CN114199247B - Method and device for positioning floors by mobile robot - Google Patents
Method and device for positioning floors by mobile robot Download PDFInfo
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- CN114199247B CN114199247B CN202111432395.9A CN202111432395A CN114199247B CN 114199247 B CN114199247 B CN 114199247B CN 202111432395 A CN202111432395 A CN 202111432395A CN 114199247 B CN114199247 B CN 114199247B
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- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
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- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a method and a device for positioning floors by a mobile robot, which are characterized in that M map data corresponding to M floors in a building are not repeatedly loaded, and a target elevator of the building is controlled to run to a floor position corresponding to the current 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 larger than 1; when the target elevator is located at the floor where the mobile robot is actually located, 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 continue to run on the wrong floor due to the fault.
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, mobile robots start to move on different floors of a building so as to provide services of welcome guiding and transporting goods and the like across floors. However, the robot may suffer from misoperation or malicious movement of a person during task execution, resulting in a robot failure at the wrong floor.
Usually, the robot is positioned according to the data collected by the installed sensor, 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 it is very difficult to know a plurality of maps to position a 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 very difficult to directly complete the positioning of the floors through data acquired by a laser radar and a vision sensor. This results in a failure of the mobile robot to continue the task or to return to the home position after the wrong floor.
Disclosure of Invention
The embodiment of the invention solves the technical problem that the mobile robot fails on the wrong floor in the prior art by providing the method and the device for positioning the floor by the mobile robot.
In a first aspect, an embodiment of the present invention provides a method for positioning floors by using a mobile robot, where the mobile robot stores map data of different floors in the same building, and the building is configured with at least one elevator, and the method includes:
the method comprises the steps of loading M map data corresponding to M floors in a building repeatedly, and controlling a target elevator of the building to operate to a floor position corresponding to current loading map data according to the map data loaded each time until the target elevator operates to an actual floor of the mobile robot, wherein M is an integer greater than 1;
receiving floor feedback information of the target elevator when the target elevator is located at a floor where the mobile robot is actually located;
and positioning the floor where the mobile robot is actually located according to the floor feedback information.
Preferably, the non-repetitive loading of M map data corresponding to M floors includes:
and sequentially loading M map data corresponding to M floors according to the condition that the floors of the building are from low to high or the condition that the floors of the building are from high to low.
Preferably, the controlling the target elevator of the building to operate to the floor position corresponding to the current loading map data according to the map data loaded each time includes:
loading map data of an ith floor in the M floors, wherein each map data in the M map data is provided with floor marking information;
according to the floor marking information of the map data of the ith floor, setting the current floor of the mobile robot as 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 current ith floor of the target elevator is the actual floor of the mobile robot.
Preferably, the detecting whether the i-th floor where the target elevator is currently located is the floor where the mobile robot is actually located includes:
detecting an elevator door state of the target elevator;
and if the elevator door state is detected to be in an open state, representing that the current i floor of the target elevator is the actual floor of the mobile robot.
Preferably, the controlling the destination elevator to travel to the ith floor according to the set ith floor includes:
establishing an object communication link between the mobile robot and the target elevator;
and calling the target elevator to the ith floor through the object 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 destination elevator is provided with a floor sensor, and the receiving of floor feedback information of the destination elevator comprises:
and receiving floor feedback information fed back to the mobile robot by a floor sensor of the target elevator based on the object communication link.
Preferably, each of the M pieces of map data includes a point location mark of an elevator hoistway position of the target elevator, and in the non-repeated process of loading M pieces of map data corresponding to M floors, the method further includes:
when the mobile robot loads first map data, determining a point position mark of the elevator opening position of the target elevator in the first map data;
and navigating at the current actual floor according to the point position mark of the elevator hoistway position of the target elevator in the first map data so as to navigate to the elevator hoistway position of the target elevator.
In a second aspect, an embodiment of the present invention provides an apparatus for positioning floors of a mobile robot, where the mobile robot stores map data of different floors in the same building, and the building is configured with at least one elevator, and the apparatus includes:
the loading and running control unit is used for non-repeatedly loading M pieces of map data corresponding to M floors, and controlling the target elevator of the building to run to the floor position corresponding to the current loading 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 located at a floor where the mobile robot is actually located;
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: a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any embodiment of the first aspect when the program is executed.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of the method according to any of the embodiments of the first aspect.
One or more technical solutions provided in the embodiments of the present invention at least have the following technical effects or advantages:
in the embodiment of the invention, the mobile robot controls the elevator to run to the actual floor of the mobile robot by non-repeatedly loading M map data corresponding to M floors in the building and interacting with the elevator of the building where the mobile robot is located, receives the floor feedback information provided by the elevator when the elevator runs to the actual floor of the mobile robot, and completes the autonomous floor positioning of the mobile robot according to the floor feedback information, thereby enabling the mobile robot to automatically correct and position the actual floor after the fault is at the wrong floor and avoiding that the fault of the mobile robot cannot continue to execute tasks or return to the original position after the fault is at the wrong floor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
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 positioning floors by a mobile robot in an embodiment of the invention;
fig. 3A is a schematic diagram of a mobile robot detecting that an elevator door is in a closed state in an embodiment of the present invention;
fig. 3B is a schematic diagram of a mobile robot detecting that an elevator door is in an open state in an embodiment of the present invention;
FIG. 4 is a detailed locating process schematic of a method for locating floors by a mobile robot in an embodiment of the invention;
FIG. 5 is a schematic diagram of a device for positioning floors of 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 above technical solutions, the following detailed description will refer to the accompanying drawings and specific embodiments.
First, the term "and/or" appearing herein is merely an association relationship describing associated objects, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are 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 service, the building is provided with at least one elevator, and the mobile robot moves among different floors of the building through the elevator of the building and provides service.
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 multiple floors in the building, that is, store multiple pieces of map data, specifically, the floor that the mobile robot needs to reach, and the map data of the floor needs to be stored in advance.
Specifically, if the mobile robot needs to move and provide services on M different floors in the same building, map data of each of the M different floors needs to be stored in the mobile robot in advance, that is, M map data are stored in the mobile robot in advance, where M is an integer greater than 1. For example, a mobile robot may store map data for each floor in a building.
For example, when a mobile robot is used to move and provide services in a building having 11 floors, it is necessary to store map data of the 11 floors, that is, 11 pieces of map data.
In the embodiment of the invention, each piece of map data stored by the mobile robot carries floor marking information, and each piece of map data is provided with point marking of the elevator entrance position, point marking in an elevator, point marking of a room entrance, point marking of a elevator entrance and the like.
Referring to fig. 1, fig. 1 is a partial map of a third building in a building, where there are spot markings for the doorways of each room: 8380[0], 8301[0], 8302[0], and also the elevator hoistway positions of two elevators, and the point location marks in the elevators: wherein 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 hoistway position is get_ok_3F_1[3] [1]; the point marker in the elevator of the other elevator is lift_inside_3f_2[4] [2], the point marker of the elevator hoistway position is lift_outside_3f_2[3] [2], the point marker of the safety exit is: 3 f_secure egress 12.
Referring to fig. 2, the method for positioning a floor by using a mobile robot according to an embodiment of the present invention includes the following steps S101 to S103:
s101: and (3) not repeatedly loading M map data corresponding to M floors in the building, and controlling the target elevator of the building to run to the floor position corresponding to the current map data until the target elevator runs to the floor where the mobile robot is actually located according to the map data loaded each time, wherein M is an integer greater than 1.
S102: when the target elevator is located at the floor where the mobile robot is actually located, 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, if the current actual floor cannot be confirmed while the mobile robot is moving and providing service, the mobile robot is triggered to perform the above steps S101 to S103 to relocate the actual floor of the mobile robot if the current actual floor fails to be found.
For example, the continuous moving duration of the mobile robot on the same floor is monitored, and when the continuous moving duration of the mobile robot on the same floor is monitored to reach a preset duration threshold, the mobile robot cannot confirm the current actual floor, that is, the mobile robot fails 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, it may also be to monitor whether the current execution task of the mobile robot is completed within a preset time range, if the current execution task of the mobile robot is not completed within the preset time range, confirm that the fault of the mobile robot is at the wrong floor, and trigger the mobile robot to execute the steps S101 to S103, so as to locate the floor where the mobile robot is actually located.
The following describes the steps S101 to S103 in detail sequentially, so as to understand the technical scheme provided by the embodiment of the present invention:
first, step S101 is performed; in step S101, in order to reduce the complexity of the elevator running route in the process of running the target elevator to the floor where the mobile robot is actually located, the mobile robot may load M map data corresponding to M floors of the building in sequence according to the floor sequence of the M floors, thereby implementing the switching between map data of different floors. For example, the mobile robot may load M map data corresponding to M floors in order of the floors from low to high; or sequentially loading M map data corresponding to M floors in the order from high to low.
In S101, the map data of M floors corresponds to M maps, and each time the mobile robot loads one map data, the mobile robot is triggered to control the target elevator to operate to the floor position corresponding to the currently loaded map data. The target elevator is any one of the elevators arranged in the building.
Taking a building of 11 floors as an example, the mobile robot can firstly load map data of the building of 1 floor and control the target elevator to run to the building of 1 floor; then, switching to map data of the floor 2, and controlling the target elevator to run to the floor 2; switching to map data of the 3 rd floor, and controlling the target elevator to travel to the 3 rd floor … …; and sequentially proceeding until the target elevator runs to the floor where the mobile robot is located. Alternatively, the mobile robot may first load 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; switching to the map data of the 9 th floor and controlling the target elevator to travel to the 9 th floor … …; and sequentially proceeding until the target elevator runs to the floor where the mobile robot is located.
In general, the elevator hoistway positions of the same elevator are in the same direction at different floors in a building, and therefore, even if the mobile robot is currently malfunctioning at an erroneous floor, the mobile robot can be navigated to the elevator hoistway position of the target elevator based on the map data of the erroneous 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 elevator hoistway position where the target elevator is set at the floor where the mobile robot is currently located based on the first map data loaded at present only when the first map data is loaded. After this, when other pieces of map data are loaded, the mobile robot can be kept at the elevator hoistway position without moving any more.
Specifically, when the mobile robot loads the first map data, determining a point position mark of the elevator hoistway position of the target elevator in the first map data; and according to the point position mark of the elevator hoistway position of the target elevator in the first map data, the mobile robot navigates at the current actual floor to navigate to the elevator hoistway position of the target elevator at the current actual floor of the mobile robot.
In the implementation process, the mobile robot controls the target elevator to run to the floor position corresponding to the map data loaded by the mobile robot currently if required. The mobile robot can be utilized to currently load the floor marking information carried in the map data, wherein each map data in the M map data carries the floor marking information.
In some embodiments, when the mobile robot loads map data of an ith floor of the M floors, setting a current floor of the mobile robot as the ith floor according to floor marking information of the map data of 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 currently 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 run to the ith floor, which can be: establishing an object communication link between the mobile robot and the target elevator; the mobile robot calls a target elevator to an ith floor through an object communication link; the target elevator moves to the i-th floor and opens the elevator door in response to the call from 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 acquired to judge, and the specific implementation process is as follows: detecting the elevator door state of a target elevator on the floor where the mobile robot is actually located; if the elevator door state of the target elevator on the floor where the mobile robot is actually located is detected to be an open state, the current floor where the mobile robot is actually located is represented by the target elevator, and if the elevator door state of the target elevator on the floor where the mobile robot is actually located is detected to be a closed state, the current ith floor where the target elevator is represented by the target elevator is different from the actual floor where the mobile robot is located.
Specifically, the mobile robot can detect the elevator door state of the target elevator on the floor where the mobile robot is actually located through a ranging sensor or a visual sensor of the mobile robot.
In the following, taking a laser radar sensor as an example, the method for detecting the elevator door state is as follows: as shown in fig. 3A, when the door state of the target elevator is a closed state, there is a laser spot between the elevator inner position of the target elevator and the elevator hoistway position where the mobile robot is located, that is, the laser energy detects 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 an obstacle in the direction of the mobile robot to the position inside the elevator, and thus, whether the elevator door is in a closed state or an open state is judged by whether the laser radar sensor detects an obstacle in the direction of the mobile robot to the position inside the elevator.
In step S102, the destination elevator is provided with a floor sensor, and when the destination elevator is running 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 destination elevator based on the established communication link of the object.
After step S102, 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 by the current loading map data of the mobile robot, if the floor feedback information and the floor marking information are compared to indicate the same floor, the floor where the positioning mobile robot is actually located is the floor indicated by the floor feedback information and the floor marking information, and the current loading 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 positioning 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., map data of the floor where 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 a floor by a mobile robot in the embodiment of the present invention is given below with reference to fig. 4, where the detailed implementation process is shown in the following steps 401 to 410:
step 401: triggering a start floor positioning, and then executing step 402;
step 402: loading first map data, and navigating to the elevator hoistway position of the target elevator on the floor where the mobile robot is actually located according to the first map data loaded currently;
step 403: setting a floor as f1 in the mobile robot according to floor marking information of the currently loaded map data;
next, step 404 is performed: calling a target elevator to an f1 floor;
next, step 405 is performed: is the target elevator detected to be traveling to the f1 floor? If the target elevator has been operated to the f1 floor, triggering execution of step 406;
step 406: detect if the elevator door of the target elevator is open at the floor where the mobile robot is actually located? If the elevator is started, the step S407 is triggered and executed if the elevator representing the target operation is to the floor where the mobile robot is actually located, otherwise, the step S409 is triggered and executed, the next floor is not repeatedly reselected, the map data of the reselected floor is switched to, and after the map data of the next floor is switched to through the step S409, the step S403 is returned.
Step 407: acquiring a floor f2 fed back by an elevator sensor;
step 408: is the comparison floor f1 equal to floor f2? If equal, go to step 410: the floor on which the positioning mobile robot is actually located is f2 (f2=f1).
In a second aspect, based on the same inventive concept, an embodiment of the present invention provides a device for positioning floors of a mobile robot, where the mobile robot stores map data of different floors in the same building, and the building is provided with at least one elevator, and referring to fig. 5, the device for positioning floors of the mobile robot includes:
the loading and running control unit 501 is configured to not repeatedly load M pieces of map data corresponding to M floors, and control, according to the map data loaded each time, the target elevator of the building to run to a floor position corresponding to the map data currently loaded until the target elevator runs to a floor where the mobile robot is actually located;
the information receiving unit 502 receives floor feedback information of the target elevator when the target elevator is located at the floor where the mobile robot is actually located;
and the floor positioning unit 503 is configured to position the floor where the mobile robot is actually located according to the floor feedback information.
In some embodiments, the loading and running control unit 501 includes:
and the map loading subunit is used for sequentially loading M map data corresponding to M floors according to the condition that the floors of the building are from low to high or the condition that 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 i-th floor of M floors, where each map data of the M map data has floor marking information;
the loading and running control unit 501 further includes:
a floor setting subunit, configured to set, according to the floor marking information of the map data of the ith floor, the current floor where the mobile robot is located as the ith floor, where i is any one of 1 to M;
an elevator control subunit, configured to control the destination 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 i-th 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 elevator door state of a target elevator on the floor where the mobile robot is actually located;
if the elevator door state is detected to be in an open state, the i-th floor where the target elevator is located currently is represented as the floor where the mobile robot is located actually.
In some embodiments, the elevator control subunit is specifically configured to:
establishing an object communication link between the mobile robot and the target elevator;
the destination elevator is called to the i-th floor via the object communication link such that the destination elevator is operated to the i-th floor and the elevator door is opened in response to the call from the mobile robot.
In some embodiments, the target elevator is arranged with floor sensors, information receiving unit 502, in particular for:
based on the object communication link, floor feedback information fed back to the mobile robot by the floor sensor of the target elevator is received.
In some embodiments, each of the M pieces of map data includes a point location marker of a hoistway location of the target elevator, the apparatus further comprising:
the elevator opening determining unit is used for determining a point position mark of the elevator opening position 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 on the current actual floor according to the point position mark of the elevator hoistway position of the target elevator in the first map data so as to navigate to the elevator hoistway position of the target elevator.
The specific manner in which the individual units perform the operations in relation to the apparatus of the above embodiments has been described in detail in relation to the embodiments of the method and will not be described in detail here.
In a third aspect, referring to fig. 6, a schematic structural diagram of a mobile robot according to an embodiment of the present invention is shown, where 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 memories 604 and capable of running on the processors 602, and the processor 602 implements the method for processing the robot positioning data according to the first aspect when executing the computer program.
Where in FIG. 6, a bus architecture (represented by bus 600), bus 600 may include any number of interconnected buses and bridges, with bus 600 linking together various circuits, including one or more processors, represented by processor 602, and memory, represented by memory 604. Bus 600 may also link together various other circuits such as peripheral devices, voltage regulators, power management circuits, etc., as are well known in the art and, therefore, will not be described further herein. The 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, while the memory 604 may be used to store data used by the processor 602 in performing operations.
In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory comprising instructions executable by a processor of an electronic device to perform the method of mobile robot positioning floors provided in the first aspect, such as ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.
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 is to be understood that the invention is not limited to the precise arrangements and instrumentalities shown in the drawings, which have been described above, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present invention is to be limited only by the appended claims, which are given as preferred embodiments of the present invention and not as limitations of the present invention, and any modifications, equivalents, improvements and so forth which fall within the spirit and principles of the present invention are intended to be included in the scope of the present invention.
Claims (7)
1. A method of positioning floors by a mobile robot, wherein the mobile robot stores map data for different floors in a same building, the building being provided with at least one elevator, the method comprising:
in the process that the mobile robot moves and provides service, if the current actual floor cannot be confirmed, M map data corresponding to M floors in the building are not repeatedly loaded, and according to the map data loaded each time, the target elevator of the building is controlled to operate to the floor position corresponding to the current loaded map data until the target elevator is operated to the actual floor of the mobile robot, and the method comprises the following steps: loading map data of an ith floor in the M floors, wherein each map data in the M map data is provided with floor marking information; according to the floor marking information of the map data of the ith floor, setting the current floor of the mobile robot as the ith floor, wherein M is an integer greater than 1, and 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; detecting the elevator door state of the target elevator on the floor where the mobile robot is actually located; if the elevator door state is detected to be an open state, representing that the i-th floor where the target elevator is currently located is the floor where the mobile robot is actually located, and if the elevator door state of the target elevator is detected to be a closed state, representing that the i-th floor where the target elevator is currently located is different from the floor where the mobile robot is actually located;
wherein controlling the target elevator to travel to the i-th floor comprises: establishing a physical communication link between the mobile robot and the target elevator, and calling the target elevator to the ith floor through the physical 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;
receiving floor feedback information of the target elevator when the target elevator is located at a floor where the mobile robot is actually located;
and positioning the floor where the mobile robot is actually located according to the floor feedback information.
2. The method of claim 1, wherein the non-repetitive loading of M map data corresponding to M floors comprises:
and sequentially loading M map data corresponding to M floors according to the condition that the floors of the building are from low to high or the condition that the floors of the building are from high to low.
3. The method according to claim 1, characterized in that the destination elevator is provided with a floor sensor, and the receiving of floor feedback information of the destination elevator comprises:
and receiving floor feedback information fed back to the mobile robot by a floor sensor of the target elevator based on the object communication link.
4. The method of claim 1, wherein each of the M pieces of map data includes a point location marker of a hoistway location of the target elevator, the method further comprising, during the non-repeated loading of M pieces of map data corresponding to M floors:
when the mobile robot loads first map data, determining a point position mark of the elevator opening position of the target elevator in the first map data;
and navigating at the current actual floor according to the point position mark of the elevator hoistway position of the target elevator in the first map data so as to navigate to the elevator hoistway position of the target elevator.
5. An apparatus for locating floors of a mobile robot, wherein the mobile robot stores map data for different floors in a same building, the building being configured with at least one elevator, the apparatus comprising:
the loading and running control unit is used for repeatedly loading M pieces of map data corresponding to M floors if the current actual floor cannot be confirmed in the process that the mobile robot moves and provides service, and controlling the target elevator of the building to run to the floor position corresponding to the current loaded map data according to the map data loaded each time until the target elevator runs to the actual floor of the mobile robot, and comprises the following steps: loading map data of an ith floor in the M floors, wherein each map data in the M map data is provided with floor marking information; according to the floor marking information of the map data of the ith floor, setting the current floor of the mobile robot as 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; detecting the elevator door state of the target elevator on the floor where the mobile robot is actually located; if the elevator door state is detected to be in an open state, the i-th floor where the target elevator is currently located is characterized as the floor where the mobile robot is actually located, and if the elevator door state of the target elevator is detected to be in a closed state, the i-th floor where the target elevator is currently located is characterized as different from the floor where the mobile robot is actually located, wherein the controlling the target elevator to run to the i-th floor comprises: establishing a physical communication link between the mobile robot and the target elevator, and calling the target elevator to the ith floor through the physical 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;
the information receiving unit is used for receiving floor feedback information of the target elevator when the target elevator is located at a floor where the mobile robot is actually located;
and the floor positioning unit is used for positioning the floor where the mobile robot is actually located according to the floor feedback information.
6. A mobile robot, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, which processor implements the steps of the method of any one of claims 1-4 when the program is executed.
7. A computer readable storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, implements the steps of the method according to any of claims 1-4.
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| 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 |
| CN114852805B (en) * | 2022-04-25 | 2024-03-19 | 北京云迹科技股份有限公司 | Method for determining floor by robot based on elevator and related equipment |
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