CN112405522A - Cross-floor map switching method and device, robot and storage medium - Google Patents
Cross-floor map switching method and device, robot and storage medium Download PDFInfo
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- CN112405522A CN112405522A CN202011118288.4A CN202011118288A CN112405522A CN 112405522 A CN112405522 A CN 112405522A CN 202011118288 A CN202011118288 A CN 202011118288A CN 112405522 A CN112405522 A CN 112405522A
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- elevator
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The invention discloses a cross-floor map switching method, a device, a robot and a storage medium, wherein the method comprises the following steps: when a robot takes an elevator device, acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where the robot is located; splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map; and after the robot reaches the destination floor, determining the position of the robot in the target navigation map, and navigating on the destination floor based on the target navigation map. The invention realizes that the robot can rapidly switch the navigation map and realize accurate autonomous positioning in the process of the cross-floor navigation of the robot so as to improve the efficiency of the cross-floor navigation of the robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a cross-floor map switching method and device, a robot and a storage medium.
Background
In some implementations, when the robot performs the cross-floor navigation, it is necessary to switch between different floor maps and re-determine the position of the robot in a new floor map, so as to ensure the normal navigation of the robot at each floor. Therefore, in order to realize cross-floor navigation, correlation processing needs to be performed on the maps between different floors so as to ensure positioning and navigation of the robot in a new map.
Disclosure of Invention
The invention mainly aims to provide a cross-floor map switching method, a cross-floor map switching device, a robot and a storage medium, and aims to enable the robot to quickly switch navigation maps and realize accurate autonomous positioning in the cross-floor navigation process of the robot so as to improve the cross-floor navigation efficiency of the robot.
In order to achieve the above object, the present invention provides a cross-floor map switching method applied to a robot, the method comprising:
when a robot takes an elevator device, acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where the robot is located;
splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map;
and after the robot reaches the destination floor, determining the position of the robot in the target navigation map, and navigating on the destination floor based on the target navigation map.
Optionally, the splicing the elevator navigation map to the elevator notch in the floor navigation map to obtain a target navigation map includes:
when a plurality of elevator gaps exist in the floor navigation map, determining a target elevator gap matched with the elevator navigation map from the elevator gaps;
splicing the elevator navigation map to the target elevator gap in the floor navigation map to obtain a target navigation map.
Optionally, when there are a plurality of elevator gaps in the floor navigation map, determining a target elevator gap matching the elevator navigation map from the plurality of elevator gaps includes:
and when a plurality of elevator gaps are arranged in the floor navigation map, taking the elevator gap with the area equal to that of the elevator navigation map as a target elevator gap, or taking the elevator gap with the serial number consistent with that of the elevator device as the target elevator gap.
Optionally, the determining the position of the robot in the target navigation map after the robot reaches the destination floor includes:
when the robot reaches the destination floor, acquiring a first coordinate and a displacement, wherein the first coordinate is a coordinate of the robot in a space coordinate system when the robot takes the elevator device on an original floor, and the displacement is a displacement of the robot in the process of taking the elevator device from the original floor to the destination floor;
and calculating a second coordinate in the space coordinate system based on the first coordinate and the displacement, and taking the second coordinate as the position of the robot in the target navigation map.
Optionally, obtaining the displacement comprises:
acquiring the displacement measured by an inertial measurement unit in the robot, or taking a preset distance from the origin floor to the destination floor as the displacement.
Optionally, the determining the position of the robot in the target navigation map after the robot reaches the destination floor includes:
acquiring a third coordinate in the elevator navigation map after the robot reaches the destination floor;
and calculating a fourth coordinate of the robot in the target navigation map based on the third coordinate and the relative position of the elevator navigation map in the floor navigation map, and taking the fourth coordinate as the position of the robot in the target navigation map.
Optionally, the method further comprises:
the robot navigates based on the elevator navigation map when the robot is inside the elevator device.
In order to achieve the above object, the present invention further provides a cross-floor map switching device disposed on a robot, the device including:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where a robot is located when the robot takes the elevator device;
the splicing module is used for splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map;
and the positioning module is used for determining the position of the robot in the target navigation map after the robot reaches the destination floor, and navigating on the destination floor based on the target navigation map.
To achieve the above object, the present invention also provides a robot comprising: a memory, a processor and a cross-floor map switching program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the cross-floor map switching method as described above.
Furthermore, to achieve the above object, the present invention also provides a computer readable storage medium having stored thereon a cross-floor map switching program, which when executed by a processor implements the steps of the cross-floor map switching method as described above.
According to the invention, when the robot takes the elevator device, the robot acquires the floor navigation map of the destination floor and the elevator navigation map in the elevator device where the robot is located, the elevator navigation map is spliced to the elevator notch in the floor navigation map to obtain the target navigation map, and after the robot reaches the destination floor, the position of the robot in the target navigation map is determined, and navigation is carried out based on the target navigation map, so that the navigation map switching of the robot during the floor crossing is realized. Compared with the prior art that the maps of the whole floor are switched as a whole, the navigation map in the elevator device is divided and processed independently, so that the robot can navigate and move accurately in the elevator device, and the positioning accuracy of the robot is improved. And because the elevator gap matched with the elevator navigation map is arranged in the floor navigation map, the elevator navigation map accurately associates the navigation maps of all floors, so that the navigation map can be quickly switched when the robot enters the elevator device from the original floor, takes the elevator device to transfer the floor and enters the destination floor from the elevator device, the processing process of switching the map is simplified, and the efficiency of switching the cross-floor map is improved.
Drawings
FIG. 1 is a schematic diagram of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a cross-floor map switching method according to a first embodiment of the present invention;
FIG. 3 is a schematic diagram of a coordinate system according to various embodiments of the present invention;
FIG. 4 is a schematic view of another coordinate system according to various embodiments of the present invention;
fig. 5 is a functional block diagram of a cross-floor map switching device according to a preferred embodiment of the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
It should be noted that, the device in the embodiment of the present invention may be a device with digital processing capability, such as a smart phone, a personal computer, and a server, and the device may be deployed in a mobile robot, which is not limited herein.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Those skilled in the art will appreciate that the configuration of the apparatus shown in fig. 1 is not intended to be limiting of the apparatus and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, the memory 1005, which is a kind of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and a cross-floor map switching program. The operating system is a program that manages and controls the device hardware and software resources, supporting the execution of cross-floor map switching programs as well as other software or programs. In the device shown in fig. 1, the user interface 1003 is mainly used for data communication with a client; the network interface 1004 is mainly used for establishing communication connection with a server; and the processor 1001 may be configured to invoke a cross-floor map switching program stored in the memory 1005 and perform the following operations:
when a robot takes an elevator device, acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where the robot is located;
splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map;
and after the robot reaches the destination floor, determining the position of the robot in the target navigation map, and navigating on the destination floor based on the target navigation map.
Further, the splicing the elevator navigation map to the elevator gap in the floor navigation map to obtain a target navigation map includes:
when a plurality of elevator gaps exist in the floor navigation map, determining a target elevator gap matched with the elevator navigation map from the elevator gaps;
splicing the elevator navigation map to the target elevator gap in the floor navigation map to obtain a target navigation map.
Further, when there are a plurality of elevator gaps in the floor navigation map, determining a target elevator gap matched with the elevator navigation map from the elevator gaps includes:
and when a plurality of elevator gaps are arranged in the floor navigation map, taking the elevator gap with the area equal to that of the elevator navigation map as a target elevator gap, or taking the elevator gap with the serial number consistent with that of the elevator device as the target elevator gap.
Further, the determining the location of the robot in the target navigation map after the robot reaches the destination floor includes:
when the robot reaches the destination floor, acquiring a first coordinate and a displacement, wherein the first coordinate is a coordinate of the robot in a space coordinate system when the robot takes the elevator device on an original floor, and the displacement is a displacement of the robot in the process of taking the elevator device from the original floor to the destination floor;
and calculating a second coordinate in the space coordinate system based on the first coordinate and the displacement, and taking the second coordinate as the position of the robot in the target navigation map.
Further, acquiring the displacement includes:
acquiring the displacement measured by an inertial measurement unit in the robot, or taking a preset distance from the origin floor to the destination floor as the displacement.
Further, the determining the location of the robot in the target navigation map after the robot reaches the destination floor includes:
acquiring a third coordinate in the elevator navigation map after the robot reaches the destination floor;
and calculating a fourth coordinate of the robot in the target navigation map based on the third coordinate and the relative position of the elevator navigation map in the floor navigation map, and taking the fourth coordinate as the position of the robot in the target navigation map.
Further, the processor 1001 may also be configured to invoke a cross-floor map switching program stored in the memory 1005 and perform the following operations:
the robot navigates based on the elevator navigation map when the robot is inside the elevator device.
Based on the above structure, various embodiments of a cross-floor map switching method are proposed.
Referring to fig. 2, fig. 2 is a flowchart illustrating a cross-floor map switching method according to a first embodiment of the present invention.
Embodiments of the present invention provide embodiments of a cross-floor map switching method, it should be noted that although a logical order is shown in the flow chart, in some cases, the steps shown or described may be performed in an order different from that shown or described herein. The execution main body of each embodiment of the cross-floor map switching method can be a robot, the robot can be a conventional robot controlled by an automatic control program, or the robot can be used for carrying goods, planning a path, distributing and acquiring and the like, and the types and the specific implementation details of the robot are not limited in each embodiment. In the present embodiment, the cross-floor map switching method includes the following steps S10-S30:
step S10, when the robot takes the elevator device, acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where the robot is;
navigation maps corresponding to all floors of a building and navigation maps inside elevator devices in the building can be constructed in advance. The navigation maps of the floors can be the same or different according to different design structures of the floors of the building. The navigation map of each floor has a gap (hereinafter referred to as an elevator gap) at the elevator car, and the boundary of the elevator gap is exactly matched with the boundary of the navigation map of the elevator device. These navigation maps may be plane maps or three-dimensional maps, which are not limited herein. These navigation maps may be stored locally to the robot or in a remote server.
When the robot enters the elevator device and is ready to take the elevator to go from the current floor (hereinafter referred to as an original floor) to another floor (hereinafter referred to as a destination floor), or when the robot reaches the destination floor, the robot can obtain a floor navigation map of the destination floor and an elevator navigation map inside the elevator device where the robot is located by loading the floor navigation map locally or downloading the floor navigation map from a remote server. The robot may acquire the two maps at other predetermined timings, for example, during the operation of the elevator apparatus from the origin floor to the destination floor. That is, as long as the robot acquires the destination floor navigation map and the elevator navigation map before the two maps are spliced, the specific time point for acquiring the maps is not limited in this embodiment.
Step S20, splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map;
the robot splices the obtained elevator navigation map to the elevator gap in the floor navigation map, and the spliced navigation map is used as a target navigation map. It should be noted that a simple map splicing manner can be adopted for splicing the two maps, that is, the two maps are spliced into one map. Because the boundary of the elevator gap in the floor navigation map is matched with the boundary of the elevator navigation map, the boundary characteristics of the elevator gap with obvious characteristics and the boundary characteristics of the elevator navigation map can be easily acquired and subjected to complementary splicing, for example, based on an elevator device with a rectangular horizontal section, the boundary of the obtained elevator navigation map is rectangular.
Further, step S20, splicing the elevator navigation map to the elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap matches the boundary of the elevator navigation map, including steps S201-S202:
step S201, when a plurality of elevator gaps exist in the floor navigation map, determining a target elevator gap matched with the elevator navigation map from the elevator gaps;
and S202, splicing the elevator navigation map to the target elevator gap in the floor navigation map to obtain a target navigation map.
In one embodiment, when a plurality of elevator devices are arranged in a building, a plurality of elevator gaps are correspondingly arranged in a floor navigation map, and the robot can determine a target elevator gap matched with the elevator navigation map from the elevator gaps, and splice the elevator navigation map to the target elevator gap in the floor navigation map to obtain the target navigation map. When there are a plurality of elevator devices, the robot acquires the navigation map of the elevator device on which the robot is mounted, and not the navigation maps of the other elevator devices. In particular, the robot can determine which elevator device it entered by the location in the floor navigation map of the original floor at which it entered the elevator device.
In one embodiment, the manner of determining the target elevator gap from the elevator gaps by the robot may be: and taking the elevator gap with the area equal to that of the elevator navigation map in each elevator gap as a target elevator gap. That is, the sizes of the elevator devices in the building may be different, so that the areas of the elevator gaps corresponding to the elevators are different, the areas of the elevator navigation map and the elevator gaps in the floor navigation map can be calculated, the areas of the elevator navigation map and the elevator gaps are matched one by one, and the elevator gap with the area equal to the area of the elevator navigation map is the target elevator gap.
Alternatively, in other embodiments, the manner in which the robot determines the target elevator gap from among the individual elevator gaps may be: and taking the elevator notch with the serial number consistent with the serial number of the elevator device in each elevator notch as a target elevator notch. That is, each elevator device in the building is numbered in advance, so the floor navigation map is correspondingly marked with the serial number of each elevator gap, and the elevator gap with the serial number consistent with the serial number of the elevator device where the robot is located is the target elevator gap matched with the elevator navigation map.
Alternatively, in other embodiments, the manner in which the robot determines the target elevator gap from among the individual elevator gaps may be: and taking the elevator gaps with the boundary length matched with the boundary length of the elevator navigation map as target elevator gaps. That is, the shapes of the elevator devices in the building may be different, so that the shapes of the elevator gaps corresponding to the elevators are different, the boundary length of the elevator navigation map and the boundary length of each elevator gap in the floor navigation map can be calculated, the boundary length of the elevator navigation map is matched with the boundary length of each elevator gap, and the elevator gap with the boundary length equal to the boundary length of the elevator navigation map is the target elevator gap.
Alternatively, in other embodiments, the robot may determine the target elevator notch in other manners, for example, a combination of the above manners may be used. For example, the robot may first adopt an area matching method, and if the areas of a plurality of elevator gaps are all equal to the elevator navigation map, the boundary length of the elevator gap equal to the boundary length of the elevator navigation map may be selected from the plurality of elevator gaps as a target elevator gap.
And step S30, after the robot reaches the destination floor, determining the position of the robot in the target navigation map, and navigating at the destination floor based on the target navigation map.
When the robot takes the elevator device to the destination floor, the position of the robot in the target navigation map can be determined, and navigation is carried out on the destination floor based on the target navigation map. It should be noted that the target navigation map may refer to an absolute spatial coordinate system, that is, the elevator navigation map and the floor navigation map both refer to the spatial coordinate system, and then the position of the robot in the target navigation map is the coordinate of the robot in the spatial coordinate system. Specifically, in one embodiment, the spatial coordinate system may be a spatial coordinate system with the geocenter as a reference system. The robot can then calculate the position of the robot in the target navigation map from the coordinates of the robot in the spatial coordinate system when the elevator installation is on the original floor and the displacement of the robot in the process of boarding the elevator installation from the original floor to the destination floor.
Further, in one embodiment, if the robot needs to move inside the elevator device, such as when a pedestrian needs to be avoided, the robot can navigate based on the elevator navigation map.
In this embodiment, a floor navigation map of a destination floor and an elevator navigation map inside an elevator device where the robot is located are acquired through the robot, the elevator navigation map is spliced to an elevator gap in the floor navigation map to obtain a target navigation map, when the robot reaches the destination floor, the position of the robot in the target navigation map is determined, navigation is performed based on the target navigation map, and switching of the navigation maps of the robot during cross-floor is achieved. Compare in prior art and switch as a whole the map of whole floor, divide the inside navigation map of elevator device alone in this embodiment and handle for the robot also can navigate accurately and remove inside the elevator device, thereby has improved the precision of robot location. And because the elevator gap matched with the elevator navigation map is arranged in the floor navigation map, the elevator navigation map accurately associates the navigation maps of all floors, so that the navigation map can be quickly switched when the robot enters the elevator device from the original floor, takes the elevator device to transfer the floor and enters the destination floor from the elevator device, the processing process of switching the map is simplified, and the efficiency of switching the cross-floor map is improved.
Further, based on the first embodiment described above, a second embodiment of the cross-floor map switching method of the present invention is proposed, in this embodiment, the step of determining the position of the robot in the target navigation map after the robot reaches the destination floor in step S30 includes steps S301 to S302:
step S301, after the robot reaches the destination floor, acquiring a first coordinate and a displacement, wherein the first coordinate is a coordinate in a space coordinate system when the robot takes the elevator device on an original floor, and the displacement is a displacement of the robot in the process of taking the elevator device from the original floor to the destination floor;
the robot can record the coordinates of the robot in a space coordinate system after entering the elevator device at an original floor, and the coordinates are recorded as first coordinates. When the robot moves at the original floor, the robot navigates based on a map obtained by splicing the floor navigation map of the original floor and the elevator navigation map, and the spliced map refers to a space coordinate system. The spatial coordinate system comprises three dimensions and the first coordinate is then formed by coordinate values of three dimensions.
The robot may record the displacement of the robot during the ride of the elevator installation from the origin floor to the destination floor. If the robot does not move within the elevator installation and the elevator installation is traveling vertically up and down, the displacement may comprise only the vertical movement distance; if the robot moves within the elevator installation during boarding of the elevator, or if the elevator installation is not traveling vertically up and down, the displacement may include the distance the robot has traveled in three dimensions, respectively.
Further, the displacement may be measured by an inertia measuring unit provided in the robot, or, when the robot does not move in the elevator apparatus and the elevator apparatus is vertically operated up and down, a preset distance between the origin floor and the destination floor may be taken as the displacement, that is, only the moving distance in the vertical direction is recorded. The distance between the origin floor and the destination floor is a vertical distance between floors measured in advance, and the preset distance is a negative number if the origin floor is higher than the destination floor, and a positive number if the origin floor is lower than the destination floor.
Step S302, calculating a second coordinate in the space coordinate system based on the first coordinate and the displacement, and taking the second coordinate as the position of the robot in the target navigation map.
After the robot acquires the first coordinate and the displacement, a second coordinate in the space coordinate system can be calculated based on the first coordinate and the displacement, and the second coordinate is the position of the robot in the target navigation map after the elevator device reaches the destination floor. Specifically, as shown in fig. 3, the robot adds the displacements of the corresponding dimensions to the coordinate values of the three dimensions of the first coordinate, respectively, to obtain the second coordinate. If the displacement includes only the moving distance in the vertical direction, the coordinate values of the other two dimensions in the first coordinate are not changed, and the second coordinate can be obtained by adding the displacement to the coordinate values in the vertical direction.
Specifically, when the first coordinate is (X, Y, Z) and the displacement is (m, n, a), the robot moves m horizontally under the X axis, n horizontally under the Y axis, a vertically under the Z axis during the movement from the origin floor to the destination floor, and the second coordinate is (X + m, Y + n, Z + a). When the first coordinate is (x, y, z), the robot does not move in the elevator apparatus and the elevator apparatus is vertically operated up and down, it is obtained that the preset distance between the original floor and the destination floor is a, and the second coordinate is (x, y, z + a).
In this embodiment, after the robot reaches the destination floor, a first coordinate and a displacement are acquired, where the first coordinate is a coordinate in a spatial coordinate system when the robot takes the elevator device on an original floor, the displacement is a displacement of the robot in a process of taking the elevator device on the original floor to the destination floor, a second coordinate in the spatial coordinate system is obtained through calculation based on the first coordinate and the displacement, and the second coordinate is used as a position of the robot in a target navigation map, so that autonomous positioning of the robot after switching the navigation map is realized, and accurate navigation can be performed after switching the floor.
Further, based on the first embodiment described above, a third embodiment of the switching method of a cross-floor map according to the present invention is proposed, and in this embodiment, referring to fig. 4, the step of determining the position of the robot in the target navigation map after the robot reaches the destination floor in step S30 includes steps S303 to S304:
step S303, acquiring a third coordinate in the elevator navigation map after the robot reaches the destination floor;
step S304, calculating a fourth coordinate of the robot in the target navigation map based on the third coordinate and the relative position of the elevator navigation map in the floor navigation map, and taking the fourth coordinate as the position of the robot in the target navigation map.
In this embodiment, a different positioning method from the second embodiment is proposed. In particular, the coordinate systems of the respective navigation maps may be set individually, i.e. subject to different coordinate systems. Because each coordinate point in the navigation map corresponds to one point in the actual space, each coordinate point in each navigation map has a corresponding coordinate point in the absolute spatial coordinate system, and then the robot can calculate the relative position relationship of two coordinate points in different navigation maps in the spatial coordinate system according to the corresponding relationships, thereby realizing the association of the navigation maps of all floors.
But the robot can use each navigation map coordinate system for positioning when it needs to determine its position in the target navigation map after reaching the destination floor.
Specifically, the robot can acquire the coordinates in the elevator navigation map after the robot takes the elevator device to the destination floor, and the coordinates are recorded as the third coordinates. The third coordinate is relative to the coordinate system of the elevator navigation map, for example, as shown in fig. 4, the elevator navigation map is square, the coordinate system can be constructed by taking the vertex O1 of the lower left corner as the coordinate origin, and the third coordinate (a, b) is relative to O1.
Since the elevator gap is in a fixed position in the floor navigation map, the position of the elevator gap in the floor navigation map can be marked in advance, and the position is the relative position of the elevator navigation map in the floor navigation map, and the relative position can be represented by the coordinate of one point in the elevator gap in the floor navigation map. And calculating a fourth coordinate of the robot in the target navigation map according to the third coordinate and the relative position, and taking the fourth coordinate as the position of the robot in the target navigation map.
For example, as shown in fig. 3, the elevator gap is square, and after the elevator navigation map is spliced with the floor navigation map, the left lower corner vertex O1 of the elevator navigation map coincides with the left lower corner vertex of the elevator gap; and constructing a coordinate system of the floor navigation map by taking the left lower corner vertex O2 of the floor navigation map as a coordinate origin, and marking the coordinates (x, y) of the left lower corner vertex of the elevator notch in the floor navigation map in advance, wherein the coordinates are the relative positions of the elevator navigation map in the floor navigation map. The third coordinate is added to the coordinate (x, y) to obtain (a + x, b + y), which is the fourth coordinate.
In the embodiment, the third coordinate in the elevator navigation map after the robot reaches the destination floor is obtained, the fourth coordinate in the target navigation map is obtained through calculation based on the third coordinate and the relative position of the elevator navigation map in the floor navigation map, and the fourth coordinate is used as the position of the robot in the target navigation map, so that the autonomous positioning of the robot after the navigation map is switched is realized, and accurate navigation can be realized after the floor is switched.
In addition, an embodiment of the present invention further provides a cross-floor map switching device, and with reference to fig. 5, the device includes:
an obtaining module 10, configured to obtain a floor navigation map of a destination floor and an elevator navigation map inside an elevator device where a robot is located when the robot gets on the elevator device;
the splicing module 20 is configured to splice the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, where a boundary of the elevator gap is matched with a boundary of the elevator navigation map;
and the positioning module 30 is configured to determine a position of the robot in the target navigation map after the robot reaches the destination floor, and navigate at the destination floor based on the target navigation map.
Further, the splicing module 20 includes:
the determining unit is used for determining a target elevator gap matched with the elevator navigation map from a plurality of elevator gaps when the plurality of elevator gaps exist in the floor navigation map;
and the splicing unit is used for splicing the elevator navigation map to the target elevator gap in the floor navigation map to obtain a target navigation map.
Further, the determining unit is further configured to:
and when a plurality of elevator gaps are arranged in the floor navigation map, taking the elevator gap with the area equal to that of the elevator navigation map as a target elevator gap, or taking the elevator gap with the serial number consistent with that of the elevator device as the target elevator gap.
Further, the determining module 30 includes:
a first obtaining unit, configured to obtain a first coordinate and a displacement after the robot reaches the destination floor, where the first coordinate is a coordinate in a spatial coordinate system when the robot takes the elevator apparatus on an original floor, and the displacement is a displacement during the robot takes the elevator apparatus on the original floor to reach the destination floor;
and the first calculation unit is used for calculating a second coordinate in the space coordinate system based on the first coordinate and the displacement, and taking the second coordinate as the position of the robot in the target navigation map.
Further, the first acquisition unit includes:
an acquisition subunit configured to acquire the displacement measured by the inertial measurement unit in the robot, or to take a preset distance from the origin floor to the destination floor as the displacement.
Further, the determining module 30 includes:
the second acquisition unit is used for acquiring a third coordinate in the elevator navigation map after the robot reaches the destination floor;
and the second calculation unit is used for calculating a fourth coordinate of the robot in the target navigation map based on the third coordinate and the relative position of the elevator navigation map in the floor navigation map, and taking the fourth coordinate as the position of the robot in the target navigation map.
Further, the apparatus further comprises:
a navigation module for navigating by the robot based on the elevator navigation map when the robot is inside the elevator device.
The specific implementation of the cross-floor map switching device of the present invention has basically the same expansion content as the above-mentioned embodiments of the cross-floor map switching method, and is not described herein again.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, where a cross-floor map switching program is stored on the storage medium, and when the cross-floor map switching program is executed by a processor, the steps of the cross-floor map switching method are implemented as follows.
The embodiments of the robot and the computer-readable storage medium of the present invention can refer to the embodiments of the cross-floor map switching method of the present invention, and are not described herein again.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. A cross-floor map switching method is applied to a robot and is characterized by comprising the following steps:
when a robot takes an elevator device, acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where the robot is located;
splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map;
and after the robot reaches the destination floor, determining the position of the robot in the target navigation map, and navigating on the destination floor based on the target navigation map.
2. The method according to claim 1, wherein the splicing the elevator navigation map to the elevator notch in the floor navigation map to obtain the target navigation map comprises:
when a plurality of elevator gaps exist in the floor navigation map, determining a target elevator gap matched with the elevator navigation map from the elevator gaps;
splicing the elevator navigation map to the target elevator gap in the floor navigation map to obtain a target navigation map.
3. The method of claim 2, wherein determining a target elevator notch matching the elevator navigation map from the plurality of elevator notches when there are a plurality of elevator notches in the floor navigation map comprises:
and when a plurality of elevator gaps are arranged in the floor navigation map, taking the elevator gap with the area equal to that of the elevator navigation map as a target elevator gap, or taking the elevator gap with the serial number consistent with that of the elevator device as the target elevator gap.
4. The cross-floor map switching method of claim 1, wherein said determining the location of the robot in the target navigation map after the robot reaches the destination floor comprises:
when the robot reaches the destination floor, acquiring a first coordinate and a displacement, wherein the first coordinate is a coordinate of the robot in a space coordinate system when the robot takes the elevator device on an original floor, and the displacement is a displacement of the robot in the process of taking the elevator device from the original floor to the destination floor;
and calculating a second coordinate in the space coordinate system based on the first coordinate and the displacement, and taking the second coordinate as the position of the robot in the target navigation map.
5. The cross-floor map switching method of claim 4, wherein obtaining a displacement comprises:
acquiring the displacement measured by an inertial measurement unit in the robot, or taking a preset distance from the origin floor to the destination floor as the displacement.
6. The cross-floor map switching method of claim 1, wherein said determining the location of the robot in the target navigation map after the robot reaches the destination floor comprises:
acquiring a third coordinate in the elevator navigation map after the robot reaches the destination floor;
and calculating a fourth coordinate of the robot in the target navigation map based on the third coordinate and the relative position of the elevator navigation map in the floor navigation map, and taking the fourth coordinate as the position of the robot in the target navigation map.
7. The cross-floor map switching method according to any one of claims 1 to 6, characterized in that the method further comprises:
the robot navigates based on the elevator navigation map when the robot is inside the elevator device.
8. A cross-floor map switching apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring a floor navigation map of a destination floor and an elevator navigation map in the elevator device where a robot is located when the robot takes the elevator device;
the splicing module is used for splicing the elevator navigation map to an elevator gap in the floor navigation map to obtain a target navigation map, wherein the boundary of the elevator gap is matched with the boundary of the elevator navigation map;
and the positioning module is used for determining the position of the robot in the target navigation map after the robot reaches the destination floor, and navigating on the destination floor based on the target navigation map.
9. A robot, characterized in that the robot comprises: memory, a processor and a cross-floor map switching program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the cross-floor map switching method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored thereon a cross-floor map switching program which, when executed by a processor, implements the steps of the cross-floor map switching method according to any one of claims 1 to 7.
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