CN115432524A - Robot floor positioning method and related equipment - Google Patents
Robot floor positioning method and related equipment Download PDFInfo
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- CN115432524A CN115432524A CN202211290601.1A CN202211290601A CN115432524A CN 115432524 A CN115432524 A CN 115432524A CN 202211290601 A CN202211290601 A CN 202211290601A CN 115432524 A CN115432524 A CN 115432524A
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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
- B66B1/24—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration
- B66B1/28—Control systems with regulation, i.e. with retroactive action, for influencing travelling speed, acceleration, or deceleration electrical
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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
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3446—Data transmission or communication within the control system
- B66B1/3461—Data transmission or communication within the control system between the elevator control system and remote or mobile stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/403—Details of the change of control mode by real-time traffic data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/46—Switches or switchgear
- B66B2201/4607—Call registering systems
- B66B2201/4638—Wherein the call is registered without making physical contact with the elevator system
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Abstract
The invention discloses a robot floor positioning method and related equipment. The method comprises the following steps: acquiring an ideal position relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator which is ready for the target robot to board or is boarding, the ideal position relationship is the position relationship of the target robot relative to the target elevator when a preset program is executed, and the ideal position relationship is included in the target elevator and is outside the target elevator; acquiring air pressure information corresponding to the target robot; and determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation.
Description
Technical Field
The present disclosure relates to the field of robots, and more particularly, to a method and apparatus for positioning a floor of a robot.
Background
A Robot (Robot) is a machine device that automatically performs work. The intelligent robot can not only accept the instruction of a person and communicate with the person, but also run a pre-programmed program and also perform actions according to the principle customized by the artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction or hazardous work. Robots are the product of advanced integrated control theory, mechatronics, computers, materials, and bionics. Currently, the method has important application in the fields of industry, medicine, agriculture, even military affairs and the like.
The automatic task execution process of the robot needs to be successfully accumulated step by step in each link, and if one link has problems, the whole task cannot be successfully executed. There are many abnormal situations in the key one-loop elevator taking process in the robot cross-floor task, for example, the robot is moved out of the elevator, moved into the elevator, or pushed into other elevators by people in the elevator taking process, and the main floor acquisition modes in the current market include infrared laser or UWB sensor distance measurement + wireless communication/network communication, and whether the elevator passes through the current floor is judged by installing a plurality of rfid or infrared sensors near the elevator stop floor in the elevator shaft, so that the elevator is judged to be in several floors, and the floor is positioned by wifi AP. The problem is that these sensors measure the elevator floor and not the robot floor. If the middle layer of the robot is moved out, or the elevator is slipped, or the robot is not positioned to enter the wrong elevator, the network delays the floor to report delay, and the robot considers that the robot is in the designated elevator and does not actually enter the elevator, so that the floor of the robot is difficult to position by only depending on the floor of the elevator.
Disclosure of Invention
In this summary, concepts in a simplified form are introduced that are further described in the detailed description. The summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In a first aspect, the present invention provides a method for positioning a floor of a robot, where the method includes:
acquiring an ideal position relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator which is ready for the target robot to board or is boarding, the ideal position relationship is the position relationship of the target robot relative to the target elevator when a preset program is executed, and the ideal position relationship is included in the target elevator and is outside the target elevator;
acquiring air pressure information corresponding to the target robot;
and determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation.
Optionally, the determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship includes:
when the ideal position relation is outside the target elevator, acquiring air pressure change information within a preset time length;
and determining the elevator waiting floor corresponding to the target robot as the actual floor information when the air pressure change information is less than or equal to a preset threshold value.
Optionally, the method further includes:
determining a movement direction and an air pressure change starting time of a target robot based on the air pressure change information under the condition that the air pressure change information is larger than the preset threshold;
determining a current riding elevator according to the motion direction of the robot, the starting time of the air pressure change, the door closing time corresponding to a possible riding elevator and the running direction of the possible riding elevator, wherein the possible riding elevator is an elevator in the same elevator hall with the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
Optionally, the determining a current elevator to be taken according to the moving direction, the start time of the air pressure change, and the door closing time corresponding to a possible elevator to be taken includes:
and determining the possible elevator to be taken, wherein the movement direction is the same as the running direction, and the time interval between the air pressure change starting time and the door closing time is smaller than the preset time interval.
Optionally, the determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship includes:
acquiring floor change information and air pressure change information of the target elevator after the door is closed under the condition that the ideal position relation is in the target elevator;
and determining the waiting elevator-taking floor corresponding to the target robot as the actual floor information when the floor change information changes and the air pressure change information is smaller than a preset threshold value.
Optionally, the method further includes:
determining a current boarding elevator according to door closing time and air pressure change starting time corresponding to a possible boarding elevator under the condition that the floor change direction corresponding to the floor change information is inconsistent with the floor change direction corresponding to the air pressure change information, wherein the possible boarding elevator is an elevator in the same elevator hall with the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
Optionally, the method further includes:
when the target robot is in the preset condition of charging the charging pile, the historical data stored by the target robot is reset, and the actual floor information of the target robot is updated based on the equipment position information of the preset charging pile.
In a second aspect, the present invention further provides a robot floor positioning device, including:
a first acquiring unit configured to acquire an ideal positional relationship of a target robot with respect to a target elevator, the target elevator being an elevator to be picked up by the target robot or being picked up by the target robot, the ideal positional relationship being a positional relationship of the target robot with respect to the target elevator when executed according to a predetermined program, the ideal positional relationship being included in the target elevator and outside the target elevator;
a second obtaining unit, configured to obtain air pressure information corresponding to the target robot;
and the determining unit is used for determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation.
In a third aspect, an electronic device includes: a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor is configured to implement the steps of the robot floor positioning method according to any one of the first aspect when the computer program stored in the memory is executed.
In a fourth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the method for floor location of a robot according to any one of the above aspects.
To sum up, the robot floor positioning method of the embodiment of the application includes: acquiring an ideal position relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator which is ready for the target robot to board or is boarding, the ideal position relationship is the position relationship of the target robot relative to the target elevator when a preset program is executed, and the ideal position relationship is included in the target elevator and is outside the target elevator; acquiring air pressure information corresponding to the target robot; and determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation. The robot floor positioning method provided by the embodiment of the application obtains the air pressure change condition of the surrounding environment of the target robot through the barometer installed in the target robot, compares the movement time rule and the direction rule corresponding to the ideal position relation of the target robot, determines whether the target robot corresponds to the ideal position relation or not, and accurately positions the floor position where the target robot is located.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the specification. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
fig. 1 is a schematic flowchart of a robot floor positioning method according to an embodiment of the present disclosure;
fig. 2 is a schematic structural view of a robot floor positioning device according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a robot floor positioning electronic device according to an embodiment of the present application.
Detailed Description
The robot floor positioning method provided by the embodiment of the application obtains the air pressure change condition of the surrounding environment of the target robot through the barometer installed in the target robot, compares the movement time rule and the direction rule corresponding to the ideal position relation of the target robot, determines whether the target robot corresponds to the ideal position relation or not, and accurately positions the floor position where the target robot is located.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims of the present application and in the drawings described above, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.
Referring to fig. 1, a schematic flow chart of a robot floor positioning method according to an embodiment of the present disclosure may specifically include:
s110, acquiring an ideal position relation of a target robot relative to a target elevator, wherein the target elevator is an elevator for the target robot to get on or get on, the ideal position relation is the position relation of the target robot relative to the target elevator when a preset program is executed, and the ideal position relation is included in the target elevator and outside the target elevator;
illustratively, the target robot can be a delivery robot or a patrol robot in a hotel or other service places, and can perform scene mapping to construct a laser SLAM map and mark charging pile point positions and elevator numbers. The target robot can take the elevator to carry out the food and goods delivering task according to the task, can take the target elevator, and determines the floor where the target robot is located according to the signal sent by the target elevator. The target robot is provided with a laser, a mileometer, an IMU, a barometer, a wireless communication module and the like.
Under normal conditions the target robot can take the elevator according to established route and the established scheme of taking the elevator, but there may be the target robot because positioning error, target robot are moved by the people or scram push into another elevator or take the elevator out, the target robot is taken the elevator out in the elevator taking process, or the robot gets in and out the elevator wheel and skids when the elevator, lead to the robot in fact and do not get into problem such as target elevator to lead to the actual floor information of target robot and the floor that the target elevator is located are inconsistent, lead to robot floor information mistake and then lead to the delivery task to fail.
The target robot or the remote server to which the target robot corresponds can determine the ideal positional relationship of the target robot relative to the target elevator based on the task time flow of the target robot or the positioning position of the target robot, i.e., whether the target robot should be inside or outside the car of the target elevator when performing a task according to a given program.
S120, acquiring air pressure information corresponding to the target robot;
exemplarily, the current corresponding air pressure information of the target robot is obtained according to an air pressure meter carried by the target robot, in the process of normally executing tasks, the target robot can measure the air pressure information in the elevator car after entering the target elevator and closing the elevator door, and the air pressure change condition in the elevator car is detected after the target elevator runs. The air pressure information is monitored at fixed time intervals with the ideal position of the target robot outside the elevator car.
And S130, determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation.
Illustratively, if the air pressure information changes from high to low over a period of time, the height representing the target robot becomes high, and vice versa, the position of the target robot gradually decreases, and if the air pressure changes within the range of the preset threshold value, the height of the target robot does not change. The actual floor information corresponding to the target robot is determined according to the relationship between the air pressure information and the ideal position, and the actual floor information may include the following situations that under the condition that the air pressure change information is consistent with the motion time rule and the direction rule of the target robot and the ideal position, the target robot is located in the target elevator, and the floor information of the target elevator corresponds to the floor information of the target robot. If the air pressure change information is inconsistent with the movement time law or the direction law of the ideal position of the target robot, the target robot may enter an incorrect elevator or does not enter the elevator, and the relevance between the operation of the target robot and other elevators needs to be determined according to the air pressure change law of the target robot and the operation time laws and the direction laws of other elevators, so that the actual floor information of the target robot is determined.
To sum up, the robot floor positioning method that this application embodiment provided obtains the atmospheric pressure situation of change of target robot surrounding environment through the barometer at the internally mounted of target robot to whether the definite target robot corresponds with ideal position relation according to the motion time law and the direction law that the ideal position relation of target robot corresponds compares, thereby pinpoints the floor position that target robot located.
In some examples, the determining actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship includes:
when the ideal position relation is outside the target elevator, acquiring air pressure change information within a preset time length;
and determining the elevator waiting floor corresponding to the target robot as the actual floor information when the air pressure change information is less than or equal to a preset threshold value.
For example, when the ideal position is outside the target elevator, that is, according to the predetermined task, the target robot may perform the task at a fixed floor or wait in the elevator hall at a certain floor, in which case the air pressure change information within the preset time period is obtained within the time period of the fixed interval, for example: the atmospheric pressure information is obtained once in 5s, the atmospheric pressure change information of the atmospheric pressure twice within 5 seconds is compared, if the atmospheric pressure change information is smaller than or equal to a preset threshold value, the height position of the target robot is not changed, namely, the ideal position relation is consistent with the actual position relation, the target robot does not have unexpected position transfer, the floor where the target robot waits to ride the elevator can be used as actual floor information, namely, the floor information of the target robot at the moment is accurate, and correction or resetting operation is not needed. It should be noted that the preset threshold is a reasonable error of the air pressure change in the same floor.
To sum up, the robot floor positioning method provided by the embodiment of the application determines whether the current floor position of the target robot is correct or not by monitoring the air pressure change rule of the target robot at fixed time intervals under the condition that the target robot is outside the target elevator.
In some examples, the method further comprises:
determining a movement direction and an air pressure change starting time of a target robot based on the air pressure change information under the condition that the air pressure change information is larger than the preset threshold;
determining a current riding elevator according to the motion direction of the robot, the starting time of the air pressure change, the door closing time corresponding to a possible riding elevator and the running direction of the possible riding elevator, wherein the possible riding elevator is an elevator in the same elevator hall with the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
For example, in the case that the ideal position relationship of the target robot is outside the target elevator, and the air pressure change information within the preset time interval is greater than the preset threshold, the target robot should perform a task on a certain floor or wait for taking an elevator according to the set task, and the actual situation is that the height of the target robot is changed. At this time, the moving method of the target robot is obtained based on the air pressure change information, moves downward if the air pressure becomes large, moves upward if the air pressure becomes small, and determines the air pressure change start time, that is, the time when the height of the target robot starts to change. The method comprises the steps that the movement direction of the robot and the time when the height of the robot starts to change are determined according to air pressure change information measured by the robot, a database which stores door closing and operation information of elevators which are possibly carried is used for screening, the operation direction of the elevator is the same as the height change direction of a target robot, and the elevator with the door closing time close to the air pressure change start time is determined as the elevator carried by the target robot, so that the floor where the target robot is located is determined through the floor where the elevator carried by the elevator is located.
To sum up, the robot floor positioning method that this application embodiment provided, when the ideal position of target robot is outside the target elevator, but when the height of actual atmospheric pressure change law representation target robot changed, the direction of motion and the time of starting to move of target robot were confirmed according to atmospheric pressure change law, the elevator that screens in the running information of the elevator that probably takes agrees with target robot direction of motion and time of starting to move is the elevator of taking at present, the floor information of target robot is confirmed according to the floor of taking at present.
In some examples, the determining a current elevator to board according to the moving direction, the start time of the air pressure change, and the door closing time corresponding to the possible elevator to board includes:
and determining the possible elevator to be taken, wherein the movement direction is the same as the running direction, and the time interval between the air pressure change starting time and the door closing time is smaller than the preset time interval.
Illustratively, the predetermined time interval is a time error that can be accepted between the operation of the elevator and the movement of the robot therewith. In the case where the moving direction of the target robot is the same as the moving direction of the elevator and the air pressure change start time is a short time interval from the door closing time of the elevator (i.e., less than a preset time interval, for example, the preset time interval may be set to 10 s), it is considered that the target robot is riding on the elevator.
In some examples, the determining actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship includes:
acquiring floor change information and air pressure change information of the target elevator after the door is closed under the condition that the ideal position relation is in the target elevator;
and determining the waiting elevator-taking floor corresponding to the target robot as the actual floor information when the floor change information changes and the air pressure change information is smaller than a preset threshold value.
Illustratively, when the ideal position relationship between the target robot and the target elevator is planned according to a set task, the target robot starts to detect air pressure change information after the target elevator is closed, if the floor change information changes, the elevator starts to run, but the air pressure change information is smaller than a preset threshold value, namely the target robot does not change in height, the robot is considered not to board the target elevator, possibly because more space is insufficient for accommodating the target robot, or not to enter the target elevator due to wheel slip of the target robot, and the target robot is determined as actual floor information when waiting for boarding floor, and a call elevator command is executed again.
To sum up, the robot floor positioning method provided by the embodiment of the application determines whether the target robot is in the target elevator or not by monitoring the surrounding air pressure change information through the target robot under the condition that the ideal position relation of the target robot is in the target elevator, thereby accurately determining the actual floor information of the target robot.
In some examples, the method further comprises:
determining a current boarding elevator according to door closing time and air pressure change starting time corresponding to a possible boarding elevator under the condition that the floor change direction corresponding to the floor change information is inconsistent with the floor change direction corresponding to the air pressure change information, wherein the possible boarding elevator is an elevator in the same elevator hall with the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
Illustratively, when the ideal position relationship between the target robot and the target elevator is planned to be in the target elevator according to the set task, the target robot starts to detect the air pressure change information after the target elevator is closed, but the air pressure change information is inconsistent with the floor change rule of the elevator, the target robot takes other elevators by mistake at the moment, the corresponding closing time and the floor change rule of other possible elevators taking the target elevator in the same elevator hall are traversed at the moment, the elevator closing time and the air pressure change time of the target robot are selected to be the minimum, the elevator with the same elevator running direction as the movement direction of the target robot is taken as the current elevator, and the actual floor information is determined according to the floor information of the currently taken elevator.
To sum up, the robot floor positioning method provided by the embodiment of the application determines whether the target robot is in the target elevator or not by monitoring the surrounding air pressure change information through the target robot under the condition that the ideal position relation of the target robot is in the target elevator, thereby accurately determining the actual floor information of the target robot.
In some examples, the method further comprises:
when the target robot is in the preset condition of charging the charging pile, the historical data stored by the target robot is reset, and the actual floor information of the target robot is updated based on the equipment position information of the preset charging pile.
Illustratively, when the robot is in a charging state, historical data recorded in the task process, including historical door opening and closing states, floor information, air pressure values and the like, can be reset, actual floor information of the target robot is updated according to the preset charging pile device position information, the storage space of the target robot is released, and the floor position where the robot is located is recalibrated by using the preset charging pile fixing device.
Referring to fig. 2, an embodiment of a floor positioning device for a robot in an embodiment of the present application may include:
a first acquiring unit 21 configured to acquire an ideal positional relationship of a target robot with respect to a target elevator, the target elevator being an elevator to be taken or being taken by the target robot, the ideal positional relationship being a positional relationship of the target robot with respect to the target elevator when executed according to a predetermined program, the ideal positional relationship being included in and outside the target elevator;
a second obtaining unit 22, configured to obtain air pressure information corresponding to the target robot;
and a determining unit 23 configured to determine actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship.
As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, which includes a memory 310, a processor 320 and a computer program 311 stored in the memory 320 and executable on the processor, wherein the processor 320 executes the computer program 311 to implement the steps of any of the above-mentioned methods for positioning a robot floor.
Since the electronic device described in this embodiment is a device used for implementing a robot floor positioning device in this embodiment, based on the method described in this embodiment, a person skilled in the art can understand the specific implementation manner of the electronic device of this embodiment and various variations thereof, so that how to implement the method in this embodiment by the electronic device will not be described in detail herein, and as long as the person skilled in the art implements the device used for implementing the method in this embodiment, the scope of protection intended by this application is included.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
It should be noted that, in the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to relevant descriptions of other embodiments for parts that are not described in detail in a certain embodiment.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Embodiments of the present application further provide a computer program product, which includes computer software instructions, when the computer software instructions are executed on a processing device, cause the processing device to perform a process of robot floor positioning as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. The procedures or functions according to the embodiments of the present application are all or partially generated when the computer program instructions are loaded and executed on a computer. The computer may be a general purpose computer, a special purpose computer, a network of computers, or other programmable device. The computer instructions may be stored on a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wire (e.g., coaxial cable, fiber optic, digital Subscriber Line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). A computer-readable storage medium may be any available medium that a computer can store or a data storage device, such as a server, a data center, etc., that is integrated with one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid State Disk (SSD)), among others.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is only a logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be substantially implemented or contributed to by the prior art, or all or part of the technical solution may be embodied in a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for robot floor positioning, comprising:
acquiring an ideal position relation of a target robot relative to a target elevator, wherein the target elevator is an elevator which is ready for the target robot to board or is boarding, the ideal position relation is a position relation of the target robot relative to the target elevator when the ideal position relation is executed according to a set program, and the ideal position relation is included in the target elevator and is out of the target elevator;
acquiring air pressure information corresponding to the target robot;
and determining actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation.
2. The method of claim 1, wherein said determining the actual floor information corresponding to the target robot based on the air pressure information and the ideal positional relationship comprises:
when the ideal position relation is outside the target elevator, acquiring air pressure change information within a preset time length;
and determining the floor waiting for boarding corresponding to the target robot as the actual floor information under the condition that the air pressure change information is less than or equal to a preset threshold value.
3. The method of claim 2, further comprising:
determining the motion direction of the target robot and the starting time of the air pressure change based on the air pressure change information under the condition that the air pressure change information is larger than the preset threshold value;
determining a current riding elevator according to the motion direction of the robot, the starting time of the air pressure change, the door closing time corresponding to a possible riding elevator and the running direction of the possible riding elevator, wherein the possible riding elevator is an elevator in the same elevator hall as the target elevator;
determining the actual floor information based on the floor information of the currently boarding elevator.
4. The method of claim 3, wherein determining a current ride elevator based on the direction of motion, the start time of the change in air pressure, and a door close time corresponding to a possible ride elevator comprises:
and determining a possible elevator corresponding to the condition that the movement direction is the same as the running direction and the time interval between the air pressure change starting time and the door closing time is less than a preset time interval as the current elevator.
5. The method of claim 1, wherein said determining the actual floor information corresponding to the target robot based on the air pressure information and the ideal positional relationship comprises:
acquiring floor change information and air pressure change information of the target elevator after the door is closed under the condition that the ideal position relation is in the target elevator;
and determining the floor waiting for elevator taking corresponding to the target robot as the actual floor information under the condition that the floor change information is changed and the air pressure change information is smaller than a preset threshold value.
6. The method of claim 5, further comprising:
determining a current elevator to be taken according to door closing time and air pressure change starting time corresponding to a possible elevator to be taken under the condition that the floor change direction corresponding to the floor change information is inconsistent with the floor change direction corresponding to the air pressure change information, wherein the possible elevator to be taken is an elevator in the same elevator hall with the target elevator;
determining the actual floor information based on the floor information of the currently boarding elevator.
7. The method of claim 6, further comprising:
when the target robot is in the preset charging condition of the charging pile, the historical data stored by the target robot is reset, and the actual floor information of the target robot is updated based on the equipment position information of the preset charging pile.
8. A robotic floor positioning device, comprising:
a first acquiring unit for acquiring an ideal positional relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator to be taken or being taken for the target robot, the ideal positional relationship is a positional relationship of the target robot relative to the target elevator when executed in a predetermined program, the ideal positional relationship is included in and outside the target elevator;
the second acquisition unit is used for acquiring air pressure information corresponding to the target robot;
and the determining unit is used for determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation.
9. An electronic device, comprising: memory and a processor, characterized in that the processor is adapted to carry out the steps of the robot floor location method according to any of claims 1-7 when executing a computer program stored in the memory.
10. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when being executed by a processor, implementing the robot floor location method as claimed in any one of claims 1-7.
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| CN202211290601.1A CN115432524B (en) | 2022-10-21 | 2022-10-21 | Robot floor positioning method and related equipment |
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| CN117387649A (en) * | 2023-10-26 | 2024-01-12 | 苏州大学 | Self-adaptive navigation method and system for uncertain environment robot with probability self-updating |
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| CN115432524B (en) | 2023-12-26 |
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