CN111728532A - Control method for robot to enter elevator, laser robot and chip - Google Patents
Control method for robot to enter elevator, laser robot and chip Download PDFInfo
- Publication number
- CN111728532A CN111728532A CN202010484357.7A CN202010484357A CN111728532A CN 111728532 A CN111728532 A CN 111728532A CN 202010484357 A CN202010484357 A CN 202010484357A CN 111728532 A CN111728532 A CN 111728532A
- Authority
- CN
- China
- Prior art keywords
- elevator
- laser
- robot
- distance measurement
- waiting position
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005259 measurement Methods 0.000 claims abstract description 149
- 230000008859 change Effects 0.000 claims abstract description 25
- 230000004888 barrier function Effects 0.000 claims description 6
- 230000003111 delayed effect Effects 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 description 12
- 238000004891 communication Methods 0.000 description 7
- 230000004044 response Effects 0.000 description 6
- 238000004140 cleaning Methods 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 3
- 230000002452 interceptive effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000001960 triggered effect Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4002—Installations of electric equipment
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/2408—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration where the allocation of a call to an elevator car is of importance, i.e. by means of a supervisory or group controller
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
-
- 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
-
- 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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- 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
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/20—Details of the evaluation method for the allocation of a call to an elevator car
- B66B2201/21—Primary evaluation criteria
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a control method for a robot to enter an elevator, a laser robot and a chip, wherein the control method comprises the following steps: controlling the mobile robot to move to a waiting position of the current floor according to a pre-scanned floor map; and then controlling the mobile robot to move from the elevator waiting position to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction over against the elevator door. Compared with the prior art, the robot is controlled to execute the elevator taking task according to the ranging data change condition of the laser ranging sensor before and after the elevator door is opened and closed, the robot enters the elevator from the elevator waiting position point after being started, so that the robot can accurately and flexibly enter the elevator, the experience of taking the elevator by the robot and passengers is guaranteed, the working efficiency is improved, and the cost of manually carrying the machine is reduced.
Description
Technical Field
The invention relates to the technical field of robot movement control, in particular to a control method for a robot to enter an elevator, a laser robot and a chip.
Background
The description of the background of the invention pertaining to the related art to which this invention pertains is given for the purpose of illustration and understanding only of the summary of the invention and is not to be construed as an admission that the applicant is explicitly or implicitly admitted to be prior art to the date of filing this application as first filed with this invention.
With the rapid development of social economy, in order to effectively utilize limited floor space, the height of the building floor is continuously upgraded, the cleaning workload of the corridor is obviously increased, and the market demand in this aspect is generated. In the prior art, a cleaning robot is usually placed on a specific floor by a human, and then a running program is started, so that the robot can automatically clean the specific floor according to a map. At present, after the cleaning work of the specific floor is finished, the robot automatically executes the elevator riding task, generally, in the process of navigating to enter the elevator, the robot is easily interfered by passengers or other obstacles, and even cannot enter the elevator.
Disclosure of Invention
In order to overcome the technical defects, the invention provides the following technical scheme:
a method of controlling access to an elevator by a robot, comprising: controlling the mobile robot to move to a waiting position of the current floor according to a pre-scanned floor map; and then controlling the mobile robot to move from the elevator waiting position to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction over against the elevator door. Compared with the prior art, the robot is controlled to execute the elevator taking task according to the ranging data change condition of the laser ranging sensor before and after the elevator door is opened and closed, the robot enters the elevator from the elevator waiting position point after being started, so that the robot can accurately and flexibly enter the elevator, the experience of taking the elevator by the robot and passengers is guaranteed, the working efficiency is improved, and the cost of manually carrying the machine is reduced.
Further, when the mobile robot moves to the elevator waiting position point, the method for controlling the mobile robot to move from the elevator waiting position point to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction opposite to the elevator door comprises the following steps: when the mobile robot moves to the elevator waiting position point, judging whether the distance measurement data detected by the laser distance measurement sensor in the direction opposite to the elevator door is a second distance measurement distance, if so, controlling the mobile robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, judging whether the product of the difference value of the distance measurement data detected later by the laser distance measurement sensor in the direction opposite to the elevator door and the previously detected distance measurement data and the cosine value of a preset angle is in a preset width range value, and if so, controlling the mobile robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction; wherein the predetermined width range value is greater than a first predetermined width value and less than a second predetermined width value, the first predetermined width value being less than the second predetermined width value, the second predetermined width value being associated with a width dimension of the elevator; the second distance measurement distance is distance measurement data of the elevator door obtained by the laser distance measurement sensor at the position of the elevator waiting position when the elevator door is opened on the premise that no other barrier is shielded; wherein the later detected ranging data is delayed in time from the earlier detected ranging data. According to the technical scheme, whether the robot directly and stably enters the elevator is judged firstly, under the condition that the robot cannot directly and stably enter the elevator, the difference value of the distance measurement data of the laser distance measurement sensor at the elevator waiting position point is converted into the horizontal distance change value from the elevator waiting position point to the elevator door and the inner wall of the elevator cage, the robot is accurately controlled to enter the elevator by setting the preset width range value, the influence of environmental factors on the distance measurement parameters is overcome, and the situation that the robot cannot reach due to the fact that the robot is blocked by passengers or other objects nearby the elevator waiting position point is avoided.
Further, at the moment that the mobile robot moves to the elevator waiting position point, on the premise that the laser ranging sensor does not detect the second ranging distance in the direction opposite to the elevator door, if the product of the difference value between ranging data detected later in the direction opposite to the elevator door by the laser ranging sensor and ranging data detected earlier and the cosine value of the preset angle is judged not to be within the preset width range value, the judgment is repeated within a second preset time, and after the second preset time, if the product is not within the preset width range value, the mobile robot is not controlled to enter the elevator. According to the technical scheme, the ladder entering state of the robot is controlled by setting a ladder waiting time, so that the robot is prevented from waiting for too long.
Further, at the moment that the mobile robot moves to the elevator waiting position point, the laser ranging sensor detects a first ranging distance in the direction opposite to the elevator door; then, judging whether the product of the difference value of the ranging data detected later by the laser ranging sensor in the direction opposite to the elevator door and the first ranging data detected earlier and the cosine value of the preset angle is in the preset width range value or not, if so, controlling the mobile robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, repeating the judgment in the second preset time, and after the second preset time, if the product is not in the preset width range value, not controlling the mobile robot to enter the elevator; the first distance measurement distance is distance measurement data obtained by the laser distance measurement sensor when the elevator door is closed and measured at the elevator waiting position on the premise that no other obstacles block the elevator door. According to the technical scheme, the difference value of the ranging data of the laser ranging sensor with the unchanged laser emission angle at the elevator waiting position point is converted into the horizontal distance change value from the elevator waiting position point to the elevator door and the inner wall of the elevator cage, the elevator entering of the robot is accurately controlled by setting the floating range value, the influence of environmental factors on ranging parameters is overcome, the safety accident caused by the fact that the robot enters the elevator under the inaccessible condition that the robot is blocked by passengers or other objects nearby the elevator waiting position point is avoided, and the accuracy of the robot in judging the opening of the elevator is improved.
Further, when the mobile robot measures the distance at the elevator waiting position point through the laser distance measuring sensor to obtain a first distance measuring distance, sending an elevator taking request to the elevator; after sending the elevator taking request to the elevator, if the laser ranging sensor keeps the first ranging distance unchanged within a first preset time, sending the elevator taking request to the elevator again until the elevator state is obtained, namely the door is opened. The laser emitting direction of the laser ranging sensor of the mobile robot at the position of the elevator waiting position is opposite to the elevator door. The technical scheme determines the elevator taking time by monitoring the distance measurement data change of the elevator door by the robot within the specified first preset time, and eliminates the interference of some unstable environmental factors.
Further, the preset angle is an emission visual angle formed by a laser emission direction of the laser ranging sensor and the ground, so that when the mobile robot moves to the elevator waiting position point, a line segment corresponding to a horizontal distance from the elevator waiting position point to the front surface of the elevator door is positioned on the same vertical plane with laser emitted by the laser ranging sensor; the laser emitting direction of a laser ranging sensor of the mobile robot at the position of the elevator waiting position is opposite to the elevator door; the numerical range of the preset angle is set to be greater than 30 degrees and less than 40 degrees. According to the technical scheme, the problem of accurately distinguishing the opening and closing of the elevator door is solved by adjusting the laser to effectively measure the distance in the emitting direction of the elevator door.
Further, after the mobile robot is controlled to move from the elevator waiting position point into the elevator, when the distance between the mobile robot and the elevator door is larger than the first preset width value, the mobile robot is controlled to stop moving. According to the technical scheme, a certain distance is kept between the robot and the elevator door after the robot enters the elevator, so that the safety of the robot entering the elevator is ensured.
A laser robot comprises a waiting stair point determining module and a distance measuring judging module; the mobile robot comprises a floor map scanning module, a lift waiting point determining module and a lift waiting position scanning module, wherein the floor map scanning module is used for scanning a floor map of a current floor; and the distance measurement judging module is used for controlling the mobile robot to move from the elevator waiting position to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction just opposite to the elevator door. This laser robot is automatic to control the robot and carry out and take advantage of terraced task according to the range finding data change condition of laser range finding sensor around the lift-cabin door switching, gets into the elevator from waiting the terraced position point including starting the robot for the robot accurately gets into the elevator in a flexible way, guarantees that robot and passenger take advantage of terraced experience, has improved work efficiency then, has reduced the cost of artifical transport machine upstairs and downstairs.
Further, the distance measurement judging module comprises a first judging submodule and a second judging submodule; the first judgment sub-module is used for judging whether the distance measurement data detected by the laser distance measurement sensor in the direction opposite to the elevator door is a second distance measurement distance at the moment that the mobile robot moves to the elevator waiting position point, if so, the mobile robot is controlled to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, and if not, the mobile robot is handed to the second judgment sub-module for execution; the second judgment submodule is used for judging whether the product of the difference value of the ranging data detected later and the ranging data detected earlier in the direction opposite to the elevator door by the laser ranging sensor and the cosine value of the preset angle is within a preset width range value or not, if so, the mobile robot is controlled to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, the judgment is repeated within second preset time, and after the second preset time, if the product is not within the preset width range value, the mobile robot is not controlled to enter the elevator; wherein the predetermined width range value is greater than a first predetermined width value and less than a second predetermined width value, the first predetermined width value being less than the second predetermined width value, the second predetermined width value being associated with a width dimension of the elevator; the second distance measurement distance is distance measurement data of the elevator door obtained by the laser distance measurement sensor at the position of the elevator waiting position when the elevator door is opened on the premise that no other barrier is shielded; wherein the later detected ranging data is delayed in time from the earlier detected ranging data. In the technical scheme, the first judgment submodule judges whether the robot directly and stably enters the elevator or not, under the condition that the robot cannot directly and stably enter the elevator, the difference value of the distance measurement data of the laser distance measurement sensor at the elevator waiting position point is converted into the horizontal distance change value from the elevator waiting position point to the elevator door and the inner wall of the elevator cage, and the second judgment submodule judges and controls the robot to enter the elevator by setting the preset width range value, so that the influence of environmental factors on the distance measurement parameters is overcome, and the situation that the robot cannot reach due to the fact that the robot is blocked by passengers or other objects nearby the elevator waiting position point is avoided.
Further, the first judgment sub-module is used for sending a boarding request to the elevator when the distance measurement data of the laser distance measurement sensor in the direction opposite to the elevator door is a first distance measurement distance at the moment when the laser robot moves to the elevator waiting position point; after sending an elevator taking request to the elevator, if the first distance measurement is kept unchanged within the first preset time, sending the elevator taking request to the elevator again until the elevator state is obtained and the door is opened; the elevator is provided with a control device which is communicated with the laser robot and is used for controlling the opening of an elevator door according to the height position of the floor where the elevator door is located and responding to a request command of the laser robot so as to enable the laser robot to obtain the real-time state information of the elevator; the first distance measurement distance is distance measurement data obtained by the laser distance measurement sensor when the elevator door is closed and measured at the elevator waiting position on the premise that no other obstacles block the elevator door. The technical scheme includes that the door opening state of the elevator is determined according to the interactive communication result between the laser robot and the elevator, the first judgment sub-module determines the elevator taking time by monitoring the distance measurement data change of the elevator door by the robot within the specified first preset time, and the interference of some unstable environmental factors is eliminated.
A chip comprising computer executable instructions for controlling the laser robot to perform the control method.
Drawings
Fig. 1 is a flowchart of a control method for a robot to enter an elevator according to an embodiment of the present invention.
Fig. 2 is another flowchart of a method for controlling a robot to enter an elevator according to an embodiment of the present invention.
Fig. 3 is a flow chart of a robot for determining the opening of an elevator door before entering the elevator according to an embodiment of the present invention.
Fig. 4 is a schematic view of an application scenario of the robot starting to enter an elevator in the embodiment of the present invention.
Fig. 5 is a schematic diagram of an internal module of a laser robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be understood that although the terms first, second, third, etc. may be used to describe XXX in embodiments of the present invention, these XXX should not be limited to these terms. These terms are only used to distinguish XXX from each other. For example, a first XXX may also be referred to as a second XXX, and similarly, a second XXX may also be referred to as a first XXX, without departing from the scope of embodiments of the present invention.
The words "if", as used herein, may be interpreted as "at … …" or "at … …" or "in response to a determination" or "in response to a detection", depending on the context. Similarly, the phrases "if determined" or "if detected (a stated condition or event)" may be interpreted as "when determined" or "in response to a determination" or "when detected (a stated condition or event)" or "in response to a detection (a stated condition or event)", depending on the context.
The embodiment of the invention discloses a control method for a robot to enter an elevator, which is used for controlling the robot to execute an elevator riding task, can be executed by a sweeping robot and realizes walking among floors to carry out cleaning operation. As shown in fig. 1, the control method includes: step S101, controlling the mobile robot to move to a waiting position of the current floor according to a pre-scanned floor map, and then, entering step S102. It can be understood that when the mobile robot enters a new working scene, it needs to scan the map of the scene and then execute corresponding tasks according to the position of the mobile robot in the map for automatic working. When the mobile robot performs cleaning operation in the current floor, the relevant sensors can scan the floor environment to construct a map, identify the positions of various areas in the floor map, such as room positions, elevator positions, import and export positions and the like, store the scanned floor map in the mobile robot, and the mobile robot, the terminal device and/or the server can be connected through wired and/or wireless communication so as to guide the mobile robot to move. The wireless network communication connection includes, but is not limited to, wireless communication modes such as WiFi, Bluetooth (Bluetooth), Zigbee (Zigbee), narrowband Band Internet of Things (NB-Iot), and the like. Specifically, when the map is scanned, the contour of the elevator can be scanned completely, the scanned map is edited in the relevant application of the terminal device, and the contour of the elevator is drawn in the floor map, for example, a polygon is drawn to fit the contour of the elevator as much as possible to identify the position of the elevator door. In this manner, in step S101, the elevator position and the waiting position point of the corresponding floor can be specified from the previously scanned floor map. Then the mobile robot moves to the position right in front of the elevator door and a certain distance to the direction of the elevator door according to a set instruction, and the position is marked as an elevator waiting position point.
And S102, controlling the mobile robot to move from a waiting position to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction just opposite to the elevator door. In this embodiment, the inner wall of the elevator door or the elevator car reflects and blocks the laser emitted from the laser ranging sensor, and then the laser reflected from the elevator door is received by the same laser ranging sensor, so that the laser ranging sensor can be used to measure the ranging data of the laser ranging sensor in the direction opposite to the elevator door, and the ranging data can be used to calculate the distance between the elevator door and the mobile robot when the elevator does not reach and the elevator door is closed, and also can be used to calculate the distance between the inner wall of the elevator car and the mobile robot when the elevator reaches and the elevator door is opened, so that the ranging data of the laser ranging sensor in the direction opposite to the elevator door changes before and after the elevator door is opened, and thus, when the ranging data in the direction opposite to the elevator door changes in a certain range, the mobile robot is started to move into the elevator from the waiting, wherein, the variable distance measurement data accurately shows that the elevator door is changed from closed to open, or kept closed within a certain error floating interval. In this embodiment, this elevator waiting position point is closer to the elevator door, but it needs to ensure that the direction control accuracy of the mobile robot entering the elevator is reliable but the passenger is not blocked to wait for the elevator.
Compared with the prior art, the robot is controlled to execute the elevator taking task according to the change condition of the distance measurement data of the laser distance measurement sensor before and after the elevator door is opened and closed, the elevator waiting at the elevator waiting position and entering into the elevator from the elevator waiting position are included, so that the robot can accurately and flexibly enter and exit the elevator, and the experience of the robot and passengers taking the elevator is guaranteed. The unfinished work of the laser robot can be processed without going downstairs by a user, the operation is simple, the working efficiency is improved, and the labor cost is reduced.
As a specific example, as shown in fig. 2, a control method for a robot to enter an elevator includes:
step S201, controlling the mobile robot to move to a waiting position of the current floor according to the pre-scanned floor map, and then, entering step S202. The specific implementation of step S201 and step S101 are the same, and are not described herein again.
Step S202, at the moment that the mobile robot moves to the elevator waiting position point, judging whether the distance measurement data detected by the laser distance measurement sensor in the direction opposite to the elevator door is a second distance measurement distance, if so, entering step S205, otherwise, entering step S203. And the second distance measurement distance is distance measurement data of the elevator door obtained by measuring the opening time of the elevator door at the position of the elevator waiting position by the laser distance measurement sensor on the premise of no shielding of other obstacles.
Before the mobile robot moves to the elevator waiting position point, the laser emission direction of the laser ranging sensor needs to be adjusted to form a preset angle with the ground, so that a line segment corresponding to the horizontal distance from the elevator waiting position point to the front surface of the elevator door is positioned on the same vertical plane with laser emitted by the laser ranging sensor, wherein the laser emission direction of the laser ranging sensor of the mobile robot positioned at the elevator waiting position point is opposite to the elevator door. As shown in fig. 4, a position a is the elevator waiting position point, a line segment MN is AN elevator door, P is a laser ranging sensor on the mobile robot, a line segment PC is laser emitted by the laser ranging sensor, a laser emitting direction PC of the laser ranging sensor forms a preset angle b with a ground horizontal line QE, a line segment AN corresponding to a horizontal distance from the elevator waiting position point a to the front surface of the elevator door MN is on the same vertical plane as the laser PC emitted by the laser ranging sensor P, the laser emitting direction PC of the laser ranging sensor P of the mobile robot located at the elevator waiting position point a is opposite to the elevator door MN, the laser PC is emitted at a position C on the surface of the elevator door MN before the elevator door is not opened, the laser PC is emitted at a position D on the inner wall surface of the elevator after the elevator door is opened, and then the length of the line segment PD is the second ranging distance. According to the embodiment, the problem of accurately distinguishing the opening and closing of the elevator door is solved by adjusting the emitting direction of the laser on the vertical plane just opposite to the elevator door and measuring the distance. Preferably, b is greater than 30 degrees but less than 40 degrees, so that the phenomenon that a part of line segments CE forming the elevator calculated based on the line segments AN are infinitely long and do not accord with the actual size of the elevator is avoided; the horizontal distance from the elevator waiting position A to the front surface of the elevator door MN is 0.6 m, so that the elevator entering point is closer to the elevator door, the mobile robot can accurately master the position of the elevator door according to the appointed elevator entering point, and the mobile robot can safely and accurately enter the elevator along a straight line from the elevator entering point.
It should be noted that the obtaining of the distance measurement data by the mobile robot through the laser distance measurement sensor at the elevator waiting position point includes: the laser emission direction of the laser ranging sensor of the mobile robot positioned at the position of the elevator waiting position is adjusted to be just opposite to the elevator door, the distance can be measured by adopting the laser ranging principle after the laser emission direction of the laser ranging sensor positioned at the position of the elevator waiting position is adjusted, the laser ranging sensor emits laser forming a preset angle with the ground plane, the laser is received by the laser ranging sensor after being reflected by the elevator door or the wall surface inside the elevator car body, and the ranging distance E of the laser is as follows: e = c × t2/2, where c is the speed of light, t2 is the measurement duration of the laser beam with the distance E, the mobile robot may configure a timing clock, determine the time t2 by the timing clock, and further calculate the distance E of the laser.
Step S203, determining whether the product of the difference between the ranging distance detected by the laser ranging sensor later and the ranging data detected earlier and the cosine value of the preset angle is within a preset width range value, if so, entering step S205, otherwise, entering step S204, where the ranging data detected later is delayed from the ranging data detected earlier in time, and the ranging data detected earlier may be the ranging data detected at the moment when the robot just moved to the elevator waiting position or the ranging data detected at a certain moment after the robot just moved to the elevator waiting position. Said predetermined width range value is greater than the first predetermined width value and less than a second predetermined width value associated with the width dimension of the elevator, which may be equal to the width of the car of the elevator, i.e. the length of the line segment FN of fig. 4 that constitutes the elevator. And the first preset width value is smaller than the second preset width value by 0.2 meter, so that a preset width range value is formed, wherein the preset angle is an included angle formed by the laser emission direction of the laser ranging sensor and the ground, and when the mobile robot moves to the elevator waiting position point, a line segment corresponding to the horizontal distance from the elevator waiting position point to the front surface of the elevator door is positioned on the same vertical plane with the laser emitted by the laser ranging sensor.
And S205, controlling the mobile robot to enter the elevator from the elevator waiting position point along a horizontal projection line of a laser emission direction, wherein the laser emission direction of a laser ranging sensor of the mobile robot at the elevator waiting position point is just opposite to the elevator door. The mobile robot can accurately grasp the position of the elevator door according to the elevator entering direction appointed by the horizontal projection line along the laser emission direction, so that the mobile robot smoothly enters the elevator along a straight line from the elevator entering point.
Step S204, detecting whether the repeated judgment time of step S203 reaches the second preset time, if yes, entering step S206, otherwise, returning to step S203. In the embodiment, the distance measurement data of the laser distance measurement sensor is utilized to continuously judge the obstacle or passenger flow condition between the elevator waiting position point and the elevator door within the second preset time, because the distance measurement data of the laser distance measurement sensor can be changed due to the shielding effect of the obstacle under the condition that the elevator door is opened, the misjudgment is caused, and the time for triggering the robot is unstable. In some embodiments, the second predetermined time may be 1 minute. That is to say, when the mobile robot continuously judges that the product of the difference value between the ranging data detected by the laser ranging sensor later and the ranging data detected earlier and the cosine value of the preset angle does not fall within the preset width range value within 1 minute, it indicates that the interior of the elevator is full or the elevator accommodation amount is insufficient, and only the mobile robot can be controlled to stay at the elevator waiting position, and the mobile robot is determined to fail in the current elevator taking task. The embodiment monitors the elevator entering state of the mobile robot in a preset time through the change condition of the ranging data, realizes the control of the mobile robot on the elevator accurately and smoothly, and simultaneously avoids the influence on the normal operation of the elevator caused by the overlong elevator entering time of the robot. Of course, in other embodiments, the second predetermined time may be flexibly configured according to actual needs, and is not specifically limited herein.
And step S206, the mobile robot is not controlled to enter the elevator.
The embodiment described in the foregoing steps S201 to S206 first determines whether the robot directly and stably enters the elevator, and then under the condition that the robot cannot directly and stably enter the elevator, converts the difference value of the ranging data of the laser ranging sensor at the elevator waiting position point into the horizontal distance variation value from the elevator waiting position point to the elevator door and the inner wall of the elevator car, and then sets the predetermined width range value to accurately control the robot to enter the elevator, thereby overcoming the influence of environmental factors on the ranging parameters, and further avoiding that the robot cannot reach the elevator due to being blocked by passengers or other objects near the elevator waiting position point.
As another specific embodiment, in the step S202, at the time when the mobile robot moves to the elevator waiting position, it is detected that the distance measurement data of the laser distance measurement sensor in the direction facing the elevator door is a first distance measurement distance, where the first distance measurement distance is the distance measurement data of the laser distance measurement sensor when the elevator door is closed, which is measured at the elevator waiting position by the laser distance measurement sensor on the premise that no other obstacle is blocked.
Then, judging whether the product of the difference value between the ranging distance detected by the laser ranging sensor after the laser ranging sensor and the first ranging distance and the cosine value of the preset angle is within the preset width range value, if so, entering the step S205, otherwise, entering the step S204, wherein the ranging data detected by the laser ranging sensor after the laser ranging sensor is: after the laser ranging sensor detects and acquires the first ranging distance, ranging data detected in the direction opposite to the elevator door has a delay relation in detection time relative to the first ranging distance detected in advance; the preset width range value is greater than a first preset width value and less than a second preset width value, the first preset width value is less than the second preset width value, the second preset width value is associated with the width dimension of the elevator, the second preset width value can be equal to the width of the elevator compartment, namely the length of a line segment FN of the elevator composed by the graph 4, and the first preset width value is less than the second preset width value by 0.2 meter, so that the preset width range value is formed, wherein the preset angle is an included angle formed by the laser emission direction of the laser ranging sensor and the ground, so that when the mobile robot moves to the elevator waiting position point, a line segment corresponding to the horizontal distance from the elevator waiting position point to the front surface of the elevator door is on the same vertical plane as the laser emitted by the laser ranging sensor. When the elevator door is not opened, the difference value between the ranging distance detected by the laser ranging sensor and the first ranging distance is 0, and obviously is not within a preset width range value, wherein the ranging data (equivalent to the ranging distance) detected by the laser ranging sensor is the length of a line segment PC and is also equivalent to the first ranging distance; when the elevator door is opened, as shown in fig. 4, the distance measurement data detected by the laser distance measurement sensor is the length of the line segment PD, which is recorded as the second distance measurement distance, and the distance measurement data is changed from the first distance measurement distance to the second distance measurement distance, the difference between the second distance measurement distance and the first distance measurement distance is the length of the line segment DC, and then the product of the difference between the second distance measurement distance and the first distance measurement distance and the cosine value of the preset angle b is the line segment QE, which is equal to the length of the line segment FN and is equal to the car width of the elevator, but because the passenger blocks the influence of the environmental factors such as interference, obstacle contour interference, etc., the product of the difference between the distance measurement distance detected by the laser distance measurement sensor and the first distance measurement distance after the elevator door is opened and the cosine value of the preset angle is not fixed, so that the aforesaid product is determined to be within the, the robot can be triggered to enter the elevator. In this embodiment, in order to avoid the influence of environmental factors such as contour interference of passengers and obstacles on distance measurement data, which may cause inaccuracy of the distance measurement result of the robot, in practical application, optionally, a position parameter floating interval corresponding to a product of a difference between the distance measurement distance detected by the laser distance measurement sensor and the first distance measurement distance and a cosine value of the preset angle, that is, a compartment size parameter floating interval of the elevator, may be determined based on a certain strategy, so that when the cosine value of the distance measurement data change value of the robot at the elevator waiting position point is located in the floating interval, it may be considered that it indicates that the elevator door is open and the barrier effect of the obstacle on the route from the elevator waiting position point to the outside of the elevator is limited, and the robot may be accurately triggered to enter the elevator from the elevator waiting position point. According to the step, the elevator waiting position point is detected, so that the safety accident caused by the fact that the robot enters the elevator under the condition that the robot is blocked by passengers or other objects nearby the elevator waiting position point and cannot reach the elevator waiting position point is avoided, and the accuracy of judging the opening of the elevator by the robot is improved.
In an exemplary embodiment, a flow chart of a robot determining an elevator door opening before entering an elevator is disclosed, as shown in fig. 3, specifically comprising: step S301, controlling the mobile robot to obtain the first distance measurement distance at the elevator waiting position through distance measurement of the laser distance measurement sensor, and then entering step S302, wherein the first distance measurement distance is distance measurement data obtained by measuring at the elevator waiting position through the laser distance measurement sensor when the elevator door is closed, and when the laser distance measurement sensor is used for measuring the first distance measurement distance at the elevator waiting position and facing the elevator door direction through a visual angle forming the preset angle with the ground plane, the elevator door can be determined to be closed. Step S302, controlling the mobile robot to send an elevator taking request to the elevator at the elevator waiting position, and then, entering step S303. Step S303, judging whether the distance measurement data of the laser distance measurement sensor in the first preset time is kept unchanged, if so, returning to the step S302, and continuously sending an elevator taking request to the elevator until the response state of the elevator is obtained, namely the door is opened; otherwise, the process proceeds to step S304. And step S304, starting at the moment that the distance measuring data judged in step S303 are changed, determining that the elevator reaches the current floor and opens the door, and simultaneously acquiring the response state of the elevator, namely opening the door. The embodiment determines the elevator taking time by monitoring the distance measurement data change of the elevator door by the robot within the specified first preset time, and eliminates the interference of some unstable environmental factors, such as some obstacles and blocking action of passengers, which easily cause misjudgment to cause the robot to easily give up elevator taking tasks. In this embodiment, the first preset time is flexibly configured by those skilled in the art according to the need of actually waiting for the elevator, and is not specifically limited herein.
In an exemplary embodiment, after determining that the mobile robot moves from the elevator waiting position to enter the elevator, the distance from the mobile robot to the elevator door is measured in real time through an inertial sensor such as a code disc, and when the distance from the mobile robot to the elevator door is larger than the first preset width value, the mobile robot is determined to completely enter the interior of the elevator, and then the mobile robot is controlled to stop moving. After the mobile robot is controlled to move from the elevator waiting position to enter the elevator, a certain preset value distance needs to be kept between the mobile robot and the elevator door, and the first preset width value is preferably 0.75 m, so that the elevator can be prevented from interfering with the mobile robot when being closed, and the elevator taking safety of the mobile robot can be ensured.
The embodiment of the invention also discloses a laser robot, which comprises a ladder waiting point determining module and a distance measuring judging module; and the elevator waiting point determining module is used for controlling the mobile robot to move to an elevator waiting position point of the current floor according to the pre-scanned floor map, and the elevator waiting point determining module is used for executing the step S101 firstly. And the distance measurement judging module is used for controlling the mobile robot to move from the elevator waiting position to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction just opposite to the elevator door. The ranging determination module is configured to perform the step S102. The laser robot executes elevator taking tasks according to the ranging data change conditions of the laser ranging sensor before and after the elevator door is opened, and the elevator waiting at the elevator waiting position and entering the elevator from the elevator waiting position are included, so that the robot can accurately and flexibly enter and exit the elevator, and the experience of taking the elevator by the robot and passengers is guaranteed. Therefore, the laser robot can conveniently and quickly navigate the elevator designed according to the human requirements, and the intelligent degree of the laser robot is improved.
As an embodiment, as shown in fig. 5, the ranging determination module includes a first determination sub-module and a second determination sub-module. And the first judgment sub-module is used for judging whether the distance measurement data detected by the laser distance measurement sensor in the direction opposite to the elevator door is a second distance measurement distance at the moment that the mobile robot moves to the elevator waiting position point, if so, the mobile robot is controlled to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, and otherwise, the mobile robot is handed to the second judgment sub-module to be executed. Therefore, the first determining submodule is used for executing the aforementioned steps S201 to S202 and S205. The second judgment submodule is used for judging whether the product of the difference value of the ranging data detected later and the ranging data detected earlier in the direction opposite to the elevator door by the laser ranging sensor and the cosine value of the preset angle is within a preset width range value or not, if so, the mobile robot is controlled to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, the judgment is repeated within second preset time, and after the second preset time, if the product is not within the preset width range value, the mobile robot is not controlled to enter the elevator; wherein the predetermined width range value is greater than a first predetermined width value and less than a second predetermined width value, the first predetermined width value being less than the second predetermined width value, the second predetermined width value being associated with a width dimension of the elevator; the second distance measurement distance is distance measurement data of the elevator door obtained by the laser distance measurement sensor at the position of the elevator waiting position when the elevator door is opened on the premise that no other barrier is shielded; wherein the later detected ranging data is delayed in time from the earlier detected ranging data. Therefore, the second determining submodule is used for executing the aforementioned steps S203 to S206. In this embodiment, the first judgment submodule firstly judges whether the laser robot directly and stably enters the elevator, converts the difference value of the distance measurement data of the laser distance measurement sensor at the elevator waiting position point into the horizontal distance change value from the elevator waiting position point to the elevator door and the inner wall of the elevator cage under the condition that the laser robot cannot directly and stably enter the elevator, and the second judgment submodule judges and controls the robot to enter the elevator by setting the preset width range value, so that the influence of environmental factors on the distance measurement parameters is overcome, and the situation that the laser robot cannot reach due to being blocked by passengers or other objects near the elevator waiting position point is avoided.
The modules work cooperatively, the change condition of the distance measurement data of the laser distance measurement sensor is judged by setting the preset width range value, so that the opening and closing condition of the elevator door is determined, the influence of artificial environmental factors on the distance measurement parameters is overcome, and the accuracy of the robot in judging the opening of the elevator door is improved. And further, safety accidents caused by the fact that the robot is blocked by passengers or other objects and cannot reach the elevator are avoided, and accurate control over the laser robot to enter and exit the elevator is achieved.
As an embodiment, as shown in fig. 5, the first determining sub-module is configured to send an elevator taking request to the elevator when it is determined that the distance measurement data of the laser distance measuring sensor in the direction facing the elevator door is the first distance measurement distance at the time when the laser robot moves to the elevator waiting position point; after sending an elevator taking request to the elevator, if the first distance measurement is kept unchanged within the first preset time, sending the elevator taking request to the elevator again until the elevator state is obtained and the door is opened; the elevator is provided with a control device which is communicated with the laser robot and is used for controlling the opening of an elevator door according to the height position of the floor where the elevator door is located and responding to a request command of the laser robot so as to enable the laser robot to obtain the real-time state information of the elevator; the first distance measurement distance is distance measurement data obtained by the laser distance measurement sensor when the elevator door is closed and measured at the elevator waiting position on the premise that no other obstacles block the elevator door. The first determining submodule is configured to perform the steps S301 to S304. In the embodiment, the door opening state of the elevator is determined according to the interactive communication result between the laser robot and the elevator, and the first judgment sub-module determines the elevator taking time by monitoring the distance measurement data change of the elevator door by the robot within the specified first preset time, so that the interference of some unstable environmental factors is eliminated.
The embodiment of the invention also discloses a chip which comprises a computer executable instruction, wherein the computer executable instruction is used for controlling the mobile robot to execute the control method in the embodiment, and the mobile robot is the laser robot in the embodiment. In the embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Claims (11)
1. A method of controlling access to an elevator by a robot, comprising:
controlling the mobile robot to move to a waiting position of the current floor according to a pre-scanned floor map;
and then controlling the mobile robot to move from the elevator waiting position to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction over against the elevator door.
2. The control method according to claim 1, wherein the method for controlling the mobile robot to move from the waiting position to the elevator according to the change of the distance measuring data of the laser distance measuring sensor in the direction opposite to the elevator door when the mobile robot moves to the waiting position comprises the following steps:
when the mobile robot moves to the elevator waiting position point, judging whether the distance measurement data detected by the laser distance measurement sensor in the direction opposite to the elevator door is a second distance measurement distance, if so, controlling the mobile robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, judging whether the product of the difference value of the distance measurement data detected later by the laser distance measurement sensor in the direction opposite to the elevator door and the previously detected distance measurement data and the cosine value of a preset angle is in a preset width range value, and if so, controlling the mobile robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction;
wherein the predetermined width range value is greater than a first predetermined width value and less than a second predetermined width value, the first predetermined width value being less than the second predetermined width value, the second predetermined width value being associated with a width dimension of the elevator;
the second distance measurement distance is distance measurement data of the elevator door obtained by the laser distance measurement sensor at the position of the elevator waiting position when the elevator door is opened on the premise that no other barrier is shielded;
wherein the later detected ranging data is delayed in time from the earlier detected ranging data.
3. The control method according to claim 2, wherein, on the premise that the laser ranging sensor does not detect the second ranging distance in the direction facing the elevator door at the time when the mobile robot moves to the waiting position point, if it is determined that the product of the difference between ranging data detected later in the direction facing the elevator door by the laser ranging sensor and ranging data detected earlier and the cosine value of the preset angle is not within the predetermined width range value, the foregoing determination is repeated for a second predetermined time, and after the second predetermined time elapses, if the foregoing product is not within the predetermined width range value yet, the mobile robot is not controlled to enter the elevator.
4. The control method according to claim 3, wherein the laser ranging sensor detects a first ranging distance in a direction facing an elevator door at a time when the mobile robot moves to the waiting position point;
then, judging whether the product of the difference value of the ranging data detected later by the laser ranging sensor in the direction opposite to the elevator door and the first ranging data detected earlier and the cosine value of the preset angle is in the preset width range value or not, if so, controlling the mobile robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, repeating the judgment in the second preset time, and after the second preset time, if the product is not in the preset width range value, not controlling the mobile robot to enter the elevator;
the first distance measurement distance is distance measurement data obtained by the laser distance measurement sensor when the elevator door is closed and measured at the elevator waiting position on the premise that no other obstacles block the elevator door.
5. The control method according to claim 4, wherein when the mobile robot obtains the first ranging distance by ranging through the laser ranging sensor at the waiting position, a boarding request is sent to the elevator;
after sending the elevator taking request to the elevator, if the laser ranging sensor keeps the first ranging distance unchanged within a first preset time, sending the elevator taking request to the elevator again until the elevator state is obtained, namely the door is opened.
6. The control method according to any one of claims 2 to 4, wherein the preset angle is an emission visual angle formed by a laser emission direction of the laser ranging sensor and the ground, so that when the mobile robot moves to the elevator waiting position point, a line segment corresponding to a horizontal distance from the elevator waiting position point to the front surface of the elevator door is on the same vertical plane as the laser emitted by the laser ranging sensor;
the laser emitting direction of a laser ranging sensor of the mobile robot at the position of the elevator waiting position is opposite to the elevator door;
the numerical range of the preset angle is set to be greater than 30 degrees and less than 40 degrees.
7. The control method according to claim 6, wherein after controlling the mobile robot to move into the elevator from the waiting position, the mobile robot is controlled to stop moving when the distance from the mobile robot to the elevator door is greater than the first predetermined width value.
8. A laser robot is characterized by comprising a ladder waiting point determining module and a distance measuring judging module;
the laser robot comprises a laser robot, a floor map scanning module, a landing point determining module and a laser robot control module, wherein the laser robot is used for scanning a floor map;
and the distance measurement judging module is used for controlling the laser robot to move from a waiting position point to enter the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction just opposite to the elevator door.
9. The laser robot of claim 8, wherein the ranging determination module comprises a first determination submodule and a second determination submodule;
the first judgment sub-module is used for judging whether the distance measurement data detected by the laser distance measurement sensor in the direction opposite to the elevator door is a second distance measurement distance at the moment when the laser robot moves to the elevator waiting position point, if so, the laser robot is controlled to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, and if not, the laser robot is handed to the second judgment sub-module for execution;
the second judgment submodule is used for judging whether the product of the difference value of the ranging data detected later and the ranging data detected earlier by the laser ranging sensor in the direction opposite to the elevator door and the cosine value of the preset angle is in a preset width range value or not, if so, the laser robot is controlled to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction, otherwise, the judgment is repeated in second preset time, and after the second preset time, the laser robot is not controlled to enter the elevator if the product is not in the preset width range value;
wherein the predetermined width range value is greater than a first predetermined width value and less than a second predetermined width value, the first predetermined width value being less than the second predetermined width value, the second predetermined width value being associated with a width dimension of the elevator;
the second distance measurement distance is distance measurement data of the elevator door obtained by the laser distance measurement sensor at the position of the elevator waiting position when the elevator door is opened on the premise that no other barrier is shielded;
wherein the later detected ranging data is delayed in time from the earlier detected ranging data.
10. The laser robot of claim 9, wherein the first determining sub-module is configured to send a boarding request to the elevator when it is determined that the distance measurement data of the laser distance measuring sensor in the direction facing the elevator door is the first distance measurement distance at the time when the laser robot moves to the elevator waiting position point; after sending an elevator taking request to the elevator, if the first distance measurement is kept unchanged within the first preset time, sending the elevator taking request to the elevator again until the elevator state is obtained and the door is opened;
the elevator is provided with a control device which is communicated with the laser robot and is used for controlling the opening of an elevator door according to the height position of the floor where the elevator door is located and responding to a request command of the laser robot so as to enable the laser robot to obtain the real-time state information of the elevator;
the first distance measurement distance is distance measurement data obtained by the laser distance measurement sensor when the elevator door is closed and measured at the elevator waiting position on the premise that no other obstacles block the elevator door.
11. A chip comprising computer executable instructions for controlling a mobile robot to perform the control method of any of claims 1 to 7, the mobile robot being a laser robot as claimed in any of claims 8 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010484357.7A CN111728532A (en) | 2020-06-01 | 2020-06-01 | Control method for robot to enter elevator, laser robot and chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010484357.7A CN111728532A (en) | 2020-06-01 | 2020-06-01 | Control method for robot to enter elevator, laser robot and chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111728532A true CN111728532A (en) | 2020-10-02 |
Family
ID=72648145
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010484357.7A Pending CN111728532A (en) | 2020-06-01 | 2020-06-01 | Control method for robot to enter elevator, laser robot and chip |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111728532A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093751A (en) * | 2021-04-02 | 2021-07-09 | 北京云迹科技有限公司 | Position control method and device for elevators such as robot and storage medium |
| CN113307113A (en) * | 2021-05-26 | 2021-08-27 | 福建汉特云智能科技有限公司 | Method for robot to take elevator automatically and storage medium |
| CN113867338A (en) * | 2021-09-15 | 2021-12-31 | 南京图菱视频科技有限公司 | Method and system for quickly adjusting elevator taking position of robot at mobile terminal |
| CN113917916A (en) * | 2021-09-23 | 2022-01-11 | 珠海一微半导体股份有限公司 | Cross-floor transfer device, elevator, mobile robot and robot dispatching system |
| CN114526738A (en) * | 2022-01-25 | 2022-05-24 | 中国科学院深圳先进技术研究院 | Mobile robot visual navigation method and device based on deep reinforcement learning |
| CN114847810A (en) * | 2022-07-08 | 2022-08-05 | 深圳市云鼠科技开发有限公司 | Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109095299A (en) * | 2018-08-23 | 2018-12-28 | 北京云迹科技有限公司 | Robot boarding method and device based on Internet of Things |
| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | A kind of intelligent apparatus |
| CN110313872A (en) * | 2019-05-05 | 2019-10-11 | 胡敏超 | A kind of method and device of Ground Connection in Intelligent Building automated cleaning |
| CN110696004A (en) * | 2019-09-18 | 2020-01-17 | 五邑大学 | Intelligent navigation robot and control method thereof |
| CN110788864A (en) * | 2019-11-29 | 2020-02-14 | 上海有个机器人有限公司 | Method for robot to get in and out of elevator and robot control system for getting in and out of elevator |
| CN110861094A (en) * | 2019-12-09 | 2020-03-06 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
-
2020
- 2020-06-01 CN CN202010484357.7A patent/CN111728532A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109895105A (en) * | 2017-12-11 | 2019-06-18 | 拉扎斯网络科技（上海）有限公司 | A kind of intelligent apparatus |
| CN109095299A (en) * | 2018-08-23 | 2018-12-28 | 北京云迹科技有限公司 | Robot boarding method and device based on Internet of Things |
| CN110313872A (en) * | 2019-05-05 | 2019-10-11 | 胡敏超 | A kind of method and device of Ground Connection in Intelligent Building automated cleaning |
| CN110696004A (en) * | 2019-09-18 | 2020-01-17 | 五邑大学 | Intelligent navigation robot and control method thereof |
| CN110788864A (en) * | 2019-11-29 | 2020-02-14 | 上海有个机器人有限公司 | Method for robot to get in and out of elevator and robot control system for getting in and out of elevator |
| CN110861094A (en) * | 2019-12-09 | 2020-03-06 | 上海高仙自动化科技发展有限公司 | Robot control method, robot, and readable storage medium |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113093751A (en) * | 2021-04-02 | 2021-07-09 | 北京云迹科技有限公司 | Position control method and device for elevators such as robot and storage medium |
| CN113093751B (en) * | 2021-04-02 | 2023-03-14 | 北京云迹科技股份有限公司 | Position control method and device for elevators such as robot and storage medium |
| CN113307113A (en) * | 2021-05-26 | 2021-08-27 | 福建汉特云智能科技有限公司 | Method for robot to take elevator automatically and storage medium |
| CN113867338A (en) * | 2021-09-15 | 2021-12-31 | 南京图菱视频科技有限公司 | Method and system for quickly adjusting elevator taking position of robot at mobile terminal |
| CN113917916A (en) * | 2021-09-23 | 2022-01-11 | 珠海一微半导体股份有限公司 | Cross-floor transfer device, elevator, mobile robot and robot dispatching system |
| CN114526738A (en) * | 2022-01-25 | 2022-05-24 | 中国科学院深圳先进技术研究院 | Mobile robot visual navigation method and device based on deep reinforcement learning |
| CN114526738B (en) * | 2022-01-25 | 2023-06-16 | 中国科学院深圳先进技术研究院 | Mobile robot visual navigation method and device based on deep reinforcement learning |
| CN114847810A (en) * | 2022-07-08 | 2022-08-05 | 深圳市云鼠科技开发有限公司 | Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser |
| CN114847810B (en) * | 2022-07-08 | 2022-09-20 | 深圳市云鼠科技开发有限公司 | Cleaning robot obstacle crossing method, device, equipment and medium based on LDS laser |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111728533B (en) | Movement control method for robot to get in and out of elevator, laser robot and chip | |
| CN111728532A (en) | Control method for robot to enter elevator, laser robot and chip | |
| CN110861094B (en) | Robot control method, robot, and readable storage medium | |
| CN110861095B (en) | Robot control method, robot, and readable storage medium | |
| EP3604068B1 (en) | Vehicle control method, device and storage medium | |
| CN110788864B (en) | Method for robot to get in and out of elevator and robot control system for getting in and out of elevator | |
| US10809734B2 (en) | Route planning in an autonomous device | |
| CN105182979B (en) | A kind of mobile robot detection of obstacles and preventing collision method and system | |
| KR101864948B1 (en) | Method for controlling mobile robot unit with rgb-d sensor in the case of taking on/off an elevator | |
| US9164512B2 (en) | Autonomous moving body and control method thereof | |
| KR101526639B1 (en) | Automatic guided vehicle and travel control method | |
| US10915107B2 (en) | Method for the operation of an automatically moving cleaning appliance | |
| CN114930263A (en) | Autonomous transport vehicle | |
| CN112537702A (en) | Robot elevator taking guiding method and device, terminal equipment and readable storage medium | |
| CN112539749B (en) | Robot navigation method, robot, terminal device, and storage medium | |
| CN110968086B (en) | Vehicle arrival control method and system | |
| CN110014437B (en) | Spraying robot, control method and control device thereof, and computer-readable storage medium | |
| CN110313872B (en) | Intelligent building automatic cleaning method and device | |
| EP3403965A1 (en) | Destination entry using building floor plan | |
| CN112537705B (en) | Robot elevator taking scheduling method and device, terminal equipment and storage medium | |
| KR20220055167A (en) | Autonomous robot, world map management server of autonomous robot and collision avoidance method using the same | |
| JP6354296B2 (en) | Automated guided vehicle traveling system | |
| CN114314227A (en) | Self-moving equipment, ladder taking method and system for self-moving equipment and medium | |
| CN113250513B (en) | Parking lot barrier gate control method and system | |
| CN114587210A (en) | Cleaning robot control method and control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information |
Address after: 519000 2706, No. 3000, Huandao East Road, Hengqin new area, Zhuhai, Guangdong Applicant after: Zhuhai Yiwei Semiconductor Co.,Ltd. Address before: 519000 room 105-514, No. 6, Baohua Road, Hengqin new area, Zhuhai City, Guangdong Province (centralized office area) Applicant before: AMICRO SEMICONDUCTOR Co.,Ltd. |
|
| CB02 | Change of applicant information | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201002 |
|
| RJ01 | Rejection of invention patent application after publication |