CN114199247A - Method and device for positioning floor by mobile robot - Google Patents
Method and device for positioning floor by mobile robot Download PDFInfo
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- CN114199247A CN114199247A CN202111432395.9A CN202111432395A CN114199247A CN 114199247 A CN114199247 A CN 114199247A CN 202111432395 A CN202111432395 A CN 202111432395A CN 114199247 A CN114199247 A CN 114199247A
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Abstract
The invention discloses a method and a device for positioning floors by a mobile robot, wherein M pieces of map data corresponding to M floors in a building are repeatedly loaded, and a target elevator of the building is controlled to run to a floor position corresponding to the currently loaded map data according to the map data loaded each time until the target elevator runs to the floor where the mobile robot is actually located, wherein M is an integer greater than 1; when the target elevator is positioned on the floor where the mobile robot is actually positioned, floor feedback information of the target elevator is received; and positioning the floor where the mobile robot is actually located according to the floor feedback information. The invention solves the technical problem that the mobile robot can not continuously run when the fault occurs on the wrong floor.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a device for positioning floors by a mobile robot.
Background
With the continuous development of science and technology in China, the mobile robot starts to move on different floors of a building so as to provide services such as welcoming to guide goods to be transported across floors. However, the robot may be mishandled or maliciously moved by a person during task execution, resulting in the robot failing at the wrong floor.
Usually, the robot is positioned according to the data collected by the installed sensors, and the matching with the map is completed through an algorithm. In the field of mobile robots, a plurality of robot positioning algorithms based on a known map exist, but a plurality of maps are known, so that it is very difficult to position the robot on which map, because in an actual building environment, most areas of a plurality of floors are similar, such as an elevator hall and a corridor, the similarity of the areas is extremely high, and it is difficult to directly complete the positioning of the floors through data collected by a laser radar and a visual sensor. This results in the mobile robot failing to continue to perform tasks and returning to the original position after the wrong floor.
Disclosure of Invention
The embodiment of the invention provides a method and a device for positioning floors by a mobile robot, and solves the technical problem that the mobile robot fails to work on wrong floors in the prior art.
In a first aspect, an embodiment of the present invention provides a method for a mobile robot to locate a floor, where the mobile robot stores map data of different floors in the same floor, and the floor is configured with at least one elevator, the method includes:
loading M pieces of map data corresponding to M floors in the building repeatedly, and controlling a target elevator of the building to run to a floor position corresponding to the currently loaded map data according to the loaded map data each time until the target elevator runs to the floor where the mobile robot is actually located, wherein M is an integer greater than 1;
when the target elevator is positioned on the floor where the mobile robot is actually positioned, floor feedback information of the target elevator is received;
and positioning the floor where the mobile robot is actually located according to the floor feedback information.
Preferably, the loading of M pieces of map data corresponding to M floors without repetition includes:
and sequentially loading M pieces of map data corresponding to M floors according to the condition that the floors of the building are from low to high or the floors of the building are from high to low.
Preferably, the controlling the target elevator of the building to move to the floor position corresponding to the currently loaded map data according to the map data loaded each time includes:
loading map data of the ith floor in the M floors, wherein each map data in the M map data carries floor marking information;
setting the floor where the mobile robot is located at present as the ith floor according to the floor mark information of the map data of the ith floor, wherein i is any one of 1 to M;
controlling the target elevator to run to the ith floor according to the currently set ith floor;
and detecting whether the ith floor where the target elevator is located currently is the floor where the mobile robot is actually located.
Preferably, the detecting whether the ith floor where the target elevator is currently located is the floor where the mobile robot is actually located includes:
detecting the state of an elevator door of the target elevator;
and if the elevator door state is detected to be an opening state, representing that the ith floor where the target elevator is located is the actual floor where the mobile robot is located.
Preferably, the controlling the target elevator to travel to the ith floor according to the set ith floor includes:
establishing an internet of things communication link between the mobile robot and the target elevator;
calling the target elevator to the ith floor through the internet of things communication link, so that the target elevator responds to the call of the mobile robot, runs to the ith floor and opens an elevator door.
Preferably, the target elevator is arranged with a floor sensor, and the receiving of floor feedback information of the target elevator comprises:
and receiving floor feedback information fed back to the mobile robot by the floor sensor of the target elevator based on the internet of things communication link.
Preferably, each of the M pieces of map data includes a point location mark of an elevator hall position of the target elevator, and in the non-repeated process of loading the M pieces of map data corresponding to the M floors, the method further includes:
when the mobile robot loads a first map data, determining a point location mark of the position of an elevator entrance of the target elevator in the first map data;
and navigating at the current actual floor according to the point location mark of the elevator hall position of the target elevator in the first map data so as to navigate to the elevator hall position of the target elevator.
In a second aspect, an embodiment of the present invention provides an apparatus for locating a floor by a mobile robot, where the mobile robot stores map data of different floors in the same floor, and at least one elevator is disposed in the floor, the apparatus including:
the loading and running control unit is used for loading M pieces of map data corresponding to M floors without repetition, and controlling the target elevator of the building to run to the floor position corresponding to the currently loaded map data according to the map data loaded each time until the target elevator runs to the floor where the mobile robot is actually located;
the information receiving unit is used for receiving floor feedback information of the target elevator when the target elevator is positioned on the floor where the mobile robot is actually positioned;
and the floor positioning unit is used for positioning the floor where the mobile robot is actually located according to the floor feedback information.
In a third aspect, an embodiment of the present invention provides a mobile robot, including: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method according to any of the embodiments of the first aspect when executing the program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method according to any one of the embodiments of the first aspect.
One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:
in the embodiment of the invention, the mobile robot controls the elevator to run to the floor where the mobile robot is actually located by repeatedly loading M pieces of map data corresponding to M floors in the building and interacting with the elevator of the building where the mobile robot is located, and receives floor feedback information provided by the elevator when the elevator runs to the floor where the mobile robot is actually located, so as to finish autonomous floor positioning of the mobile robot according to the floor feedback information, and further, after the mobile robot fails to work on a wrong floor, the mobile robot can automatically correct and position the floor where the mobile robot actually locates, so that the problem that the mobile robot cannot continuously execute tasks or return to the original position after the mobile robot fails on the wrong floor is avoided.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
FIG. 1 is a schematic illustration of marked points in map data in an embodiment of the present invention;
FIG. 2 is a flow chart of a method for a mobile robot to locate a floor in an embodiment of the present invention;
fig. 3A is a schematic view of the mobile robot detecting that the elevator door is in a closed state according to the embodiment of the present invention;
FIG. 3B is a schematic diagram of the mobile robot detecting that the elevator door is in an open state according to the embodiment of the present invention;
FIG. 4 is a schematic diagram of a refined positioning process of the method for positioning floors by a mobile robot in the embodiment of the invention;
FIG. 5 is a schematic diagram of an apparatus for positioning floors by a mobile robot according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a mobile robot according to an embodiment of the present invention.
Detailed Description
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
First, it is stated that the term "and/or" appearing herein is merely one type of associative relationship that describes an associated object, meaning that three types of relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter related objects are in an "or" relationship.
The embodiment of the invention provides a method for positioning floors by a mobile robot, which is applied to the mobile robot, wherein the mobile robot is used for moving among a plurality of floors of a building and providing services, the building is provided with at least one elevator, and the mobile robot moves among different floors of the building and provides services through the elevator of the building.
It should be understood that in order for a mobile robot to move between multiple floors of the same building and provide services, the mobile robot needs to store map data of the multiple floors in the building, that is, multiple pieces of map data, and specifically, the mobile robot needs to have map data of the floor stored in advance for the floor to which the mobile robot needs to reach.
Specifically, if the mobile robot needs to travel and provide services on M different floors in the same building, the mobile robot needs to store map data for each of the M different floors in advance, that is, the mobile robot needs to store M pieces of map data in advance, where M is an integer greater than 1. For example, the mobile robot may store map data for each floor in a building.
For example, if the mobile robot is used to move and provide services in a building having 11 floors, map data of the 11 floors, that is, 11 pieces of map data, needs to be stored in the mobile robot.
In the embodiment of the invention, each piece of map data stored by the mobile robot carries floor mark information, and point location information such as a point location mark of an elevator entrance, a point location mark in an elevator, a point location mark of a room entrance, a point location mark of a building entrance and the like is arranged on each piece of map data.
Referring to fig. 1, fig. 1 is a partial map of the third floor of a building, in which point marks are located at the doorways of the rooms: 8380[0], 8301[0], 8302[0], elevator entrance positions of two elevators and point position marks in the elevators: the point location mark in the elevator of one elevator is in _ ok _3F _1[4] [1], and the point location mark of the elevator landing position is get _ ok _3F _1[3] [1 ]; the point mark in the elevator of the other elevator is lift _ inside _3F _2[4] [2], the point mark of the elevator landing position is lift _ outside _3F _2[3] [2], and the point mark of the safety exit is: 3F _ safing vent 12.
Referring to fig. 2, a method for positioning a floor by a mobile robot according to an embodiment of the present invention includes steps S101 to S103 as follows:
s101: m pieces of map data corresponding to M floors in the building are loaded repeatedly, and according to the loaded map data each time, a target elevator of the building is controlled to move to a floor position corresponding to the currently loaded map data until the target elevator moves to the floor where the mobile robot is actually located, wherein M is an integer greater than 1.
S102: when the target elevator is positioned on the floor where the mobile robot is actually positioned, floor feedback information of the target elevator is received;
s103: and positioning the floor where the mobile robot is actually located according to the floor feedback information.
It should be understood that, during the moving and service providing process of the mobile robot, if the current floor where the mobile robot is actually located cannot be confirmed, the mobile robot may be triggered to execute the above steps S101 to S103 to reposition the floor where the mobile robot is actually located.
For example, the continuous moving time of the mobile robot on the same floor is monitored, and when the continuous moving time of the mobile robot on the same floor is monitored to reach a preset time threshold, the mobile robot cannot confirm the current actual floor, that is, the mobile robot fails to be on the wrong floor, and the mobile robot needs to be triggered to execute the steps S101 to S103 to locate the actual floor of the mobile robot. Or, monitoring whether the current task executed by the mobile robot is completed within a preset time range, if not, determining that the mobile robot is in a wrong floor due to a fault, and triggering the mobile robot to execute the steps S101 to S103 to locate the floor where the mobile robot is actually located.
The following describes the above steps S101 to S103 in order to understand the technical solution provided by the embodiment of the present invention:
first, step S101 is executed; in step S101, in order to reduce the complexity of the elevator operation route in the process of the target elevator moving to the floor where the mobile robot is actually located, the mobile robot may sequentially load M pieces of map data corresponding to M floors of the building according to the floor sequence of the M floors, thereby implementing switching between the map data of different floors. For example, the mobile robot may load M pieces of map data corresponding to M floors in order from low to high; or sequentially loading M pieces of map data corresponding to the M floors from high to low of the floors.
In S101, the map data of M floors correspond to M maps, and when the mobile robot loads one map data, the mobile robot is triggered to control the target elevator to run to the floor position corresponding to the currently loaded map data. The target elevator is any elevator among elevators arranged in the building.
Taking an 11-storey building as an example, the mobile robot may load the map data of the 1 st storey first and control the target elevator to move to the 1 st storey; then, switching to the map data of the 2 nd floor, and controlling the target elevator to run to the 2 nd floor; then switching to the map data of the 3 rd floor, and controlling the target elevator to run to the 3 rd floor … …; and the steps are sequentially carried out until the target elevator runs to the floor where the mobile robot is located. Or, the mobile robot may first load the map data of the 11 th floor and control the target elevator to travel to the 11 th floor; then, switching map data of the 10 th floor, and controlling the target elevator to run to the 10 th floor; then switching to the map data of the 9 th floor, and controlling the target elevator to run to the 9 th floor … …; and the steps are sequentially carried out until the target elevator runs to the floor where the mobile robot is located.
Generally, since the landing positions of the same elevator on different floors in a building are the same azimuth, even if the mobile robot is currently at a wrong floor, the mobile robot can be navigated to the landing position of the destination elevator based on the map data of the wrong floor currently loaded. For the same reason, even if the mobile robot does not repeatedly load map data of different floors in step S101, the mobile robot can navigate to the landing position of the destination elevator set at the floor where the mobile robot is currently located according to the currently loaded first map data only when the first map data is loaded. After this, the mobile robot can no longer move and remain at the position of the elevator shaft when loading further map data.
Specifically, when the mobile robot loads a first map data, a point location mark of the position of an elevator entrance of a target elevator in the first map data is determined; and navigating the current actual floor of the mobile robot according to the point position mark of the position of the elevator hall of the target elevator in the first map data so as to navigate to the position of the elevator hall of the target elevator on the current actual floor of the mobile robot.
In the specific implementation process, the mobile robot controls the target elevator to run to a floor position corresponding to the map data loaded by the mobile robot at present if needed. The mobile robot can be used for loading floor marking information carried in map data currently, wherein each piece of map data in the M pieces of map data carries the floor marking information.
In some embodiments, when the mobile robot loads map data of an ith floor in M floors, according to floor mark information of the map data of the ith floor, setting a floor where the mobile robot is currently located as the ith floor, wherein i is any one of 1 to M; the mobile robot controls the target elevator to run to the ith floor according to the current set ith floor; after the target elevator runs to the ith floor, the mobile robot detects whether the ith floor where the target elevator is currently located is the floor where the mobile robot is actually located.
Wherein, the mobile robot controls the target elevator to move to the ith floor, which can be: establishing an internet of things communication link between the mobile robot and the target elevator; the mobile robot calls a target elevator to the ith floor through the Internet of things communication link; the target elevator travels to the ith floor and opens the elevator door in response to the call of the mobile robot.
Wherein, the mobile robot detects whether the ith floor where the target elevator is currently located is the floor where the mobile robot is actually located, and one implementation mode may be: the elevator door state of the floor where the mobile robot is actually located is obtained for judgment, and the specific implementation process is as follows: detecting the state of an elevator door of a target elevator on the floor where the mobile robot is actually located; if the state of the elevator door of the target elevator on the floor where the mobile robot is actually located is detected to be an open state, the fact that the target elevator is currently located on the floor where the mobile robot is actually located is represented, and if the state of the elevator door of the target elevator on the floor where the mobile robot is actually located is detected to be a closed state, the fact that the ith floor where the target elevator is currently located is different from the floor where the mobile robot is actually located is represented.
Specifically, the mobile robot may detect the state of the elevator door of the target elevator on the floor where the mobile robot is actually located through a distance measuring sensor or a visual sensor of the mobile robot.
In the following, taking the distance measuring sensor as a laser radar sensor as an example, the method for detecting the state of the elevator door is as follows: as shown in fig. 3A, when the elevator door state of the target elevator is a closed state, there is a laser point between the elevator inner position of the target elevator and the elevator door position where the mobile robot is located, that is, the laser can detect an obstacle in the direction from the mobile robot to the elevator inner position; as shown in fig. 3B, when the elevator door state of the target elevator is an open state, the laser cannot detect the obstacle in the direction from the mobile robot to the position in the elevator, and thus, whether the elevator door is in a closed state or an open state is determined by whether the laser radar sensor detects the obstacle in the direction from the mobile robot to the position in the elevator.
In step S102, the target elevator is provided with a floor sensor, and when the target elevator runs to the floor where the mobile robot is actually located, the mobile robot may receive floor feedback information fed back to the mobile robot by the floor sensor of the target elevator based on the established internet of things communication link.
After step S102, the step S103 is continued to locate the floor where the mobile robot is actually located according to the floor feedback information.
Specifically, in step S103, the floor feedback information fed back by the floor sensor of the target elevator may be compared with the floor marking information carried in the currently loaded map data of the mobile robot, and if the floor feedback information and the floor marking information are compared to indicate the same floor, the floor where the mobile robot is actually located is located as indicated by the floor feedback information and the floor marking information, and the currently loaded map data of the mobile robot is determined to be the map data of the floor where the mobile robot is actually located, thereby completing the floor location of the mobile robot. After the floor positioning of the mobile robot is completed, the mobile robot may continue to perform tasks or return to the home position based on the currently loaded map data (i.e., the map data of the floor on which the mobile robot is actually located).
In order to understand the technical solution of the embodiment of the present invention, a detailed implementation process of the method for positioning the floor by the mobile robot in the embodiment of the present invention is given below with reference to fig. 4, and is shown in the following steps 401 to 410:
step 401: triggering the start of floor location, and then, executing step 402;
step 402: loading first map data, and navigating to the position of the target elevator at the elevator entrance of the floor where the mobile robot is actually located according to the currently loaded first map data;
step 403: setting a floor f1 in the mobile robot based on floor mark information of the currently loaded map data;
then, step 404 is executed: call the target elevator to floor f 1;
then, step 405 is executed: is it detected whether the target elevator travels to floor f 1? If the target elevator runs to the floor f1, triggering the step 406 to be executed;
step 406: is it detected whether the elevator door of the target elevator on the floor where the mobile robot is actually located is opened? If the mobile robot is started, the representation target elevator runs to the floor where the mobile robot is actually located, step S407 is triggered, otherwise, step S409 is triggered to be executed, namely, the next floor is reselected without repetition, the map data of the reselected floor are switched to, and the step S403 is returned after the map data of the next floor are switched to through the step S409.
Step 407: acquiring a floor f2 fed back by an elevator sensor;
step 408: compare if floor f1 is equal to floor f 2? If yes, go to step 410: the floor where the mobile robot is actually located is f2(f2 ═ f 1).
In a second aspect, based on the same inventive concept, an embodiment of the present invention provides an apparatus for positioning a floor by a mobile robot, the mobile robot storing map data of different floors in the same floor, the floor being configured with at least one elevator, and referring to fig. 5, the apparatus for positioning a floor by a mobile robot comprising:
the loading and running control unit 501 is used for loading M pieces of map data corresponding to M floors without repetition, and controlling the target elevator of the building to run to the floor position corresponding to the currently loaded map data according to the map data loaded each time until the target elevator runs to the floor where the mobile robot is actually located;
an information receiving unit 502 that receives floor feedback information of the target elevator when the target elevator is located on the floor where the mobile robot is actually located;
and a floor positioning unit 503, configured to position the floor where the mobile robot is actually located according to the floor feedback information.
In some embodiments, the load and run control unit 501 includes:
and the map loading subunit is used for sequentially loading M pieces of map data corresponding to the M floors according to the condition that the floors of the building are from low to high or the floors of the building are from high to low.
In some embodiments, the map loading subunit is configured to load map data of an ith floor of the M floors, where each map data of the M map data carries floor marking information;
the loading and running control unit 501 further includes:
the floor setting subunit is used for setting the floor where the mobile robot is located currently as the ith floor according to the floor marking information of the map data of the ith floor, wherein i is any one of 1 to M;
the elevator control subunit is used for controlling the target elevator to run to the ith floor according to the currently set ith floor;
and the floor detection subunit is used for detecting whether the ith floor where the target elevator is currently located is the floor where the mobile robot is actually located.
In some embodiments, the floor detection subunit is specifically configured to:
detecting the state of an elevator door of a target elevator on the floor where the mobile robot is actually located;
and if the detected state of the elevator door is an opening state, representing that the ith floor where the target elevator is located is the actual floor where the mobile robot is located.
In some embodiments, the elevator control subunit is specifically configured to:
establishing an internet of things communication link between the mobile robot and the target elevator;
and calling the target elevator to the ith floor through the Internet of things communication link, so that the target elevator responds to the call of the mobile robot, moves to the ith floor and opens an elevator door.
In some embodiments, the target elevator is arranged with a floor sensor, and the information receiving unit 502 is specifically configured to:
and receiving floor feedback information fed back to the mobile robot by the floor sensor of the target elevator based on the Internet of things communication link.
In some embodiments, each of the M pieces of map data includes a point location marker of an elevator hall position of the target elevator, and the apparatus further includes:
the elevator entrance determining unit is used for determining a point position mark of the position of the elevator entrance of the target elevator in the first map data when the mobile robot loads the first map data;
and the navigation unit is used for navigating at the current actual floor according to the point position mark of the elevator hall position of the target elevator in the first map data so as to navigate to the elevator hall position of the target elevator.
With regard to the apparatus in the above-described embodiment, the specific manner in which each unit performs the operation has been described in detail in the embodiment related to the method, and will not be described in detail here.
In a third aspect, an embodiment of the present invention further provides a mobile robot, and referring to fig. 6, a schematic structural diagram of the mobile robot in the embodiment of the present invention is shown, the mobile robot includes one or more memories 604, one or more processors 602, and at least one computer program (program code) stored on the memory 604 and executable on the processor 602, and when the processor 602 executes the computer program, the method for processing the robot positioning data according to the foregoing first aspect is implemented.
Where in fig. 6 a bus architecture (represented by bus 600) is shown, bus 600 may include any number of interconnected buses and bridges, and bus 600 links together various circuits including one or more processors, represented by processor 602, and memory, represented by memory 604. The bus 600 may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. A bus interface 605 provides an interface between the bus 600 and the receiver 601 and transmitter 603. The receiver 601 and the transmitter 603 may be the same element, i.e., a transceiver, providing a means for communicating with various other apparatus over a transmission medium. The processor 602 is responsible for managing the bus 600 and general processing, and the memory 604 may be used for storing data used by the processor 602 in performing operations.
In an exemplary embodiment, there is also provided a computer-readable storage medium comprising instructions, such as a memory comprising instructions, which are executable by a processor of an electronic device to perform the method for locating a floor by a mobile robot as provided in the first aspect above, such as a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
Other embodiments of the invention 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 invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention 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 present invention is defined only by the appended claims, and the above-described preferred embodiments of the present invention are not intended to be limiting, and any modifications, equivalents, improvements, etc. within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (10)
1. A method for positioning floors by a mobile robot, wherein the mobile robot stores map data of different floors in the same building, and at least one elevator is configured in the building, the method comprises the following steps:
loading M pieces of map data corresponding to M floors in the building repeatedly, and controlling a target elevator of the building to run to a floor position corresponding to the currently loaded map data according to the loaded map data each time until the target elevator runs to the floor where the mobile robot is actually located, wherein M is an integer greater than 1;
when the target elevator is positioned on the floor where the mobile robot is actually positioned, floor feedback information of the target elevator is received;
and positioning the floor where the mobile robot is actually located according to the floor feedback information.
2. The method of claim 1, wherein said non-repeatedly loading M pieces of map data corresponding to M floors comprises:
and sequentially loading M pieces of map data corresponding to M floors according to the condition that the floors of the building are from low to high or the floors of the building are from high to low.
3. The method of claim 1 or 2, wherein said controlling a target elevator of the building to travel to a floor location corresponding to currently loaded map data based on each loaded map data comprises:
loading map data of the ith floor in the M floors, wherein each map data in the M map data carries floor marking information;
setting the floor where the mobile robot is located at present as the ith floor according to the floor mark information of the map data of the ith floor, wherein i is any one of 1 to M;
controlling the target elevator to run to the ith floor according to the currently set ith floor;
and detecting whether the ith floor where the target elevator is located currently is the floor where the mobile robot is actually located.
4. The method of claim 3, wherein the detecting whether the ith floor where the target elevator is currently located is the floor where the mobile robot is actually located comprises:
detecting the state of an elevator door of the target elevator on the floor where the mobile robot is actually located;
and if the elevator door state is detected to be an opening state, representing that the ith floor where the target elevator is located is the actual floor where the mobile robot is located.
5. The method of claim 3, wherein said controlling the target elevator to travel to the ith floor according to the set ith floor comprises:
establishing an internet of things communication link between the mobile robot and the target elevator;
calling the target elevator to the ith floor through the internet of things communication link, so that the target elevator responds to the call of the mobile robot, runs to the ith floor and opens an elevator door.
6. The method of claim 5, wherein the target elevator is disposed with a floor sensor, and the receiving floor feedback information for the target elevator comprises:
and receiving floor feedback information fed back to the mobile robot by the floor sensor of the target elevator based on the internet of things communication link.
7. The method according to claim 3, wherein each of the M pieces of map data includes a point location mark of an elevator hall position of the target elevator, and in the non-repeated process of loading the M pieces of map data corresponding to the M floors, the method further comprises:
when the mobile robot loads a first map data, determining a point location mark of the position of an elevator entrance of the target elevator in the first map data;
and navigating at the current actual floor according to the point location mark of the elevator hall position of the target elevator in the first map data so as to navigate to the elevator hall position of the target elevator.
8. An apparatus for positioning floors by a mobile robot, the mobile robot storing map data of different floors in the same building, the building being provided with at least one elevator, the apparatus comprising:
the loading and running control unit is used for loading M pieces of map data corresponding to M floors without repetition, and controlling the target elevator of the building to run to the floor position corresponding to the currently loaded map data according to the map data loaded each time until the target elevator runs to the floor where the mobile robot is actually located;
the information receiving unit is used for receiving floor feedback information of the target elevator when the target elevator is positioned on the floor where the mobile robot is actually positioned;
and the floor positioning unit is used for positioning the floor where the mobile robot is actually located according to the floor feedback information.
9. A mobile robot, comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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