CN115432525A - Robot floor positioning method and related equipment - Google Patents
Robot floor positioning method and related equipment Download PDFInfo
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- CN115432525A CN115432525A CN202211290605.XA CN202211290605A CN115432525A CN 115432525 A CN115432525 A CN 115432525A CN 202211290605 A CN202211290605 A CN 202211290605A CN 115432525 A CN115432525 A CN 115432525A
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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: under the condition that the target robot enters an elevator car according to a set task flow, determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken, wherein the Bluetooth signal is sent by the elevator which is possibly taken; acquiring running information of elevators which are possibly ridden; acquiring air pressure change information of a target robot; and determining the actual floor information of the target robot according to the operation information and the air pressure change information. This application confirms the elevator that probably takes through the bluetooth signal intensity who acquires the bluetooth module in the elevator car, acquires the atmospheric pressure situation of change of target robot surrounding environment through the barometer at the internally mounted of target robot to compare with the movement time law and the direction law of the elevator that probably takes, confirm whether the target robot is unanimous with the operation law of the elevator that probably takes, thereby the floor position that accurate positioning target robot located.
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
Robots (robots) are machine devices that automatically perform 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 each link to be successfully accumulated step by step, 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. This 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:
under the condition that the target robot enters the elevator car according to the established task flow, determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken;
obtaining the running information of the elevator which is possibly taken;
acquiring air pressure change information of the target robot;
and determining the actual floor information of the target robot according to the operation information and the air pressure change information.
Optionally, the determining the actual floor information of the target robot according to the operation information and the air pressure change information includes:
and under the condition that the air pressure change information is smaller than a preset threshold value, determining the elevator waiting floor determination information of the target robot as the actual floor information.
Optionally, determining the actual floor information of the target robot according to the operation information and the air pressure change information includes:
under the condition that the change trend of the air pressure change information is inconsistent with the running direction corresponding to the running information, the elevator corresponding to the maximum Bluetooth signal intensity is obtained again and is taken as the elevator currently;
and determining the actual floor information of the target robot based on the operation information of the current elevator.
Optionally, the method further includes:
determining the movement 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 change trend of the air pressure change information is inconsistent with the operation direction corresponding to the operation information and the Bluetooth signal intensity cannot be obtained;
determining a current elevator to be taken according to the motion direction of the robot, the air pressure change starting time, the door closing time corresponding to the elevator to be taken and the running direction of the elevator to be taken, wherein the elevator to be taken is an elevator corresponding to an elevator hall where the target robot waits;
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 method further includes:
and sending Bluetooth module fault alarm information to a control terminal, wherein the Bluetooth module fault alarm information comprises the equipment identifier corresponding to the current elevator.
Optionally, the elevator which is possibly taken is determined according to the Mac address corresponding to the Bluetooth signal.
In a second aspect, the present invention further provides a robot floor positioning device, including:
the first determining unit is used for determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken under the condition that the target robot enters the elevator car according to the set task flow;
a first obtaining unit, which is used for obtaining the running information of the elevator which is possibly taken;
a second obtaining unit, configured to obtain air pressure change information of the target robot;
and a second determining unit for determining the actual floor information of the target robot according to the operation information and the air pressure change information.
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 of the first aspect as described above 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, where the computer program, when executed by a processor, implements the robot floor positioning method of any one of the first aspect.
To sum up, the robot floor positioning method of the embodiment of the application includes: under the condition that the target robot enters an elevator car according to a set task flow, determining an elevator corresponding to the maximum Bluetooth signal intensity as an elevator which is possibly taken, wherein the Bluetooth signal is sent by the elevator which is possibly taken; obtaining the running information of the elevator which is possibly taken; acquiring air pressure change information of the target robot; and determining the actual floor information of the target robot according to the operation information and the air pressure change information. The application provides a robot floor positioning method, the elevator that probably takes is confirmed through the bluetooth signal intensity who obtains the bluetooth module in the elevator car, the atmospheric pressure change condition of the surrounding environment of target robot is obtained through the barometer at the internally mounted of target robot, and compare with the movement time law and the direction law of the elevator that probably takes, confirm whether the target robot is unanimous with the operation law of the elevator that probably takes, thereby the floor position that the target robot located is pinpointed.
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 application provides a robot floor positioning method, the elevator that probably takes is confirmed through the bluetooth signal intensity who acquires the bluetooth module in the elevator car, the atmospheric pressure change condition of the surrounding environment of target robot is acquireed through the barometer at the internally mounted of target robot, and compare with the movement time law and the direction law of the elevator that probably takes, confirm whether the target robot is unanimous with the operation law of the elevator that probably takes, thereby pinpoint the floor position that target robot located.
The terms "first," "second," "third," "fourth," and the like in the description and claims of this application and in the above-described drawings, 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. Moreover, 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 provided in an embodiment of the present application may specifically include:
s110, under the condition that the target robot enters an elevator car according to a set task flow, determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken;
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. And the target robot is provided with a laser, a milemeter, 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 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 in the car or out of the car of the target elevator when executing the task according to the established program.
When the target robot enters the elevator car according to the established task flow, the elevator which corresponds to the Bluetooth signal to the maximum extent is determined to be the elevator which is probably ridden, the Bluetooth signal is sent by the Bluetooth module which is installed in the car, and the identity marks which correspond to the Bluetooth signal correspond to the elevator car one to one. It can be understood that the size of bluetooth signal intensity is inversely proportional to the distance from bluetooth module, and the signal is stronger the nearer the distance is, and the signal is weaker the farther away, and the elevator that the signal is the biggest corresponds is promptly with the nearest elevator of target robot distance, the elevator that is the target robot took under normal condition.
S120, obtaining the running information of the elevator which is possibly taken;
illustratively, the running information of the elevator which is possibly taken and determined according to the Bluetooth signal intensity is obtained, and the running information comprises the running direction of the elevator and the current floor information of the target elevator.
S130, acquiring air pressure change information of the target robot;
exemplarily, the current corresponding air pressure information of the target robot is obtained according to the barometer 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 the elevator door in the target elevator is closed, and the air pressure change condition in the elevator car is detected after the target elevator runs. The air pressure information is monitored at regular time intervals with the ideal position of the target robot outside the elevator car.
And S140, determining the actual floor information of the target robot according to the operation information and the air pressure change information.
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 relation between the air pressure information and the operation information of the elevator which is probably taken, the actual floor information possibly comprises the following conditions, namely, under the condition that the air pressure change information is consistent with the motion time rule and the direction rule of the target robot when the target robot is probably taken, the target robot is positioned in the elevator which is probably taken, and the floor information of the 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 elevator which is possibly taken by the target robot, the target robot can enter the wrong 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 provided, the elevator that probably takes is confirmed through the bluetooth signal intensity who acquires the bluetooth module in the elevator car, the atmospheric pressure change condition of the surrounding environment of target robot is acquireed through the barometer at the internally mounted of target robot, and compare with the movement time law and the direction law of the elevator that probably takes, confirm whether the target robot is unanimous with the operation law of the elevator that probably takes, thereby pinpoint the floor position that target robot located.
In some examples, the determining the actual floor information of the target robot according to the operation information and the air pressure variation information includes:
and under the condition that the air pressure change information is smaller than a preset threshold value, determining the waiting elevator floor determination information of the target robot as the actual floor information.
Illustratively, if the floor change information of the elevator which is probably to be taken changes, namely the elevator starts to run, but the air pressure change information is smaller than the preset threshold value, namely the target robot does not change in height, the robot is not considered to be taken in the elevator which is probably to be taken at the moment, the target robot is probably not enough to accommodate the target robot due to more space of people, or the target robot does not enter the target elevator due to wheel slipping and the like, the floor which is waiting for the elevator to be taken by the target robot is determined as the actual floor information at the moment, and the elevator calling command is executed again.
In summary, 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 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, determining the actual floor information of the target robot according to the operation information and the air pressure variation information includes:
under the condition that the change trend of the air pressure change information is inconsistent with the running direction corresponding to the running information, the elevator corresponding to the maximum Bluetooth signal intensity is obtained again and is taken as the current elevator;
and determining the actual floor information of the target robot based on the operation information of the current elevator.
Illustratively, when the target elevator is closed, the target robot starts to detect air pressure change information, but the air pressure change information is inconsistent with the rule of change of floors where the elevator is possibly taken, at the moment, the target robot takes other elevators by mistake, when the Bluetooth signal intensity is obtained for the first time, a plurality of elevators possibly exist at the same time and are ready to enter an elevator hall of the elevator by the target robot, the Bluetooth signals of other elevators are stronger than the Bluetooth signals of the taken elevators, so that the robot identifies the taken elevators by mistake, at the moment, the elevator with the largest Bluetooth signal intensity is obtained again and is the elevator currently taken, and the actual floor information of the target robot is determined according to the floor information corresponding to the elevator currently taken.
To sum up, the robot floor positioning method that this application embodiment provided can correct the condition that the first time misidentification took the elevator through acquireing the bluetooth signal once more to correct the actual floor information of target robot.
In some examples, the method further comprises:
determining the movement 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 change trend of the air pressure change information is inconsistent with the operation direction corresponding to the operation information and the Bluetooth signal intensity cannot be obtained;
determining a current elevator to be taken according to the motion direction of the robot, the air pressure change starting time, the door closing time corresponding to the elevator to be taken and the running direction of the elevator to be taken, wherein the elevator to be taken is an elevator corresponding to an elevator hall where the target robot waits;
and determining the actual floor information based on the floor information of the current elevator.
For example, in the case that the variation trend of the air pressure variation information is inconsistent with the running direction corresponding to the running information and the bluetooth signal strength cannot be obtained, the target robot is not in the elevator which is possibly taken and is determined by the bluetooth signal for the first time, and the elevator cannot be determined by identifying the bluetooth signal again. 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. The method comprises the steps of traversing corresponding door closing time and a floor change rule of other possible elevators in the same elevator hall with a target elevator, selecting the elevator with the door closing time being the minimum distance from the air pressure change time of a target robot, taking the elevator with the elevator running direction being the same as the moving direction of the target robot as the current elevator, and determining actual floor information according to the floor information of the current elevator.
To sum up, the robot floor positioning method provided by the embodiment of the application can determine the current elevator to be taken by the target robot by monitoring the surrounding air pressure change information through the target robot under the condition that the target robot cannot determine the current elevator to be taken by the target robot through the Bluetooth signal again, so that the actual floor information of the target robot can be accurately determined.
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.
For example, 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 shorter than the door closing time interval of the elevator (i.e., shorter than the preset time interval, for example, the preset time interval may be set to 10 s), it is considered that the target robot is riding the elevator.
In some examples, the method further comprises:
and sending Bluetooth module fault alarm information to a control terminal, wherein the Bluetooth module fault alarm information comprises the equipment identifier corresponding to the current elevator.
Exemplarily, can confirm the elevator that the target robot is taking through the operation law of traversing the elevator and the atmospheric pressure change law of target robot, and the circumstances that corresponds under the circumstances that obtains the current elevator of taking of target robot through this kind of mode can be for the bluetooth module of the elevator of taking at present breaks down, sends the trouble alarm information that the current elevator bluetooth module of taking corresponds to the control end this moment so that the staff in time maintains.
In some examples, the elevator that may be picked up is determined based on the Mac address corresponding to the bluetooth signal.
For example, the method for determining the identity of the elevator according to the Bluetooth signal is to install a Bluetooth module in each elevator, and each Bluetooth module Mac addresses the elevator number binding.
Referring to fig. 2, an embodiment of a floor positioning device for a robot in an embodiment of the present application may include:
the first determining unit 21 is used for determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken under the condition that the target robot enters the elevator car according to the set task flow;
a first obtaining unit 22 for obtaining the operation information of the elevator which may be taken;
a second obtaining unit 23, configured to obtain information on a change in air pressure of the target robot;
and a second determining unit 24 for determining the actual floor information of the target robot according to the operation information and the air pressure change information.
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, and when the processor 320 executes the computer program 311, the steps of any one of the methods for positioning a floor of a robot described above are implemented.
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 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 further provide a computer program product, which includes computer software instructions, when the computer software instructions are executed on a processing device, the processing device is caused to execute 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 ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit is merely a logical division, and an actual implementation may have another division, 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 stand-alone 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: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, an optical disk, or other various media capable of storing program codes.
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 of the embodiments of the present application.
Claims (10)
1. A method for robot floor positioning, comprising:
under the condition that the target robot enters the elevator car according to the established task flow, determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken;
obtaining the running information of the elevator which is possibly taken;
acquiring air pressure change information of the target robot;
and determining the actual floor information of the target robot according to the operation information and the air pressure change information.
2. The method of claim 1, wherein said determining actual floor information of said target robot based on said operational information and said air pressure change information comprises:
and determining the elevator waiting floor determination information of the target robot as the actual floor information under the condition that the air pressure change information is smaller than a preset threshold value.
3. The method of claim 1, wherein determining the actual floor information of the target robot based on the operation information and the air pressure change information comprises:
under the condition that the variation trend of the air pressure variation information is inconsistent with the running direction corresponding to the running information, the elevator corresponding to the maximum Bluetooth signal intensity is obtained again and is taken as the current elevator;
and determining the actual floor information of the target robot based on the operation information of the current boarding elevator.
4. The method of claim 3, further comprising:
determining the movement 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 change trend of the air pressure change information is inconsistent with the operation direction corresponding to the operation information and the Bluetooth signal intensity cannot be obtained;
determining a current elevator to be taken according to the motion direction of the robot, the air pressure change starting time, the door closing time corresponding to the elevator to be taken and the running direction of the elevator to be taken, wherein the elevator to be taken is an elevator corresponding to an elevator hall where the target robot waits;
determining the actual floor information based on the floor information of the currently boarding elevator.
5. The method of claim 4, 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.
6. The method of claim 4, further comprising:
and sending Bluetooth module fault alarm information to a control end, wherein the Bluetooth module fault alarm information comprises an equipment identifier corresponding to the current elevator.
7. A method according to any of claims 1 to 6, characterized in that the elevator which is likely to be picked up is determined on the basis of the Mac address corresponding to the Bluetooth signal.
8. A robotic floor positioning device, comprising:
the first determining unit is used for determining the elevator corresponding to the maximum Bluetooth signal intensity as the elevator which is possibly taken under the condition that the target robot enters the elevator car according to the set task flow;
the first acquisition unit is used for acquiring the running information of the elevators which can be taken;
the second acquisition unit is used for acquiring air pressure change information of the target robot;
and the second determining unit is used for determining the actual floor information of the target robot according to the operation information and the air pressure change information.
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 positioning 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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| CN115432525B (en) | 2024-03-01 |
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