CN114834986A - System, method, device and medium for measuring floor based on IMU and photoelectric sensor - Google Patents
System, method, device and medium for measuring floor based on IMU and photoelectric sensor Download PDFInfo
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- CN114834986A CN114834986A CN202210515454.7A CN202210515454A CN114834986A CN 114834986 A CN114834986 A CN 114834986A CN 202210515454 A CN202210515454 A CN 202210515454A CN 114834986 A CN114834986 A CN 114834986A
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- 238000005259 measurement Methods 0.000 claims abstract description 6
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- 238000004590 computer program Methods 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3492—Position or motion detectors or driving means for the detector
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B3/00—Applications of devices for indicating or signalling operating conditions of elevators
- B66B3/02—Position or depth indicators
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- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The invention provides a system for measuring floors based on an IMU and a photoelectric sensor, which comprises: module M1: periodically reading data of an IMU (inertial measurement unit) deployed in the elevator to acquire the acceleration of the elevator in the vertical direction; module M2: judging the running direction of the elevator according to the initial variation trend of the acceleration of the IMU in the vertical direction; module M3: fixedly reading a signal value on each floor of the elevator through a photoelectric sensor; module M4: the signal value read by the photoelectric sensor is combined with the running direction of the elevator, and the addition or subtraction operation is carried out on the current floor, so that the real-time floor state of the elevator can be calculated; wherein, the initial floor of the elevator belongs to the first floor to finish the calibration. The basic running state of the elevator can be obtained without a protocol of butting with an elevator manufacturer; and the floor is measured by adopting the IMU and the photoelectric sensor, so that the floor measuring device is more adaptive and is not limited by space.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a system, a method, a device and a medium for measuring floors based on an IMU and a photoelectric sensor.
Background
With the development of mobile interconnection technology, terminal service robots have gradually become widely used in public service industries such as hotels, restaurants and the like. Particularly, in the hotel industry, if the robot wants to independently complete the functions of welcoming, patrol and delivery, the robot interacts with the elevator to form a crucial link, so that the robot can accurately know the current floor of the elevator when taking the elevator independently, and can only acquire the current state of the elevator through an external sensor under the condition that a terminal cannot acquire the state of the elevator through a protocol.
Through search, patent document CN107655471A discloses an IMU-based floor measurement method and a robot cross-floor navigation method, the method includes: reading data of an IMU inertial measurement unit arranged in the elevator at set time intervals to obtain acceleration of the elevator in the vertical direction; when the acceleration is detected to start to change, recording acceleration data and change time; judging the running state of the elevator according to the initial variation trend of the acceleration; searching in a floor parameter model based on the running state, acceleration data, change time and initial floor number of the elevator, and reading a corresponding target floor number if the floor parameter model has consistent data; and if not, reading the target floor number measured by wireless communication, and storing the recorded acceleration data, the change time, the corresponding initial floor number and the target floor number into the floor model. In the prior art, only the IMU is used for judging the floor and the direction, the technical scheme not only needs to judge the floor direction, but also needs to judge which floor is specifically arranged, and is completed by establishing a mode of modeling training and self-learning, so that the complexity of deployment personnel and the unreliability of program operation are greatly increased, and the practical operability of the scheme is poor.
Meanwhile, in the traditional technical scheme, the floor counting and direction judgment are realized by adopting an upper photoelectric sensor and a lower photoelectric sensor, the existing scheme is usually limited by space, and the scheme cannot be applied on a site with a small operation space; or the current floor height is directly obtained by a distance measuring method, and the existing scheme usually has the problem of high difficulty in installation and deployment.
Therefore, it is desirable to develop a method and system for measuring floors, which does not need to communicate with an elevator system to obtain the current state of the elevator, does not cause the safety problem of the elevator system due to abnormal communication, is not limited by space, and has low installation and deployment difficulty.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a system, a method, a device and a medium for measuring floors based on an IMU and a photoelectric sensor.
According to the invention, the system for measuring the floor based on the IMU and the photoelectric sensor comprises:
module M1: periodically reading data of an IMU (inertial measurement unit) deployed in the elevator to acquire the acceleration of the elevator in the vertical direction;
module M2: judging the running direction of the elevator according to the initial variation trend of the acceleration of the IMU in the vertical direction;
module M3: fixedly reading a signal value on each floor of the elevator through a photoelectric sensor;
module M4: the signal value read by the photoelectric sensor is combined with the running direction of the elevator, and the addition or subtraction operation is carried out on the current floor, so that the real-time floor state of the elevator can be calculated;
wherein, the initial floor of the elevator belongs to the first floor to finish the calibration.
Preferably, the process that the module M2 judges the elevator running direction according to the initial variation trend of the vertical direction acceleration by taking the gravity acceleration as a reference comprises the following steps:
when the acceleration in the vertical direction initially increases upwards, i.e. the trend of the change is greater than the gravitational acceleration, the elevator is run upwards.
Preferably, the process that the module M2 judges the elevator running direction according to the initial variation trend of the vertical direction acceleration by taking the gravity acceleration as a reference comprises the following steps:
when the acceleration in the vertical direction initially decreases downwards, i.e. the trend of the change is smaller than the gravitational acceleration, the elevator is run downwards.
According to the method for measuring the floor based on the IMU and the photoelectric sensor, which is provided by the invention, the floor is measured by using the system, and the method comprises the following steps:
step S1: periodically reading data of an IMU (inertial measurement unit) deployed in the elevator to acquire the acceleration of the elevator in the vertical direction;
step S2: judging the running direction of the elevator according to the initial variation trend of the acceleration of the IMU in the vertical direction;
step S3: fixedly reading a signal value at each floor of the elevator through a photoelectric sensor;
step S4: the signal value read by the photoelectric sensor is combined with the running direction of the elevator, and the addition or subtraction operation is carried out on the current floor, so that the real-time floor state of the elevator can be calculated;
the initial floors of the elevators belong to the first floor to finish calibration.
Preferably, the process of determining the running direction of the elevator according to the initial trend of change of the vertical direction acceleration with reference to the gravitational acceleration in step S2 includes that the elevator is running upward when the vertical direction acceleration initially increases upward, i.e., the trend of change is greater than the gravitational acceleration.
Preferably, the process of determining the running direction of the elevator according to the initial trend of change of the vertical direction acceleration with reference to the gravitational acceleration in step S2 includes that the elevator runs downward when the vertical direction acceleration is initially decreased, i.e., the trend of change is smaller than the gravitational acceleration.
According to the present invention, a computer-readable storage medium is provided, in which a computer program is stored, which, when being executed by a processor, carries out the above-mentioned method steps.
According to the present invention, there is provided an apparatus for measuring floors based on an IMU and a photosensor, comprising the system for measuring floors based on an IMU and a photosensor of the claims or the computer-readable storage medium storing a computer program.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention can obtain the basic running state of the elevator without a butt-joint agreement with an elevator manufacturer by completing the calibration of the initial floor of the elevator on the first floor.
2. The elevator floor measuring method based on the IMU and the photoelectric sensors has stronger adaptability than the traditional method of acquiring the basic operation state of the elevator by the two photoelectric sensors by adopting the IMU and the photoelectric sensors, and overcomes the technical problem that the two photoelectric sensors are easily limited by space when being installed.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of the steps of the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in fig. 1, the present invention provides a system for measuring floors based on an IMU and a photosensor, comprising:
module M1: the data of the IMU deployed in the elevator are read periodically to obtain the acceleration of the elevator in the vertical direction.
Module M2: the running direction of the elevator is judged according to the initial variation trend of the IMU in the vertical direction acceleration, the module M2 takes the gravity acceleration as the benchmark, and the process of judging the running direction of the elevator according to the initial variation trend of the vertical direction acceleration comprises the following steps: when the acceleration in the vertical direction initially increases upwards, i.e. the trend of change is greater than the gravitational acceleration, the elevator is moving upwards; when the acceleration in the vertical direction initially decreases downwards, i.e. the trend of the change is smaller than the gravitational acceleration, the elevator is run downwards.
Module M3: and fixedly reading signal values at each floor of the elevator through photoelectric sensors.
Module M4: and the signal value read by the photoelectric sensor is combined with the running direction of the elevator to perform addition or subtraction operation on the current floor, so that the real-time floor state of the elevator can be calculated.
Wherein, the initial floor of the elevator belongs to the first floor to finish the calibration.
The invention also provides a method for measuring floors based on the IMU and the photoelectric sensor, which utilizes the system to measure the floors and comprises the following steps:
step S1: the data of the IMU deployed in the elevator are read periodically to obtain the acceleration of the elevator in the vertical direction.
Step S2: judging the running direction of the elevator according to the initial variation trend of the acceleration of the IMU in the vertical direction; in the step S2, the process of determining the elevator running direction according to the initial variation trend of the vertical acceleration with the gravitational acceleration as the reference includes that when the vertical acceleration is initially increased upward, that is, the variation trend is greater than the gravitational acceleration, the elevator runs upward; when the acceleration in the vertical direction initially decreases downwards, i.e. the trend of the change is smaller than the gravitational acceleration, the elevator is run downwards.
Step S3: and fixedly reading signal values at each floor of the elevator through photoelectric sensors.
Step S4: the signal value read by the photoelectric sensor is combined with the running direction of the elevator, and the current floor is subjected to addition or subtraction operation, so that the real-time floor state of the elevator can be calculated.
The initial floors of the elevators belong to the first floor to finish calibration.
The invention also provides a computer-readable storage medium having a computer program stored thereon, which, when being executed by a processor, carries out the steps of the method described above.
The invention further provides a device for measuring floors based on the IMU and the photoelectric sensor, which comprises the system for measuring floors based on the IMU and the photoelectric sensor or the computer readable storage medium storing the computer program.
Those skilled in the art will appreciate that, in addition to implementing the system and its various devices, modules, units provided by the present invention as pure computer readable program code, the system and its various devices, modules, units provided by the present invention can be fully implemented by logically programming method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system and various devices, modules and units thereof provided by the invention can be regarded as a hardware component, and the devices, modules and units included in the system for realizing various functions can also be regarded as structures in the hardware component; means, modules, units for realizing various functions can also be regarded as structures in both software modules and hardware components for realizing the methods.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A system for measuring floors based on an IMU and a photosensor, comprising:
module M1: periodically reading data of an IMU (inertial measurement unit) deployed in the elevator to acquire the acceleration of the elevator in the vertical direction;
module M2: judging the running direction of the elevator according to the initial variation trend of the acceleration of the IMU in the vertical direction;
module M3: fixedly reading a signal value on each floor of the elevator through a photoelectric sensor;
module M4: the signal value read by the photoelectric sensor is combined with the running direction of the elevator, and the addition or subtraction operation is carried out on the current floor, so that the real-time floor state of the elevator can be calculated;
wherein, the initial floor of the elevator belongs to the first floor to finish the calibration.
2. The system for measuring floors according to claim 1, wherein the module M2 is based on acceleration of gravity, and the process of determining the running direction of the elevator according to the initial trend of the acceleration in the vertical direction comprises:
when the acceleration in the vertical direction initially increases upwards, i.e. the trend of the change is greater than the gravitational acceleration, the elevator is run upwards.
3. The system for measuring floors according to claim 1, wherein the module M2 is based on acceleration of gravity, and the process of determining the running direction of the elevator according to the initial trend of the acceleration in the vertical direction comprises:
when the acceleration in the vertical direction initially decreases downwards, i.e. the trend of the change is smaller than the gravitational acceleration, the elevator is run downwards.
4. A method for measuring floors based on IMU and photoelectric sensors, characterized in that measuring floors with the system of any one of claims 1 to 3, comprises the steps of:
step S1: periodically reading data of an IMU (inertial measurement unit) deployed in the elevator to acquire the acceleration of the elevator in the vertical direction;
step S2: judging the running direction of the elevator according to the initial variation trend of the acceleration of the IMU in the vertical direction;
step S3: fixedly reading a signal value on each floor of the elevator through a photoelectric sensor;
step S4: the signal value read by the photoelectric sensor is combined with the running direction of the elevator, and the addition or subtraction operation is carried out on the current floor, so that the real-time floor state of the elevator can be calculated;
the initial floors of the elevators belong to the first floor to finish calibration.
5. The method for measuring floors according to claim 4, wherein the step S2 is characterized in that the step of determining the running direction of the elevator according to the initial trend of the vertical acceleration based on the acceleration of gravity comprises that when the acceleration of the vertical acceleration initially increases upwards, i.e. the trend of the vertical acceleration is greater than the acceleration of gravity, the elevator runs upwards.
6. The method for measuring floors according to claim 4, wherein the step S2 is characterized in that the step of determining the running direction of the elevator according to the initial trend of the vertical acceleration based on the acceleration of gravity comprises that when the acceleration of the vertical acceleration is initially downward reduced, i.e. the trend of the change is smaller than the acceleration of gravity, the elevator runs downward.
7. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method of any one of claims 4 to 6.
8. An apparatus for measuring a floor based on an IMU and a photosensor, comprising the IMU and photosensor based system of any one of claims 1 to 3 or the computer-readable storage medium of claim 7 having a computer program stored thereon.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210515454.7A CN114834986A (en) | 2022-05-12 | 2022-05-12 | System, method, device and medium for measuring floor based on IMU and photoelectric sensor |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210515454.7A CN114834986A (en) | 2022-05-12 | 2022-05-12 | System, method, device and medium for measuring floor based on IMU and photoelectric sensor |
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| CN114834986A true CN114834986A (en) | 2022-08-02 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107655471A (en) * | 2017-08-02 | 2018-02-02 | 北京云迹科技有限公司 | Across the floor air navigation aid of floor measuring method and robot based on IMU |
| CN110577119A (en) * | 2019-09-29 | 2019-12-17 | 深圳优地科技有限公司 | elevator control system |
| CN114348819A (en) * | 2020-10-14 | 2022-04-15 | 奥的斯电梯公司 | Monitoring system for a conveyor system |
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- 2022-05-12 CN CN202210515454.7A patent/CN114834986A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107655471A (en) * | 2017-08-02 | 2018-02-02 | 北京云迹科技有限公司 | Across the floor air navigation aid of floor measuring method and robot based on IMU |
| CN110577119A (en) * | 2019-09-29 | 2019-12-17 | 深圳优地科技有限公司 | elevator control system |
| CN114348819A (en) * | 2020-10-14 | 2022-04-15 | 奥的斯电梯公司 | Monitoring system for a conveyor system |
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