CN111847142A - Robot navigation method and device, computer readable storage medium and robot - Google Patents
Robot navigation method and device, computer readable storage medium and robot Download PDFInfo
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- CN111847142A CN111847142A CN201910355994.1A CN201910355994A CN111847142A CN 111847142 A CN111847142 A CN 111847142A CN 201910355994 A CN201910355994 A CN 201910355994A CN 111847142 A CN111847142 A CN 111847142A
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- 238000000034 method Methods 0.000 title claims abstract description 45
- 238000013507 mapping Methods 0.000 claims abstract description 11
- 238000004590 computer program Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 11
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- 238000010586 diagram Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 230000008878 coupling Effects 0.000 description 3
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- 238000005516 engineering process Methods 0.000 description 3
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/10—Details with respect to the type of call input
- B66B2201/103—Destination call input before entering the elevator car
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/403—Details of the change of control mode by real-time traffic data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4615—Wherein the destination is registered before boarding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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- Automation & Control Theory (AREA)
- Computer Networks & Wireless Communication (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to the technical field of robots, and particularly relates to a robot navigation method, a device, a computer readable storage medium and a robot. The method comprises the steps that an initial floor, an initial position in the initial floor, a target floor and a target position in the target floor are obtained, wherein the robot conducts navigation; if the starting floor and the target floor are not the same floor, controlling the robot to navigate from the starting position to a first elevator area according to a first electronic map; mapping the location of the robot from the first elevator zone in the first electronic map to a second elevator zone of a second electronic map; after the elevator exit information sent by a preset elevator system is received, the robot is controlled to navigate to the target position from the second elevator area according to the second electronic map, so that inter-floor navigation is achieved, and the service scene applicable to the robot is greatly expanded.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a robot navigation method, a device, a computer readable storage medium and a robot.
Background
With the continuous popularization of robots in work and life of people, the robot navigation technology is rapidly developed and can meet a plurality of service scenes such as inquiry, guidance, performance and the like, but the existing robot navigation technology can only realize navigation within the same floor but cannot realize navigation among floors, so that the further popularization of the robots in the service scenes of the floors is limited.
Disclosure of Invention
In view of this, embodiments of the present invention provide a robot navigation method, an apparatus, a computer-readable storage medium, and a robot, so as to solve the problem that the existing robot navigation technology can only implement navigation within the same floor, but cannot implement navigation between floors.
A first aspect of an embodiment of the present invention provides a robot navigation method, which may include:
acquiring an initial floor, an initial position in the initial floor, a target floor and a target position in the target floor, wherein the robot carries out navigation;
judging whether the starting floor and the target floor are the same floor or not;
if the starting floor and the target floor are not the same floor, controlling the robot to navigate from the starting position to a first elevator area according to a first electronic map, wherein the first electronic map is the electronic map of the starting floor, and the first elevator area is the elevator area of the starting floor;
Mapping the position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, wherein the second electronic map is an electronic map of the target floor, and the second elevator area is an elevator area of the target floor;
and after receiving the exit information sent by a preset elevator system, controlling the robot to navigate to the target position from the second elevator area according to the second electronic map.
Further, the controlling the robot to navigate from the starting location to a first elevator zone according to a first electronic map may comprise:
controlling the robot to navigate from the starting position to a waiting area of the starting floor according to the first electronic map;
sending an elevator call instruction to the elevator system, wherein the elevator call instruction comprises the starting floor and the target floor;
and after receiving the elevator entering information sent by the elevator system, controlling the robot to enter the first elevator area from the waiting area.
Further, the robot navigation method may further include:
and if the robot fails to enter the first elevator area successfully, controlling the robot to return to the waiting area, and sending an elevator call instruction to the elevator system again until the robot enters the first elevator area successfully or the number of attempts exceeds a preset number threshold.
Further, the robot navigation method may further include:
and if the starting floor and the target floor are the same floor, controlling the robot to navigate from the starting position to the target position according to the first electronic map.
Further, the robot navigation method may further include:
the method comprises the steps of receiving marking information of a user on the first elevator area in the first electronic map, marking information of the waiting area in the first electronic map and marking information of the second elevator area in the second electronic map in advance.
A second aspect of an embodiment of the present invention provides a robot navigation apparatus, which may include:
the navigation information acquisition module is used for acquiring an initial floor, an initial position in the initial floor, a target floor and a target position in the target floor, wherein the robot carries out navigation;
the floor judging module is used for judging whether the starting floor and the target floor are the same floor or not;
the first navigation module is used for controlling the robot to navigate to a first elevator area from the starting position according to a first electronic map if the starting floor and the target floor are not the same floor, wherein the first electronic map is the electronic map of the starting floor, and the first elevator area is the elevator area of the starting floor;
A position mapping module, configured to map a position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, where the second electronic map is an electronic map of the target floor and the second elevator area is an elevator area of the target floor;
and the second navigation module is used for controlling the robot to navigate to the target position from the second elevator area according to the second electronic map after receiving the elevator exit information sent by a preset elevator system.
Further, the first navigation module may include:
the first navigation unit is used for controlling the robot to navigate from the starting position to a waiting area of the starting floor according to the first electronic map;
the call instruction sending unit is used for sending an elevator call instruction to the elevator system, wherein the elevator call instruction comprises the starting floor and the target floor;
and the second navigation unit is used for controlling the robot to enter the first elevator area from the waiting area after receiving the elevator entering information sent by the elevator system.
Further, the first navigation module may further include:
And the third navigation unit is used for controlling the robot to return to the waiting area if the robot fails to enter the first elevator area.
Further, the robot navigation apparatus may further include:
and the third navigation module is used for controlling the robot to navigate from the starting position to the target position according to the first electronic map if the starting floor and the target floor are the same floor.
Further, the robot navigation apparatus may further include:
and the mark information receiving module is used for receiving the mark information of the first elevator area in the first electronic map, the mark information of the waiting area in the first electronic map and the mark information of the second elevator area in the second electronic map in advance.
A third aspect of embodiments of the present invention provides a computer-readable storage medium storing computer-readable instructions, which, when executed by a processor, implement the steps of any one of the above-mentioned robot navigation methods.
A fourth aspect of an embodiment of the present invention provides a robot, including a memory, a processor, and computer readable instructions stored in the memory and executable on the processor, where the processor implements the steps of any one of the above robot navigation methods when executing the computer readable instructions.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: the method comprises the steps of obtaining an initial floor, an initial position in the initial floor, a target floor and a target position in the target floor, wherein the robot conducts navigation; judging whether the starting floor and the target floor are the same floor or not; if the starting floor and the target floor are not the same floor, controlling the robot to navigate from the starting position to a first elevator area according to a first electronic map, wherein the first electronic map is the electronic map of the starting floor, and the first elevator area is the elevator area of the starting floor; mapping the position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, wherein the second electronic map is an electronic map of the target floor, and the second elevator area is an elevator area of the target floor; and after receiving the exit information sent by a preset elevator system, controlling the robot to navigate to the target position from the second elevator area according to the second electronic map. According to the embodiment of the invention, the robot is transferred from the initial floor to the target floor by virtue of the elevator system through information interaction with the elevator system, and in the process, the electronic map is switched and the region is mapped, so that the position of the robot can be determined when the robot reaches the target floor, and navigation is completed according to the new electronic map, thus navigation between cross floors is realized, and the applicable service scene of the robot is greatly expanded.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a flowchart of an embodiment of a method for navigating a robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of point markers and area markers in an electronic map;
fig. 3 is a schematic view of a navigation point, an elevator area and a waiting area in an electronic map;
FIG. 4 is a block diagram of an embodiment of a robot navigation device according to an embodiment of the present invention;
fig. 5 is a schematic block diagram of a robot according to an embodiment of the present invention.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the embodiments described below 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.
Referring to fig. 1, an embodiment of a robot navigation method according to an embodiment of the present invention may include:
step S101, acquiring a starting floor navigated by the robot, a starting position in the starting floor, a target floor and a target position in the target floor.
The initial floor is the floor where the robot is located, the initial value of the information can be preset by a user, when the robot moves in the same floor, the information is kept unchanged, when the robot moves to other floors, the information is updated, and the original floor information is replaced by the new floor information. The starting position is the current position of the robot, and the information can be obtained by the robot through a positioning device carried by the robot. The target floor and the target position can be preset by a user in a mode of issuing an instruction, and can also be obtained by the robot through logical operation according to an actual scene.
In the robot, electronic maps of respective floors in a building where the robot is currently located are stored in advance, and for example, if the building where the robot is currently located has three floors in total, the robot needs to store and manage three electronic maps corresponding to the three floors. In this embodiment, the electronic map of the starting floor is recorded as a first electronic map, and the electronic map of the target floor is recorded as a second electronic map.
And step S102, judging whether the starting floor and the target floor are the same floor.
If the starting floor and the target floor are the same floor, step S103 is performed, and if the starting floor and the target floor are not the same floor, step S104 and the subsequent steps are performed.
And S103, controlling the robot to navigate from the starting position to the target position according to a first electronic map.
At this time, the navigation within the same floor is performed, and the navigation can be performed according to various manners in the prior art, which is not described herein again.
And step S104, controlling the robot to navigate from the initial position to a first elevator area according to a first electronic map.
The first elevator zone is the elevator zone of the starting floor, and before navigation, the robot can receive mark information of the first elevator zone in the first electronic map, mark information of waiting zones in the first electronic map, mark information of second elevator zones in the second electronic map, and the like in advance. The waiting area is an area where the robot is located when waiting for an elevator, the area is located near the first elevator area, and the second elevator area is an elevator area of the target floor.
In this embodiment, a method of combining a point mark and a region mark is used in implementing the logic control of the whole elevator, the point mark is represented by (x, y) a position point on a map, the region mark is a whole mark for a region, and the region mark may take various forms, such as a rectangular region, a circular region, a star-shaped region, a polygonal region, etc., in this embodiment, it is preferable to use a quadrangular region mark, and a region is represented by four vertices (x1, y1), (x2, y2), (x3, y3), (x4, y4) of a quadrangle. As shown in fig. 2, the electronic map actually used by the robot includes a point mark and an area mark. The introduction of the area mark can solve two problems, on one hand, if the point mark is occupied by an obstacle or a person, the robot can fail to navigate or stop nearby, and normal elevator operation can be possibly hindered, and the mode of the area mark can effectively ensure that the staying position of the robot is within the expected range of a user; on the other hand, the region marking of the elevator can enable the robot to judge whether the robot successfully enters the elevator, and the robustness of the system is improved.
In the embodiment, a region marking method is adopted when the robot gets on and off the elevator, for any floor, two regions, namely an elevator region and a waiting region, need to be marked in advance by a user in the editing process of an electronic map, marking information is sent to the robot, and a point marking method is adopted by a navigation point. For example, in the electronic map as shown in fig. 3, the navigation point a, the elevator area, and the waiting area are marked.
In the process of navigation, the robot is controlled to navigate from the starting position to a waiting area of the starting floor according to the first electronic map. And then establishing a communication connection with a preset elevator system, and sending an elevator call command to the elevator system, wherein the elevator call command comprises the starting floor and the target floor so as to inform the elevator system to carry the robot from the starting floor to the target floor. After the call is finished, the robot is in a waiting state, elevator information is sent to the robot when the elevator system controls the elevator to reach the starting floor and open the elevator door, and the robot can be controlled to enter the first elevator area from the waiting area after the elevator system receives the elevator entering information sent by the elevator system.
It should be noted that there may be more passengers or goods in the elevator, which occupy more elevator space, so that the robot cannot successfully enter the first elevator zone, and if the robot fails to successfully enter the first elevator zone, the robot is controlled to return to the waiting zone and resend the elevator call instruction to the elevator system until the robot successfully enters the first elevator zone or the number of attempts exceeds a preset number threshold. The number of attempts may be set according to an actual situation, for example, the number of attempts may be set to 3, 5, 10, or other values, which is not specifically limited in this embodiment.
And step S105, mapping the position of the robot from the first elevator area in the first electronic map to a second elevator area in a second electronic map.
Since there may be a large difference in floor layouts of the respective floors, when the robot is carried from the starting floor to the target floor, not only the information of the floor where the robot is located is changed, but also the plane coordinate position of the robot in the floor is changed accordingly. In this embodiment, a one-to-one mapping relationship between position points in the first elevator area and the second elevator area is established in advance. After the robot successfully enters the first elevator area, the floor information can be updated according to the target floor, the first electronic map is switched to the second electronic map, and then the position of the robot is mapped from the first elevator area to the second elevator area according to the mapping relation, so that the robot is forcedly positioned to the position in the elevator area of the target floor.
And S106, after the elevator exit information sent by a preset elevator system is received, controlling the robot to navigate to the target position from the second elevator area according to the second electronic map.
When the elevator system carries the robot to the target floor and opens the elevator door, elevator information is sent to the robot, and after the elevator information sent by the elevator system is received, the robot can be controlled to navigate from the second elevator area to the target position according to the second electronic map, so that the whole navigation process is completed.
In summary, in the embodiments of the present invention, an initial floor, an initial position in the initial floor, a target floor, and a target position in the target floor, where the robot performs navigation, are obtained; judging whether the starting floor and the target floor are the same floor or not; if the starting floor and the target floor are not the same floor, controlling the robot to navigate from the starting position to a first elevator area according to a first electronic map, wherein the first electronic map is the electronic map of the starting floor, and the first elevator area is the elevator area of the starting floor; mapping the position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, wherein the second electronic map is an electronic map of the target floor, and the second elevator area is an elevator area of the target floor; and after receiving the exit information sent by a preset elevator system, controlling the robot to navigate to the target position from the second elevator area according to the second electronic map. According to the embodiment of the invention, the robot is transferred from the initial floor to the target floor by virtue of the elevator system through information interaction with the elevator system, and in the process, the electronic map is switched and the region is mapped, so that the position of the robot can be determined when the robot reaches the target floor, and navigation is completed according to the new electronic map, thus navigation between cross floors is realized, and the applicable service scene of the robot is greatly expanded.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 4 shows a structure diagram of an embodiment of a robot navigation device according to an embodiment of the present invention, which corresponds to the robot navigation method described in the above embodiment.
In this embodiment, a robot navigation device may include:
a navigation information obtaining module 401, configured to obtain a starting floor where the robot performs navigation, a starting position in the starting floor, a target floor, and a target position in the target floor;
a floor determination module 402, configured to determine whether the starting floor and the target floor are the same floor;
a first navigation module 403, configured to control the robot to navigate from the initial position to a first elevator area according to a first electronic map if the initial floor and the target floor are not the same floor, where the first electronic map is an electronic map of the initial floor, and the first elevator area is an elevator area of the initial floor;
A position mapping module 404, configured to map a position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, where the second electronic map is an electronic map of the target floor and the second elevator area is an elevator area of the target floor;
and a second navigation module 405, configured to control the robot to navigate from the second elevator area to the target location according to the second electronic map after receiving the exit information sent by the preset elevator system.
Further, the first navigation module may include:
the first navigation unit is used for controlling the robot to navigate from the starting position to a waiting area of the starting floor according to the first electronic map;
the call instruction sending unit is used for sending an elevator call instruction to the elevator system, wherein the elevator call instruction comprises the starting floor and the target floor;
and the second navigation unit is used for controlling the robot to enter the first elevator area from the waiting area after receiving the elevator entering information sent by the elevator system.
Further, the first navigation module may further include:
And the third navigation unit is used for controlling the robot to return to the waiting area if the robot fails to enter the first elevator area.
Further, the robot navigation apparatus may further include:
and the third navigation module is used for controlling the robot to navigate from the starting position to the target position according to the first electronic map if the starting floor and the target floor are the same floor.
Further, the robot navigation apparatus may further include:
and the mark information receiving module is used for receiving the mark information of the first elevator area in the first electronic map, the mark information of the waiting area in the first electronic map and the mark information of the second elevator area in the second electronic map in advance.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described apparatuses, modules and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Fig. 5 is a schematic block diagram of a robot provided in an embodiment of the present invention, and only a part related to the embodiment of the present invention is shown for convenience of explanation.
As shown in fig. 5, the robot 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50. The processor 50, when executing the computer program 52, implements the steps in the above-described various embodiments of the robot navigation method, such as the steps S101 to S106 shown in fig. 1. Alternatively, the processor 50, when executing the computer program 52, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules 401 to 405 shown in fig. 4.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 52 in the robot 5.
Those skilled in the art will appreciate that fig. 5 is merely an example of a robot 5 and does not constitute a limitation of the robot 5 and may include more or fewer components than shown, or some components in combination, or different components, for example, the robot 5 may also include input and output devices, network access devices, buses, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the robot 5, such as a hard disk or a memory of the robot 5. The memory 51 may also be an external storage device of the robot 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like, provided on the robot 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the robot 5. The memory 51 is used for storing the computer program and other programs and data required by the robot 5. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided by the present invention, it should be understood that the disclosed apparatus/robot and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/robot are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, 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.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. A method of robot navigation, comprising:
acquiring an initial floor, an initial position in the initial floor, a target floor and a target position in the target floor, wherein the robot carries out navigation;
judging whether the starting floor and the target floor are the same floor or not;
if the starting floor and the target floor are not the same floor, controlling the robot to navigate from the starting position to a first elevator area according to a first electronic map, wherein the first electronic map is the electronic map of the starting floor, and the first elevator area is the elevator area of the starting floor;
Mapping the position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, wherein the second electronic map is an electronic map of the target floor, and the second elevator area is an elevator area of the target floor;
and after receiving the exit information sent by a preset elevator system, controlling the robot to navigate to the target position from the second elevator area according to the second electronic map.
2. The robot navigation method of claim 1, wherein the controlling the robot to navigate from the starting location to a first elevator zone according to a first electronic map comprises:
controlling the robot to navigate from the starting position to a waiting area of the starting floor according to the first electronic map;
sending an elevator call instruction to the elevator system, wherein the elevator call instruction comprises the starting floor and the target floor;
and after receiving the elevator entering information sent by the elevator system, controlling the robot to enter the first elevator area from the waiting area.
3. The robot navigation method of claim 2, further comprising:
And if the robot fails to enter the first elevator area successfully, controlling the robot to return to the waiting area, and sending an elevator call instruction to the elevator system again until the robot enters the first elevator area successfully or the number of attempts exceeds a preset number threshold.
4. The robot navigation method of claim 1, further comprising:
and if the starting floor and the target floor are the same floor, controlling the robot to navigate from the starting position to the target position according to the first electronic map.
5. The robot navigation method of any one of claims 1 to 4, further comprising:
the method comprises the steps of receiving marking information of a user on the first elevator area in the first electronic map, marking information of the waiting area in the first electronic map and marking information of the second elevator area in the second electronic map in advance.
6. A robotic navigation device, comprising:
the navigation information acquisition module is used for acquiring an initial floor, an initial position in the initial floor, a target floor and a target position in the target floor, wherein the robot carries out navigation;
The floor judging module is used for judging whether the starting floor and the target floor are the same floor or not;
the first navigation module is used for controlling the robot to navigate to a first elevator area from the starting position according to a first electronic map if the starting floor and the target floor are not the same floor, wherein the first electronic map is the electronic map of the starting floor, and the first elevator area is the elevator area of the starting floor;
a position mapping module, configured to map a position of the robot from the first elevator area in the first electronic map to a second elevator area of a second electronic map, where the second electronic map is an electronic map of the target floor and the second elevator area is an elevator area of the target floor;
and the second navigation module is used for controlling the robot to navigate to the target position from the second elevator area according to the second electronic map after receiving the elevator exit information sent by a preset elevator system.
7. The robotic navigation device of claim 6, wherein the first navigation module includes:
the first navigation unit is used for controlling the robot to navigate from the starting position to a waiting area of the starting floor according to the first electronic map;
The call instruction sending unit is used for sending an elevator call instruction to the elevator system, wherein the elevator call instruction comprises the starting floor and the target floor;
and the second navigation unit is used for controlling the robot to enter the first elevator area from the waiting area after receiving the elevator entering information sent by the elevator system.
8. The robot navigation device according to claim 6 or 7, characterized in that the robot navigation device further comprises:
and the mark information receiving module is used for receiving the mark information of the first elevator area in the first electronic map, the mark information of the waiting area in the first electronic map and the mark information of the second elevator area in the second electronic map in advance.
9. A computer readable storage medium storing computer readable instructions, wherein the computer readable instructions, when executed by a processor, implement the steps of the robot navigation method of any of claims 1 to 5.
10. A robot comprising a memory, a processor and computer readable instructions stored in the memory and executable on the processor, characterized in that the processor, when executing the computer readable instructions, implements the steps of the robot navigation method according to any of claims 1 to 5.
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