CN113568417B - Switching method and device of robot navigation map and computer readable medium - Google Patents
Switching method and device of robot navigation map and computer readable medium Download PDFInfo
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- CN113568417B CN113568417B CN202111138377.XA CN202111138377A CN113568417B CN 113568417 B CN113568417 B CN 113568417B CN 202111138377 A CN202111138377 A CN 202111138377A CN 113568417 B CN113568417 B CN 113568417B
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
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Abstract
The application belongs to the field of intelligent robots, and particularly relates to a switching method and device of a robot navigation map and a computer readable medium. The method comprises the following steps: acquiring target floor information of the robot; when the robot leaves the elevator, the robot is controlled to enter a reference area, wherein each floor is provided with the reference area, each reference area is provided with a floor label capable of indicating the information of the current floor, and each floor label is different; acquiring floor label information corresponding to a reference area where the robot is located at present; comparing the floor label information with the target floor information; and if the floor label information is consistent with the target floor information, switching the robot navigation map into a map corresponding to the target floor. Therefore, the problem that the robot is prone to making mistakes when switching floors is solved to a certain extent, the robot can be successfully switched to the corresponding floors, and navigation can be carried out according to a correct floor map after the robot reaches different floors.
Description
Technical Field
The application belongs to the field of intelligent robots, and particularly relates to a switching method and device of a robot navigation map and a computer readable medium.
Background
The robot capable of automatically driving indoors has the functions of automatic path planning, intelligent obstacle avoidance, elevator taking, automatic charging, automatic return and the like, can provide non-contact service, is widely used in places such as hospitals at present, and particularly provides the non-contact service through the robot during epidemic situations, so that the risk of cross infection of medical staff is greatly reduced.
The robot can not go to different floors in the service providing process, the work task of crossing floors is executed, and when the robot takes an elevator to go to different floors, the robot needs to switch the map of the corresponding floor to realize correct autonomous movement.
When the existing robot gets on an elevator, the robot cannot navigate according to a reserved map due to the influence of abnormal conditions after getting out of the elevator, so that navigation errors are caused.
It is to be noted that the information disclosed in the above background section is only for enhancement of understanding of the background of the present application and therefore may include information that does not constitute prior art known to a person of ordinary skill in the art.
Disclosure of Invention
The invention aims to provide a switching method and device of a robot navigation map and a computer readable medium, which at least reduce the problem that the robot is easy to make mistakes when switching floors to a certain extent and ensure that the robot can navigate according to a correct floor map after arriving at different floors.
Other features and advantages of the present application will be apparent from the following detailed description, or may be learned by practice of the application.
According to an aspect of an embodiment of the present application, there is provided a switching method of a robot navigation map, the method including:
acquiring target floor information of the robot;
when the robot leaves an elevator, the robot is controlled to enter a reference area, wherein each floor is provided with the reference area, each reference area is provided with a floor label capable of indicating the current floor information, and each floor label is different;
acquiring floor label information corresponding to a reference area where the robot is located currently;
comparing the floor label information with the target floor information;
and if the floor label information is consistent with the target floor information, switching the robot navigation map into a map corresponding to the target floor.
According to an aspect of an embodiment of the present application, there is provided a switching apparatus of a robot navigation map, the apparatus including:
the first acquisition module is used for acquiring target floor information of the robot;
the control module is used for controlling the robot to enter a reference area when the robot leaves an elevator, wherein each floor is provided with the reference area, each reference area is provided with a floor label capable of indicating the information of the current floor, and each floor label is different;
the second acquisition module is used for acquiring floor label information corresponding to the reference area where the robot is located currently;
the comparison module is used for comparing the floor label information with the target floor information;
and the switching module is used for switching the robot navigation map into a corresponding map of the target floor if the floor label information is consistent with the target floor information.
In some embodiments of the application, based on the above technical solution, the apparatus further includes a planning module, configured to re-plan a path for the robot to reach a target floor if the floor tag information is inconsistent with the target floor information.
In some embodiments of the application, based on the above technical solution, the planning module is further configured to determine a current position of the robot according to floor tag information corresponding to a reference area where the robot is currently located; re-determining the current position of the robot as a starting point of the robot; and taking the elevator again according to the target floor information until the robot leaves the elevator, wherein the floor label information corresponding to the current reference area is consistent with the target floor information.
In some embodiments of the present application, based on the above technical solution, the second obtaining module is further configured to retrieve a map of the reference area before the robot leaves an elevator; determining the position of the floor label according to the map of the reference area; and controlling the robot to enter the position of the floor tag, and reading the floor information on the floor tag to obtain the floor tag information corresponding to the reference area where the robot is located currently.
In some embodiments of the application, based on the above technical solution, the second obtaining module is further configured to set a bluetooth tag on each floor, and determine floor tag information corresponding to a reference area where the robot is currently located by scanning the bluetooth tag.
In some embodiments of the application, based on the above technical solution, the second obtaining module is further configured to set different floor identifiers on each floor, and scan the floor identifier corresponding to the reference area where the robot is currently located through the scanning device, so as to determine the floor label information corresponding to the reference area where the robot is currently located.
In some embodiments of the present application, based on the above technical solutions, the planning module is further configured to determine that the robot can use an elevator according to the target floor information; acquiring the space occupation condition of the usable elevator, and determining the containable space of the usable elevator; if the accommodation space of the usable elevator is larger than or equal to the volume space of the robot, the usable elevator meeting the condition is determined as the boarding elevator of the robot.
According to an aspect of the embodiments of the present application, there is provided a computer readable medium, on which a computer program is stored, which when executed by a processor, implements a switching method of a robot navigation map as in the above technical solutions.
According to an aspect of an embodiment of the present application, there is provided an electronic apparatus including: a processor; and a memory for storing executable instructions of the processor; wherein the processor is configured to execute the switching method of the robot navigation map as in the above technical solution via executing the executable instructions.
According to an aspect of embodiments herein, there is provided a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instruction from the computer readable storage medium, and the processor executes the computer instruction, so that the computer device executes the switching method of the robot navigation map as in the above technical solution.
According to the technical scheme provided by the embodiment of the application, the reference area is arranged in each floor, and no matter what condition the robot takes place in the elevator, the standby robot firstly enters the area of the elevator public map after leaving the elevator. And then, obtaining the floor information of the current floor by obtaining, and then completing the floor map switching in the reference area. Therefore, the problem that the robot is prone to making mistakes when switching floors is solved to a certain extent, the robot can be successfully switched to the corresponding floors, and navigation can be carried out according to a correct floor map after the robot reaches different floors.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort.
Fig. 1 schematically shows a flow of steps of a switching method of a robot navigation map according to an embodiment of the present application.
Fig. 2 schematically shows a flow of steps for re-planning a path of a robot to a target floor in an embodiment of the application.
Fig. 3 schematically shows a flow of steps for acquiring floor tag information corresponding to a reference area where a robot is currently located in an embodiment of the present application.
Fig. 4 schematically shows a floor plan view of floor tag information corresponding to a reference area where a robot is currently located in an embodiment of the present application.
Fig. 5 schematically shows the flow of steps for re-boarding an elevator according to destination floor information in an embodiment of the application.
Fig. 6 schematically shows a block diagram of a switching device of a robot navigation map according to an embodiment of the present application.
FIG. 7 schematically illustrates a block diagram of a computer system suitable for use in implementing an electronic device of an embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
The block diagrams shown in the figures are functional entities only and do not necessarily correspond to physically separate entities. I.e. these functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor means and/or microcontroller means.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the contents and operations/steps, nor do they necessarily have to be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
Generally, when a robot takes an elevator to go to different floors, the robot needs to complete map switching when the robot is in the elevator, namely before the robot leaves the elevator, and switches to a map of a target floor, so that the robot can navigate according to a new floor map when leaving the elevator.
However, because the situation in the elevator is complex, people and machines often ride in a mixed manner, a plurality of objects with different shapes and sizes are often accompanied with people, or the robot is manually suspended or even pushed out of the elevator, and due to the occurrence of various abnormal situations, the robot fails to switch the floor map or generates errors before going out of the elevator. When the robot fails to switch the floor map or has errors between the elevators, the robot cannot navigate according to the reserved map after the robot exits the elevators, so that the navigation is unsuccessful or the navigation is wrong.
In order to solve the problems, the application provides a switching method and device of a robot navigation map and a computer readable medium, and specifically, a reference area is arranged in each floor, no matter what condition occurs in an elevator when the robot leaves the elevator, the robot firstly enters the area of a common map of the elevator, then the floor map switching of the current floor is obtained through obtaining the floor information of the current floor, and then the floor map switching is completed in the reference area, so that the problem that the robot easily makes mistakes when switching floors is reduced to a certain extent, the robot can be guaranteed to be successfully switched to the corresponding floor, and the robot can be guaranteed to be navigated according to the correct floor map after arriving at different floors.
The following describes a method for switching a robot navigation map in detail with reference to specific embodiments.
Referring to fig. 1, fig. 1 schematically illustrates a flow of steps of a switching method of a robot navigation map according to an embodiment of the present application. The application discloses a switching method of a robot navigation map, which mainly comprises the following steps S101 to S106.
Step S101, target floor information of the robot is obtained.
Generally, when a robot takes an elevator to perform a distribution task, a corresponding target distribution point exists, that is, a corresponding target floor exists, and therefore, the target floor to which the robot arrives needs to be obtained first.
And S102, when the robot leaves the elevator, controlling the robot to enter a reference area, wherein each floor is provided with the reference area, each reference area is provided with a floor label capable of indicating the current floor information, and each floor label is different.
Alternatively, by providing a reference area in each floor and providing floor information indicating the current floor in each reference area, the current floor information can be determined by identifying information of the floor tags, and the floor tags corresponding to different floors are different.
In addition, for the position setting of the reference area, specifically, the reference area is generally set in the area of 30-50cm outside the elevator entrance, since there is usually no obstacle in the building structure in this area, the robot can freely travel in this area, so that the reference area is set to facilitate the robot to have enough space to recognize the information of the current floor and to perform the map switching.
When the robot leaves the elevator, whether the robot leaves the elevator actively or is moved out of the elevator, the robot firstly enters a reference area, a floor tag capable of indicating floor information is arranged in the reference area, and the current corresponding floor information can be identified by obtaining the information corresponding to the floor tag. For the acquisition mode of the floor tag, the person skilled in the art can set the acquisition mode according to actual needs. For example, if a bluetooth tag is set in a reference area corresponding to each floor, the bluetooth tag may be obtained in a bluetooth pairing manner, or if a two-dimensional code is set in the reference area, the information of the current floor may be obtained in a manner of scanning the two-dimensional code, which is not limited herein, and a person skilled in the art may limit the information according to actual needs.
And step S103, acquiring floor label information corresponding to the reference area where the robot is currently located.
Because the reference areas are arranged on different floors, and the floor information labels corresponding to the reference areas of different floors are different, the information of the current floor is obtained by acquiring the floor label corresponding to the reference area of the current floor.
And step S104, comparing the floor label information with the target floor information.
After the floor label information of the current floor is determined, the floor label information is compared with the target floor label, whether the target floor is reached is judged, whether the target floor is reached can be further determined, and the situation that the robot is moved out of the elevator and switched to the target floor map when the robot does not reach the target floor due to the influence of abnormal factors is avoided.
In step S105, if the floor tag information matches the destination floor information, the robot navigation map is switched to a map corresponding to the destination floor.
If the obtained current floor label information is consistent with the target floor information, the robot is determined to reach the target floor, so that the navigation map of the robot is switched to the map corresponding to the current floor, namely the map corresponding to the target floor, and the current floor information is compared with the target floor information, so that the accuracy of map switching is improved, and the map switching error is avoided.
Therefore, the reference area is arranged in each floor, no matter what condition the robot happens in the elevator, after the standby robot goes out of the elevator, the standby robot firstly enters the area of the elevator public map, then the floor information of the current floor is obtained through acquisition, and then the floor map switching is completed in the reference area, so that the problem that the robot easily makes mistakes when the floors are switched is reduced to a certain extent, the robot is guaranteed to be successfully switched to the corresponding floors, and the robot is guaranteed to navigate according to the correct floor map after arriving at different floors. Compared with the existing map corresponding to the target floor switching between the robot going out of the elevator, the probability of errors is reduced, and the accuracy of the robot navigation route is greatly improved.
It should be noted that, in the application, map composition of each floor has been completed, a problem of switching floor maps during operation can be flexibly performed, and a problem of robot confusion caused by map switching errors due to faults is avoided.
In one embodiment of the present application, the method further comprises:
and step S106, if the floor label information is not consistent with the target floor information, re-planning the path of the robot to the target floor.
By comparing the current floor tag information with the target floor information, if the current floor tag information is not consistent with the target floor information, it is determined that the robot cannot reach the target floor due to an abnormality, and if the robot cannot reach the target floor, the robot cannot execute the delivery task. Therefore, in order to enable the robot to better complete the distribution task. When the robot does not reach the target floor correctly, the path of the robot needs to be re-planned.
Therefore, when the current floor label information is inconsistent with the target floor information, the robot can well complete the distribution task by re-planning the path of the robot, so that the task completion degree of the robot is improved.
In one embodiment of the present application, referring to fig. 2, fig. 2 schematically illustrates a flow of steps for re-planning a path of a robot to a target floor in an embodiment of the present application. If the floor tag information is not consistent with the target floor information, the re-planning of the path for the robot to reach the target floor may mainly include the following steps S201 to S203.
Step S201, determining the current position of the robot according to the floor label information corresponding to the reference area where the robot is currently located.
When the current floor label information is inconsistent with the target floor information, the robot enters a reference area, and specific information of the current floor is determined in the reference area, namely the current floor of the robot is required to be acquired.
In step S202, the current position of the robot is determined as the starting point of the robot again.
After the current position of the robot is known, the current position is determined as the starting point of the robot, and the target floor is still the end point position.
And step S203, taking the elevator again according to the target floor information until the floor label information corresponding to the reference area where the robot is located is consistent with the target floor information when the robot leaves the elevator.
And re-planning the path according to the re-determined starting point, and finishing a distribution task until the floor label information corresponding to the current reference area is consistent with the target floor information.
Therefore, when the current floor label information is inconsistent with the target floor information, the robot can correctly reach the target floor by replanning the path so as to complete the distribution task.
To facilitate understanding of the technical solution of the present application, for example, when the robot needs to reach 5 th floor, that is, the target floor is 5 th floor, if it is normal, the robot will exit the elevator when reaching 5 th floor, and after exiting the elevator, the robot enters the reference area at this time. And then, determining the floor where the robot is located at the reference area, and if the robot arrives at the 5 th floor under the normal condition, determining that the current floor is the 5 th floor, namely the floor corresponding to the reference area where the robot is located is consistent with the target floor and is the 5 th floor, determining that the robot has arrived at the destination, and switching the navigation map of the robot into the map of the 5 th floor.
In another case, for example, the target floor of the robot is 5 floors, the robot exits the elevator when the robot exits the 3 floors, after the robot exits the 3 floors of the elevator, the robot also enters the reference area to determine that the current floor is several floors, the current floor is determined to be 3 floors by the current floor tag, the current floor is compared with the target floor, and if the current floor is not consistent with the target floor, the path needs to be re-planned. Specifically, after the current floor is determined to be the 3 rd floor, the 3 rd floor is determined to be the starting point position, the elevator is continuously selected to take the elevator, and the navigation map of the robot is switched to the map of the 5 th floor until the 5 th floor is reached, so that one task distribution is completed.
In an embodiment of the present application, referring to fig. 3, fig. 3 schematically shows a flow of steps for acquiring floor tag information corresponding to a reference area where a robot is currently located in an embodiment of the present application. The acquiring of the floor tag information corresponding to the reference area where the robot is currently located may mainly include the following steps S301 to S303.
In step S301, a map of a reference area is retrieved before the robot leaves the elevator.
Because each floor is provided with the reference area, and the map of each reference area is the same, the map of the reference area is called up between the elevators out of the robot, so that the information of the floor where the robot is located at present can be conveniently determined subsequently.
And step S302, determining the position of the floor label according to the map of the reference area.
Generally, a floor tag is set in a range corresponding to the reference area, and the floor on which the robot is currently located can be specified by the floor tag. The position of the floor tag can be found through the map of the reference area, so that the information of the floor tag can be read accurately in the follow-up process.
And step S303, controlling the robot to enter the position of the floor tag, and reading the floor information on the floor tag to obtain the floor tag information corresponding to the reference area where the robot is currently located.
The robot is controlled to enter the position of the floor tag, and the floor information on the floor tag is read, so that the current floor information is accurately determined, and errors caused by position deviation are reduced.
To facilitate understanding of the technical solution of the present application, referring to fig. 4, fig. 4 schematically illustrates a floor plan view of floor tag information corresponding to a reference area where a robot is currently located in an embodiment of the present application. Taking a certain floor area 400 as an example, for example, a floor a area, the floor a area includes a reference area 401, a floor tag 402, and an elevator 403. The robot enters the reference area 401 after exiting the elevator 403 and then determines the current floor information from the floor tag 402 in the reference area 401 to further determine whether to switch the map.
In one embodiment of the present application, controlling the robot to enter the position of the floor tag and read the floor information on the floor tag includes:
and Bluetooth labels are arranged on all floors, and the floor label information corresponding to the reference area where the robot is located at present is determined by scanning the Bluetooth labels.
Like this, all be provided with the bluetooth label at each floor, through scanning bluetooth label to can confirm the floor at present place of robot, simple swift, efficient moreover, the degree of accuracy of discernment is than higher.
In one embodiment of the present application, controlling the robot to enter the position of the floor tag and read the floor information on the floor tag includes:
different floor marks are arranged on each floor, and the floor marks corresponding to the reference area where the robot is located at present are scanned through a scanning device so as to determine the floor label information corresponding to the reference area where the robot is located at present.
All be provided with the floor sign at each floor, the floor sign is used for discerning the information of each floor, for example, all be provided with the floor sign in every floor, take 5 floors as the example, every floor of 1 floor to 5 floors all has the sign to be 1L-5L respectively, in order to discern the floor sign that current place reference area corresponds, this floor sign is scanned through scanning device, scanning device is the camera for example, shoots this floor sign through the camera, match the relevance after that, the floor that final definite current place is several buildings. Of course, the monitoring device may not be a camera, but may also be other devices for identifying the floor identifier, as long as the current floor can be identified, and a person skilled in the art may select the monitoring device according to actual needs, which is not limited herein.
Like this, all be provided with the floor sign at different floors, scan the analysis through scanning device to final definite current floor information, implementation is simple convenient.
In one embodiment of the present application, referring to fig. 5, fig. 5 schematically illustrates the flow of steps for re-boarding an elevator based on destination floor information in one embodiment of the present application. The re-boarding of the elevator based on the destination floor information may mainly include the following steps S501 to S503.
And step S501, determining that the robot can use the elevator according to the target floor information.
After obtaining the information of the target dispatch, it is next determined which elevators can reach the target dispatch so that which elevators are available for use. Since all elevator information is registered in the system in advance, the corresponding usable elevator can be obtained through the target delivery place information.
And step S502, acquiring the space occupation condition of the usable elevator, and determining the containable space of the usable elevator.
After determining which elevators can reach the target distribution place, acquiring the space occupation condition of the available elevators, judging whether redundant space can be used for the robot to enter, and judging whether the available elevators are in a full load state or not so as to master the carrying condition of the currently available elevators.
In step S503, if the available space of the elevator is greater than or equal to the volume space of the robot, the available elevator satisfying the condition is determined as the boarding elevator of the robot.
Alternatively, when the accommodation space of the usable elevator is larger than or equal to the volume space of the robot, the usable elevator is considered to be accessible to the robot, and therefore, the elevator is determined as the riding elevator of the robot.
Therefore, before the elevator is not called, the space occupation condition of the available elevator is obtained, whether the current elevator is in a full-load state or not is judged, if the accommodation space of the available elevator is smaller than the volume space of the robot, the current elevator is considered to be in the full-load state, the elevator is not called, if the accommodation space of the available elevator is larger than or equal to the volume space of the robot, the current elevator can be considered to be capable of being entered by the robot, the elevator is determined to be a riding elevator of the robot, the elevator is called after the elevator is determined to be ridden, the situation that the elevator is called firstly, the robot cannot enter at last, and the middle elevator stays to influence the carrying efficiency of the elevator is avoided. Through the real-time carrying condition who acquires current elevator earlier promptly, if the remaining space in the discovery elevator can't satisfy the robot and get into, then can not call this elevator, until detecting that the remaining space in the elevator satisfies the robot and gets into, just call the elevator, like this, occupy less elevator dwell time to elevator delivery efficiency has been improved. In addition, the riding of people is not influenced in the scene of man-machine mixing.
It should be noted that although the various steps of the methods in this application are depicted in the drawings in a particular order, this does not require or imply that these steps must be performed in this particular order, or that all of the shown steps must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions, etc.
The following describes embodiments of the apparatus of the present application, which may be used to perform the method for switching the robot navigation map in the above embodiments of the present application. Fig. 6 schematically shows a block diagram of a switching device of a robot navigation map according to an embodiment of the present application. As shown in fig. 6, a switching device 600 for a robot navigation map includes:
a first obtaining module 601, configured to obtain target floor information of a robot;
the control module 602 is configured to control the robot to enter a reference area when the robot leaves the elevator, where each floor is provided with the reference area, and each reference area is provided with a floor tag capable of indicating information of a current floor, and each floor tag is different;
a second obtaining module 603, configured to obtain floor tag information corresponding to a reference area where the robot is currently located;
a comparing module 604, configured to compare the floor tag information with the target floor information;
and a switching module 605, configured to switch the robot navigation map to a map corresponding to the target floor if the floor tag information is consistent with the target floor information.
In some embodiments of the application, based on the above technical solutions, the apparatus further includes a planning module, configured to re-plan a path for the robot to reach the target floor if the floor tag information is inconsistent with the target floor information.
In some embodiments of the application, based on the above technical solution, the planning module is further configured to determine a current position of the robot according to floor tag information corresponding to a reference area where the robot is currently located; re-determining the current position of the robot as the starting point of the robot; and taking the elevator again according to the target floor information until the robot leaves the elevator, wherein the floor label information corresponding to the reference area where the robot is located is consistent with the target floor information.
In some embodiments of the present application, based on the above technical solution, the second obtaining module is further configured to retrieve a map of the reference area before the robot leaves the elevator; determining the position of the floor label according to the map of the reference area; and controlling the robot to enter the position of the floor tag, and reading the floor information on the floor tag to obtain the floor tag information corresponding to the reference area where the robot is located currently.
In some embodiments of the application, based on the above technical solution, the second obtaining module is further configured to set a bluetooth tag on each floor, and determine floor tag information corresponding to a reference area where the robot is currently located by scanning the bluetooth tag.
In some embodiments of the application, based on the above technical solution, the second obtaining module is further configured to set different floor identifiers on each floor, and scan the floor identifier corresponding to the reference area where the robot is currently located through the scanning device, so as to determine the floor label information corresponding to the reference area where the robot is currently located.
In some embodiments of the present application, based on the above technical solution, the planning module is further configured to determine that the robot can use the elevator according to the target floor information; acquiring the space occupation condition of the usable elevator, and determining the accommodating space of the usable elevator; and if the accommodation space of the usable elevator is larger than or equal to the volume space of the robot, determining the usable elevator meeting the condition as the boarding elevator of the robot.
The specific details of the switching device of the robot navigation map provided in each embodiment of the present application have been described in detail in the corresponding method embodiment, and are not described herein again.
Fig. 7 schematically shows a block diagram of a computer system of an electronic device for implementing an embodiment of the present application.
It should be noted that the computer system 700 of the electronic device shown in fig. 7 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present application.
As shown in fig. 7, the computer system 700 includes a Central Processing Unit (CPU) 701 that can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 702 or a program loaded from a storage section 708 into a Random Access Memory (RAM) 703. In the random access memory 703, various programs and data necessary for system operation are also stored. The cpu 701, the rom 702, and the ram 703 are connected to each other via a bus 704. An Input/Output interface 705 (Input/Output interface, i.e., I/O interface) is also connected to the bus 704.
The following components are connected to the input/output interface 705: an input portion 706 including a keyboard, a mouse, and the like; an output section 707 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and a speaker; a storage section 708 including a hard disk and the like; and a communication section 709 including a network interface card such as a local area network card, a modem, and the like. The communication section 709 performs communication processing via a network such as the internet. A driver 710 is also connected to the input/output interface 705 as necessary. A removable medium 711 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 710 as necessary, so that a computer program read out therefrom is mounted into the storage section 708 as necessary.
In particular, according to embodiments of the present application, the processes described in the various method flowcharts may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program can be downloaded and installed from a network through the communication section 709, and/or installed from the removable medium 711. The computer program, when executed by the central processor 701, performs various functions defined in the system of the present application.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In this application, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the application. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which can be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present application.
Other embodiments of the present application will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains.
It will be understood that the present application is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.
Claims (8)
1. A switching method of a robot navigation map is characterized by comprising the following steps:
acquiring target floor information of the robot;
retrieving a map of a reference area before the robot leaves an elevator;
when the robot leaves an elevator, the robot is controlled to enter a reference area, wherein each floor is provided with the reference area, an area which is outward from an elevator entrance and is away from the elevator entrance by a preset distance is set as the reference area, each reference area is internally provided with a floor label which can indicate the current floor information, and each floor label is different;
determining the position of the floor label according to the map of the reference area;
controlling the robot to enter the position of the floor tag, and reading floor information on the floor tag to obtain floor tag information corresponding to a reference area where the robot is currently located;
comparing the floor label information with the target floor information;
if the floor label information is consistent with the target floor information, switching the map of the reference area to a map corresponding to the target floor in the reference area;
and if the floor tag information is inconsistent with the target floor information, re-planning a path for the robot to reach the target floor.
2. The method of claim 1, wherein the re-planning the path of the robot to the target floor if the floor tag information is inconsistent with the target floor information comprises:
determining the current position of the robot according to the floor label information corresponding to the reference area where the robot is located currently;
re-determining the current position of the robot as a starting point of the robot;
and taking the elevator again according to the target floor information until the robot leaves the elevator, wherein the floor label information corresponding to the current reference area is consistent with the target floor information.
3. The method for switching the robot navigation map according to claim 1, wherein the controlling the robot to enter the position of the floor tag and read the floor information on the floor tag comprises:
and Bluetooth labels are arranged on all floors, and the floor label information corresponding to the reference area where the robot is located at present is determined by scanning the Bluetooth labels.
4. The method for switching the robot navigation map according to claim 1, wherein the controlling the robot to enter the position of the floor tag and read the floor information on the floor tag comprises:
different floor marks are arranged on each floor, and the floor marks corresponding to the reference area where the robot is located at present are scanned through a scanning device so as to determine the floor label information corresponding to the reference area where the robot is located at present.
5. The method of switching the robot navigation map according to claim 2, wherein the re-boarding an elevator according to the target floor information includes:
determining that the robot can use an elevator according to the target floor information;
acquiring the space occupation condition of the usable elevator, and determining the containable space of the usable elevator;
if the accommodation space of the usable elevator is larger than or equal to the volume space of the robot, the usable elevator meeting the condition is determined as the boarding elevator of the robot.
6. A switching apparatus of a robot navigation map, characterized in that the apparatus comprises:
the first acquisition module is used for acquiring target floor information of the robot;
the control module is used for controlling the robot to enter a reference area when the robot leaves an elevator, wherein each floor is provided with the reference area, an area which is outward from an elevator entrance and has a preset distance with the elevator entrance is set as the reference area, each reference area is internally provided with a floor label which can indicate the current floor information, and each floor label is different;
a second obtaining module for retrieving a map of the reference area before the robot leaves an elevator; determining the position of the floor label according to the map of the reference area; controlling the robot to enter the position of the floor tag, and reading floor information on the floor tag to obtain floor tag information corresponding to a reference area where the robot is currently located;
the comparison module is used for comparing the floor label information with the target floor information;
the switching module is used for switching the map of the reference area into the corresponding map of the target floor in the reference area if the floor label information is consistent with the target floor information; and if the floor tag information is inconsistent with the target floor information, re-planning a path for the robot to reach the target floor.
7. A computer-readable medium, characterized in that a computer program is stored thereon, which when executed by a processor implements the switching method of the robot navigation map of any one of claims 1 to 5.
8. An electronic device, comprising:
a processor; and
a memory for storing executable instructions of the processor;
wherein the processor is configured to perform the method of switching of a robot navigation map of any of claims 1 to 5 via execution of the executable instructions.
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| CN114538228A (en) * | 2021-11-29 | 2022-05-27 | 北京云迹科技股份有限公司 | Robot recovery mechanism method and device |
| CN114180430A (en) * | 2021-11-29 | 2022-03-15 | 北京云迹科技有限公司 | Method and device for robot to execute task |
| CN114803738A (en) * | 2022-04-24 | 2022-07-29 | 河南省吉立达机器人有限公司 | Control method for avoiding floor making mistakes by robot |
| CN114873390B (en) * | 2022-04-25 | 2024-03-26 | 北京云迹科技股份有限公司 | Robot floor prediction method and related equipment |
| CN114735561A (en) * | 2022-04-26 | 2022-07-12 | 北京三快在线科技有限公司 | Method and device for detecting elevator stop floor |
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