CN115507853A - Robot floor positioning method, device, electronic equipment and computer readable medium - Google Patents

Abstract

The disclosure relates to the technical field of robot control, and provides a robot floor positioning method, a robot floor positioning device, electronic equipment and a computer readable medium. The method comprises the following steps: determining a reference air pressure value; acquiring a real-time environmental air pressure value of the position where the robot is located; calculating a real-time air pressure value difference based on the reference air pressure value and the real-time environment air pressure value; and determining the floor where the robot is located based on the real-time air pressure value difference. According to the method, the air pressure sensor is arranged on the robot body, other sensors are not required to be arranged in each floor and elevator room, time and labor are saved, the arrangement is simple, the robot can be tracked in real time, and the precision is high.

Description

Robot floor positioning method, device, electronic equipment and computer readable medium

Technical Field

The present disclosure relates to the field of robot control technologies, and in particular, to a method and an apparatus for positioning a floor of a robot, an electronic device, and a computer-readable medium.

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 to be successfully accumulated step by step in each link, and if one link has problems, the whole task cannot be successfully executed. There are many abnormal situations in the key one-loop elevator taking process in the robot cross-floor task, for example, the floor acquired by the robot fails or is wrong, the robot is moved out of or into the elevator by people during the elevator taking process, and is moved into other elevators, and general elevator companies do not want to communicate with the outside to issue floor information for safety. The robot floor acquisition failure or error problem is researched, the main floor acquisition mode in the current market comprises infrared laser or UWB sensor ranging and wireless communication/network communication, a plurality of rfid or infrared sensors are installed near a stop floor of an elevator in an elevator shaft to judge whether the elevator passes through the current floor, and therefore the elevator is judged to be in several floors, floors are located through a wifi AP and the like. The problems of the maximum distance between the sensor ranging and the wireless communication, the problems of incapability of measuring the ranging due to the fact that the ranging is out of limit and communication is failed due to the fact that the floor is high, serious delay in the elevator shaft exists in network communication, and floor acquisition errors exist in the network communication; the problem of deploying the rfid/infrared sensor in the elevator shaft is that sensors need to be deployed up and down at the stopping position of each layer of elevator, the accuracy is relatively high, time and labor are wasted, and the deployment is troublesome. And most of the schemes measure the elevator floor, do not directly measure the robot floor, and are difficult to track when the inconsistency occurs. Wifi APs also have deployment issues.

Disclosure of Invention

In view of this, embodiments of the present disclosure provide a method and an apparatus for positioning a robot floor, an electronic device, and a computer-readable medium, so as to solve the problem in the prior art how to achieve accurate positioning of a robot floor.

In a first aspect of the disclosed embodiments, a robot floor positioning method is provided, including: determining a reference air pressure value; acquiring a real-time environment air pressure value of the position where the robot is located; calculating a real-time air pressure value difference based on the reference air pressure value and the real-time environment air pressure value; and determining the floor where the robot is located based on the real-time air pressure value difference.

In a second aspect of the embodiments of the present disclosure, there is provided a robot floor positioning device including: an air pressure value determination unit configured to determine a reference air pressure value; an acquisition unit configured to acquire a real-time ambient air pressure value of a position where the robot is located; a calculation unit configured to calculate a real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; and the floor determining unit is configured to determine the floor where the robot is located based on the real-time air pressure value difference.

In a third aspect of the disclosed embodiments, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the above method when executing the computer program.

In a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, which when executed by a processor, implements the steps of the above-mentioned method.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: firstly, determining a reference air pressure value; secondly, acquiring a real-time environmental air pressure value of the position where the robot is located; then, calculating a real-time air pressure value difference based on the reference air pressure value and the real-time environment air pressure value; and finally, determining the floor where the robot is located based on the real-time air pressure value difference. The method provided by the embodiment of the disclosure determines the reference floor in a cross-floor scene through the air pressure sensor carried by the robot body, acquires the air pressure value of the reference floor as the reference air pressure value, further acquires the environmental air pressure value of the real-time position of the robot, then calculates the real-time air pressure difference value, and outputs the floor where the robot is located in real time by using the classification model through the real-time air pressure difference value and the average air pressure value set acquired in advance.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art without inventive efforts.

Fig. 1 is a schematic illustration of one application scenario of a robot floor location method according to some embodiments of the present disclosure;

fig. 2 is a flow diagram of some embodiments of a robot floor location method according to the present disclosure;

figure 3 is a schematic structural view of some embodiments of a robotic floor positioning device according to the present disclosure;

FIG. 4 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.

Detailed Description

Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and the embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.

It should be noted that, for convenience of description, only the portions related to the present invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.

It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.

It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.

The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.

The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Fig. 1 is a schematic diagram of one application scenario of a robot floor location method according to some embodiments of the present disclosure.

In the application scenario of fig. 1, first, the computing device 101 may determine a reference barometric pressure value 102. Second, the computing device 101 may obtain a real-time ambient air pressure value 103 for the location where the robot is located. The computing device 101 may then calculate a real-time air pressure value difference 104 based on the reference air pressure value 102 and the real-time ambient air pressure value 103. Finally, the computing device 101 may determine the floor 105 at which the robot is located based on the real-time barometric pressure difference 104.

The computing device 101 may be hardware or software. When the computing device 101 is hardware, it may be implemented as a distributed cluster composed of a plurality of servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device 101 is embodied as software (e.g., a program or system that controls a robot), it may be installed in the hardware devices listed above. It may be implemented, for example, as multiple software or software modules for providing distributed services, or as a single software or software module. And is not particularly limited herein.

It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.

Fig. 2 is a flow diagram of some embodiments of a robot floor location method according to the present disclosure. The robotic floor location method of fig. 2 may be performed by the computing device 101 of fig. 1. As shown in fig. 2, the robot floor positioning method includes:

in step S201, a reference air pressure value is determined.

In some embodiments, the reference air pressure value may refer to an air pressure value of a floor where the robot charging pile is located in a cross-floor scenario. In some embodiments, the execution body may determine the reference air pressure value by:

in the first step, the execution subject may obtain environmental characteristic information of an operation scene of the robot. Here, the environment characteristic information of the operation scene may determine that the operation scene is a flat floor or a cross-floor scene, for example, the environment characteristic information may be a mark performed by a robot deployment person when a drawing is created for the robot, and the content of the mark may be a cross-floor scene.

And secondly, based on the environment characteristic information, the executive body can determine whether the robot running scene is a cross-floor scene. Here, the execution subject judges whether the operation scene of the robot is a cross-floor scene based on the environmental feature information acquired in the first step.

And thirdly, in response to the fact that the operation scene of the robot is determined to be a cross-floor scene, the execution main body can acquire the floor where the robot charging pile is located. Here, when it is determined that the robot operation scene is a cross-floor scene, the execution main body may acquire the floor where the robot charging pile is located through pre-stored building information.

And fourthly, the execution main body can determine the floor where the robot charging pile is located as a reference floor.

And fifthly, the execution main body can measure the air pressure value of the reference floor and takes the air pressure value of the reference floor as a reference air pressure value. Specifically, the execution main body stores historical air pressure values of the reference floors, the robot is controlled to be in a connection state with the robot charging pile before working, an air pressure sensor arranged on the robot measures the air pressure value of the floor where the charging pile is located, and the air pressure value of the reference floor is reset to serve as the reference air pressure value based on the measuring result.

Step S202, a real-time environmental air pressure value of the position where the robot is located is obtained.

In some embodiments, the execution body may measure a real-time ambient air pressure value of a position where the robot is located through an air pressure sensor provided in the robot itself.

Step S203, calculating a real-time air pressure difference based on the reference air pressure value and the real-time environmental air pressure value.

In some embodiments, a real-time air pressure value difference is calculated based on the determined reference air pressure value and a real-time ambient air pressure value of the location where the robot is located.

And step S204, determining the floor where the robot is located based on the real-time air pressure value difference.

In some embodiments, the real-time air pressure value difference is input to a classification model trained in advance, and the floor where the robot is located is obtained through output. The method is realized by the following steps:

firstly, inputting the real-time air pressure value difference into a classification model trained in advance, and calculating mapping distance values of the real-time air pressure value difference and average air pressure value differences corresponding to each floor to obtain a mapping distance value set. Here, the training process for the above classification model is as follows: firstly, acquiring an average air pressure value of each floor in the cross-floor scene, wherein the average air pressure value of each floor is acquired by averaging a plurality of air pressure values acquired by measuring the air pressure value of the floor for a plurality of times by a robot; secondly, calculating the average air pressure value difference corresponding to each floor based on the average air pressure value of each floor and the reference air pressure value to obtain an average air pressure value difference set; finally, for each average air pressure value difference in the average air pressure value difference set, the average air pressure value difference is used as the input of an initial model, the floor corresponding to the average air pressure value difference is used as the expected output, and the classification model is obtained through training. Specifically, as an example, the classification model is a KNN model, the real-time barometric pressure difference is input to a pre-trained KNN model, the real-time barometric pressure value is mapped into an n-dimensional space, the average barometric pressure value difference corresponding to each floor is used as a sample in a sample set, and a mapping distance value between the real-time barometric pressure value difference and the average barometric pressure value difference corresponding to each floor is obtained to obtain a mapping distance value set. The above description is only for illustrative purposes, and is not intended to be limiting.

And secondly, screening a preset number of mapping distance values based on the mapping distance value set. Sorting the distance values from small to large, and screening the mapping distance values of the top rank, wherein in one embodiment, the classification model is a KNN model, and screening K mapping distance values, wherein the K value is selected in relation to the number of floors and the prediction accuracy, and for example, the number of floors is 10, and the K value is 2; the number of floors was 20 and the K value was 4. The above description is only for illustrative purposes, and is not intended to be limiting.

And thirdly, determining the floor where the robot is located based on the preset number of mapping distance values. In one embodiment, the specific implementation steps are as follows: first, a mapping distance value with the smallest value is selected from the preset number of mapping distance values to serve as a target mapping distance value. As an example, the number of floors is 10, the k value is 2, and the mapping distance value ranked at the top among the 2 is selected as the target mapping distance value, that is, the mapping distance value with the shortest distance is selected as the target mapping distance value; secondly, determining whether the target mapping distance value is smaller than a preset threshold value; here, in order to ensure validity of data, prevent data loss, data non-entry, or system error, a threshold is set to check validity of data, and as an example, the threshold is a distance value between a highest floor air pressure value in a cross-floor scene in which the robot runs and the reference air pressure value in the n-dimensional preset space. The above description is only for illustrative purposes, and is not intended to be limiting. And finally, in response to the fact that the target mapping distance value is smaller than the preset threshold value, determining the floor corresponding to the target mapping distance value as the floor where the robot is located.

In some optional implementations of some embodiments, when the target mapping distance value is greater than the preset threshold, the floor prediction is invalid, and at this time, the floor location of the robot may be performed by human assistance or a monitoring system in the building.

Compared with the prior art, the embodiment of the disclosure has the following beneficial effects: firstly, determining a reference air pressure value; secondly, acquiring a real-time environmental air pressure value of the position where the robot is located; then, calculating a real-time air pressure value difference based on the reference air pressure value and the real-time environment air pressure value; and finally, determining the floor where the robot is located based on the real-time air pressure value difference. According to the method provided by the embodiment of the disclosure, the reference floor is determined in a cross-floor scene through the air pressure sensor arranged on the robot body, the air pressure value of the reference floor is obtained and used as the reference air pressure value, the environmental air pressure value of the real-time position of the robot is further obtained, then the real-time air pressure difference value is calculated, and the floor where the robot is located in real time is output by using the classification model through the real-time air pressure difference value and the average air pressure value set obtained in advance.

All the above optional technical solutions may be combined arbitrarily to form optional embodiments of the present application, and are not described herein again.

The following are embodiments of the disclosed apparatus that may be used to perform embodiments of the disclosed methods. For details not disclosed in the embodiments of the apparatus of the present disclosure, refer to the embodiments of the method of the present disclosure.

Figure 3 is a schematic structural view of some embodiments of a robotic floor positioning device according to the present disclosure. As shown in fig. 3, the robot floor positioning device includes: an air pressure value determining unit 301, an obtaining unit 302, a calculating unit 303 and a floor determining unit 304. Wherein the air pressure value determining unit 301 is configured to determine a reference air pressure value; an obtaining unit 302 configured to obtain a real-time ambient air pressure value of a position where the robot is located; a calculating unit 303 configured to calculate a real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; and a floor determination unit 304 configured to determine the floor where the robot is located based on the real-time air pressure value difference.

In some optional implementations of some embodiments, the air pressure value determining unit 301 of the robotic floor positioning device is further configured to: acquiring environmental characteristic information of a robot running scene; determining whether the robot running scene is a cross-floor scene or not based on the environmental characteristic information; responding to the situation that the robot operation scene is determined to be a cross-floor scene, and acquiring the floor where the robot charging pile is located; determining the floor where the robot charging pile is located as a reference floor; and measuring the air pressure value of the reference floor, and taking the air pressure value of the reference floor as a reference air pressure value.

In some optional implementation manners of some embodiments, the robot and the robot charging pile are controlled to be in a connection state when the air pressure value of the reference floor is measured and taken as the reference air pressure value.

In some optional implementations of some embodiments, the floor determination unit 304 of the robotic floor positioning device is further configured to: and inputting the real-time air pressure value difference into a pre-trained classification model, and outputting to obtain the floor where the robot is located.

In some optional implementations of some embodiments, the training of the classification model includes: acquiring the average air pressure value of each floor in the cross-floor scene; calculating the average air pressure value difference corresponding to each floor based on the average air pressure value of each floor and the reference air pressure value to obtain an average air pressure value difference set; and training each average air pressure value difference in the average air pressure value difference set to obtain the classification model by taking the average air pressure value difference as an input of an initial model and taking a floor corresponding to the average air pressure value difference as an expected output.

In some optional implementations of some embodiments, the inputting the real-time air pressure difference into a pre-trained classification model, and outputting the floor where the robot is located, is further configured to: inputting the real-time air pressure value difference into a pre-trained classification model, and calculating mapping distance values of the real-time air pressure value difference and average air pressure value differences corresponding to each floor to obtain a mapping distance value set; screening a preset number of mapping distance values based on the mapping distance value set; and determining the floor where the robot is located based on the preset number of mapping distance values.

In some optional implementations of some embodiments, the determining the floor where the robot is located based on the preset number of mapping distance values is further configured to select a mapping distance value with a smallest value from the preset number of mapping distance values as the target mapping distance value; determining whether the target mapping distance value is smaller than a preset threshold value; and in response to the fact that the target mapping distance value is smaller than the preset threshold value, determining the floor corresponding to the target mapping distance value as the floor where the robot is located.

Referring now to FIG. 4, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1) 400 suitable for use in implementing some embodiments of the present disclosure is shown. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.

As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM 403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM402, and the RAM 403 are connected to each other through a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.

Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may be alternatively implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices, as desired.

In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 409, or from the storage device 408, or from the ROM 402. The computer program, when executed by the processing device 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.

It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.

The computer readable medium may be embodied in the apparatus; or may be separate and not incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: determining a reference air pressure value; acquiring a real-time environmental air pressure value of the position where the robot is located; calculating a real-time air pressure value difference based on the reference air pressure value and the real-time environment air pressure value; and determining the floor where the robot is located based on the real-time air pressure value difference.

Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The units described in some embodiments of the present disclosure may be implemented by software or hardware. The described units may also be provided in a processor, which may be described as: a processor includes an air pressure value determining unit, an obtaining unit, a calculating unit, and a floor determining unit. Where the names of these units do not constitute a limitation on the unit itself in some cases, for example, the air pressure value determining unit may also be described as a "unit that determines the reference air pressure value".

The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems on a chip (SOCs), complex Programmable Logic Devices (CPLDs), and the like.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.

Claims (10)

1. A method for robot floor positioning, comprising:

determining a reference air pressure value;

acquiring a real-time environmental air pressure value of the position where the robot is located;

calculating a real-time air pressure value difference based on the reference air pressure value and the real-time environment air pressure value;

and determining the floor where the robot is located based on the real-time air pressure value difference.

2. The robotic floor location method of claim 1, wherein said determining a reference air pressure value comprises:

acquiring environmental characteristic information of a robot running scene;

determining whether the robot operation scene is a cross-floor scene or not based on the environmental characteristic information;

responding to the fact that the robot running scene is determined to be a cross-floor scene, and acquiring the floor where the robot charging pile is located;

determining the floor where the robot charging pile is located as a reference floor;

and measuring the air pressure value of the reference floor, and taking the air pressure value of the reference floor as the reference air pressure value.

3. The robot floor positioning method according to claim 2, wherein the robot and the robot charging pile are controlled to be in a connected state when the air pressure value of the reference floor is measured and the air pressure value of the reference floor is taken as a reference air pressure value.

4. The robot floor location method of claim 2, wherein said determining the floor of the robot based on the real-time barometric pressure difference comprises:

and inputting the real-time air pressure value difference into a pre-trained classification model, and outputting to obtain the floor where the robot is located.

5. The robotic floor location method of claim 4, wherein the training step of the classification model comprises:

acquiring an average air pressure value of each floor in the cross-floor scene;

calculating the average air pressure value difference corresponding to each floor based on the average air pressure value of each floor and the reference air pressure value to obtain an average air pressure value difference set;

and for each average air pressure value difference in the average air pressure value difference set, taking the average air pressure value difference as the input of an initial model, taking the floor corresponding to the average air pressure value difference as the expected output, and training to obtain the classification model.

6. The method as claimed in claim 5, wherein the step of inputting the real-time barometric pressure difference to a pre-trained classification model and outputting the floor where the robot is located comprises:

inputting the real-time air pressure value difference into a pre-trained classification model, and calculating mapping distance values of the real-time air pressure value difference and average air pressure value differences corresponding to each floor to obtain a mapping distance value set;

screening a preset number of mapping distance values based on the mapping distance value set;

and determining the floor where the robot is located based on the preset number of mapping distance values.

7. The robot floor location method of claim 6, wherein said determining the floor of the robot based on the preset number of mapped distance values comprises:

selecting a mapping distance value with the minimum value from the preset number of mapping distance values as a target mapping distance value;

determining whether the target mapping distance value is smaller than a preset threshold value;

and in response to the fact that the target mapping distance value is smaller than the preset threshold value, determining the floor corresponding to the target mapping distance value as the floor where the robot is located.

8. A robotic floor positioning device, comprising:

an air pressure value determination unit configured to determine a reference air pressure value;

the acquisition unit is configured to acquire a real-time environment air pressure value of a position where the robot is located;

a calculation unit configured to calculate a real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value;

a floor determination unit configured to determine a floor on which the robot is located based on the real-time air pressure value difference.

9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor realizes the steps of the method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.

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