robot is moved to objective according to the coordinate information of objective.Present invention can be implemented in existing elevator to be not required in the case of being reequiped, and robot can carry out autonomous across floor movement, efficiently solve in the prior art to elevator repacking need to obtain multi-party relevant departments license band come it is a series of inconvenience the problem of.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of method that robot is moved across floor.
Background technology
With the development of intelligent mobile robot, various service class robots emerge in large numbers one after another, are widely used in various differences
Under environment, for providing the various services such as guide to visitors, shopping guide and consulting, the autonomous of robot is that it provides the base of these services
Plinth.When mobile work robot is in the environment of tier building, can the range of movement of robot be then limited to pass through elevator
Carry out the movement across floor.
To realize that mobile robot can independently carry out the movement across floor, the prior art is typically required the control to elevator
System is reequiped, and by the way that mobile robot and elevator control gear are communicated to connect, mobile robot is controlled elevator
Operating, realizes corresponding operation, and then passes in and out elevator.But since lift facility in secure context has strict requirements, elevator
Repacking, it is necessary to obtain the license of related multi-party department, it is relatively difficult on the implementation, and be not easy to extend.
Therefore, moving machine device can be achieved in the license for being not required to reequip elevator, be not required to the related multi-party department of acquisition
People from main span floor movement be those skilled in the art research and development direction.
The content of the invention
The object of the present invention is to provide a kind of method for controlling robot to move across floor, it is being not required to reequip elevator
License of multi-party department related to acquisition is not required to etc. can realize robot autonomous across floor movement.
To achieve the above object, the technical scheme is that：
The method that a kind of control robot of the present invention is moved across floor, this method include：
Robot obtains across floor movement task, and is moved to and is currently located that floor is potential or registered elevator position
Elevator car door front region in；
Robot sends the first voice request information, and first solicited message is used to prompt user's seating for pressing elevator
Key is asked, meanwhile, robot detects the open and-shut mode of elevator car door, if detecting, elevator car door is opened, and robot is moved to
In lift car；
After in into lift car, robot sends the second voice request information, and second voice request information is used for
Prompting user presses and the matched floor key of destination；
The floor information that robot detection elevator is reached, and the open and-shut mode of elevator car door is detected, if detecting elevator
The floor information reached is consistent with the floor information where objective, and is detected simultaneously by elevator car door opening, then machine
People removes out of lift car；
Robot is moved to objective according to the coordinate information of objective.
Further, in the above method, robot obtains across the floor movement times that objective is moved to from initial place
Business, and be moved to and be currently located in the elevator car door front region for the potential or registered elevator position that floor has recorded,
Including：
Robot gathers the current ambient data in moving process, and institute is generated according to the ambient data
The pose of the environmental map and the robot of robot local environment in the environmental map is stated, the environmental map includes
The potential or registered elevator position recorded；
According to the pose in the environmental map and the environmental map, robot is moved to potential or registered electricity
In elevator car door front region near terraced position；
The structured data of the mark on potential or registered elevator is gathered, if the structured data of the mark of the collection
The matching degree of mark formwork structure data with prestoring is more than preset matching degree threshold value, then according to the structure of the mark of the collection
Data determine the pose of elevator；
Pose of the robot in the environmental map is adjusted according to the pose of the elevator, by the robot just
To the elevator car door of the elevator.
Further, in the above method, before current ambient data of the robot collection in moving process, also
Including：
In the moving process that the robot performs task, the structured data of approach object is gathered, if the collection
The matching degree of the structured data of approach object and the mark formwork structure data to prestore is more than preset matching degree threshold value, then by described in
Approach object is recorded as potential elevator position.
Further, in the above method, robot gathers the current ambient data in moving process, including：
By one kind in infrared, camera, ultrasound and laser reading devices or the collection of any combination robot in movement
During current ambient data.
Further, in the above method, the structured data of the mark on potential or registered elevator is gathered, including：
By one kind in infrared, depth camera, ultrasound and laser reading devices or any combination collection it is potential or
The structured data of mark on registered elevator.
Further, in the above method, according to the pose in the environmental map and the environmental map, robot movement
In elevator car door front region near to potential or registered elevator position, including：
Current pose and potential or registered elevator position in current environmental map, the environmental map
Put, determine the global path of the robot movement；
The robot is controlled to the cage near potential or registered elevator position according to the global path
Door front region movement；
The current translational speed of robot is gathered, according to the current pose in current environmental map, the environmental map
The speed of service in the local path and local path of the global path is adjusted with the current translational speed of robot,
Smooth collisionless global path after being adjusted；
According to the global path after the adjustment, the robot is continuously moved into potential or registered elevator position
In elevator car door front region near putting.
Further, in the above method, the open and-shut mode of the robot detection elevator car door, including：
Robot passes through one kind in infrared, depth camera, ultrasound and laser reading devices or any combination detection electricity
The structured data of mark on elevator car door, if the structured data of the mark on the elevator car door is opened with the elevator car door to prestore
The matching degree of mark formwork structure data is more than preset matching degree threshold value, then is in an open state elevator car door record.
Further, in the above method, the robot is moved to objective according to the coordinate information of objective, bag
Include：
Robot obtains the coordinate information of objective by locating module, and based on the elevator of floor where objective
The coordinate information of position, the elevator position generated from floor where objective are moved to the movement of the location of objective
Path.
Further, in the above method, the robot detects the floor information that elevator is reached, including：
Robot obtains the atmospheric pressure value of baroceptor collection, and the vertical direction based on acceleration transducer collection accelerates
Component is spent, the atmospheric pressure value is contrasted with the default floor air pressure range value being preset in the controller of robot, if institute
Atmospheric pressure value is stated in the default floor air pressure range value, then the floor that elevator reached is calculated according to the atmospheric pressure value.
Further, in the above method, the robot obtains the atmospheric pressure value of baroceptor collection, including：
Atmospheric pressure value of the robot based on the baroceptor multi collect tries to achieve initial average output value, will be described initial
Average value is as initial gas pressure value；
Movement of the robot based on elevator between destination and initial floor, and detect elevator by moving shape
State is changed into the state stopped and elevator car door is opened, obtains mesobar value；
The robot draws the story height of initial floor according to the initial gas pressure value and the mesobar value respectively
The story height angle value of angle value and intermediate floor；
The difference of the story height angle value of story height angle value and intermediate floor of the robot based on the initial floor and
Default individual layer story height difference in the controller of the robot is pre-set at, obtains floor transition information；
The robot is based on the floor transition information, the initial story height angle value of floor and the building of intermediate floor
Floor height angle value obtains the individual layer floor more height difference of renewal；
Individual layer story height difference of the robot based on the renewal obtains the floor transition information of renewal.
As a result of above technical scheme, make it have following beneficial effect is the present invention：
The control robot of the present invention is obtained from initial place by robot across in the method that floor moves and is moved to mesh
Across the floor movement task in place is marked, before being moved to elevator doorway, and is sent by voice module for prompting user to press electricity
First voice request information of the seating request key of ladder, if detecting, elevator car door is opened, and robot is autonomous mobile to elevator
In carriage, into lift car in after, the second language for prompting user to press respective storey button is sent by voice module
Sound solicited message, the atmospheric pressure value of residing height when elevator stops is detected by baroceptor, by atmospheric pressure value with being set in advance in
Floor atmospheric pressure value scope in the controller of robot is contrasted, if the atmospheric pressure value detected is located at the floor gas of destination
In the range of pressure value, then judge that the floor information that elevator is reached is consistent with the floor information where objective, it is to be checked to measure electricity
It is robot autonomous to be moved to outside lift car after elevator car door is opened, reach the floor of objective.Present invention can be implemented in existing
Elevator is not required in the case of being reequiped, and robot can carry out autonomous across floor movement, efficiently solve in the prior art
The problem of a series of inconvenience of the license band of multi-party relevant departments need to be obtained to elevator repacking；In addition, the machine in the present invention
People can add voice module and corresponding sensor only on the basis of original robot system, easy to implement, realize robot
It is low from the cost of main span floor movement, there is wide applicability.
Brief description of the drawings
Fig. 1 shows the flow chart for the method that the control robot of one embodiment of the invention is moved across floor.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment, belongs to the scope of protection of the invention.
As shown in Figure 1, the present invention provides a kind of method for controlling robot to be moved across floor, this method includes：
Step S1, robot obtain across floor movement task, and are moved to that to be currently located floor potential or registered
In the elevator car door front region of elevator position；Here, in this step from user to robot under send instructions, initiate across floor shifting
Dynamic task；
Step S2, robot send the first voice request information, and first solicited message is used to prompt user to press electricity
The seating request key of ladder, meanwhile, robot detects the open and-shut mode of elevator car door, if detecting, elevator car door is opened, machine
People is moved in lift car；After in into lift car,
Step S3, robot send the second voice request information, and second voice request information is used to prompt user to press
The lower and matched floor key of destination；
Step S4, the floor information that robot detection elevator is reached, and the open and-shut mode of elevator car door is detected, if detection
It is consistent with the floor information where objective to the floor information that elevator is reached, and elevator car door opening is detected simultaneously by,
Then robot is removed out of lift car；
Step S5, robot are moved to objective according to the coordinate information of objective.
Across in one embodiment of method that floor moves, step S1, robot is obtained from initial for the control robot of the present invention
Place is moved to across the floor movement task of objective, and be moved to be currently located floor recorded it is potential or registered
Elevator position elevator car door front region in, including：
Robot gathers the current ambient data in moving process, and institute is generated according to the ambient data
The pose of the environmental map and the robot of robot local environment in the environmental map is stated, the environmental map includes
The potential or registered elevator position recorded；Here, this step in mobile robot from beginning to move into arrival elevator
Position stops in mobile overall process, constantly repeats, in environmental map where the environmental map and the robot
Pose is with the movement of robot, and constantly change renewal, the potential elevator position recorded is probably real elevator
Position, it is also possible to be not the position of real elevator, the registered elevator position is the position of real elevator；
According to the pose in the environmental map and the environmental map, robot is moved to potential or registered electricity
In elevator car door front region near terraced position；
The structured data of the mark on potential or registered elevator is gathered, if the structured data of the mark of the collection
The matching degree of mark formwork structure data with prestoring is more than preset matching degree threshold value, then according to the structure of the mark of the collection
Data determine the pose of elevator；
Pose of the robot in the environmental map is adjusted according to the pose of the elevator, by the robot just
To the elevator car door of the elevator.
Further, in the present embodiment, before current ambient data of the robot collection in moving process,
Further include：
In the moving process that the robot performs task, the structured data of approach object is gathered, if the collection
The matching degree of the structured data of approach object and the mark formwork structure data to prestore is more than preset matching degree threshold value, then by described in
Approach object is recorded as potential elevator position.
Here, the execution task refer to robot perform one's work task, can be across floor task or
Other tasks, for example, performing task of sweeping the floor, perform tour guide's task etc..In the present embodiment, by being performed in the robot
In the moving process of task, the structured data of approach object is gathered, can constantly supplement and update potential elevator position.
Further, in the present embodiment, robot gathers the current ambient data in moving process, bag
Include：
By one kind in infrared, camera, ultrasound and laser reading devices or the collection of any combination robot in movement
During current ambient data.
Further, in the present embodiment, the structured data of the mark on potential or registered elevator, bag are gathered
Include：
By one kind in infrared, depth camera, ultrasound and laser reading devices or any combination collection it is potential or
The structured data of mark on registered elevator.
Further, in the present embodiment, the pose in the environmental map and the environmental map, robot move
Move to the elevator car door front region near potential or registered elevator position, including：
Current pose and potential or registered elevator position in current environmental map, the environmental map
Put, determine the global path of the robot movement；
The robot is controlled to the cage near potential or registered elevator position according to the global path
Door front region movement；
The current translational speed of robot is gathered, according to the current pose in current environmental map, the environmental map
The speed of service in the local path and local path of the global path is adjusted with the current translational speed of robot,
Smooth collisionless global path after being adjusted；
According to the global path after the adjustment, the robot is continuously moved into potential or registered elevator position
In elevator car door front region near putting.
Here, the current pose in the current environmental map of continuous renewal, the environmental map, with reference to robot
Present speed information, smooth collisionless control can be produced to the local path of the global path into continuous adjustment
Decision-making, ensures that robot in moving process, since environment changes, such as adds new obstacle in global path
Obstacle ability is hidden in thing, realization, completes the task of path movement.
The control robot of the present invention is across in one embodiment of method that floor moves, and in step S2, the robot detects
The open and-shut mode of elevator car door, including：
Robot passes through one kind in infrared, depth camera, ultrasound and laser reading devices or any combination detection electricity
The structured data of mark on elevator car door, if the structured data of the mark on the elevator car door is opened with the elevator car door to prestore
The matching degree of mark formwork structure data is more than preset matching degree threshold value, then is in an open state elevator car door record.
The control robot of the present invention is across in one embodiment of method that floor moves, and in step S2, robot sends first
Voice request information, including：
The voice that the seating request key of elevator is pressed in user's help that robot is sent by voice module near prompting is believed
Breath, waits nearby users to press the seating request key of elevator, until elevator car door is opened.
The control robot of the present invention is across in one embodiment of method that floor moves, and in step S3, robot sends second
Voice request information, including：
Robot sends the voice messaging of the pre- number of floor levels to floor by voice module, and prompt user in elevator or
Nearby the voice messaging with the matched floor key of destination is pressed in help.
The control robot of the present invention is across in one embodiment of method that floor moves, in step S5, the robot according to
The coordinate information of objective is moved to objective, including：
Robot obtains the coordinate information of objective by locating module, and based on the elevator of floor where objective
The coordinate information of position, the elevator position generated from floor where objective are moved to the movement of the location of objective
Path.
The control robot of the present invention is across in one embodiment of method that floor moves, and in step S4, the robot detects
The floor information that elevator is reached, including：
Robot obtain baroceptor collection atmospheric pressure value, and based on acceleration transducer collection vertical direction plus
Velocity component, the atmospheric pressure value is contrasted with the default floor air pressure range value being preset in the controller of robot, if
The atmospheric pressure value then calculates the building that elevator reached in the default floor air pressure range value according to the atmospheric pressure value
Layer.
It is worth noting that, the atmospheric pressure value of a certain specific geographic position height is not a stationary value, temperature, air-flow,
Cloud layer change etc. can all impact it, therefore can not strictly bind the reading of floor information and altimeter；But the short time
In (single traveling time of the elevator in floor), the air pressure of sustained height still can be considered a stationary value, based on this characteristic, I
Take the dynamic corresponding altitude reading of corrigendum floor to realize the judgement of floor.
In the present embodiment, the robot obtains the atmospheric pressure value of baroceptor collection, including：The robot is based on
The atmospheric pressure value of the baroceptor multi collect tries to achieve initial average output value, using the initial average output value as initial gas pressure value；
Movement of the robot based on elevator between destination and initial floor, and detect elevator by moving shape
State is changed into the state stopped and elevator car door is opened, obtains mesobar value；
The robot draws the story height of initial floor according to the initial gas pressure value and the mesobar value respectively
The story height angle value of angle value and intermediate floor；
The difference of the story height angle value of story height angle value and intermediate floor of the robot based on the initial floor and
Default individual layer story height difference in the controller of the robot is pre-set at, obtains floor transition information；
The robot is based on the floor transition information, the initial story height angle value of floor and the building of intermediate floor
Floor height angle value obtains the individual layer floor more height difference of renewal；
Individual layer story height difference of the robot based on the renewal obtains the floor transition information of renewal.
For example, (the initial floor) to 1 building (destination), the process of 1 building is moved in elevator from 5 buildings for robot
In, there is stop at 3 buildings；
During initialization, the height difference of individual layer floor gap is set in the controller of robot in advance as Δ h, is entering electricity
After ladder, robot can repeatedly read the atmospheric pressure value of baroceptor, try to achieve initial average gas pressure value, and according to initial average gas pressure
Value, which converts, draws the story height angle value h of initial floor5；
When the elevator door opening positioned at 3 buildings, robot detects that elevator car door is opened, while can repeatedly read air pressure transmission
The mesobar value of sensor, tries to achieve intermediate means atmospheric pressure value, and the floor of intermediate floor is drawn according to the conversion of intermediate means atmospheric pressure value
Height value ht, initial gas pressure value and mesobar value are scaled the story height angle value of initial floor and the story height of intermediate floor
Value meets：
Or h=44330* [1-(p/P0)^(1/5.255)]；
Wherein, h is story height angle value, and p is the average gas pressure value of sensor collection, P0For sea-level atmosphere pressure, P0=
101325Pa, e be natural logrithm the truth of a matter, e=2.718281；
By the story height angle value h for calculating initial floor5With the story height angle value h of intermediate floortDifference, it is and divided by pre-
If individual layer story height difference DELTA h, to obtain the transition information Δ f of floor:
Δ f=[(ht–h5)/Δ h] or Δ f=Round ((ht–h5)/Δh)
Wherein, Δ f round numbers (closest integer)
Ideally, meet：
5+ Δs f=3
At this time, three buildings, i.e. h are updated to by floor is corresponding with the standard of height3=ht,
Further, we are alternative updates Δ h:
Δ h=(ht–h5)/Δf
When reaching 1 building, destination, robot is according to the more height difference DELTA h and h of the individual layer floor after renewal3Sentenced
Disconnected floor change conditions：
Δ f=[(ht–h3)/Δh]
Calculate current floor theoretical value (Current floor) fc：
fc=3+ Δs f=1
At this time, Stall is updated to by floor is corresponding with the standard of height, leave elevator afterwards；By being cyclically updated individual layer building
Layer height difference, makes robot judge that reached floor information is more accurate.
The control robot of the present invention is obtained from initial place by robot across in the method that floor moves and is moved to mesh
Across the floor movement task in place is marked, before being moved to elevator doorway, and is sent by voice module for prompting user to press electricity
First voice request information of the seating request key of ladder, if detecting, elevator car door is opened, and robot is autonomous mobile to elevator
In carriage, into lift car in after, the second language for prompting user to press respective storey button is sent by voice module
Sound solicited message, the atmospheric pressure value of residing height when elevator stops is detected by baroceptor, by atmospheric pressure value with being set in advance in
Floor atmospheric pressure value scope in the controller of robot is contrasted, if the atmospheric pressure value detected is located at the floor gas of destination
In the range of pressure value, then judge that the floor information that elevator is reached is consistent with the floor information where objective, it is to be checked to measure electricity
It is robot autonomous to be moved to outside lift car after elevator car door is opened, reach the floor of objective.Present invention can be implemented in existing
Elevator is not required in the case of being reequiped, and robot can carry out autonomous across floor movement, efficiently solve in the prior art
The problem of a series of inconvenience of the license band of multi-party relevant departments need to be obtained to elevator repacking；In addition, the machine in the present invention
People can add voice module and corresponding sensor only on the basis of original robot system, easy to implement, realize robot
It is low from the cost of main span floor movement, there is wide applicability.
It should be appreciated that the regular job custom and Figure of description of the noun of locality is binding operation person and user and set
Vertical, their appearance should not influence protection scope of the present invention.
The present invention is described in detail above in association with attached drawing embodiment, those skilled in the art can be according to upper
State and bright many variations example is made to the present invention.Thus, some details in embodiment should not form limitation of the invention, this
Invention will be used as protection scope of the present invention using the scope that the appended claims define.
Claims (10)
1. the method that control robot is moved across floor, it is characterised in that including：
Robot obtains across floor movement task, and is moved to and is currently located that floor is potential or the electricity of registered elevator position
In elevator car door front region；
Robot sends the first voice request information, and first solicited message is used for the seating request for prompting user to press elevator
Key, meanwhile, robot detects the open and-shut mode of elevator car door, if detecting, elevator car door is opened, and robot is moved to elevator
In carriage；After in into lift car,
Robot sends the second voice request information, and second voice request information is used to prompting user to press and destination
Matched floor key；
The floor information that robot detection elevator is reached, and the open and-shut mode of elevator car door is detected, if detecting, elevator is arrived
The floor information reached is consistent with the floor information where objective, and be detected simultaneously by elevator car door opening, then robot from
Removed in lift car；
Robot is moved to objective according to the coordinate information of objective.
2. according to the method described in claim 1, it is characterized in that, robot, which is obtained from initial place, is moved to objective
Across floor movement task, and it is moved to the elevator car door for being currently located the potential or registered elevator position that floor has recorded
In front region, including：
Robot gathers the current ambient data in moving process, and the machine is generated according to the ambient data
Pose of the environmental map and the robot of device people's local environment in the environmental map, the environmental map include having remembered
The potential or registered elevator position of record；
According to the pose in the environmental map and the environmental map, robot is moved to potential or registered elevator position
In elevator car door front region near putting；
Gather the structured data of the mark on potential or registered elevator, if the structured data of the mark of the collection with it is pre-
The matching degree for the mark formwork structure data deposited is more than preset matching degree threshold value, then according to the structured data of the mark of the collection
Determine the pose of elevator；
Pose of the robot in the environmental map is adjusted according to the pose of the elevator, by the robot face institute
State the elevator car door of elevator.
3. according to the method described in claim 2, it is characterized in that, robot collection ring around current in moving process
Before the data of border, further include：
In the moving process that the robot performs task, the structured data of approach object is gathered, if the approach of the collection
The matching degree of the structured data of object and the mark formwork structure data to prestore is more than preset matching degree threshold value, then by the approach
Object is recorded as potential elevator position.
4. according to the method in claim 2 or 3, it is characterised in that robot gathers the current week in moving process
Environmental data is enclosed, including：
By one kind in infrared, camera, ultrasound and laser reading devices or the collection of any combination robot in moving process
In current ambient data.
5. according to the method in claim 2 or 3, it is characterised in that gather the mark on potential or registered elevator
Structured data, including：
Gather potential by one kind in infrared, depth camera, ultrasound and laser reading devices or any combination or noted
The structured data of mark on the elevator of volume.
6. according to the method in claim 2 or 3, it is characterised in that according in the environmental map and the environmental map
Pose, robot is moved in the elevator car door front region near potential or registered elevator position, including：
Current pose and potential or registered elevator position in current environmental map, the environmental map, really
The global path of the fixed robot movement；
The robot is controlled to before the elevator car door near potential or registered elevator position according to the global path
Square region movement；
Gather the current translational speed of robot, current pose and machine in current environmental map, the environmental map
The current translational speed of device people is adjusted the speed of service in the local path and local path of the global path, obtains
Smooth collisionless global path after adjustment；
According to the global path after the adjustment, it is attached that the robot is continuously moved into potential or registered elevator position
In near elevator car door front region.
7. according to the method described in claim 1, it is characterized in that, the open and-shut mode of robot detection elevator car door, bag
Include：
Robot passes through one kind in infrared, depth camera, ultrasound and laser reading devices or any combination detection cage
The structured data of mark on door, identifies if the structured data of the mark on the elevator car door is opened with the elevator car door to prestore
The matching degree of formwork structure data is more than preset matching degree threshold value, then is in an open state elevator car door record.
8. according to the method described in claim 1, it is characterized in that, the robot is moved according to the coordinate information of objective
To objective, including：
Robot obtains the coordinate information of objective by locating module, and based on the elevator position of floor where objective
Coordinate information, generate the mobile road that the elevator position of floor where the objective is moved to the location of objective
Footpath.
9. according to the method described in claim 1, it is characterized in that, the floor information that is reached of robot detection elevator,
Including：
Robot obtains the atmospheric pressure value of baroceptor collection, and the vertical direction acceleration point based on acceleration transducer collection
Amount, the atmospheric pressure value is contrasted with the default floor air pressure range value being preset in the controller of robot, if the gas
Pressure value then calculates the floor that elevator reached in the default floor air pressure range value according to the atmospheric pressure value.
10. according to the method described in claim 9, it is characterized in that, the robot obtains the air pressure of baroceptor collection
Value, including：
Atmospheric pressure value of the robot based on the baroceptor multi collect tries to achieve initial average output value, will be described initial average
Value is used as initial gas pressure value；
Movement of the robot based on elevator between destination and initial floor, and detect that elevator is become by mobile status
For the state stopped and elevator car door is opened, mesobar value is obtained；
The robot draws the story height angle value of initial floor according to the initial gas pressure value and the mesobar value respectively
With the story height angle value of intermediate floor；
The difference of the story height angle value of story height angle value and intermediate floor of the robot based on the initial floor and in advance
Default individual layer story height difference in the controller of the robot is arranged at, obtains floor transition information；
The robot is based on the floor transition information, the initial story height angle value of floor and the story height of intermediate floor
Angle value obtains the individual layer floor more height difference of renewal；
Individual layer story height difference of the robot based on the renewal obtains the floor transition information of renewal.
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