CN110936371A - Multi-floor map switching method and robot - Google Patents
Multi-floor map switching method and robot Download PDFInfo
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- CN110936371A CN110936371A CN201811119972.7A CN201811119972A CN110936371A CN 110936371 A CN110936371 A CN 110936371A CN 201811119972 A CN201811119972 A CN 201811119972A CN 110936371 A CN110936371 A CN 110936371A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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Abstract
The invention discloses a multi-floor map switching method and a robot, and belongs to the technical field of robots. The multi-floor map switching method comprises the following steps: acquiring geomagnetic data of the robot at different moments, and converting the geomagnetic data into three-dimensional coordinate information; identifying whether the floor information of the floor where the robot is located changes or not according to the three-dimensional coordinate information at different moments; when the floor information of the floor where the robot is located changes, the robot is switched to a floor map of a corresponding floor; and when the floor information of the floor where the robot is located is not changed, maintaining the floor map of the robot. According to the invention, a worker does not need to manually switch the map, so that the labor cost is greatly reduced; in addition, the map can be switched in time, and the influence on the normal navigation of the robot due to the fact that the map is not switched in time is avoided.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a multi-floor map switching method and a robot.
Background
Currently, robots navigate indoors using technologies such as laser SLAM, visual VSLAM, IMU inertial navigation, alone or in combination. The navigation technology can realize the functions of mapping, navigation, area limitation and the like of the robot under an ideal state; the robot can also be helped to navigate, plan and run a path in a certain floor in the building.
When the robot moves on multiple floors, such as the upper and lower floors, the navigation map in use inside the robot needs to be switched to the navigation map of the corresponding floor. At present, because a robot cannot determine the up-and-down action of the robot, a map in the robot cannot be switched to another floor in real time, and the robot can be continuously used only after the robot reaches the corresponding floor and a navigation map needs to be manually switched.
However, the thermal switching method requires manpower, which increases the manpower cost; and if the manual work is not switched in time, the defects of robot navigation and the like are influenced.
Disclosure of Invention
The invention aims to provide a multi-floor map switching method and a robot, which do not need workers to switch maps manually, thereby greatly reducing the labor cost; in addition, the map can be switched in time, and the influence on the normal navigation of the robot due to the fact that the map is not switched in time is avoided.
The technical scheme provided by the invention is as follows:
the invention provides a multi-floor map switching method, which comprises the following steps: acquiring geomagnetic data of the robot at different moments, and converting the geomagnetic data into three-dimensional coordinate information; identifying whether the floor information of the floor where the robot is located changes or not according to the three-dimensional coordinate information at different moments; when the floor information of the floor where the robot is located changes, the robot is switched to a floor map of a corresponding floor; and when the floor information of the floor where the robot is located is not changed, maintaining the floor map of the robot.
Further preferably, the identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different times specifically includes: analyzing whether the Z-axis coordinate in the three-dimensional coordinate information of the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information of the previous moment; when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located is unchanged; and when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is inconsistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located changes.
Further preferably, before the robot switches to the floor map of the corresponding floor, the method further includes: combining the preset height range corresponding to each floor and the preset height range of the Z-axis coordinate in the three-dimensional coordinate information; and analyzing the floor information of the floor where the robot is located.
Further preferably, before identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different times, the method further includes: analyzing a target floor where a preset target position is located according to the preset target position; and when the current floor where the robot is located is not consistent with the target floor, planning the same-floor planning path of the robot on each floor map.
Further preferably, the planning the multi-floor path of the robot specifically includes: determining a current floor key point of the current floor, and planning a same-floor planning path from the current position to the current floor key point of the robot on a floor map of the current floor; and determining a target floor key point of the target floor, and planning a same-floor planning path from the target floor key point to a target position of the robot on a floor map of the target floor.
The present invention also provides a robot comprising: the coordinate conversion module is used for acquiring geomagnetic data of the robot at different moments and converting the geomagnetic data into three-dimensional coordinate information; the identification module is connected with the coordinate conversion module and used for identifying whether the floor information of the floor where the robot is located changes or not according to the three-dimensional coordinate information at different moments; the map switching module is connected with the identification module and used for switching the robot to a floor map of a corresponding floor when the floor information of the floor where the robot is located changes; the map switching module is also used for keeping the floor map of the robot when the floor information of the floor where the robot is located is not changed.
Further preferably, the identification module is configured to analyze whether a Z-axis coordinate in the three-dimensional coordinate information of the current time is consistent with a Z-axis coordinate in the three-dimensional coordinate information of the previous time; when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located is unchanged; and when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is inconsistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located changes.
Preferably, the method further comprises the following steps: the floor analysis module is used for combining the preset height range corresponding to each floor and the preset height range where the Z-axis coordinate in the three-dimensional coordinate information is located; and analyzing the floor information of the floor where the robot is located.
Preferably, the method further comprises the following steps: the floor analysis module is used for analyzing a target floor where a preset target position is located according to the preset target position; and the path planning module is connected with the floor analysis module and used for planning the same-floor planning path of the robot on each floor map when the current floor where the robot is located is not consistent with the target floor.
Further preferably, the path planning module is further configured to determine a current floor key point of the current floor, and plan a co-floor planning path from the current position to the current floor key point of the robot on the floor map of the current floor; the path planning module is further configured to determine a target floor key point of the target floor, and plan a same-floor planning path from the target floor key point to a target position of the robot on a floor map of the target floor.
Compared with the prior art, the multi-floor map switching method and the robot provided by the invention have the following beneficial effects:
1. the invention collects geomagnetic data through a geomagnetic sensor on a robot body, converts the geomagnetic data into coordinate information, identifies floor information according to the coordinate information, and automatically switches to a floor map of a corresponding floor after the floor information changes; the map is not required to be manually switched by workers, so that the labor cost is greatly reduced; in addition, the map can be switched in time, and the influence on the normal navigation of the robot due to the fact that the map is not switched in time is avoided.
Meanwhile, auxiliary equipment is not needed to be added to assist the robot in positioning the robot; the equipment cost and the construction cost are greatly reduced; and the phenomenon that positioning accuracy is influenced due to wireless transmission of positioning auxiliary information is avoided.
2. The same-floor planning path of the current floor is planned, and then the same-floor planning path of the target floor is planned; thereby completing the planning of the multi-floor planning path.
3. According to the invention, a geomagnetic sensor on a dynamic object acquires geomagnetic data and converts the geomagnetic data into coordinate information, so that a same-floor planning path is adjusted according to the coordinate information of the dynamic object; so that the robot can successfully reach the target position.
Drawings
The above features, technical features, advantages and implementations of a multi-floor map switching method and a robot will be further described in the following detailed description of preferred embodiments with reference to the accompanying drawings.
FIG. 1 is a flow chart of a multi-floor map switching method according to the present invention;
FIG. 2 is a flow chart of another multi-floor map switching method according to the present invention;
FIG. 3 is a flow chart of another multi-floor map switching method of the present invention;
FIG. 4 is a flowchart illustrating step S02 according to the present invention;
FIG. 5 is a block diagram schematically illustrating the construction of a robot according to the present invention;
the reference numbers illustrate:
10-coordinate transformation module 20-floor analysis module 30-path planning module
40-recognition module 50-map switching module
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following description will be made with reference to the accompanying drawings. It is obvious that the drawings in the following description are only some examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, in order to make the drawings concise and understandable, components having the same structure or function in some of the drawings are only schematically illustrated or only labeled. In this document, "one" means not only "only one" but also a case of "more than one".
According to an embodiment provided by the present invention, as shown in fig. 1, a multi-floor map switching method includes:
s10, acquiring geomagnetic data of the robot at different moments, and converting the geomagnetic data into three-dimensional coordinate information;
specifically, geomagnetic fingerprint information of each indoor floor is collected, each coordinate point of each indoor floor corresponds to geomagnetic fingerprint data of the coordinate point, a corresponding geomagnetic fingerprint coordinate system is established, and the coordinate system can convert the geomagnetic fingerprint data into three-dimensional coordinates in a building.
The robot geomagnetic sensor collects geomagnetic data at different moments according to a preset time interval (for example, every 10 seconds) or in real time, and the geomagnetic data collected by the robot at each coordinate point of each floor are different, so that the geomagnetic data can be converted into three-dimensional coordinate information (Xn, Yn, Zn); wherein the value of Zn may be floor information.
S20, identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different moments;
specifically, when the value of Zn is floor information, identifying whether the current floor Zn where the robot is located changes; if the current time Zn is 3, the previous time Zn is 2.
And S40, when the floor information of the floor where the robot is located changes, the robot is switched to the floor map of the corresponding floor.
Specifically, when the current time Zn is 3 and the previous time Zn is 2, the floor information of the floor where the robot is located is changed, and the second floor map used by the robot is switched to the third floor map.
And S50, when the floor information of the floor where the robot is located is not changed, maintaining the floor map of the robot.
Specifically, when the current time Zn is 2 and the previous time Zn is 2, the floor information of the floor where the robot is located is not changed, the second floor map used by the robot is held, and the second floor map is not switched to another floor map.
In the embodiment, the earth magnetism belongs to the property of the earth, and as long as the robot carries the earth magnetism sensor, corresponding earth magnetism data can be obtained at any point, so that extra equipment and cost such as ultrasonic ranging and laser ranging sensors are not added; the internal procedures are also simplified correspondingly.
Through effectual algorithm, earth magnetism location can be with the accuracy control at 1m scope, consequently can be effectively in indoor real-time absolute position location, guarantees that the robot obtains accurate three-dimensional positional information indoor to guarantee that the robot can confirm the floor of locating through earth magnetism data, thereby automatic switch navigation map, effectively carry out the navigation movement of many floors. The map is not required to be manually switched by workers, so that the labor cost is greatly reduced; in addition, the map can be switched in time, and the influence on the normal navigation of the robot due to the fact that the map is not switched in time is avoided.
Meanwhile, auxiliary equipment is not needed to be added to assist the robot in positioning the robot; the equipment cost and the construction cost are greatly reduced; and the phenomenon that positioning accuracy is influenced due to wireless transmission of positioning auxiliary information is avoided.
According to another embodiment provided by the present invention, as shown in fig. 2, a multi-floor map switching method includes:
s10, acquiring geomagnetic data of the robot at different moments, and converting the geomagnetic data into three-dimensional coordinate information;
specifically, the geomagnetic data collected by the robot at each coordinate point of each floor are different, so that the geomagnetic data can be converted into three-dimensional coordinate information (Xn, Yn, Zn); wherein, the value of Zn may be height information from the ground.
S21, analyzing whether the Z-axis coordinate in the three-dimensional coordinate information of the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information of the previous moment according to the three-dimensional coordinate information of different moments;
specifically, when the value of Zn is height information, for example, the current time Zn is 3.5m, and the previous time Zn is 0.5 m; the current moment Zn is 3.5m, and the previous moment Zn is 3.7 m; the current time Zn is 3.5m, and the previous time Zn is 3.5 m.
S22, when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located does not change;
specifically, in a case where the Z-axis coordinate is allowed to vary within a preset error range (0.5), the Z-axis coordinate is basically considered to be consistent, for example, the current time Zn is 3.5m, and the previous time Zn is 3.7 m; the floor is unchanged. In another case, the robot is on the same floor, and the Z-axis coordinate of the robot does not change, for example, the current time Zn is 3.5m, and the previous time Zn is 3.5 m; the floor is unchanged.
And S23, when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is not consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located changes.
Specifically, the change of the Z-axis coordinate exceeds a preset error range, or the Z-axis coordinate changes; if the current time Zn is 3.5m, the previous time Zn is 0.5 m; the Z-axis coordinates are considered to be inconsistent and the floor is changed.
S30, combining the preset height range corresponding to each floor and the preset height range of the Z-axis coordinate in the three-dimensional coordinate information; and analyzing the floor information of the floor where the robot is located.
Specifically, the preset height range corresponding to each floor, for example, the preset height range corresponding to the first floor is 0-2 m, and the preset height range corresponding to the second floor is 3-4 m. And identifying the height range by the Z-axis coordinate, and analyzing the floor of the robot.
If the current moment Zn is 3.5m, the robot is in the second floor at the current moment; and if the previous moment Zn is 0.5m, the robot is in the first floor at the previous moment.
And S40, when the floor information of the floor where the robot is located changes, the robot is switched to the floor map of the corresponding floor.
Specifically, when the robot is on the second floor at the current moment and the robot is on the first floor at the previous moment, the robot switches the first floor map in use into the second floor map.
And S50, when the floor information of the floor where the robot is located is not changed, maintaining the floor map of the robot.
In this embodiment, the geomagnetic fingerprint coordinate system is not limited to a floor, and may be any height value in a building, and when the height value is within a certain range, the height value is automatically converted into a floor value, so that the scheme may have a wider application range. The vertical lifting method is not limited to a general elevator and may be any apparatus in which a transport robot performs vertical motion.
Take the example where the robot is operating in a 5-level mall.
1. Firstly, geomagnetic fingerprint information on each floor plane is collected to generate corresponding geomagnetic fingerprint-plane coordinate corresponding relation, and the coordinates have floor information Z, wherein Z is 1-5 and corresponds to one floor to five floors.
2. The robot starts to operate at a certain floor, and the geomagnetic information of the position where the robot is located is obtained through the geomagnetic sensor.
3. And converting the geomagnetic information into coordinates (X, Y, Z) of the robot through corresponding algorithm comparison, wherein the coordinates (X, Y) represent the coordinates of the robot from the Z layer to the plane.
4. When the Z coordinate changes, the navigation map of the robot is automatically switched to the corresponding floor after the Z coordinate changes.
5. The robot can automatically switch the navigation maps among all floors, so that the robot can automatically and normally run on any floor.
According to another embodiment provided by the invention, as shown in fig. 3 and 4, a multi-floor map switching method includes:
s01, analyzing a target floor where a preset target position is located according to the preset target position;
and S02, when the current floor where the robot is located is not consistent with the target floor, planning the same-floor planning path of the robot on each floor map.
And when the current floor where the robot is located is consistent with the target floor, planning a same-floor planning path from the current position to the target position of the robot on a floor map of the current floor.
The planning of the multi-floor path of the robot specifically includes:
s021, determining a current floor key point of the current floor, and planning a same-floor planning path from the current position to the current floor key point of the robot on a floor map of the current floor;
specifically, if the current floor is the second floor, the key position of the current floor is the position of the second floor elevator, and a second floor planning path from the current position of the robot to the position of the second floor elevator is planned firstly.
S022, determining a target floor key point of the target floor, and planning a same-floor planning path from the target floor key point to a target position of the robot on a floor map of the target floor.
Specifically, if the target floor is a third floor, the key position of the target floor is the position of a third floor elevator, and then a third floor planning path from the position of the third floor elevator to the target position of the robot is planned.
S10, acquiring geomagnetic data of the robot at different moments, and converting the geomagnetic data into three-dimensional coordinate information;
s20, identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different moments;
s40, when the floor information of the floor where the robot is located changes, the robot is switched to the floor map of the corresponding floor; and the robot walks according to the same floor planning path on the floor map.
And S50, when the floor information of the floor where the robot is located is not changed, maintaining the floor map of the robot.
Specifically, the method comprises the following steps in addition to the steps:
acquiring geomagnetic data of a dynamic object in a current floor or a target floor, and converting the geomagnetic data of the dynamic object into position coordinate information;
and adjusting the same-floor planning path of the robot on the floor map of the current floor or the floor map of the target floor according to the position coordinate information of the dynamic object.
In this embodiment, the elevator that the robot takes from the second floor to the third floor is determined, and the elevator position on the second floor and the elevator position on the third floor of the second floor are respectively obtained. When the elevator on which the robot is to be used is determined, the elevator may be an elevator which is set in advance and is exclusively used by the robot, or an elevator in an idle state may be selected and used by the robot. After selecting an elevator in an idle state for the robot to use, the elevator is in a locked state; the elevator cannot be unlocked until the robot is used from the second floor to the third floor.
When planning the same-floor planning path of the robot on each floor map, according to whether the floor where the target position is located is the same as the floor where the current position of the robot is located, planning the planning path from the current position to the target position in different modes respectively.
The current position and the target position can be position coordinates input manually or position coordinates selected on a geomagnetic fingerprint map; the execution sequence of steps S01, S02, S021, S022 and step S10 is not sequential. The current position may also be obtained by geomagnetic positioning; under the condition that the current position is obtained by utilizing a geomagnetic positioning technology; steps S01, S02, S021, S022 are executed after step S10 is executed.
Besides static objects, dynamic objects exist on the map of each floor, and the geomagnetic data of the dynamic objects are collected and converted into position coordinate information of the dynamic objects; adjusting the planned path in time; the planned path is more reliable.
According to an embodiment provided by the present invention, as shown in fig. 5, a robot includes:
the coordinate conversion module 10 is configured to acquire geomagnetic data of the robot at different times, and convert the geomagnetic data into three-dimensional coordinate information;
optionally, the floor analyzing module 20 is configured to analyze a target floor where a preset target position is located according to a preset target position;
optionally, the path planning module 30 is connected to the floor analysis module 20, and configured to plan a path planned by the robot on the same floor on each floor map when the current floor where the robot is located is not consistent with the target floor.
Optionally, the path planning module 30 is further configured to determine a current floor key point of the current floor, and plan a same-floor planning path from the current position to the current floor key point of the robot on the current floor;
optionally, the path planning module 30 is further configured to determine a target floor key point of the target floor, and plan a same-floor planning path of the robot from the target floor key point to the target position on the target floor.
The identification module 40 is connected with the coordinate conversion module 10 and used for identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different moments;
optionally, the identification module 40 is configured to analyze whether a Z-axis coordinate in the three-dimensional coordinate information of the current time is consistent with a Z-axis coordinate in the three-dimensional coordinate information of the previous time;
when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located is unchanged;
and when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is inconsistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located changes.
Optionally, the floor analysis module 20 is configured to combine a preset height range corresponding to each floor and a preset height range in which a Z-axis coordinate in the three-dimensional coordinate information is located; and analyzing the floor information of the floor where the robot is located.
The map switching module 50 is connected with the identification module 40 and is used for switching the robot to a floor map of a corresponding floor when the floor information of the floor where the robot is located changes;
the map switching module 50 is further configured to maintain the floor map of the robot when the floor information of the floor where the robot is located does not change.
In the embodiment, the earth magnetism belongs to the property of the earth, and as long as the robot carries the earth magnetism sensor, corresponding earth magnetism data can be obtained at any point, so that extra equipment and cost such as ultrasonic ranging and laser ranging sensors are not added; the internal procedures are also simplified correspondingly.
Through effectual algorithm, earth magnetism location can be with the accuracy control at 1m scope, consequently can be effectively in indoor real-time absolute position location, guarantees that the robot obtains accurate three-dimensional positional information indoor to guarantee that the robot can confirm the floor of locating through earth magnetism data, thereby automatic switch navigation map, effectively carry out the navigation movement of many floors. The map is not required to be manually switched by workers, so that the labor cost is greatly reduced; in addition, the map can be switched in time, and the influence on the normal navigation of the robot due to the fact that the map is not switched in time is avoided.
It should be noted that the above embodiments can be freely combined as necessary. The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A multi-floor map switching method, comprising:
acquiring geomagnetic data of the robot at different moments, and converting the geomagnetic data into three-dimensional coordinate information;
identifying whether the floor information of the floor where the robot is located changes or not according to the three-dimensional coordinate information at different moments;
when the floor information of the floor where the robot is located changes, the robot is switched to a floor map of a corresponding floor;
and when the floor information of the floor where the robot is located is not changed, maintaining the floor map of the robot.
2. The method according to claim 1, wherein the identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different times specifically comprises:
analyzing whether the Z-axis coordinate in the three-dimensional coordinate information of the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information of the previous moment;
when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located is unchanged;
and when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is inconsistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located changes.
3. The method as claimed in claim 1, wherein the switching of the robot to the floor map of the corresponding floor further comprises:
combining the preset height range corresponding to each floor and the preset height range of the Z-axis coordinate in the three-dimensional coordinate information; and analyzing the floor information of the floor where the robot is located.
4. The method for switching the multi-floor map according to any one of claims 1 to 3, wherein before identifying whether the floor information of the floor where the robot is located changes according to the three-dimensional coordinate information at different times, the method further comprises:
analyzing a target floor where a preset target position is located according to the preset target position;
and when the current floor where the robot is located is not consistent with the target floor, planning the same-floor planning path of the robot on each floor map.
5. The method according to claim 1, wherein the planning of the multi-floor path of the robot specifically comprises:
determining a current floor key point of the current floor, and planning a same-floor planning path from the current position to the current floor key point of the robot on a floor map of the current floor;
and determining a target floor key point of the target floor, and planning a same-floor planning path from the target floor key point to a target position of the robot on a floor map of the target floor.
6. A robot, comprising:
the coordinate conversion module is used for acquiring geomagnetic data of the robot at different moments and converting the geomagnetic data into three-dimensional coordinate information;
the identification module is connected with the coordinate conversion module and used for identifying whether the floor information of the floor where the robot is located changes or not according to the three-dimensional coordinate information at different moments;
the map switching module is connected with the identification module and used for switching the robot to a floor map of a corresponding floor when the floor information of the floor where the robot is located changes;
the map switching module is also used for keeping the floor map of the robot when the floor information of the floor where the robot is located is not changed.
7. A robot as claimed in claim 6, characterized in that:
the identification module is used for analyzing whether the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment;
when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is consistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located is unchanged;
and when the Z-axis coordinate in the three-dimensional coordinate information at the current moment is inconsistent with the Z-axis coordinate in the three-dimensional coordinate information at the previous moment, analyzing that the floor information of the floor where the robot is located changes.
8. A robot as claimed in claim 6, further comprising:
the floor analysis module is used for combining the preset height range corresponding to each floor and the preset height range where the Z-axis coordinate in the three-dimensional coordinate information is located; and analyzing the floor information of the floor where the robot is located.
9. A robot as claimed in any one of claims 1 to 8, further comprising:
the floor analysis module is used for analyzing a target floor where a preset target position is located according to the preset target position;
and the path planning module is connected with the floor analysis module and used for planning the same-floor planning path of the robot on each floor map when the current floor where the robot is located is not consistent with the target floor.
10. A robot as claimed in claim 9, characterized in that:
the path planning module is further configured to determine a current floor key point of the current floor, and plan a same-floor planning path from the current position to the current floor key point of the robot on a floor map of the current floor;
the path planning module is further configured to determine a target floor key point of the target floor, and plan a same-floor planning path from the target floor key point to a target position of the robot on a floor map of the target floor.
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| CN111890368A (en) * | 2020-08-06 | 2020-11-06 | 深圳优地科技有限公司 | Position calibration method, device and system based on robot and storage medium |
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