CN115432524B - Robot floor positioning method and related equipment - Google Patents
Robot floor positioning method and related equipment Download PDFInfo
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- CN115432524B CN115432524B CN202211290601.1A CN202211290601A CN115432524B CN 115432524 B CN115432524 B CN 115432524B CN 202211290601 A CN202211290601 A CN 202211290601A CN 115432524 B CN115432524 B CN 115432524B
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Classifications
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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
Abstract
The invention discloses a robot floor positioning method and related equipment. The method comprises the following steps: acquiring an ideal positional relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator which the target robot is ready to board or is boarding, the ideal positional relationship is a positional relationship of the target robot relative to the target elevator when the target robot is executed according to a predetermined program, and the ideal positional relationship is included in the target elevator and 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 related apparatus for positioning a floor of a robot.
Background
A Robot (Robot) is a machine device that automatically performs work. The system can not only receive instructions of a person and communicate with the person, but also run a pre-programmed program, and also act according to the principle of customization by artificial intelligence technology. Its task is to assist or replace human work, such as, for example, the industry, construction or dangerous work. Robots are products of advanced integrated controllers, mechatronics, computers, materials, and bionics. At present in industry, medicine the method has important application in agriculture, military and other fields.
The automatic task execution process of the robot needs to be accumulated successfully step by step in each link, and if one ring has a problem, the whole task cannot be successful. Regarding a key ring elevator taking process in a robot cross-floor task, a lot of abnormal conditions exist, such as the situation that a robot is moved out of an elevator, moved into the elevator or pushed into other elevators in the elevator taking process, and the main floor acquisition modes in the current market include infrared laser or UWB sensor ranging+wireless communication/network communication, and a plurality of rfids are installed near an elevator stopping floor in an elevator shaft or an infrared sensor is used for judging whether the elevator passes through the current floor, so that the elevator is judged to be positioned on several floors through wifi APs. There is a problem in that these sensors measure elevator floors, not robot floors. If the middle layer of the robot is moved out, or the elevator is moved in because of slipping, or the robot is not positioned accurately to move in the wrong elevator, the network delays the reporting of the floors, and the robot is difficult to position the robot floor simply by the elevator floor under the condition that the robot does not actually move in the elevator in the appointed elevator.
Disclosure of Invention
In the summary, a series of concepts in a simplified form are introduced, which will be further described in detail in the detailed description. The summary of the invention is not intended to define the key features and 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 robot floor, where the method includes:
acquiring an ideal positional relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator which the target robot is ready to board or is boarding, the ideal positional relationship is a positional relationship of the target robot relative to the target elevator when the target robot is executed according to a predetermined program, and the ideal positional relationship is included in the target elevator and 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 in a preset time period;
and determining the waiting stair-climbing floor corresponding to the target robot as the actual floor information under the condition that the air pressure change information is smaller than or equal to a preset threshold value.
Optionally, the method further comprises:
determining a movement direction of the target robot and an air pressure change starting time based on the air pressure change information when the air pressure change information is greater than the preset threshold;
determining a current elevator according to the movement direction of the robot, the starting time of the air pressure change, the corresponding door closing time of the possible elevator and the running direction of the possible elevator, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
Optionally, the determining the current elevator according to the movement direction, the air pressure change starting time and the door closing time corresponding to the possible elevator includes:
and determining the possible elevator which is the same as the running direction and corresponds to the time interval between the air pressure change starting time and the door closing time being smaller than the preset time interval as the current elevator.
Optionally, the determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship includes:
under the condition that the ideal position relation is in the target elevator, acquiring floor change information and air pressure change information of the target elevator after the door is closed;
and when the floor change information is changed and the air pressure change information is smaller than a preset threshold value, determining the waiting boarding floor corresponding to the target robot as the actual floor information.
Optionally, the method further comprises:
when the floor change information is inconsistent with the floor change direction corresponding to the air pressure change information, determining a current elevator according to the door closing time and the air pressure change starting time corresponding to a possible elevator, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
Optionally, the method further comprises:
and when the target robot is charged by the preset charging pile, resetting the historical data stored by the target robot, and updating the actual floor information of the target robot based on the equipment position information of the preset charging pile.
In a second aspect, the present invention also proposes a robot floor positioning device, including:
a first acquisition unit configured to acquire an ideal positional relationship of a target robot with respect to a target elevator, wherein the target elevator is an elevator that the target robot is prepared to board or is boarding, the ideal positional relationship is a positional relationship of the target robot with respect to the target elevator when the target robot is executed according to a predetermined program, and the ideal positional relationship is included inside the target elevator and outside the target elevator;
the second acquisition unit is used for acquiring the 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, comprising: the robot floor positioning system comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor is used for realizing the steps of the robot floor positioning method according to any one of the first aspects when executing the computer program stored in the memory.
In a fourth aspect, the present invention also proposes a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the robot floor positioning method of any of the first aspects.
In summary, the robot floor positioning method in the embodiment of the application includes: acquiring an ideal positional relationship of a target robot relative to a target elevator, wherein the target elevator is an elevator which the target robot is ready to board or is boarding, the ideal positional relationship is a positional relationship of the target robot relative to the target elevator when the target robot is executed according to a predetermined program, and the ideal positional relationship is included in the target elevator and 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. According to the robot floor positioning method, the barometer installed in the target robot is used for acquiring the air pressure change condition of the surrounding environment of the target robot, comparing is carried out according to the motion time law and the direction law corresponding to the ideal position relationship of the target robot, and whether the target robot corresponds to the ideal position relationship is determined, so that the floor position where the target robot is located is accurately positioned.
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 designate like parts throughout the figures. In the drawings:
fig. 1 is a schematic flow chart of a robot floor positioning method according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a robot floor positioning device according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of a robot floor positioning electronic device according to an embodiment of the present application.
Detailed Description
According to the robot floor positioning method, the barometer installed in the target robot is used for acquiring the air pressure change condition of the surrounding environment of the target robot, comparing is carried out according to the motion time law and the direction law corresponding to the ideal position relationship of the target robot, and whether the target robot corresponds to the ideal position relationship is determined, so that the floor position where the target robot is located is accurately positioned.
The terms "first," "second," "third," "fourth" and the like in the description and in the claims of this application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments described herein may be implemented in other sequences than those illustrated or otherwise 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 following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application.
Referring to fig. 1, a schematic flow chart of a robot floor positioning method provided in an embodiment of the present application 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 which the target robot is ready to take or is taking, the ideal position relation is a position relation of the target robot relative to the target elevator when the target robot is executed according to a preset program, and the ideal position relation is included in the target elevator and outside the target elevator;
the target robot can be a delivery robot or a patrol robot in a hotel or other service places, and the robot can be used for constructing a laser SLAM map by a scene map and marking charging pile points and elevator numbers. The target robot can execute meal delivery tasks on the elevator according to the tasks, can take the target elevator, and determines the floor where the target robot is located according to signals sent by the target elevator. The target robot is provided with a laser, an odometer, an IMU, a barometer, a wireless communication module and the like.
Under normal conditions, the target robot can ride the elevator according to a given route and a given elevator riding scheme, but the problems that the target robot is moved by a person or suddenly stopped to push another elevator or move out of the elevator, the target robot is moved out of the elevator in the elevator riding process or wheels slip when the robot enters and exits the elevator, the robot does not actually enter the target elevator and the like can exist, so that the actual floor information of the target robot is inconsistent with the floor where the target elevator is located, the floor information of the robot is wrong, and the delivery task fails can be caused.
The target robot or the remote server corresponding to the target robot can determine the ideal position relation 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, namely whether the target robot should be positioned in the elevator car of the target elevator or outside the elevator car when the task is executed according to the established procedure.
S120, acquiring air pressure information corresponding to the target robot;
the method comprises the steps of acquiring current corresponding air pressure information of a target robot according to an air pressure meter carried by the target robot, measuring the air pressure information in an elevator car after the target robot enters a target elevator and an elevator door is closed in a normal task execution process, and detecting air pressure change conditions in the elevator car 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.
For example, if the air pressure information is changed from high to low within a period of time, the height of the target robot is represented as high, otherwise, the position of the target robot is represented as gradually decreasing, and if the air pressure change is within the range of a preset threshold value, the height of the target robot is not changed. The determination of the actual floor information corresponding to the target robot according to the air pressure information and the ideal position relationship may include the following situations that the target robot is located in the target elevator when the air pressure change information is consistent with the movement time rule and the direction rule when the target robot is at the ideal position, and the floor information of the target elevator is the floor information corresponding to the target robot. If the air pressure change information is inconsistent with the movement time rule or the direction rule of the ideal position of the target robot, the target robot possibly enters an incorrect elevator or does not enter an elevator, and the relevance between the operation of the target robot and other elevators is required to be determined according to the air pressure change rule of the target robot and the operation time rule and the direction rule of other elevators, so that the actual floor information of the target robot is determined.
In summary, according to the robot floor positioning method provided by the embodiment of the application, the barometer installed in the target robot is used for acquiring the air pressure change condition of the surrounding environment of the target robot, comparing the air pressure change condition with the movement time rule and the direction rule corresponding to the ideal position relationship of the target robot, and determining whether the target robot corresponds to the ideal position relationship, so that the floor position of the target robot is accurately positioned.
In some examples, the determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal positional relationship includes:
when the ideal position relation is outside the target elevator, acquiring air pressure change information in a preset time period;
and determining the waiting stair-climbing floor corresponding to the target robot as the actual floor information under the condition that the air pressure change information is smaller than or equal to a preset threshold value.
For example, when the ideal position is outside the target elevator, i.e. in the case of performing a given 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 a preset time period is acquired within a fixed interval time period, for example: and acquiring primary air pressure information at 5s, comparing air pressure change information of two air pressures within 5 seconds, and if the air pressure change information is smaller than or equal to a preset threshold value, considering that the height position of the target robot is unchanged, namely that the ideal position relationship is consistent with the actual position relationship, and the target robot is not subjected to unexpected position transfer, wherein the floor of the target robot waiting for taking a ladder can be used as actual floor information, namely that the floor information of the target robot at the moment is accurate, and correction or reset 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.
In summary, according to the robot floor positioning method provided by the embodiment of the application, when the target robot is outside the target elevator, whether the current floor position of the target robot is correct is determined by monitoring the air pressure change rule of the target robot at fixed time intervals.
In some examples, the above method further comprises:
determining a movement direction of the target robot and an air pressure change starting time based on the air pressure change information when the air pressure change information is greater than the preset threshold;
determining a current elevator according to the movement direction of the robot, the starting time of the air pressure change, the corresponding door closing time of the possible elevator and the running direction of the possible elevator, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
For example, when the ideal positional relationship of the target robot is the case outside the target elevator and the air pressure change information within the preset time interval is greater than the preset threshold, that is, the target robot should perform a task on a certain floor or wait for taking an elevator according to a given task, the actual situation is that the height of the target robot has been changed. At this time, a moving method of the target robot is acquired according to the air pressure change information, moves downward if the air pressure becomes large, moves upward if the air pressure becomes small, and determines an air pressure change start time, i.e., a time when the height of the target robot starts to change. The method comprises the steps of screening in a database storing door closing and running information of an elevator possibly to be taken according to the movement direction and the height beginning changing time of the robot determined according to air pressure changing information measured by the robot, determining the elevator which is taken by the target robot when the door closing time is close to the air pressure beginning changing time, and determining the floor where the target robot is located through the floor where the elevator which is taken is located.
In summary, according to the robot floor positioning method provided by the embodiment of the application, when the ideal position of the target robot is outside the target elevator, but the actual air pressure change rule indicates that the height of the target robot is changed, the movement direction and the starting movement time of the target robot are determined according to the air pressure change rule, the elevator which is matched with the movement direction and the starting movement time of the target robot is screened from the operation information of the possibly-ridden elevator to be the current riding elevator, and the floor information of the target robot is determined according to the floor of the current riding elevator.
In some examples, the determining the current ride elevator according to the movement direction, the air pressure change start time, and the door closing time corresponding to the possible ride elevator includes:
and determining the possible elevator which is the same as the running direction and corresponds to the time interval between the air pressure change starting time and the door closing time being smaller than the preset time interval as the current elevator.
The preset time interval is illustratively a time error that can be received between the elevator operation and the movement of the robot therewith. In case the movement direction of the target robot is the same as the elevator running direction and the air pressure change starting time is smaller than the door closing time interval of the elevator (i.e. smaller than the preset time interval, for example, the preset time interval may be set to 10 s), the target robot is considered to be riding the elevator.
In some examples, the determining the actual floor information corresponding to the target robot according to the air pressure information and the ideal positional relationship includes:
under the condition that the ideal position relation is in the target elevator, acquiring floor change information and air pressure change information of the target elevator after the door is closed;
and when the floor change information is changed and the air pressure change information is smaller than a preset threshold value, determining the waiting boarding floor corresponding to the target robot as the actual floor information.
For example, when the ideal positional relationship between the target robot and the target elevator should be planned in the target elevator according to a given task, the target robot starts to detect the air pressure change information after the target elevator is closed, if the floor change information changes, that is, the elevator starts to run, but the air pressure change information is smaller than a preset threshold, that is, the target robot does not change in height, at this time, the robot is considered to not ride on the target elevator, possibly because more space is insufficient for accommodating the target robot, or because wheels of the target robot slip, or the like, does not enter the target elevator, at this time, the target robot is waiting for the boarding floor to be determined as actual floor information, and the elevator calling instruction is re-executed.
In summary, according to the robot floor positioning method provided by the embodiment of the application, when the ideal position relation of the target robot is in the target elevator, whether the target robot is in the target elevator is determined by monitoring the ambient air pressure change information through the target robot, so that the actual floor information of the target robot is accurately determined.
In some examples, the above method further comprises:
when the floor change information is inconsistent with the floor change direction corresponding to the air pressure change information, determining a current elevator according to the door closing time and the air pressure change starting time corresponding to a possible elevator, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
When the ideal position relation between the target robot and the target elevator is planned according to a given task, the target robot starts to detect 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 wrongly takes other elevators, corresponding door closing time and floor change rule of other possible taking elevators in the same elevator hall with the target elevator are traversed, the door closing time of the elevator is selected to be the smallest from the air pressure change time of the target robot, the elevator with the same elevator running direction as the movement direction of the target robot is the current taking elevator, and the actual floor information is determined according to the floor information of the current taking elevator.
In summary, according to the robot floor positioning method provided by the embodiment of the application, when the ideal position relation of the target robot is in the target elevator, whether the target robot is in the target elevator is determined by monitoring the ambient air pressure change information through the target robot, so that the actual floor information of the target robot is accurately determined.
In some examples, the above method further comprises:
and when the target robot is charged by the preset charging pile, resetting the historical data stored by the target robot, and updating the actual floor information of the target robot based on the equipment position information of the preset charging pile.
When the robot is in a charging state, the historical data recorded in the task process, including the historical door opening and closing state, floor information, air pressure value and the like, are reset, the actual floor information of the target robot is updated according to the preset charging pile equipment position information, the storage space of the target robot is released, and the floor position of the robot is recalibrated by the preset charging pile fixing equipment.
Referring to fig. 2, an embodiment of a robot floor positioning device in an embodiment of the present application may include:
a first acquisition unit 21 configured to acquire an ideal positional relationship of a target robot with respect to a target elevator, wherein the target elevator is an elevator on which the target robot is to board or is being board, the ideal positional relationship being a positional relationship of the target robot with respect to the target elevator when the target robot is executed in a predetermined program, the ideal positional relationship being included in the target elevator and outside the target elevator;
a second acquiring unit 22 configured to acquire air pressure information corresponding to the target robot;
and a determining unit 23 configured to determine actual floor information corresponding to the target robot based on the air pressure information and the ideal positional relationship.
As shown in fig. 3, the embodiment of the present application further provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 320 and capable of running on the processor, where the processor 320 executes the steps of any one of the methods for robot floor positioning described above.
Since the electronic device described in this embodiment is a device for implementing a robot floor positioning device in this embodiment, based on the method described in this embodiment, those skilled in the art can understand the specific implementation of the electronic device in this embodiment and various modifications thereof, so how to implement the method in this embodiment in this electronic device will not be described in detail herein, and as long as those skilled in the art implement the device for implementing the method in this embodiment in this application, all fall within the scope of protection of this application.
In a specific implementation, the computer program 311 may implement any of the embodiments corresponding to fig. 1 when executed by a processor.
In the foregoing embodiments, the descriptions of the embodiments are focused on, and for those portions of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
It will be appreciated by those skilled in the art that 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 also provide a computer program product comprising computer software instructions which, when run on a processing device, cause the processing device to perform a flow of robot floor localization as in the corresponding embodiment of fig. 1.
The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions in accordance with embodiments of the present application are produced in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in 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 by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). Computer readable storage media can be any available media that can be stored by a computer or data storage devices such as servers, data centers, etc. that contain an integration of one or more available media. Usable media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., DVDs), or semiconductor media (e.g., solid State Disks (SSDs)), among others.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods may be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the corresponding technical solutions.
Claims (9)
1. A robot floor positioning method, 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 to be taken or is being taken by the target robot, the ideal position relation is a position relation of the target robot relative to the target elevator when the target robot is executed according to a preset program, and the ideal position relation is included in the target elevator and outside the target elevator;
acquiring air pressure information corresponding to the target robot;
determining actual floor information corresponding to the target robot according to the air pressure information and the ideal position relation;
when the ideal position relation is outside the target elevator, acquiring air pressure change information in a preset time period;
determining a movement direction of the target robot and an air pressure change starting time based on the air pressure change information under the condition that the air pressure change information is larger than a preset threshold value;
determining a current elevator according to the movement direction of the robot, the starting time of the air pressure change, the door closing time corresponding to the possible elevator and the running direction of the possible elevator, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
2. The method of claim 1, wherein the determining the actual floor information corresponding to the target robot based on the barometric pressure information and the ideal positional relationship further comprises:
and under the condition that the air pressure change information is smaller than or equal to a preset threshold value, determining the waiting stair-climbing floor corresponding to the target robot as the actual floor information.
3. The method of claim 1, wherein said determining a current ride elevator based on the direction of movement, the air pressure change start time, and a door closing time corresponding to a potential ride elevator comprises:
and determining the possible elevator which is the same as the running direction and corresponds to the time interval between the air pressure change starting time and the door closing time being smaller than the preset time interval as the current elevator.
4. The method of claim 1, wherein the determining actual floor information corresponding to the target robot based on the barometric pressure information and the ideal positional relationship comprises:
under the condition that the ideal position relation is in the target elevator, floor change information and air pressure change information of the target elevator after the door is closed are obtained;
and determining the waiting stair-climbing floor corresponding to the target robot as the actual floor information under the condition that the floor change information changes and the air pressure change information is smaller than a preset threshold value.
5. The method as recited in claim 4, further comprising:
determining a current elevator according to the door closing time and the air pressure change starting time corresponding to a possible elevator under the condition that the floor change information is inconsistent with the floor change direction corresponding to the air pressure change information, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
6. The method as recited in claim 5, further comprising:
and resetting the historical data stored by the target robot under the condition that the target robot is charged by a preset charging pile, and updating the actual floor information of the target robot based on the equipment position information of the preset charging pile.
7. A robot floor positioning device, comprising:
a first acquisition unit configured to acquire an ideal positional relationship of a target robot with respect to a target elevator, wherein the target elevator is an elevator that the target robot is ready to board or is boarding, the ideal positional relationship being a positional relationship of the target robot with respect to the target elevator when executed in a predetermined program, the ideal positional relationship being included inside and outside the target elevator;
the second acquisition unit is used for acquiring the air pressure information corresponding to the target robot;
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;
when the ideal position relation is outside the target elevator, acquiring air pressure change information in a preset time period;
determining a movement direction of the target robot and an air pressure change starting time based on the air pressure change information under the condition that the air pressure change information is larger than a preset threshold value;
determining a current elevator according to the movement direction of the robot, the starting time of the air pressure change, the door closing time corresponding to the possible elevator and the running direction of the possible elevator, wherein the possible elevator is an elevator in the same elevator hall as the target elevator;
and determining the actual floor information based on the floor information of the current elevator.
8. An electronic device, comprising: memory and processor, characterized in that the processor is adapted to carry out the steps of the robot floor positioning method according to any of claims 1-6 when executing a computer program stored in the memory.
9. A computer-readable storage medium having stored thereon a computer program, characterized by: the computer program, when executed by a processor, implements the robot floor positioning method of any of claims 1-6.
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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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| CN202211290601.1A CN115432524B (en) | 2022-10-21 | 2022-10-21 | Robot floor positioning method and related equipment |
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| CN115432524A (en) | 2022-12-06 |
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