CN113334431B - Method and device for identifying height difference inside and outside elevator door - Google Patents
Method and device for identifying height difference inside and outside elevator door Download PDFInfo
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- CN113334431B CN113334431B CN202110600803.0A CN202110600803A CN113334431B CN 113334431 B CN113334431 B CN 113334431B CN 202110600803 A CN202110600803 A CN 202110600803A CN 113334431 B CN113334431 B CN 113334431B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
Abstract
The application relates to the field of robots, and provides a method and a device for identifying the height difference inside and outside an elevator door, wherein the method comprises the following steps: acquiring dense point clouds of the inner and outer environments of an elevator door through a solid-state laser radar; performing plane fitting by using dense point clouds above a preset height, and identifying planes inside and outside the elevator door, wherein the planes inside the elevator door comprise the bottom plane of the elevator, and the planes inside the elevator door comprise the ground of an external environment; and averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the height difference inside and outside the elevator door. The method can automatically identify the height difference inside and outside the elevator door by the solid laser radar of the robot, and solves the problems of manpower waste and low measurement precision.
Description
Technical Field
The application relates to the field of robots, in particular to a method and a device for identifying the height difference inside and outside an elevator door.
Background
Due to the limitation of the robot chassis, when the robot enters and exits the elevator, the robot can not enter or exit the elevator when the height difference inside and outside the elevator door is too large.
At present, no method for automatically identifying the height difference inside and outside the elevator door by a robot exists, and the height difference is generally measured by human. Thus, not only is manpower wasted, but also the measurement accuracy is low.
Disclosure of Invention
The application aims to provide a method and a device for identifying the height difference inside and outside an elevator door, and the method and the device solve the problems.
The technical scheme provided by the application is as follows:
the application provides a method for identifying the height difference between the inside and the outside of an elevator door, which comprises the following steps:
acquiring dense point clouds of the inner and outer environments of an elevator door through a solid-state laser radar;
performing plane fitting by using dense point clouds above a preset height, and identifying planes inside and outside the elevator door, wherein the planes inside the elevator door comprise the bottom plane of the elevator, and the planes inside the elevator door comprise the ground of an external environment;
and averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the height difference inside and outside the elevator door.
Further preferably, the plane fitting is performed by using dense point clouds above a preset height, and the plane inside and outside the elevator door is identified, including:
performing plane fitting on dense point clouds above a preset height to obtain planes inside and outside the elevator door, wherein the normal vector of the planes is parallel to the direction of the robot, and determining a first fitting plane and a second fitting plane;
and classifying the first fitting plane and the second fitting plane according to the position information of the robot so as to identify the bottom plane of the elevator and the ground of the external environment.
Further preferably, the classifying the first fitting plane and the second fitting plane according to the position information of the robot to identify the bottom plane of the elevator and the floor of the external environment includes:
setting the position information of the robot as an origin O (X 0 ，Y 0 )；
Acquiring a point cloud A and a point cloud center P (X a ，Y a ，Z a ) The second fitting plane has a point cloud B and a point cloud center Q (X b ，Y b ，Z b )；
Classifying the first fitting plane and the second fitting plane based on the origin O (x 0, y 0), the point cloud corresponding to the first fitting plane and the second fitting plane and the point cloud center, wherein a calculation formula is as follows:
(X a -X 0 )*(X a -X 0 )+(Y a -Y 0 )*(Y a -Y 0 )＞(X b -X 0 )*(X b -X 0 )+(Y b -Y 0 )*(Y b -Y 0 ) When the elevator is in a state, the first fitting plane is a bottom plane in the elevator, and the second fitting plane is the ground of the external environment.
Further preferably, the collecting, by the solid-state laser radar, a dense point cloud of an environment inside and outside the elevator door includes:
and when the elevator door is in an opening state and is at a preset position away from the outside of the elevator door, acquiring dense point clouds of the environment inside and outside the elevator door through the solid-state laser radar of the robot.
Further preferably, the averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the height difference between the inside and the outside of the elevator door includes:
averaging the point cloud center Z value on the bottom plane of the elevator and the point cloud center Z value on the ground of the external environment to obtain the height difference between the inside and the outside of the elevator door, wherein the calculation formula is as follows: z a -Z b |；
Wherein Z is a Is the center Z value, Z of the point cloud on the bottom plane of the elevator b And the Z value of the center of the point cloud on the ground of the external environment.
An apparatus for identifying a difference in height between an inside and an outside of an elevator door, comprising:
the solid-state laser radar is used for collecting dense point clouds of the inner and outer environments of the elevator door through the solid-state laser radar;
the fitting module is used for carrying out plane fitting by utilizing dense point clouds above a preset height, identifying planes inside and outside the elevator door, wherein the plane inside the elevator door comprises a bottom plane of the elevator, and the plane inside the elevator door comprises the ground of an external environment;
and the identification module is used for averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment so as to automatically identify the height difference inside and outside the elevator door.
Further preferably, the fitting module is further configured to:
performing plane fitting on dense point clouds above a preset height to obtain planes inside and outside the elevator door, wherein the normal vector of the planes is parallel to the direction of the robot, and determining a first fitting plane and a second fitting plane;
and classifying the first fitting plane and the second fitting plane according to the position information of the robot so as to identify the bottom plane of the elevator and the ground of the external environment.
Further preferably, the fitting module is further configured to:
setting the machineThe position information of the robot is the origin O (X 0 ，Y 0 )；
Acquiring a point cloud A and a point cloud center P (X a ，Y a ，Z a ) The second fitting plane has a point cloud B and a point cloud center Q (X b ，Y b ，Z b )；
Based on the origin O (x 0, y 0) The first fitting plane and the second fitting plane are classified according to the point cloud and the point cloud center corresponding to the first fitting plane and the second fitting plane, and the calculation formula is as follows:
(X a -X 0 )*(X a -X 0 )+(Y a -Y 0 )*(Y a -Y 0 )＞(X b -X 0 )*(X b -X 0 )+(Y b -Y 0 )*(Y b -Y 0 ) When the elevator is in a state, the first fitting plane is a bottom plane in the elevator, and the second fitting plane is the ground of the external environment.
Further preferably, the solid-state lidar is further configured to:
and when the elevator door is in an opening state and is at a preset position away from the outside of the elevator door, acquiring dense point clouds of the environment inside and outside the elevator door through the solid-state laser radar of the robot.
Further preferably, the identification module is further configured to:
averaging the point cloud center Z value on the bottom plane of the elevator and the point cloud center Z value on the ground of the external environment to obtain the height difference between the inside and the outside of the elevator door, wherein the calculation formula is as follows: z a -Z b |；
Wherein Z is a Is the center Z value, Z of the point cloud on the bottom plane of the elevator b And the Z value of the center of the point cloud on the ground of the external environment.
The method and the device for identifying the height difference inside and outside the elevator door have the following beneficial effects:
the method can automatically identify the height difference inside and outside the elevator door by the solid laser radar of the robot, and solves the problems of manpower waste and low measurement precision.
Drawings
The above-mentioned features, technical features, advantages and implementation modes of a method and apparatus for identifying a height difference between an inside and an outside of an elevator door will be further described in a clear and understandable manner by describing preferred embodiments with reference to the accompanying drawings.
Fig. 1 is a schematic view of one embodiment of a method of identifying a difference in height between an interior and an exterior of an elevator door according to the present application;
fig. 2 is a schematic view of another embodiment of a method of identifying a difference in height between an inside and an outside of an elevator door according to the present application;
fig. 3 is a schematic view showing the construction of an embodiment of the apparatus for recognizing the difference in height between the inside and outside of an elevator door according to the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth such as the particular system architecture, techniques, etc., in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
For the sake of simplicity of the drawing, the parts relevant to the present application are shown only schematically in the figures, which do not represent the actual structure thereof as a product. Additionally, in order to simplify the drawing for ease of understanding, components having the same structure or function in some of the drawings are shown schematically with only one of them, or only one of them is labeled. Herein, "a" means not only "only this one" but also "more than one" case.
It should be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following description will explain the specific embodiments of the present application with reference to the accompanying drawings. It is evident that the drawings in the following description are only examples of the application, from which other drawings and other embodiments can be obtained by a person skilled in the art without inventive effort.
Example 1
In one embodiment of the present application, as shown in fig. 1, the present application provides a method for identifying a height difference between an inside and an outside of an elevator door, comprising the steps of:
s100, acquiring dense point clouds of the inner and outer environments of the elevator door through a solid-state laser radar.
Illustratively, in the data preprocessing stage, the method specifically includes the steps of:
point cloud time integration: and acquiring dense power supplies of the inner and outer environments of the elevator door through the solid-state laser radar. The solid-state laser radar is a non-repetitive laser radar.
First, the environmental data needs to be integrated over time to obtain a dense point cloud, and more detailed elevator environmental information is acquired.
The solid-state laser radar drives to send out point cloud data, and an elevator door is opened about 2 meters in front of an elevator to collect the data. Because the solid-state laser radar is a laser radar with non-repeated point clouds, denser point clouds and more detailed environmental information can be obtained.
It should be noted that, after the point cloud time integration, the point cloud filtering is also performed: for point cloud time integration, a dense point cloud is acquired. But at the same time, many irrelevant point cloud information is added, and the point clouds not only increase the calculated amount, but also influence the subsequent recognition capability. Thus, filtering the point cloud is required.
S200, performing plane fitting by using dense point clouds above a preset height, and identifying planes inside and outside the elevator door, wherein the planes inside the elevator door comprise the bottom plane of the elevator, and the planes inside the elevator door comprise the ground of the external environment.
Specifically, when environmental data is acquired, all data of the surrounding environment are acquired, a large number of dense point clouds exist, and the dense point clouds to be subjected to plane fitting need to be screened. In this way, all planes inside and outside the elevator door are quickly identified.
Meanwhile, when the planes inside and outside the elevator door are identified, the ground of the external environment of the elevator can be identified, and all planes in the elevator can be identified. The planes need to be classified to obtain two planes for calculating the difference in height between the inside and outside of the elevator door, namely the bottom plane of the elevator and the ground of the environment outside the elevator.
And S300, averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the height difference inside and outside the elevator door.
Specifically, when the wall embedded in the elevator is classified, the bottom plane of the elevator and the ground plane of the external environment are identified and fitted, the corresponding dense point clouds are averaged, so that the height difference between the inside and the outside of the elevator door is automatically identified.
In the embodiment, the problem of manpower waste and low measurement precision is solved by a method for automatically identifying the height difference inside and outside the elevator door through the solid-state laser radar of the robot.
Example two
Based on the above embodiments, the same parts as those of the above embodiments are not repeated in this embodiment, and as shown in fig. 2, this embodiment provides a method for identifying a height difference between an inside and an outside of an elevator door, including the steps of:
s100, acquiring dense point clouds of the inner and outer environments of the elevator door through a solid-state laser radar.
Illustratively, in the data preprocessing stage, the method specifically includes the steps of:
point cloud time integration: and acquiring dense power supplies of the inner and outer environments of the elevator door through the solid-state laser radar. The solid-state laser radar is a non-repetitive laser radar.
First, the environmental data needs to be integrated over time to obtain a dense point cloud, and more detailed elevator environmental information is acquired.
The solid-state laser radar drives to send out point cloud data, and an elevator door is opened about 2 meters in front of an elevator to collect the data. Because the solid-state laser radar is a laser radar with non-repeated point clouds, denser point clouds and more detailed environmental information can be obtained.
It should be noted that, after the point cloud time integration, the point cloud filtering is also performed: for point cloud time integration, a dense point cloud is acquired. But at the same time, many irrelevant point cloud information is added, and the point clouds not only increase the calculated amount, but also influence the subsequent recognition capability. Thus, filtering the point cloud is required.
Preferably, the collecting the dense point cloud of the inner and outer environments of the elevator door by the solid-state laser radar comprises the following steps:
and when the elevator door is in an opening state and is at a preset position away from the outside of the elevator door, acquiring dense point clouds of the environment inside and outside the elevator door through the solid-state laser radar of the robot.
S200, performing plane fitting by using dense point clouds above a preset height, and identifying planes inside and outside the elevator door, wherein the planes inside the elevator door comprise the bottom plane of the elevator, and the planes inside the elevator door comprise the ground of the external environment.
Specifically, when environmental data is acquired, all data of the surrounding environment are acquired, a large number of dense point clouds exist, and the dense point clouds to be subjected to plane fitting need to be screened. In this way, all planes inside and outside the elevator door are quickly identified.
Meanwhile, when the planes inside and outside the elevator door are identified, the ground of the external environment of the elevator can be identified, and all planes in the elevator can be identified. The planes need to be classified to obtain two planes for calculating the difference in height between the inside and outside of the elevator door, namely the bottom plane of the elevator and the ground of the environment outside the elevator.
Preferably, the plane fitting is performed by using a dense point cloud above a preset height, and the plane inside and outside the elevator door is identified, including:
performing plane fitting on dense point clouds above a preset height to obtain planes inside and outside the elevator door, wherein the normal vector of the planes is parallel to the direction of the robot, and determining a first fitting plane and a second fitting plane;
and classifying the first fitting plane and the second fitting plane according to the position information of the robot so as to identify the bottom plane of the elevator and the ground of the external environment.
Preferably, the classifying the first fitting plane and the second fitting plane according to the position information of the robot to identify the bottom plane of the elevator and the ground of the external environment includes:
setting the position information of the robot as an origin O (X 0 ，Y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a point cloud A and a point cloud center P (X a ，Y a ，Z a ) The second fitting plane has a point cloud B and a point cloud center Q (X b ，Y b ，Z b ) The method comprises the steps of carrying out a first treatment on the surface of the Based on the origin O (x 0, y 0) The first fitting plane and the second fitting plane are classified according to the point cloud and the point cloud center corresponding to the first fitting plane and the second fitting plane, and the calculation formula is as follows:
(X a -X 0 )*(X a -X 0 )+(Y a -Y 0 )*(Y a -Y 0 )＞(X b -X 0 )*(X b -X 0 )+(Y b -Y 0 )*(Y b -Y 0 ) When the elevator is in a state, the first fitting plane is a bottom plane in the elevator, and the second fitting plane is the ground of the external environment.
Illustratively, when the point cloud classification is performed, the method specifically comprises the following steps:
(1) identification fitting of wall embedded by elevator: after data preprocessing, point clouds with more than a certain height are taken for plane fitting, and the fitted normal vector is parallel to the direction of the robot. If a plane meeting the condition is fitted, the plane is the wall embedded by the elevator.
(2) Classification of the cloud of points inside and outside the elevator door: after the wall embedded by the elevator is identified, the point clouds on two sides of the plane of the wall can be classified, one side close to the robot is the outside of an elevator door (the robot is outside the elevator), and the other side is the elevator.
In the embodiment, when the point cloud classification is performed, fitting identification of the wall embedded in the elevator is performed first, and then classification of the point cloud inside and outside the elevator door is performed.
And S300, averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the height difference inside and outside the elevator door.
Specifically, when the wall embedded in the elevator is classified, the bottom plane of the elevator and the ground plane of the external environment are identified and fitted, the corresponding dense point clouds are averaged, so that the height difference between the inside and the outside of the elevator door is automatically identified.
Preferably, in step S300, the averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the difference in height between the inside and the outside of the elevator door includes:
averaging the point cloud center Z value on the bottom plane of the elevator and the point cloud center Z value on the ground of the external environment to obtain the height difference between the inside and the outside of the elevator door, wherein the calculation formula is as follows: z a -Z b |；
Wherein Z is a Is the center Z value, Z of the point cloud on the bottom plane of the elevator b And the Z value of the center of the point cloud on the ground of the external environment.
Illustratively, when performing plane fitting and height difference calculation inside and outside the elevator door, the method specifically comprises the following steps:
(1) plane fitting of ground to elevator floor: and respectively carrying out plane fitting on the classified point clouds inside and outside the elevator door, wherein at the moment, the plane outside the elevator door is the ground of the external environment. The plane in the elevator is the bottom plane of the elevator.
(2) Calculating the height difference between the ground and the elevator bottom plane: the point clouds of the ground of the external environment and the bottom plane of the elevator are averaged respectively, and the difference in z value is the difference in height between the inside and the outside of the elevator door.
Assuming that the position of the robot is O (x 0, y 0), two point clouds of a plane used for fitting are A and B respectively; their point cloud centers are P (xa, ya, za), Q (xb, yb, zb), respectively.
B is the ground of the external environment if (xa-x 0), (xa-x 0) + (ya-y 0), (ya-y 0) > (xb-x 0), (xb-x 0) + (yb-y 0), (yb-y 0) is the ground of the external environment, a is the bottom plane within the elevator; otherwise A is the ground of the external environment, B is the bottom plane in the elevator;
wherein, the inside and outside difference in height of elevator door: za-zb.
In the embodiment, the problem of manpower waste and low measurement precision is solved by a method for automatically identifying the height difference inside and outside the elevator door through the solid-state laser radar of the robot.
Example III
Based on the above embodiments, the same parts as those of the above embodiments are not repeated in this embodiment, and as shown in fig. 3, this embodiment provides a device for identifying a height difference between an inside and an outside of an elevator door, including:
the solid-state laser radar 301 is used for collecting dense point clouds of the inner and outer environments of the elevator door through the solid-state laser radar.
A fitting module 302, configured to perform plane fitting by using a dense point cloud above a preset height, identify planes inside and outside the elevator door, where the planes inside the elevator door include a bottom plane of the elevator, and the planes inside the elevator door include a ground of an external environment.
And the identification module 303 is used for averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment so as to automatically identify the height difference between the inside and the outside of the elevator door.
Preferably, the fitting module is further configured to:
performing plane fitting on dense point clouds above a preset height to obtain planes inside and outside the elevator door, wherein the normal vector of the planes is parallel to the direction of the robot, and determining a first fitting plane and a second fitting plane;
and classifying the first fitting plane and the second fitting plane according to the position information of the robot so as to identify the bottom plane of the elevator and the ground of the external environment.
Preferably, the fitting module is further configured to:
setting the position information of the robot as an origin O (X 0 ，Y 0 )；
Acquiring a point cloud A and a point cloud center P (X a ，Y a ，Z a ) The second fitting plane has a point cloud B and a point cloud center Q (X b ，Y b ，Z b )；
Classifying the first fitting plane and the second fitting plane based on the origin O (x 0, y 0), the point cloud corresponding to the first fitting plane and the second fitting plane and the point cloud center, wherein a calculation formula is as follows:
(X a -X 0 )*(x a -X 0 )+(Y a -Y 0 )*(Y a -Y 0 )＞(X b -X 0 )*(X b -X 0 )+(Y b -Y 0 )*(Y b -Y 0 ) When the elevator is in a state, the first fitting plane is a bottom plane in the elevator, and the second fitting plane is the ground of the external environment.
Preferably, the solid-state lidar is further configured to:
and when the elevator door is in an opening state and is at a preset position away from the outside of the elevator door, acquiring dense point clouds of the environment inside and outside the elevator door through the solid-state laser radar of the robot.
Preferably, the identification module is further configured to:
averaging the point cloud center Z value on the bottom plane of the elevator and the point cloud center Z value on the ground of the external environment to obtain the height difference between the inside and the outside of the elevator door, wherein the calculation formula is as follows: z a -Z b |；
Wherein Z is a Is the center Z value, Z of the point cloud on the bottom plane of the elevator b And the Z value of the center of the point cloud on the ground of the external environment.
Illustratively, in the data preprocessing stage, the method specifically includes the steps of:
point cloud time integration: and acquiring dense power supplies of the inner and outer environments of the elevator door through the solid-state laser radar. The solid-state laser radar is a non-repetitive laser radar.
First, the environmental data needs to be integrated over time to obtain a dense point cloud, and more detailed elevator environmental information is acquired.
The solid-state laser radar drives to send out point cloud data, and an elevator door is opened about 2 meters in front of an elevator to collect the data. Because the solid-state laser radar is a laser radar with non-repeated point clouds, denser point clouds and more detailed environmental information can be obtained.
It should be noted that, after the point cloud time integration, the point cloud filtering is also performed: for point cloud time integration, a dense point cloud is acquired. But at the same time, many irrelevant point cloud information is added, and the point clouds not only increase the calculated amount, but also influence the subsequent recognition capability. Thus, filtering the point cloud is required.
Specifically, when environmental data is acquired, all data of the surrounding environment are acquired, a large number of dense point clouds exist, and the dense point clouds to be subjected to plane fitting need to be screened. In this way, all planes inside and outside the elevator door are quickly identified.
Meanwhile, when the planes inside and outside the elevator door are identified, the ground of the external environment of the elevator can be identified, and all planes in the elevator can be identified. The planes need to be classified to obtain two planes for calculating the difference in height between the inside and outside of the elevator door, namely the bottom plane of the elevator and the ground of the environment outside the elevator.
Illustratively, when the point cloud classification is performed, the method specifically comprises the following steps:
(1) identification fitting of wall embedded by elevator: after data preprocessing, point clouds with more than a certain height are taken for plane fitting, and the fitted normal vector is parallel to the direction of the robot. If a plane meeting the condition is fitted, the plane is the wall embedded by the elevator.
(2) Classification of the cloud of points inside and outside the elevator door: after the wall embedded by the elevator is identified, the point clouds on two sides of the plane of the wall can be classified, one side close to the robot is the outside of an elevator door (the robot is outside the elevator), and the other side is the elevator.
In the embodiment, when the point cloud classification is performed, fitting identification of the wall embedded in the elevator is performed first, and then classification of the point cloud inside and outside the elevator door is performed.
Illustratively, when performing plane fitting and height difference calculation inside and outside the elevator door, the method specifically comprises the following steps:
(1) plane fitting of ground to elevator floor: and respectively carrying out plane fitting on the classified point clouds inside and outside the elevator door, wherein at the moment, the plane outside the elevator door is the ground of the external environment. The plane in the elevator is the bottom plane of the elevator.
(2) Calculating the height difference between the ground and the elevator bottom plane: the point clouds of the ground of the external environment and the bottom plane of the elevator are averaged respectively, and the difference in z value is the difference in height between the inside and the outside of the elevator door.
Assuming that the position of the robot is O (x 0, y 0), two point clouds of a plane used for fitting are A and B respectively; their point cloud centers are P (xa, ya, za), Q (xb, yb, zb), respectively.
B is the ground of the external environment if (xa-x 0), (xa-x 0) + (ya-y 0), (ya-y 0) > (xb-x 0), (xb-x 0) + (yb-y 0), (yb-y 0) is the ground of the external environment, a is the bottom plane within the elevator; otherwise A is the ground of the external environment, B is the bottom plane in the elevator;
wherein, the inside and outside difference in height of elevator door: za-zb.
In the embodiment, the problem of manpower waste and low measurement precision is solved by a method for automatically identifying the height difference inside and outside the elevator door through the solid-state laser radar of the robot.
It will be apparent to those skilled in the art that the above-described program modules are only illustrated in the division of the above-described program modules for convenience and brevity, and that in practical applications, the above-described functional allocation may be performed by different program modules, i.e., the internal structure of the apparatus is divided into different program units or modules, to perform all or part of the above-described functions. The program modules in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one processing unit, where the integrated units may be implemented in a form of hardware or in a form of a software program unit. In addition, the specific names of the program modules are also only for distinguishing from each other, and are not used to limit the protection scope of the present application.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and the parts of a certain embodiment that are not described or depicted in detail may be referred to in the related descriptions of other embodiments.
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 solution. 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 application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. The above described embodiments of the apparatus are exemplary only, and exemplary, the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, exemplary, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
It should be noted that the above embodiments can be freely combined as needed. The foregoing is merely a preferred embodiment of the present application and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present application, which are intended to be comprehended within the scope of the present application.
Claims (6)
1. A method of identifying a difference in height between an interior and an exterior of an elevator door, comprising:
acquiring dense point clouds of the inner and outer environments of an elevator door through a solid-state laser radar;
performing plane fitting by using dense point clouds above a preset height, and identifying planes inside and outside the elevator door, wherein the planes inside the elevator door comprise the bottom plane of the elevator, and the planes inside the elevator door comprise the ground of an external environment;
the method specifically comprises the following steps: performing plane fitting on dense point clouds above a preset height to obtain planes inside and outside the elevator door, wherein the normal vector of the planes is parallel to the direction of the robot, and determining a first fitting plane and a second fitting plane; classifying the first fitting plane and the second fitting plane according to the position information of the robot to identifyThe method specifically comprises the following steps of: setting the position information of the robot as an origin O (X 0 ，Y 0 ) The method comprises the steps of carrying out a first treatment on the surface of the Acquiring a point cloud A and a point cloud center P (X a ，Y a ，Z a ) The second fitting plane has a point cloud B and a point cloud center Q (X b ，Y b ，Z b ) The method comprises the steps of carrying out a first treatment on the surface of the Based on the origin O (X 0 ，Y 0 ) The first fitting plane and the second fitting plane are classified according to the point cloud and the point cloud center corresponding to the first fitting plane and the second fitting plane, and the calculation formula is as follows: (X) a -X 0 )*(X a -X 0 )+(Y a -Y 0 )*(Y a -Y 0 )＞(X b -X 0 )*(X b -X 0 )+(Y b -Y 0 )*(Y b -Y 0 ) When the elevator is in a high-speed state, the first fitting plane is a bottom plane in the elevator, and the second fitting plane is the ground of the external environment;
and averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment to automatically identify the height difference inside and outside the elevator door.
2. The method of claim 1, wherein the acquiring a dense point cloud of the elevator door interior and exterior environment by solid state lidar comprises:
and when the elevator door is in an opening state and is at a preset position away from the outside of the elevator door, acquiring dense point clouds of the environment inside and outside the elevator door through the solid-state laser radar of the robot.
3. The method of claim 1, wherein the averaging the dense point clouds corresponding to the bottom plane of the elevator and the floor of the external environment to automatically identify the elevator door inner and outer height difference comprises:
the Z value of the point cloud center on the bottom plane of the elevator and the Z value of the point cloud center on the ground of the external environment are calculatedAveraging to obtain the height difference between the inside and the outside of the elevator door, wherein the calculation formula is as follows: z a -Z b |；
Wherein Z is a Is the center Z value, Z of the point cloud on the bottom plane of the elevator b And the Z value of the center of the point cloud on the ground of the external environment.
4. An apparatus for identifying a difference in height between an inside and an outside of an elevator door, comprising:
the solid-state laser radar is used for collecting dense point clouds of the inner and outer environments of the elevator door through the solid-state laser radar;
the fitting module is used for carrying out plane fitting by utilizing dense point clouds above a preset height, identifying planes inside and outside the elevator door, wherein the plane inside the elevator door comprises a bottom plane of the elevator, and the plane inside the elevator door comprises the ground of an external environment;
the fitting module is further configured to:
performing plane fitting on dense point clouds above a preset height to obtain planes inside and outside the elevator door, wherein the normal vector of the planes is parallel to the direction of the robot, and determining a first fitting plane and a second fitting plane;
classifying the first fitting plane and the second fitting plane according to the position information of the robot to identify a bottom plane of the elevator and a ground of the external environment;
the fitting module is further configured to:
setting the position information of the robot to be the origin 0 (X 0 ，Y 0 )；
Acquiring a point cloud A and a point cloud center P (X a ，Y a ，Z a ) The second fitting plane has a point cloud B and a point cloud center Q (X b ，Y b ，Z b )；
Based on the origin 0 (X 0 ，Y 0 ) The first fitting plane and the second fitting plane are classified according to the point cloud and the point cloud center corresponding to the first fitting plane and the second fitting plane, and the calculation formula is as follows:
(X a -X 0 )*(X a -X 0 )+(Y a -Y 0 )*(Y a -Y 0 )＞(X b -X 0 )*(X b -X 0 )+(Y b -Y 0 )*(Y b -Y 0 ) When the elevator is in a high-speed state, the first fitting plane is a bottom plane in the elevator, and the second fitting plane is the ground of the external environment;
and the identification module is used for averaging the dense point clouds corresponding to the bottom plane of the elevator and the ground of the external environment so as to automatically identify the height difference inside and outside the elevator door.
5. The apparatus for identifying an elevator door inner and outer height difference according to claim 4, wherein the solid state lidar is further configured to:
and when the elevator door is in an opening state and is at a preset position away from the outside of the elevator door, acquiring dense point clouds of the environment inside and outside the elevator door through the solid-state laser radar of the robot.
6. The device for identifying a difference in height between an interior and an exterior of an elevator door as defined in claim 5, wherein the identification module is further configured to:
averaging the point cloud center Z value on the bottom plane of the elevator and the point cloud center Z value on the ground of the external environment to obtain the height difference between the inside and the outside of the elevator door, wherein the calculation formula is as follows: z a -Z b |；
Wherein Z is a Is the center Z value, Z of the point cloud on the bottom plane of the elevator b And the Z value of the center of the point cloud on the ground of the external environment.
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| KR20140046289A (en) * | 2012-10-10 | 2014-04-18 | 주식회사 케이티 | Method for measuring height by image and movable robot apparatus |
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| CN108002154A (en) * | 2017-11-22 | 2018-05-08 | 上海思岚科技有限公司 | The method that control robot is moved across floor |
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