CN111728533B

CN111728533B - Movement control method for robot to get in and out of elevator, laser robot and chip

Info

Publication number: CN111728533B
Application number: CN202010484909.4A
Authority: CN
Inventors: 肖刚军; 许登科
Original assignee: Zhuhai Amicro Semiconductor Co Ltd
Current assignee: Zhuhai Amicro Semiconductor Co Ltd
Priority date: 2020-06-01
Filing date: 2020-06-01
Publication date: 2022-02-08
Anticipated expiration: 2040-06-01
Also published as: CN111728533A

Abstract

The invention discloses a movement control method for a robot to get in and out of an elevator, a laser robot and a chip, wherein the movement 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; then controlling the mobile 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 opposite to the elevator door; and when the mobile robot obtains the vertical height position parameter corresponding to the target floor, controlling the mobile robot to move out of 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. The invention controls the robot 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, 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 ensured. The unfinished work of the laser robot can be processed without going downstairs of a user, and the labor cost is reduced.

Description

Movement control method for robot to get in and out of elevator, laser robot and chip

Technical Field

The invention relates to the technical field of robot movement control, in particular to a movement control method for a robot to get in and out of 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 taking task, generally, in the process of completing the elevator taking action by navigation, the robot is easily interfered by passengers or other obstacle objects, so that errors are generated on the position and the direction of the robot entering and exiting the elevator, and even the failure of the robot in taking the elevator to reach the target floor is caused.

Disclosure of Invention

In order to overcome the technical defects, the invention provides the following technical scheme:

a method of controlling movement of a robot into and out of an elevator, comprising: controlling the mobile robot to move to a waiting position of the current floor according to a pre-scanned floor map; then controlling the mobile 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 opposite to the elevator door; and when the mobile robot obtains the vertical height position parameter corresponding to the target floor, controlling the mobile robot to move out of 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 technical scheme controls the robot 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, and the robot enters the elevator from the elevator waiting position and leaves the elevator at the specific vertical height position parameter, 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 ensured. 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.

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: judging whether the product of the difference value of the ranging data detected later by the laser ranging sensor in the direction over against the elevator door and the first ranging distance detected earlier and the cosine value of the preset angle is within a 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 within second preset time, and if the product is not within the preset width range value yet after the second preset time, not controlling the mobile robot 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 first distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is measured by the laser distance measurement sensor at the position of the elevator waiting position; the later detected ranging data is delayed in time from the earlier detected first ranging distance. According to the technical scheme, 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, whether the robot is suitable for entering the elevator is accurately judged by setting the preset width range value, the influence of environmental factors on the distance measurement 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 entering of the elevator is also improved.

Further, when the mobile robot moves to the elevator waiting position point, the laser emitting direction of the laser ranging sensor is 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 and laser emitted by the laser ranging sensor are positioned on the same vertical plane. 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, 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 robot to the elevator door within the specified first preset time, eliminates the interference of some unstable environmental factors, and accurately judges whether the elevator door is opened or not by setting a preset time value.

Further, in the process of controlling the mobile robot to move from the elevator waiting position point into the elevator, when the distance from the mobile robot to the elevator door is greater than the first preset width value, the mobile robot is controlled to rotate, so that the laser emission direction of the laser ranging sensor of the mobile robot is over against the elevator door. According to the technical scheme, whether the elevator door is opened or not can be detected conveniently when the elevator door subsequently reaches the target floor by adjusting the motion posture of the robot.

Further, when the distance from the mobile robot to the elevator door is larger than the first preset width value, detecting the vertical height position parameter in real time according to an internal inertial navigation sensor, and sending an elevator taking confirmation request to the elevator; when the vertical height position parameter changes, determining that the elevator state is a door closing state and leaves the current floor; and then, adjusting the laser emission direction of the laser ranging sensor to form the preset angle with the ground, so that a line segment corresponding to the horizontal distance from the current position of the mobile robot to the front surface of the elevator door is positioned on the same plane with the laser emitted by the laser ranging sensor, and then ranging by using the laser ranging sensor to obtain a third ranging distance. The technical scheme determines the condition that the robot enters the elevator and prepares for taking the elevator, determines the judgment condition that the elevator door is closed, and adjusts the laser emission direction characteristic of the laser ranging sensor on the basis of the condition so as to detect the opening and closing condition of the elevator door when the robot reaches the target floor subsequently.

Further, when the mobile robot obtains the vertical height position parameter corresponding to the target floor, the method for controlling the mobile robot to move out of 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 comprises the following steps: judging whether the product of the difference value of the ranging distance detected later by the laser ranging sensor in the direction opposite to the elevator door and the previously detected third ranging distance and the cosine value of a preset angle is larger than a second preset width value or not, if so, controlling the mobile robot to walk out of the elevator along the horizontal projection line of the laser emission direction adjusted according to claim 6, otherwise, repeating the judgment within fourth preset time, and after fourth preset time, if the product is not larger than the second preset width value, sending an arrival request to the elevator again to maintain the state of the elevator open; wherein the later detected ranging data is delayed in time from the earlier detected third ranging distance. According to the technical scheme, the difference value of the distance measurement data of the laser distance measurement sensor at the position where the robot rotates is converted into the horizontal distance change value from the position to the elevator door and the position of the wall outside the elevator cage, and the preset value is set to judge whether the elevator door is opened or not, so that the influence of environmental factors on the distance measurement parameters is overcome, the robot is prevented from being blocked by passengers or other objects in the elevator cage and not going out of the elevator to cause safety accidents, and the robot is accurately controlled to go out of the elevator.

Further, when the mobile robot detects and acquires the vertical height position parameter corresponding to the target floor, sending an arrival request to the elevator to determine that the elevator state is the arrival of the target floor; after sending the arrival request to the elevator, if the laser ranging sensor keeps the third ranging distance unchanged within a third preset time, sending the arrival request to the elevator again until the elevator state is obtained, namely door opening. The embodiment determines the elevator taking time by monitoring the distance measurement data change of the robot to the elevator door within the specified third preset time, eliminates the interference of some unstable environmental factors and is matched with the normal operation work of the elevator.

A laser robot comprises an elevator entering module and an elevator exiting module; the elevator entering module is used for controlling the laser robot to move to a waiting position point of the current floor according to a pre-scanned floor map, and then controlling the laser robot to move from the 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 vertical direction opposite to the elevator door; and the elevator exit module is used for controlling the mobile robot to move out of the elevator according to the change condition of the distance measurement data of the laser distance measurement sensor in the vertical direction just opposite to the elevator door when the laser robot enters the elevator and obtains the vertical height position parameter corresponding to the target floor. 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 closed, and the elevator taking tasks include entering the elevator from an elevator waiting position and leaving the elevator at a specific vertical height position parameter, 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 ensured. 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.

Further, the elevator entering module is used for judging whether the product of the difference value between the second ranging distance detected later and the first ranging distance detected earlier at the elevator waiting position point by the laser robot and the cosine value of the preset angle is within a preset width range value, if so, controlling the laser robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction; then, adjusting the laser emission direction of the laser ranging sensor 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 and the laser emitted by the laser ranging sensor are positioned on the same vertical plane, wherein the laser emission direction of the laser ranging sensor of the mobile robot positioned at the elevator waiting position point is over against the elevator door; the first distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is measured by the laser distance measurement sensor at the position of the elevator waiting position; the elevator taking adjusting module is used for controlling the laser robot to rotate when the distance from the laser robot to the elevator door is detected to be larger than a first preset width value in the process that the elevator entering module controls the laser robot to move from the elevator waiting position point to enter the elevator, so that the laser emitting direction of a laser ranging sensor of the laser robot is over against the elevator door, and meanwhile, an inertial navigation sensor in the module is used for detecting vertical height position parameters in real time; then adjusting the laser emission direction of the laser ranging sensor to form a preset angle with the ground, so that a line segment corresponding to the horizontal distance from the current position of the mobile robot to the front surface of the elevator door and the laser emitted by the laser ranging sensor are positioned on the same plane; the elevator exit module is used for controlling the laser robot to exit the elevator along a horizontal projection line of the laser emission direction adjusted by the elevator taking adjustment module when judging whether the product of the difference value of a fourth distance measurement distance detected later and a third distance measurement distance detected earlier in the direction opposite to the elevator door by the laser distance measurement sensor and the cosine value of a preset angle is larger than a second preset width value or not after the elevator taking adjustment module acquires the vertical height position parameter corresponding to the target floor, wherein the laser emission direction of the laser distance measurement sensor at the current position of the mobile robot is opposite to the elevator door; the third distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is obtained by measuring in the elevator by the laser distance measurement sensor; 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 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 change condition of the distance measurement data of the laser distance measurement sensor is judged by setting the preset width range value so as to determine the opening and closing condition of the elevator door, the influence of artificial environmental factors on distance measurement parameters is overcome, and the accuracy of judging the opening of the elevator by the robot 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.

Further, the elevator entering module is used for sending an elevator taking request to the elevator when the laser ranging sensor ranges at the elevator waiting position to obtain the first ranging distance; after sending an elevator taking request to the elevator, if the first distance measurement is kept unchanged within a 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 taking adjusting module is used for sending an elevator taking confirmation request to the elevator after the laser robot moves from the elevator waiting position point to enter the elevator and the distance to the elevator door is greater than the first preset width value, and simultaneously sending an elevator taking confirmation request to the elevator when the vertical height position parameter is detected to change so as to determine that the elevator is closed and leaves the current floor; the elevator exit module is used for sending an arrival request to an elevator when the laser robot detects and acquires the vertical height position parameter corresponding to the target floor so as to determine that the elevator reaches the target floor; after sending an arrival request to the elevator, if the laser ranging sensor detects that the ranging data keeps the third ranging distance unchanged within third preset time, sending the arrival request to the elevator again until the elevator state is obtained, namely 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 and closing of the elevator door according to the floor height position, responding to the request command of the laser robot and leading the laser robot to acquire the real-time state information of the elevator. According to the technical scheme, the automation degree of the laser robot automatically entering and exiting the elevator is improved according to the interactive communication between the laser robot and the elevator. Whether the elevator enters or not, whether the target floor is reached or not and whether the elevator leaves or not are accurately judged.

A chip comprising computer executable instructions for controlling the laser robot to perform the movement control method.

Drawings

Fig. 1 is a flowchart of a movement control method for a robot to enter and exit an elevator according to an embodiment of the present invention.

Fig. 2 is another flowchart of a method for controlling movement of a robot into and out of 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 flowchart of determining that an elevator is open before a robot exits the elevator according to an embodiment of the present invention.

Fig. 5 is a schematic view of an application scenario of the robot starting to enter an elevator in the embodiment of the present invention.

Fig. 6 is a schematic view of an application scenario of the robot starting to move out of the elevator in the embodiment of the present invention.

Fig. 7 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 movement control method for a robot to get in and out of 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 movement 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 floor map can be scanned by the relevant sensors, the positions of various areas in the floor map, such as room positions, elevator positions, import and export positions and the like, are identified, the scanned floor map is stored 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 that the mobile robot is guided 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. 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 the set instruction, and the current position of the mobile robot 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 over against the elevator door, and then entering S103. 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 position, wherein, the variable distance measurement data accurately shows that the elevator door is changed from closed to open or from open to 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.

And S103, when the mobile robot obtains the vertical height position parameter corresponding to the target floor, controlling the mobile robot to move out of 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. In the embodiment, after the mobile robot enters the elevator, the internal inertial navigation sensor is triggered to continuously acquire the height position parameter value of the robot at a small time interval, so that the vertical height position parameter is detected in real time, and whether the elevator reaches a target floor is judged by combining the vertical height position parameter, wherein the height position parameter value can be measured by an Inertial Measurement Unit (IMU), the IMU is based on Newton classic mechanics and comprises a three-axis gyroscope and a three-axis accelerometer, the IMU is fixedly arranged in a mobile base of the robot and used for measuring the angular velocity and the linear acceleration of an elevator body in the ascending or descending process, and the IMU is free from environmental interference in working. When the mobile robot obtains the vertical height position parameter corresponding to the target floor, the elevator is determined to reach the target floor, then whether the elevator door is opened or not is detected according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction opposite to the elevator door, when the distance measurement data in the corresponding direction changes in a certain range, the situation that the elevator door is opened or not is accurately shown, and then the mobile robot is started to move out of the elevator and enter the working area of the target floor.

Compared with the prior art, the robot is controlled to execute the elevator taking task according to the ranging data change conditions of the laser ranging sensor before and after the elevator door is opened and closed, the robot is started to enter the elevator from the elevator waiting position and to leave the elevator at the specific vertical height position parameter, 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 movement control method of a robot entering and exiting 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, when the mobile robot moves to the elevator waiting position point, adjusting the laser emission direction of the laser ranging sensor to form a preset angle with the ground, enabling a line segment corresponding to the horizontal distance from the elevator waiting position point to the front surface of the elevator door to be located on the same vertical plane with laser emitted by the laser ranging sensor, and then entering step S203; 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. As shown in fig. 5, 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 right 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, and the laser PC is emitted at a position D on the surface of the inner wall of the elevator after the elevator door is opened. 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.

And S203, controlling the mobile robot to obtain a first distance measurement distance at the position of the elevator through the distance measurement of the laser distance measurement sensor, and then entering S204. 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. Step S202, after the laser emitting direction of the laser ranging sensor at the position of the elevator is adjusted, the laser ranging sensor can be used for ranging the elevator door, and a first ranging distance is obtained before the elevator door is not opened. As shown in fig. 5, the first ranging distance is a length corresponding to the segment PC, and it is assumed that the first ranging distance E is: e = c × t2/2, where c is the speed of light, t2 is the measurement duration of the first ranging distance E, the mobile robot may configure a timing clock, determine the time t2 through the timing clock, and further calculate the first ranging distance E, and the ranging data detected by the laser ranging sensor is calculated according to the foregoing method. The first distance measurement is distance measurement data measured by the laser distance measurement sensor at the elevator waiting position when the elevator door is closed.

Step S204, judging whether the product of the difference value of the ranging distance detected by the laser ranging sensor after and the first ranging distance and the cosine value of the preset angle is in a preset width range value, if so, entering step S205, otherwise, entering step S206, wherein the ranging data detected by the laser ranging sensor after 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 first distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is measured by the laser distance measurement sensor at the position of the elevator waiting position; 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 elevator shown in the figure 5, 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. 5, 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 preset width range value, 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.

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, and then entering S208, wherein the laser emission direction of a laser ranging sensor of the mobile robot at the elevator waiting position point is just opposite to an 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 S206, detecting whether the repeated judgment time of the step S204 reaches a second preset time, if so, entering the step S207, otherwise, returning to the step S204. 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 distance detected by the laser ranging sensor and the first ranging distance 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 fully loaded 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 S207, the mobile robot is not controlled to enter the elevator. The embodiment described in steps S203 to S207 converts the difference value of the distance measurement data of the laser distance measurement sensor at the waiting position point with the unchanged laser emission angle into the horizontal distance change value from the waiting position point to the elevator door and the inner wall of the elevator car, and then sets the value of the predetermined width range to accurately judge whether the elevator door is opened, thereby overcoming the influence of environmental factors on the distance measurement parameters, further avoiding the occurrence of safety accidents when the robot enters the elevator under the condition that the robot is blocked by passengers or other objects near the waiting position point and is inaccessible, and improving the accuracy of the robot in judging the opening of the elevator.

Step S208, judging whether the distance from the mobile robot to the elevator door is greater than the first preset width value, if so, entering step S209, otherwise, returning to step S205. 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.

Step S209, determining that the mobile robot has completely entered the interior of the elevator, controlling the mobile robot to rotate so that the laser emission direction of the laser ranging sensor of the mobile robot is opposite to the elevator door, and then, entering step S210. The step is convenient for detecting whether the elevator door is opened or not when the elevator door subsequently reaches the target floor by adjusting the motion posture of the robot.

Step S210, detecting the vertical height position parameter in real time according to an internal inertial navigation sensor after the distance from the mobile robot to the elevator door is greater than the first preset width value; when the vertical height position parameter changes, determining that the elevator state is a door closing state and leaves the current floor; then, the preset angle is formed between the laser emitting direction of the laser ranging sensor and the ground, so that the line segment corresponding to the horizontal distance from the current position of the mobile robot to the front surface of the elevator door and the laser emitted by the laser ranging sensor are in the same plane, and then the step S211 is performed. The laser emitting direction of the laser ranging sensor after adjustment is just opposite to the elevator door, and the current position of the mobile robot is located inside the elevator. The embodiment adjusts the laser emission direction characteristic of the laser ranging sensor on the vertical plane just opposite to the elevator door so as to detect the opening and closing condition of the elevator door when the elevator door subsequently reaches the target floor.

In one example, it may be determined whether the elevator status is that the elevator reaches the target floor based on the current altitude at which the robot is located. The robot can be provided with a height sensor and an accelerometer, and can acquire the height of the mobile robot entering the elevator, so that whether the elevator reaches a target floor or not can be judged based on the height or acceleration change of the mobile robot. Specifically, the height range and the acceleration data corresponding to the corresponding floor number may be preset, for example, the height corresponding to the 3 rd floor of the elevator may be set to 9-12 m, and the acceleration of the elevator from the initial floor to the third floor is reduced to 0.

Step S211, ranging by using the laser ranging sensor to obtain a third ranging distance, and then entering step S212. As shown in fig. 6, a position A1 is a position where the distance from the elevator door MN to the mobile robot is greater than the first predetermined width value, P1 is a laser ranging sensor on the mobile robot, a segment P1I is a laser emitted by the laser ranging sensor, a laser emitting direction P1I of the laser ranging sensor forms a preset angle b with a ground level P1H, a laser emitting direction P1I of a laser ranging sensor P1 of a current position A1 of the mobile robot is opposite to the elevator door MN, a segment A1N corresponding to the horizontal distance from the current position A1 to the front surface of the elevator door MN is on the same vertical plane as the laser P1I emitted by the laser ranging sensor P, and the laser P1I is incident on a position I on the surface of the elevator door MN before the elevator door is opened, so that the third ranging distance is a length corresponding to the segment P1I, assuming that the third ranging distance E3 is: e3= c × t3/2, where c is the speed of light, and t3 is the measurement duration of the third ranging distance E3, the mobile robot may configure a timing clock, determine the time t3 through the timing clock, and further calculate the third ranging distance E3, and the ranging data detected by the laser ranging sensor is calculated according to the method in this step. Wherein the current position a1 of the mobile robot is inside the elevator. As shown in fig. 6, the laser P1G is incident on the wall surface outside the elevator at position G after the elevator door is opened. Preferably, b is greater than 30 degrees but less than 40 degrees, so that the situation that a part of line segments IJ forming the elevator calculated based on the line segment A1N is infinitely long and does not conform to the actual size of the elevator is avoided; the horizontal distance of position point a1 to the front face of elevator door MN is 0.77 meters, which is greater than the first predetermined width value.

Step S212, when the mobile robot detects that the vertical height position parameter corresponding to the target floor is reached according to the internal inertial navigation sensor, whether the product of the difference value of the ranging distance detected later by the laser ranging sensor in the direction opposite to the elevator door and the previously detected third ranging distance and the cosine value of the preset angle is larger than the second preset width value is judged, if yes, the step S215 is executed, and if not, the step S213 is executed. Wherein, the range finding data detected by the laser range finding sensor is as follows: after the laser ranging sensor detects and acquires the third ranging distance, ranging data detected in the direction opposite to the elevator door has a delay relation in detection time relative to the previously detected third ranging distance; the second predetermined width value is associated with the width dimension of the elevator, the second predetermined width value may be equal to the width of the car body of the elevator, that is, the length of the line segment FN of the elevator formed in fig. 5, and the preset angle is an included angle formed by the laser emitting direction of the laser ranging sensor and the ground, so that when the mobile robot moves to the position point a1, the line segment corresponding to the horizontal distance from the position point a1 to the front surface of the elevator door MN is on the same vertical plane as the laser P1I emitted by the laser ranging sensor P1. When the elevator door is not opened, the difference value between the distance measured by the laser distance measuring sensor and the third distance measured is 0, so that the product result is obviously smaller than the second preset width value, wherein the distance measured by the laser distance measuring sensor is the length of a line segment P1I and is also equivalent to the third distance measured; when the elevator door is opened, as shown in fig. 6, the laser emitted by the laser ranging sensor P1 is emitted at position G on the wall surface outside the elevator, then the ranging distance detected by the laser ranging sensor is the length of the line segment P1G, which is recorded as the fourth ranging distance, and at this time, the ranging data (corresponding to the ranging distance) has been changed from the third ranging distance to the fourth ranging distance, and the difference between the fourth ranging distance and the third ranging distance is the length of the line segment IG, so that the product of the difference between the fourth ranging distance and the third ranging distance and the cosine of the preset angle b is the cosine of the line segment IG about the preset angle b, that is, the line segment JH, is equal to the length of the line segment NK, and is greater than the width of the elevator car body (the second preset width value), and at this time, it can also be verified from a triangular geometric relationship that the laser emitted by the laser ranging sensor P1 has been emitted from the elevator, to the outside of the elevator, the elevator door is opened. In this embodiment, in order to avoid the influence of environmental factors such as contour interference of passengers and obstacles on the ranging data, which may cause inaccuracy of the ranging result of the robot, in practical application, optionally, a position parameter floating interval corresponding to a product of a difference between the fourth ranging distance and the third ranging distance detected by the laser ranging sensor and a cosine value of the preset angle, that is, a floating interval larger than a dimension parameter of the elevator car, may be determined based on a certain strategy, so that when the cosine value of the ranging data change value detected by the robot in real time is located in the floating interval, it may be considered that the elevator door is an open detection result and the obstacle on the route from the current position of the robot to the outside of the elevator is limited, and the robot may be accurately triggered to walk out of the elevator. The embodiment converts the difference value of the distance measurement data of the laser distance measurement sensor at the position of the robot after the laser emission angle is unchanged into the horizontal distance change value from the position to the elevator door and the position of the wall outside the elevator cage, and sets the preset value to judge whether the elevator door is opened or not, thereby overcoming the influence of environmental factors on the distance measurement parameters, further avoiding the safety accident caused by the fact that the robot is blocked by passengers or other objects in the elevator cage and does not leave the elevator, and realizing the accurate control of the robot to leave the elevator.

And S215, controlling the mobile robot to leave the elevator from the current position point A1 along the horizontal projection line of the laser emission direction adjusted in the step S209, wherein the laser emission direction of the laser ranging sensor of the mobile robot at the position point A is 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. The step controls the mobile robot to move, and keeps a preset angle value formed by the laser ranging sensor and the ground unchanged.

Step S213, detecting whether the repeated determination time of step S212 reaches the fourth predetermined time, if yes, entering step S214, otherwise, returning to step S212. In the embodiment, the distance measurement data of the laser distance measurement sensor is used for continuously judging the situation of the obstacle or the passenger flow between the position point a1 shown in fig. 6 and the wall GK outside the elevator shown in fig. 6 within the fourth preset time, because the distance measurement data of the laser distance measurement sensor is 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 to move is unstable. In some embodiments, the fourth predetermined time may be 1 minute. That is, when the mobile robot continuously judges that the product of the difference between the ranging distance detected by the laser ranging sensor and the third ranging distance and the cosine value of the preset angle is not greater than the second preset width value within 1 minute, it indicates that the outside of the elevator has obstructed the traveling path of the robot, the condition for exiting the elevator is not met temporarily, the mobile robot can only be controlled to stay at the position point a1, and then the step S214 is entered to maintain the state of the elevator open by sending a relevant request command to the elevator. The embodiment monitors the elevator-exiting state of the mobile robot in a preset time through the change condition of the ranging data, realizes the control of the mobile robot to accurately and smoothly exit the elevator, and simultaneously avoids the influence on the normal operation of the elevator caused by the overlong elevator-exiting time of the robot. Of course, in other embodiments, the fourth predetermined time may be flexibly configured according to actual needs, and is not specifically limited herein.

In an exemplary embodiment, the step S203 specifically includes: and S2031, controlling the mobile robot to measure the distance at the position of the elevator by the laser distance measuring sensor to obtain the first distance measuring distance, and then entering S2032. The first distance measurement distance is distance measurement data obtained by the laser distance measurement sensor at the elevator waiting position when the elevator door is closed, and when the laser distance measurement sensor is at the elevator waiting position and the first distance measurement distance is measured in the direction opposite to the elevator door at a visual angle forming the preset angle with the ground plane, the elevator door can be determined to be closed. Step S2032 of controlling the mobile robot to transmit an elevator boarding request to the elevator at the elevator waiting position, and then proceeding to step S2033. Step S2033, 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 S2032, and continuing to send 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 S2034. And S2034, determining that the elevator reaches the current floor and opens the door from the moment when the distance measurement data judged in the step S2033 is changed, 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 another exemplary embodiment, the step S211 specifically includes: step S2111, after the mobile robot enters the elevator interior, when the mobile robot moves to the position where the distance of the elevator door is greater than the first preset width value, the laser ranging sensor adjusted in the step S210 is used for ranging to obtain the third ranging distance, and then the step S2112 is carried out. Wherein the third distance measurement is the distance measurement data of the laser distance measurement sensor at the elevator interior position a1 shown in fig. 6 when the elevator door is closed. And S2112, controlling the mobile robot to send an arrival request to the elevator at the current position, and then entering the step S2113. Step S2113, judging whether the distance measurement data of the laser distance measurement sensor in third preset time is kept unchanged, if so, returning to the step S2112, and continuing to send an arrival request to the elevator until the response state of the elevator is obtained, namely door opening; otherwise, the process proceeds to step S2114. And S2114, starting at the moment that the distance measurement data judged in the step S2113 is changed, determining that the elevator reaches the target floor and opens the door, and simultaneously acquiring the response state of the elevator, namely opening the door. The embodiment determines the arrival time by monitoring the distance measurement data change of the elevator door by the robot within the specified third preset time, and eliminates the interference of some unstable environmental factors, such as some obstacles and blocking effects of passengers, which are easy to cause misjudgment to cause the robot to be trapped in the elevator. In this embodiment, the third preset time may be flexibly configured according to the actual task requirement, and is not specifically limited herein.

The embodiment of the invention also discloses a laser robot, which mainly comprises a ladder entering module and a ladder exiting module; the elevator entering module is used for controlling the laser robot to move to a waiting position point of the current floor according to a pre-scanned floor map, and then controlling the laser robot to move from the 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; and the elevator entering module is used for executing the step S101 firstly and then executing the step S102. And the elevator exit module is used for controlling the mobile robot to move out of 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 when the laser robot enters the elevator and obtains the vertical height position parameter corresponding to the target floor. The exit module is configured to perform the aforementioned step S103. 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 closed, and the elevator taking tasks include entering the elevator from an elevator waiting position and leaving the elevator at a specific vertical height position parameter, 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 ensured. 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 example, as shown in fig. 7, the laser robot includes an elevator entering module, an elevator exiting module, and an elevator riding adjusting module. The step entering module is configured to perform steps S201 to S207, and specifically includes: judging whether the product of the difference value of the second ranging distance detected later and the first ranging distance detected earlier at the elevator waiting position point by the laser robot and the cosine value of a preset angle is within a preset width range value or not, if so, controlling the laser robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction; then, adjusting the laser emission direction of the laser ranging sensor 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 and the laser emitted by the laser ranging sensor are positioned on the same vertical plane, wherein the laser emission direction of the laser ranging sensor of the mobile robot positioned at the elevator waiting position point is over against the elevator door; the first distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data are measured at the elevator waiting position point by the laser distance measurement sensor.

The elevator taking adjusting module is used for executing the steps S208 to S211, and specifically comprises the steps that in the process that the elevator entering module controls the laser robot to move into the elevator from the elevator waiting position point, when the distance from the laser robot to the elevator door is detected to be larger than a first preset width value, the laser robot is controlled to rotate, so that the laser emitting direction of a laser ranging sensor of the laser robot is opposite to the elevator door, and meanwhile, an inertial navigation sensor in the module is used for detecting vertical height position parameters in real time; and then adjusting the laser emission direction of the laser ranging sensor to form a preset angle with the ground, so that the line segment corresponding to the horizontal distance from the current position of the mobile robot to the front surface of the elevator door and the laser emitted by the laser ranging sensor are positioned on the same plane.

The going-out module is used for executing the steps S212 to S215. The elevator exit module is used for controlling the laser robot to exit the elevator along a horizontal projection line of the laser emission direction adjusted by the elevator taking adjustment module when judging whether the product of the difference value of a fourth distance measurement distance detected later and a third distance measurement distance detected earlier in the direction opposite to the elevator door by the laser distance measurement sensor and the cosine value of a preset angle is larger than a second preset width value or not after the elevator taking adjustment module acquires the vertical height position parameter corresponding to the target floor, wherein the laser emission direction of the laser distance measurement sensor at the current position of the mobile robot is opposite to the elevator door; the third distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is obtained by measuring in the elevator by the laser distance measurement sensor; the preset width range value is larger than a first preset width value and smaller than a second preset width value, and the first preset width value is smaller than the second preset width value; the numerical range of the preset angle is set to be greater than 30 degrees and less than 40 degrees.

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. 7, the elevator entering module is further configured to execute the steps S2031 to S2034, where the method includes sending an elevator boarding request to the elevator when the laser ranging sensor measures the first ranging distance at the elevator waiting position; after sending the elevator taking request to the elevator, if the first distance measurement is kept unchanged within a 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 taking adjusting module is further used for sending an elevator taking confirmation request to the elevator after the laser robot moves from the elevator waiting position point to enter the elevator and the distance to the elevator door is larger than the first preset width value, and meanwhile sending an elevator taking confirmation request to the elevator when the vertical height position parameter is detected to change so as to determine that the elevator is closed and leaves the current floor. The elevator exit module is further configured to perform steps S2111 to S2114, and specifically includes sending an arrival request to an elevator to determine that the elevator reaches the target floor when the laser robot detects and acquires the vertical height position parameter corresponding to the target floor; after sending an arrival request to the elevator, if the laser ranging sensor detects that the ranging data keeps the third ranging distance unchanged within third preset time, sending the arrival request to the elevator again until the elevator state is obtained, namely 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 and closing of the elevator door according to the floor height position, responding to the request command of the laser robot and leading the laser robot to acquire the real-time state information of the elevator. According to the embodiment, the automation degree of the laser robot automatically entering and exiting the elevator is improved according to the interactive communication between the laser robot and the elevator. Whether the elevator enters or not, whether the target floor is reached or not and whether the elevator leaves or not are accurately judged.

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 movement 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

1. A method for controlling movement of a robot into and out of an elevator, comprising:

controlling the mobile robot to move to a waiting position of the current floor according to a pre-scanned floor map;

then controlling the mobile 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 opposite to the elevator door; when the mobile robot obtains the vertical height position parameter corresponding to the target floor, the mobile robot is controlled to move out of 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;

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 over against the elevator door comprises the following steps:

judging whether the product of the difference value of the ranging data detected later by the laser ranging sensor in the direction over against the elevator door and the first ranging distance detected earlier and the cosine value of the preset angle is in a 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 second preset time, and if the product is not in the preset width range value yet after the second preset time, not controlling the mobile robot 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 first distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is measured by the laser distance measurement sensor at the position of the elevator waiting position;

the later detected ranging data is delayed in time from the earlier detected first ranging distance;

in the process of controlling the mobile robot to move from the elevator waiting position to enter the elevator, when the distance from the mobile robot to the elevator door is larger than the first preset width value, detecting the vertical height position parameter in real time according to an internal inertial navigation sensor, and sending an elevator taking confirmation request to the elevator;

when the vertical height position parameter changes, determining that the elevator state is a door closing state and leaves the current floor;

then, adjusting the laser emission direction of the laser ranging sensor to form the preset angle with the ground, so that a line segment corresponding to the horizontal distance from the current position of the mobile robot to the front surface of the elevator door is positioned on the same plane as the laser emitted by the laser ranging sensor, and then ranging by using the laser ranging sensor to obtain a third ranging distance;

when the mobile robot obtains the vertical height position parameter corresponding to the target floor, the method for controlling the mobile robot to move out of 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 comprises the following steps:

judging whether the product of the difference value of the ranging distance detected later by the laser ranging sensor in the direction over against the elevator door and the third ranging distance detected earlier and the cosine value of a preset angle is larger than a second preset width value or not, if so, controlling the mobile robot to walk out of the elevator along the horizontal projection line of the adjusted laser emission direction, otherwise, repeating the judgment within fourth preset time, and after fourth preset time, if the product is not larger than the second preset width value, sending an arrival request to the elevator again to maintain the state of the elevator open;

wherein the later detected ranging data is delayed in time from the earlier detected third ranging distance.

2. The movement control method according to claim 1, 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.

3. The movement control method according to claim 2, wherein when the mobile robot obtains the first ranging distance by ranging 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.

4. The movement control method according to claim 3, wherein in the process of controlling the mobile robot to move from the waiting position into the elevator, when the distance from the mobile robot to the elevator door is greater than the first predetermined width value, the mobile robot is controlled to rotate so that the laser emitting direction of the laser ranging sensor of the mobile robot is opposite to the elevator door.

5. The movement control method according to claim 4, characterized in that when the mobile robot detects and acquires the vertical height position parameter corresponding to the target floor, an arrival request is sent to the elevator to determine that the elevator state is the arrival at the target floor;

after sending the arrival request to the elevator, if the laser ranging sensor keeps the third ranging distance unchanged within a third preset time, sending the arrival request to the elevator again until the elevator state is obtained, namely the door is opened.

6. The laser robot is characterized by comprising an elevator entering module and an elevator exiting module;

the elevator entering module is used for controlling the laser robot to move to a waiting position point of the current floor according to a pre-scanned floor map, and then controlling the laser robot to move from the 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;

the elevator exit module is used for controlling the mobile robot to move out of the elevator again according to the change condition of the distance measurement data of the laser distance measurement sensor in the direction opposite to the elevator door when the laser robot enters the elevator and obtains the vertical height position parameter corresponding to the target floor;

the elevator taking adjusting module is also included;

the elevator entering module is used for judging whether the product of the difference value of a second distance measurement distance detected later and a first distance measurement distance detected earlier at the elevator waiting position point of the laser robot and the cosine value of a preset angle is within a preset width range value or not, and if so, controlling the laser robot to enter the elevator from the elevator waiting position point along the horizontal projection line of the laser emission direction; then, adjusting the laser emission direction of the laser ranging sensor 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 and the laser emitted by the laser ranging sensor are positioned on the same vertical plane, wherein the laser emission direction of the laser ranging sensor of the mobile robot positioned at the elevator waiting position point is over against the elevator door; the first distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is measured by the laser distance measurement sensor at the position of the elevator waiting position;

the elevator taking adjusting module is used for controlling the laser robot to rotate when the distance from the laser robot to the elevator door is detected to be larger than a first preset width value in the process that the elevator entering module controls the laser robot to move from the elevator waiting position point to enter the elevator, so that the laser emitting direction of a laser ranging sensor of the laser robot is over against the elevator door, and meanwhile, an inertial navigation sensor in the module is used for detecting vertical height position parameters in real time; then adjusting the laser emission direction of the laser ranging sensor to form a preset angle with the ground, so that a line segment corresponding to the horizontal distance from the current position of the mobile robot to the front surface of the elevator door and the laser emitted by the laser ranging sensor are positioned on the same plane;

the elevator exit module is used for controlling the laser robot to exit the elevator along a horizontal projection line of the laser emission direction adjusted by the elevator taking adjustment module when judging whether the product of the difference value of a fourth distance measurement distance detected later and a third distance measurement distance detected earlier in the direction opposite to the elevator door by the laser distance measurement sensor and the cosine value of a preset angle is larger than a second preset width value or not after the elevator taking adjustment module acquires the vertical height position parameter corresponding to the target floor, wherein the laser emission direction of the laser distance measurement sensor at the current position of the mobile robot is opposite to the elevator door; the third distance measurement distance is distance measurement data of the laser distance measurement sensor when the elevator door is closed, wherein the distance measurement data is obtained by measuring in the elevator by the laser distance measurement sensor;

the numerical range of the preset angle is set to be more than 30 degrees and less than 40 degrees;

the elevator entering module is used for sending an elevator taking request to the elevator when the laser ranging sensor ranges at the elevator waiting position to obtain the first ranging distance; after sending an elevator taking request to the elevator, if the first distance measurement is kept unchanged within a 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 taking adjusting module is used for sending an elevator taking confirmation request to the elevator after the laser robot moves from the elevator waiting position point to enter the elevator and the distance to the elevator door is greater than the first preset width value, and simultaneously sending an elevator taking confirmation request to the elevator when the vertical height position parameter is detected to change so as to determine that the elevator is closed and leaves the current floor;

the elevator exit module is used for sending an arrival request to an elevator when the laser robot detects and acquires the vertical height position parameter corresponding to the target floor so as to determine that the elevator reaches the target floor; after sending an arrival request to the elevator, if the laser ranging sensor detects that the ranging data keeps the third ranging distance unchanged within third preset time, sending the arrival request to the elevator again until the elevator state is obtained, namely 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 and closing of the elevator door according to the floor height position, responding to the request command of the laser robot and leading the laser robot to acquire the real-time state information of the elevator.

7. A chip comprising computer executable instructions for controlling a mobile robot to perform the movement control method of any one of claims 1 to 5, the mobile robot being a laser robot as claimed in claim 6.