CN116448110A

CN116448110A - Navigation method, navigation device, readable storage medium and robot

Info

Publication number: CN116448110A
Application number: CN202310197207.1A
Authority: CN
Inventors: 邓荣丰
Original assignee: Guangdong Ruishige Technology Co ltd; KUKA Robotics Guangdong Co Ltd
Current assignee: Guangdong Ruishige Technology Co ltd; KUKA Robotics Guangdong Co Ltd
Priority date: 2023-03-03
Filing date: 2023-03-03
Publication date: 2023-07-18

Abstract

The invention provides a navigation method, a navigation device, a readable storage medium and a robot, and belongs to the technical field of automatic robots. Wherein the navigation method is performed by a robot, the method comprising: under the condition that the robot loads the first map, receiving a first coordinate sent by a dispatching system; controlling the robot to move to a first navigation point according to the first map and the first coordinates; receiving a target floor sent by a dispatching system under the condition that the robot reaches a first navigation point, and sending a ladder taking request to a ladder control system according to the target floor; loading a second map under the condition that floor information sent by the ladder control system is received and matched with a target floor; and controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates.

Description

Navigation method, navigation device, readable storage medium and robot

Technical Field

The invention relates to the technical field of automatic robots, in particular to a navigation method, a navigation device, a readable storage medium and a robot.

Background

In the related art, for a service robot or an industrial robot, there is a requirement for operation across floors in the scenes of hotels, medical logistics, industrial storage and the like, and the maps of different floors are different, so that multiple layers of maps need to be spliced into a complete large map.

After the map is enlarged, the robot needs to consume extra calculation power and memory space when navigating and loading the map, so that the cost of the robot is increased and the operation efficiency is reduced.

Disclosure of Invention

The embodiment of the invention aims to provide a navigation method, a navigation device, a readable storage medium and a robot, which can solve the problem of low operation efficiency of the robot across floors.

To this end, a first aspect of the invention proposes a navigation method.

A second aspect of the invention proposes a navigation method.

A third aspect of the invention proposes a navigation method.

A fourth aspect of the present invention proposes a navigation device.

A fifth aspect of the present invention proposes a navigation device.

A sixth aspect of the present invention proposes a navigation device.

A seventh aspect of the present invention proposes a navigation device.

An eighth aspect of the present invention proposes a readable storage medium.

A ninth aspect of the present invention proposes a robot.

In view of this, a first aspect of the present invention provides a navigation method, performed by a robot, the method comprising: under the condition that the robot loads the first map, receiving a first coordinate sent by a dispatching system; controlling the robot to move to a first navigation point according to the first map and the first coordinates; receiving a target floor sent by a dispatching system under the condition that the robot reaches a first navigation point, and sending a ladder taking request to a ladder control system according to the target floor; loading a second map under the condition that floor information sent by the ladder control system is received and matched with a target floor; and controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates.

In the technical scheme, the operation system of the robot comprises a robot end, a dispatching system end and a ladder control system end, and the robot, the dispatching system and the ladder control system communicate through a wireless network. The robot end is a main body for executing the operation, the dispatching system is responsible for receiving and transmitting instructions for controlling the robot to execute the operation, and the ladder control system is responsible for controlling the elevator to work, so that the robot is helped to reach different floors.

Specifically, the robot is assumed to be located at a first floor, and at this time, the map of the subarea loaded by the robot is a first map corresponding to the first floor. The dispatching system receives a mobile operation request for the current robot, and after the mobile operation request is received, the dispatching system acquires a first floor where the robot is currently located and a target floor where a target navigation point corresponding to the mobile operation request is located, and judges whether the first floor and the target floor are the same.

If the first floor is different from the target floor, the robot is required to complete the cross-floor moving operation by taking the elevator, at the moment, the dispatching system firstly issues a first coordinate to the robot, wherein the first coordinate is specifically an entrance coordinate of the elevator of the floor where the robot is located, and a first navigation point indicated by the first coordinate is the place where the robot takes the elevator.

The robot performs navigation by taking the first coordinate as a target according to the first map loaded currently and combining with the positioning information of the robot, and moves to the position indicated by the first coordinate, namely a first navigation point according to navigation.

After the robot reaches the first navigation point, i.e. the place where the elevator is taken, the dispatch system updates the position of the robot and sends the target floor to the robot, in particular the dispatch system may send the robot information of the target navigation point, which comprises the coordinates of the final target navigation point and the floor where the target navigation point is located, i.e. the target floor.

After the robot receives the target floor, the robot sends a ladder taking request to a ladder control system, wherein the ladder taking request carries the first floor where the robot is currently located and further comprises the target floor where the target navigation point is located.

After receiving the elevator taking request, the elevator control system controls the elevator to move to a first floor where the robot is located, and after the elevator reaches the first floor, the elevator control system opens a door and controls the robot to move to the inside of the elevator, and after the robot moves to the inside of the elevator, the elevator control system continuously controls the elevator to move to a target floor and sends floor information of the current elevator to the robot.

After reaching the target floor, the elevator control system opens a door and sends current floor information to the robot, the robot judges whether the floor information sent by the elevator control system is consistent with the target floor sent by the dispatching system after receiving the floor information, if so, the robot determines that the target floor is reached, the robot loads a second map corresponding to the target floor, plans a navigation path according to the second map and a target navigation point sent by the dispatching system, and moves to the target navigation point according to the navigation path.

According to the embodiment of the invention, the robot, the scheduling system and the elevator control system are matched, the scheduling system is responsible for sending the coordinate information of the position of the elevator to the robot when the robot works across floors, namely, the scheduling robot reaches the position where the elevator is taken, then the robot and the elevator control system of the elevator are matched to take the elevator to a target floor, and after the robot reaches the target floor, the loaded regional map is switched, so that the robot does not need to load a large map obtained by splicing multiple floor maps, the calculation cost and the memory cost of the robot are saved, the cost can be saved, and the working efficiency of the robot for working across floors can be improved.

In addition, the navigation method in the technical scheme provided by the invention can also have the following additional technical characteristics:

in the above technical solution, after sending a landing request to the landing control system according to the destination floor, the method further includes: receiving a ladder riding signal sent by a ladder control system, wherein the ladder riding signal comprises second coordinates of a second navigation point; continuously sending a moving signal to the ladder control system, and controlling the robot to move to a second navigation point according to the first map and the second coordinates; and stopping sending the moving signal and sending the first arrival signal to the ladder control system under the condition that the robot reaches the second navigation point.

In the technical scheme, when the robot moves to a first navigation point, namely, a place where the robot rides an elevator, the robot sends an elevator riding request to the elevator control system, wherein the elevator riding request comprises a first floor where the robot is currently located and also comprises a target floor where a target navigation point of the robot is located.

And after receiving the elevator taking request, the elevator control system controls the elevator to move to the first floor where the robot is located. If the elevator is currently in an idle state, the elevator is directly controlled to go to the first floor. If the elevator is in a working state, if other robots take the elevator, the elevator waits for the current moving operation to be executed, and then the elevator goes to the first floor.

In the moving process of the elevator, the robot cannot receive elevator taking signals of the elevator control system, and at the moment, the robot is in a waiting state, and the robot in the waiting state cannot act. When the elevator reaches the first floor and the door opening action is completed, the elevator control system sends an elevator taking signal to the robot to inform the robot that the elevator is ready.

The elevator taking signal carries second coordinates, the second navigation points indicated by the second coordinates are points in the elevator, and the second coordinates are coordinates based on a first map loaded by the robot currently. The robot generates a corresponding navigation path through the first map and the second coordinates, and walks to a second navigation point according to the navigation path, so that the robot enters a riding position in the elevator.

And in the process that the robot moves to the second navigation point, the robot continuously sends a movement signal to the elevator control system, wherein the movement signal is used for informing the elevator control system that the robot does not finish the boarding movement operation and enabling the elevator control system to keep the door body of the elevator open.

After the robot moves to the second navigation point, the robot does not send a moving signal to the ladder control system any more, and sends a first arrival signal to the ladder control system. When the elevator control system receives the first arrival signal, the robot is determined to enter the appointed position in the elevator, and at the moment, the elevator control system controls the door body of the elevator to be closed and controls the elevator to move to the target floor.

According to the embodiment of the invention, through wireless communication between the robot and the ladder control system, the robot can independently finish ladder riding operation, so that the robot can rapidly finish floor-crossing operation, and the floor-crossing operation efficiency of the robot is improved.

In any of the foregoing solutions, after sending the first arrival signal to the ladder control system, the method further includes: receiving an arrival signal sent by the ladder control system, wherein the arrival signal comprises a third coordinate of a third navigation point; continuously sending a moving signal to the ladder control system, and controlling the robot to move to a third navigation point according to the second map and a third coordinate; and stopping sending the moving signal and sending a second arrival signal to the ladder control system under the condition that the robot reaches the third navigation point.

In this technical scheme, after the robot enters into the elevator inside, the robot sends the first arrival signal that is used for controlling the elevator to close the door to the ladder accuse system, and after receiving first arrival signal, the ladder accuse system control elevator moves to the target floor, and at the in-process that the elevator moved to the target floor, the robot keeps waiting state, and the robot can not leave current position this moment.

When the elevator arrives at the target floor, the elevator control system firstly controls the elevator to open the door, and after the door body of the elevator is determined to be opened, the elevator control system sends an arrival signal to the robot, wherein the arrival signal carries a third coordinate which is used for guiding the robot to leave the elevator, and the third coordinate is based on the coordinate of a second map of the target floor.

When the robot receives the arrival signal, planning a corresponding navigation path according to the received third coordinate, and moving to a third navigation point corresponding to the third coordinate according to the navigation path, namely leaving the elevator.

In the process that the robot moves to the third navigation point, the robot continuously sends a moving signal to the elevator control system, wherein the moving signal is used for informing the elevator control system that the robot does not finish the moving operation of the elevator, and the elevator control system keeps the door body of the elevator open.

After the robot moves to the third navigation point, the robot does not send a movement signal to the ladder control system any more and sends a second arrival signal to the ladder control system. When the elevator control system receives the second arrival signal, the robot is determined to leave the elevator, at the moment, the elevator control system controls the door body of the elevator to be closed, and the next elevator movement operation is started to be executed.

According to the embodiment of the invention, through wireless communication between the robot and the ladder control system, the robot can independently finish the operation of getting off the ladder, so that the robot can rapidly finish the operation of crossing floors, and the operation efficiency of the robot of crossing floors is improved.

In any of the above technical solutions, controlling the robot to move to the target navigation point according to the second map and the target navigation coordinate includes: sending a positioning request to a dispatching system; receiving positioning information sent by a scheduling system; determining a navigation path according to the positioning information, the second map and the coordinates of the target navigation point; and moving to target navigation coordinates according to the navigation path.

In the technical scheme, after the robot reaches a third navigation point, namely, a target floor is reached through the elevator, the current position of the robot is the elevator entrance of the target floor, and the robot judges whether the current floor is matched with the target floor.

In some embodiments, the robot determines whether the current floor matches the destination floor via floor information sent by the elevator control system. In other embodiments, the robot obtains a current environmental image through the image sensor, identifies the current floor through a floor identifier set in the environmental image, and determines whether the current floor matches the target floor.

After determining that the target floor is reached, the robot loads a second map, requiring repositioning as the robot loads a new map. And the robot leaves the elevator, and the position of the robot is the entrance of the elevator, so that the positioning information of a certain range of the elevator entrance of each floor can be stored in the dispatching system in advance, and the positioning information is sent to the robot through the dispatching system.

When the robot reaches the third navigation point of the target floor, the dispatch system returns positioning information corresponding to the elevator entrance of the target floor to the robot after receiving the positioning request by sending the positioning request to the dispatch system, and the robot completes positioning in the second map through the positioning information, so that the current position is determined.

And planning a corresponding navigation path by the robot according to the current position and the received target navigation coordinates of the target navigation point through the second map, and moving to the target navigation point based on the navigation path to finish the cross-floor moving operation.

In some embodiments of the invention, the navigation method further comprises: collecting image information of a preset mark; and determining floor information of the robot according to the image information.

In this technical solution, at the landing entrance of each floor, a preset identification for indicating the current floor information is posted, which in some embodiments may be a one-dimensional code or a two-dimensional code. The robot collects surrounding environment images through image sensors such as cameras, if the environment images comprise preset identifications, the preset identifications are identified through a decoding algorithm, and therefore floor information of the current floor is obtained.

A second aspect of the present invention provides a navigation method performed by a scheduling system, the method comprising: receiving a moving instruction, wherein the moving instruction is used for indicating the robot to move to a target navigation point; acquiring floor information of a robot; and when the floor information is not matched with the target floor corresponding to the target navigation point, sending the first coordinate and the target floor to the robot.

When the dispatching system receives a mobile operation request aiming at the current robot, floor information of the called robot is firstly acquired and recorded as a first floor, information of a target floor corresponding to a target navigation point indicated in the mobile operation request is determined, and whether the first floor is consistent with the target floor or not is judged.

If the first floor does not coincide with the destination floor, a cross-floor operation is performed on behalf of the robot. At this time, the dispatching system determines the coordinates of the elevator on the first floor where the robot is currently located, namely, the first coordinates, and sends the first coordinates to the robot, and the robot is guided to go to the entrance and exit position of the elevator by the first coordinates, namely, the first navigation point.

In the above technical solution, the navigation method further includes: and sending positioning information to the robot when receiving the positioning request sent by the robot.

In this solution, after reaching the destination floor, the robot loads the second map, and since the robot loads a new map, repositioning is required. And the robot leaves the elevator, and the position of the robot is the entrance of the elevator, so that the positioning information of a certain range of the elevator entrance of each floor can be stored in the dispatching system in advance, and the positioning information is sent to the robot through the dispatching system.

After receiving the positioning request sent by the robot, the dispatching system returns positioning information corresponding to the elevator entrance of the target floor to the robot, and the robot completes positioning in the second map through the positioning information, so that the current position is determined.

A third aspect of the present invention provides a navigation method performed by a ladder control system, the method comprising: under the condition that a ladder taking request sent by a robot is received, determining a first floor and a target floor according to the ladder taking request; controlling the elevator to move to the first floor; transmitting a boarding signal to the robot in case the elevator moves to the first floor; and when the first arrival signal sent by the robot is received, controlling the elevator to move to the target floor.

The first floor is specifically the floor where the robot is currently located, and the subarea map loaded by the robot is a first map corresponding to the first floor. When the robot needs to work across floors and specifically needs to go to a target floor, the robot goes to a first navigation point, namely an entrance and an exit of an elevator of the first floor, under the dispatching of a dispatching system.

After the robot reaches a first navigation point, namely a place for taking an elevator, the robot sends an elevator taking request to an elevator control system, wherein the elevator taking request carries a first floor where the robot is currently located and further comprises a target floor where a target navigation point is located.

And after the elevator control system receives the elevator taking request, controlling the elevator to move to a first floor where the robot is located, and after the elevator reaches the first floor, opening a door and sending an elevator taking signal to the robot.

After the robot moves to the second navigation point, the elevator control system receives a first arrival signal sent by the robot, at the moment, the elevator control system determines that the robot enters a designated position in the elevator, controls the door body of the elevator to be closed, and controls the elevator to move to a target floor.

In the above technical solution, the navigation method further includes: under the condition of receiving a moving signal sent by the robot, controlling a door body of the elevator to be kept open; and under the condition that the first arrival signal or the second arrival signal sent by the robot is received, controlling the door body of the elevator to be closed.

In the technical scheme, after receiving a ladder taking request, the ladder control system controls the elevator to move to a first floor where the robot is located. After the elevator control system determines that the elevator reaches the first floor, the elevator is controlled to open a door, an elevator taking signal is sent to the robot, second coordinates are carried in the elevator taking signal, the robot generates a corresponding navigation path through the first map and the second coordinates, and the robot walks to a second navigation point according to the navigation path, so that the elevator enters a riding position inside the elevator.

A fourth aspect of the present invention provides a navigation device for a robot, the navigation device comprising: the first receiving module is used for receiving the first coordinates sent by the dispatching system under the condition that the robot loads the first map; the first control module is used for controlling the robot to move to a first navigation point according to the first map and the first coordinates; the first receiving module is further used for receiving a target floor sent by the dispatching system and sending a ladder taking request to the ladder control system according to the target floor under the condition that the robot reaches a first navigation point; the loading module is used for loading the second map under the condition that the floor information sent by the ladder control system is received and matched with the target floor; the first control module is also used for controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates.

A fifth aspect of the present invention provides a navigation device applied to a scheduling system, the navigation device comprising: the second receiving module is used for receiving a moving instruction, and the moving instruction is used for indicating the robot to move to a target navigation point; the acquisition module is used for acquiring floor information of the robot; and the first sending module is used for sending the first coordinates and the target floors to the robot under the condition that the floor information is not matched with the target floors corresponding to the target navigation points.

A sixth aspect of the present invention provides a navigation device applied to a ladder control system, the navigation device comprising: the determining module is used for determining a first floor and a second floor according to the elevator taking request under the condition that the elevator taking request sent by the robot is received; the second control module is used for controlling the elevator to move to the first floor; the second sending module is used for sending a lift taking signal to the robot when the elevator moves to the first floor; and the second control module is also used for controlling the elevator to move to the second floor under the condition of receiving the first arrival signal sent by the robot.

A seventh aspect of the present invention provides a navigation device, comprising: a memory for storing programs or instructions; the processor is configured to implement the steps of the navigation method provided in any of the above embodiments when executing the program or the instruction, and therefore includes all the advantages thereof, and for avoiding repetition, the description thereof is omitted.

An eighth aspect of the present invention provides a readable storage medium having stored thereon a program or instructions which, when executed by a processor, implement the steps of the navigation method provided in any of the above-mentioned aspects, and thus also include all the advantageous effects thereof, and will not be described in detail herein for avoiding repetition.

A ninth aspect of the present invention provides a robot comprising a navigation device as provided in any of the above-mentioned aspects, and therefore all advantageous effects thereof, which are not described in detail herein for avoiding repetition.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 illustrates one of the flowcharts of a navigation method according to an embodiment of the present invention;

FIG. 2 shows a second flowchart of a navigation method according to an embodiment of the invention;

FIG. 3 shows a third flowchart of a navigation method according to an embodiment of the invention;

FIG. 4 shows one of the block diagrams of the navigation device according to an embodiment of the present invention;

FIG. 5 shows a second block diagram of a navigation device according to an embodiment of the invention;

FIG. 6 shows a third block diagram of a navigation device according to an embodiment of the invention;

fig. 7 shows a fourth block diagram of the structure of the navigation device according to the embodiment of the present invention.

Detailed Description

In order that the above-recited objects, features and advantages of the present invention will be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present invention and features in the embodiments may be combined with each other.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

Navigation methods, apparatuses, readable storage media, and robots according to some embodiments of the present invention are described below with reference to fig. 1 to 7.

In some embodiments of the present invention, a navigation method is provided, which is performed by a robot, and fig. 1 shows one of flowcharts of the navigation method according to an embodiment of the present invention, as shown in fig. 1, the navigation method includes:

102, under the condition that a robot loads a first map, receiving a first coordinate sent by a dispatching system;

104, controlling the robot to move to a first navigation point according to the first map and the first coordinates;

step 106, receiving a target floor sent by a dispatching system and sending a ladder taking request to a ladder control system according to the target floor under the condition that the robot reaches a first navigation point;

step 108, loading a second map when receiving that the floor information sent by the ladder control system is matched with the target floor;

And 110, controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates.

In the embodiment of the invention, the operation system of the robot comprises a robot end, a dispatching system end and a ladder control system end, and the robot, the dispatching system and the ladder control system communicate through a wireless network. The robot end is a main body for executing the operation, the dispatching system is responsible for receiving and transmitting instructions for controlling the robot to execute the operation, and the ladder control system is responsible for controlling the elevator to work, so that the robot is helped to reach different floors.

The robot and the dispatching system can communicate through a wireless communication method such as 5G or Wi-Fi, and the robot and the ladder control system can communicate through a wireless communication method such as LoRa.

On the basis of any one of the above embodiments, after sending the elevator taking request to the elevator control system according to the destination floor, the method further includes: receiving a ladder riding signal sent by a ladder control system, wherein the ladder riding signal comprises second coordinates of a second navigation point; continuously sending a moving signal to the ladder control system, and controlling the robot to move to a second navigation point according to the first map and the second coordinates; and stopping sending the moving signal and sending the first arrival signal to the ladder control system under the condition that the robot reaches the second navigation point.

In the embodiment of the invention, when the robot moves to a first navigation point, namely, a place for taking an elevator, the robot sends an elevator taking request to the elevator control system, wherein the elevator taking request comprises a first floor where the robot is currently located and also comprises a target floor where a target navigation point of the robot is located.

On the basis of any one of the foregoing embodiments, after sending the first arrival signal to the ladder control system, the method further includes: receiving an arrival signal sent by the ladder control system, wherein the arrival signal comprises a third coordinate of a third navigation point; continuously sending a moving signal to the ladder control system, and controlling the robot to move to a third navigation point according to the second map and a third coordinate; and stopping sending the moving signal and sending a second arrival signal to the ladder control system under the condition that the robot reaches the third navigation point.

In the embodiment of the invention, after the robot enters the elevator, the robot sends a first arrival signal for controlling the elevator to close the door to the elevator control system, after the first arrival signal is received, the elevator control system controls the elevator to move to the target floor, and the robot keeps a waiting state in the process of moving the elevator to the target floor, so that the robot cannot leave the current position.

On the basis of any one of the above embodiments, controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates includes: sending a positioning request to a dispatching system; receiving positioning information sent by a scheduling system; determining a navigation path according to the positioning information, the second map and the coordinates of the target navigation point; and moving to target navigation coordinates according to the navigation path.

In the embodiment of the invention, after the robot reaches the third navigation point, namely, the target floor is reached through the elevator, the current position of the robot is the elevator entrance of the target floor, and at the moment, the robot judges whether the current floor is matched with the target floor.

On the basis of any one of the above embodiments, the navigation method further includes: collecting image information of a preset mark; and determining floor information of the robot according to the image information.

In the embodiment of the invention, a preset mark for indicating the current floor information is posted at the elevator entrance of each floor, and in some embodiments, the preset mark can be a one-dimensional code or a two-dimensional code. The robot collects surrounding environment images through image sensors such as cameras, if the environment images comprise preset identifications, the preset identifications are identified through a decoding algorithm, and therefore floor information of the current floor is obtained.

In some embodiments of the present invention, a navigation method is provided, which is executed by a scheduling system, and fig. 2 shows a second flowchart of the navigation method according to an embodiment of the present invention, as shown in fig. 2, the navigation method includes:

step 202, receiving a movement instruction, wherein the movement instruction is used for indicating the robot to move to a target navigation point;

Step 204, acquiring floor information of the robot;

and 206, when the floor information is not matched with the target floor corresponding to the target navigation point, sending the first coordinate and the target floor to the robot.

On the basis of any one of the above embodiments, the navigation method further includes: and sending positioning information to the robot when receiving the positioning request sent by the robot.

In the embodiment of the invention, after reaching the target floor, the robot loads the second map, and the robot needs to be repositioned because the robot loads a new map. And the robot leaves the elevator, and the position of the robot is the entrance of the elevator, so that the positioning information of a certain range of the elevator entrance of each floor can be stored in the dispatching system in advance, and the positioning information is sent to the robot through the dispatching system.

In some embodiments of the present invention, a navigation method is provided, which is performed by a ladder control system, and fig. 3 shows a third flowchart of the navigation method according to an embodiment of the present invention, as shown in fig. 3, the navigation method includes:

step 302, under the condition that a ladder taking request sent by a robot is received, determining a first floor and a target floor according to the ladder taking request;

step 304, controlling the elevator to move to the first floor;

step 306, sending a lift-taking signal to the robot when the elevator moves to the first floor;

step 308, when the first arrival signal sent by the robot is received, the elevator is controlled to move to the target floor.

On the basis of any one of the above embodiments, the navigation method further includes: under the condition of receiving a moving signal sent by the robot, controlling a door body of the elevator to be kept open; and under the condition that the first arrival signal or the second arrival signal sent by the robot is received, controlling the door body of the elevator to be closed.

In the embodiment of the invention, the elevator control system controls the elevator to move to the first floor where the robot is located after receiving the elevator taking request. After the elevator control system determines that the elevator reaches the first floor, the elevator is controlled to open a door, an elevator taking signal is sent to the robot, second coordinates are carried in the elevator taking signal, the robot generates a corresponding navigation path through the first map and the second coordinates, and the robot walks to a second navigation point according to the navigation path, so that the elevator enters a riding position inside the elevator.

In some embodiments of the invention, the robot interacts with the elevator installation system to complete the call taking action, and after reaching the destination floor, determines the current floor according to the feedback of the elevator control system, and performs map switching. After the map is switched, the entrance coordinates of the current floor are issued through the dispatching system, namely the entrance coordinates of the elevator are repositioned, the elevator is separated after the repositioning is successful, and the robot confirms the information of the current floor through the two-dimension code which is autonomously scanned to the ground or the wall surface.

Specifically, the robot confirms the floor where it is located for the first time. After the deployment and mapping of the robot are completed, the dispatching system informs the current position of the robot through a wireless data packet. The first time the entrance is made, the position information can be manually input into the robot.

The robots communicate with the ladder control system and the dispatch system by wireless technology.

The robot and the elevator control system agree on a plurality of basic control instructions such as calling, controlling the door, going to the destination floor and the like, and the basic control instructions are used for controlling and interacting between the robot and the elevator. When the dispatching system receives the cross-floor task request and the floor of the target position of the mobile task is inconsistent with the current floor of the robot, the dispatching system can control the robot to reach the elevator entrance point.

After reaching the elevator entrance point, the dispatch system will send a destination floor to the robot, which will begin the autonomous elevator riding process. The robot will send a call signal to the elevator control system to call the elevator to the current floor. The robot will wait for the elevator to arrive after the call signal is sent.

When the elevator arrives, an arrival signal response of the elevator control system is received, when the robot receives the response, the robot starts to continuously send a signal for entering the elevator to the elevator control system, the elevator control system keeps an elevator door open after receiving the response, until the robot determines that the elevator completely enters the elevator, the robot sends an instruction for moving to a target point to the elevator control system, and when the elevator control system receives the response, the elevator control system closes the door and moves to a target floor, and starts to enter a boarding procedure.

In the elevator taking process, when the robot stops at a non-target floor and opens the door, the robot does not exit the elevator until the robot receives an arrival command and continuously sends an instruction for exiting the elevator when the robot stops at the target floor and opens the door, and the elevator control system keeps the door open until the robot completely leaves after receiving the instruction. After the robot confirms complete departure, a command for confirming departure is sent to the ladder control system, and the ladder control system finishes the whole boarding procedure after receiving the command.

When leaving the elevator, the robot switches the map according to the current floor number given by the elevator control system. After the map is switched, data are transmitted to a dispatching system, the dispatching system is informed that the robot arrives, the dispatching system gives an entry point position of the current floor, and the point position corresponds to a position range value after the elevator is taken out. With this range of values, the robot can then reposition based on the new map. After successful positioning, the remaining mobile tasks of the dispatching system are started to be executed.

In some embodiments of the present invention, there is provided a navigation device for a robot, fig. 4 shows one of structural block diagrams of the navigation device according to an embodiment of the present invention, as shown in fig. 4, a navigation device 400 includes:

A first receiving module 402, configured to receive a first coordinate sent by the scheduling system when the robot loads the first map;

a first control module 404, configured to control the robot to move to a first navigation point according to a first map and a first coordinate;

the first receiving module 402 is further configured to receive a target floor sent by the scheduling system and send a ladder taking request to the ladder control system according to the target floor when the robot reaches the first navigation point;

the loading module 406 is configured to load a second map when receiving that the floor information sent by the ladder control system matches with the target floor;

the first control module 404 is further configured to control the robot to move to the target navigation point according to the second map and the target navigation coordinate.

On the basis of any one of the embodiments, the first receiving module is further configured to receive a boarding signal sent by the ladder control system, where the boarding signal includes a second coordinate of a second navigation point;

the navigation device further includes:

the sending module is used for continuously sending a moving signal to the ladder control system and controlling the robot to move to a second navigation point according to the first map and the second coordinates; and stopping sending the moving signal and sending the first arrival signal to the ladder control system under the condition that the robot reaches the second navigation point.

On the basis of any one of the embodiments, the first receiving module is further configured to receive an arrival signal sent by the ladder control system, where the arrival signal includes a third coordinate of a third navigation point;

the sending module is also used for continuously sending a moving signal to the ladder control system and controlling the robot to move to a third navigation point according to the second map and the third coordinate; and stopping sending the moving signal and sending a second arrival signal to the ladder control system under the condition that the robot reaches the third navigation point.

On the basis of any one of the above embodiments, the sending module is further configured to send a positioning request to the scheduling system; receiving positioning information sent by a scheduling system;

the navigation device further includes: the determining module is used for determining a navigation path according to the positioning information, the second map and the coordinates of the target navigation point;

the first control module is also used for moving to the target navigation coordinates according to the navigation path.

On the basis of any one of the above embodiments, the navigation device further includes: the acquisition module is used for acquiring image information of a preset mark; and the determining module is also used for determining floor information of the robot according to the image information.

In some embodiments of the present invention, a navigation device is provided, applied to a scheduling system, and fig. 5 shows a second block diagram of the navigation device according to an embodiment of the present invention, and as shown in fig. 5, a navigation device 500 includes:

the second receiving module 502 is configured to receive a movement instruction, where the movement instruction is used to instruct the robot to move to the target navigation point;

an acquiring module 504, configured to acquire floor information of a robot;

the first sending module 506 is configured to send the first coordinate and the target floor to the robot if the floor information does not match the target floor corresponding to the target navigation point.

On the basis of any one of the above embodiments, the first sending module is further configured to send positioning information to the robot when receiving a positioning request sent by the robot.

In some embodiments of the present invention, a navigation device is provided, applied to a ladder control system, fig. 6 shows a third block diagram of the navigation device according to an embodiment of the present invention, and as shown in fig. 6, a navigation device 600 includes:

a determining module 602, configured to determine, when receiving a boarding request sent by the robot, a first floor and a second floor according to the boarding request;

a second control module 604 for controlling the elevator to move to the first floor;

a second transmitting module 606 for transmitting a boarding signal to the robot in case the elevator moves to the first floor;

the second control module 604 is further configured to control the elevator to move to the second floor when the first arrival signal sent by the robot is received.

On the basis of any one of the embodiments, the second control module is further configured to control the door body of the elevator to remain open when receiving a movement signal sent by the robot; and under the condition that the first arrival signal or the second arrival signal sent by the robot is received, controlling the door body of the elevator to be closed.

In some embodiments of the present invention, there is provided a navigation device, fig. 7 shows a fourth block diagram of a navigation device according to an embodiment of the present invention, and as shown in fig. 7, a navigation device 700 includes: a memory 702 for storing programs or instructions; the processor 704 is configured to implement the steps of the navigation method provided in any of the foregoing embodiments when executing a program or instructions, and thus includes all the advantages thereof, and is not described herein again for avoiding repetition.

In some embodiments of the present invention, a readable storage medium is provided, on which a program or an instruction is stored, which when executed by a processor, implements the steps of the navigation method provided in any of the above embodiments, and thus includes all the advantages thereof, and is not described herein for avoiding repetition.

In some embodiments of the present invention, a robot is provided, which includes the navigation device provided in any of the above embodiments, and thus includes all the advantages thereof, and is not described herein again for avoiding repetition.

In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are orientation or positional relationship based on the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention; the terms "coupled," "mounted," "secured," and the like are to be construed broadly, and may be fixedly coupled, detachably coupled, or integrally connected, for example; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present invention, the terms "one embodiment," "some embodiments," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In the present invention, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method of navigation performed by a robot, the method comprising:

under the condition that the robot loads a first map, receiving a first coordinate sent by a dispatching system;

controlling the robot to move to a first navigation point according to the first map and the first coordinates;

Receiving a target floor sent by the dispatching system under the condition that the robot reaches the first navigation point, and sending a ladder taking request to a ladder control system according to the target floor;

loading a second map under the condition that floor information sent by the ladder control system is received to be matched with a target floor;

and controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates.

2. The navigation method of claim 1, wherein after the sending of the landing request to the landing control system according to the destination floor, the method further comprises:

receiving a ladder taking signal sent by the ladder control system, wherein the ladder taking signal comprises second coordinates of a second navigation point;

continuously sending a movement signal to the ladder control system, and controlling the robot to move to the second navigation point according to the first map and the second coordinates;

and stopping sending the moving signal and sending a first arrival signal to the ladder control system under the condition that the robot reaches the second navigation point.

3. The navigation method of claim 2, wherein after the sending of the first arrival signal to the ladder control system, the method further comprises:

Receiving an arrival signal sent by the ladder control system, wherein the arrival signal comprises a third coordinate of a third navigation point;

continuously sending the movement signal to the ladder control system, and controlling the robot to move to the third navigation point according to the second map and the third coordinate;

and stopping sending the moving signal and sending a second arrival signal to the ladder control system under the condition that the robot reaches the third navigation point.

4. A navigation method according to any one of claims 1 to 3, wherein the controlling the robot to move to a target navigation point according to the second map and target navigation coordinates comprises:

sending a positioning request to the dispatching system;

receiving positioning information sent by the scheduling system;

determining a navigation path according to the positioning information, the second map and the coordinates of the target navigation point;

and moving to the target navigation point according to the navigation path.

5. A navigation method according to any one of claims 1 to 3, further comprising:

collecting image information of a preset mark;

and determining floor information of the robot according to the image information.

6. A navigation method performed by a scheduling system, the method comprising:

receiving a movement instruction, wherein the movement instruction is used for indicating the robot to move to a target navigation point;

acquiring floor information of the robot;

and when the floor information is not matched with the target floor corresponding to the target navigation point, sending a first coordinate and the target floor to the robot.

7. The navigation method of claim 6, further comprising:

and sending positioning information to the robot under the condition that a positioning request sent by the robot is received.

8. A navigation method performed by a ladder control system, the method comprising:

under the condition that a ladder taking request sent by a robot is received, determining a first floor and a target floor according to the ladder taking request;

controlling the elevator to move to the first floor;

transmitting a boarding signal to the robot in the case where the elevator moves to the first floor;

and under the condition that a first arrival signal sent by the robot is received, controlling the elevator to move to the target floor.

9. The navigation method of claim 8, further comprising:

Under the condition that a moving signal sent by the robot is received, controlling a door body of the elevator to be kept open; and

and under the condition that a first arrival signal or a second arrival signal sent by the robot is received, controlling the door body of the elevator to be closed.

10. A navigation device for a robot, the navigation device comprising:

the first receiving module is used for receiving the first coordinates sent by the scheduling system under the condition that the robot loads the first map;

the first control module is used for controlling the robot to move to a first navigation point according to the first map and the first coordinates;

the first receiving module is further configured to receive a target floor sent by the scheduling system and send a ladder taking request to a ladder control system according to the target floor when the robot reaches the first navigation point;

the loading module is used for loading a second map under the condition that floor information sent by the ladder control system is received and matched with a target floor;

the first control module is further used for controlling the robot to move to the target navigation point according to the second map and the target navigation coordinates.

11. A navigation device for use in a dispatch system, the navigation device comprising:

the second receiving module is used for receiving a moving instruction, and the moving instruction is used for indicating the robot to move to a target navigation point;

the acquisition module is used for acquiring floor information of the robot;

and the first sending module is used for sending the first coordinate and the target floor to the robot under the condition that the floor information is not matched with the target floor corresponding to the target navigation point.

12. A navigation device for use in a ladder control system, the navigation device comprising:

the system comprises a determination module, a control module and a control module, wherein the determination module is used for determining a first floor and a second floor according to a ladder taking request under the condition that the ladder taking request sent by a robot is received;

the second control module is used for controlling the elevator to move to the first floor;

a second transmitting module for transmitting a boarding signal to the robot in the case that the elevator moves to the first floor;

the second control module is further used for controlling the elevator to move to the second floor under the condition that the first arrival signal sent by the robot is received.

13. A navigation device, comprising:

a memory for storing programs or instructions;

a processor for implementing the navigation method according to any one of claims 1 to 9 when executing the program or instructions.

14. A readable storage medium having stored thereon a program or instructions, which when executed by a processor, implements the navigation method according to any one of claims 1 to 9.

15. A robot, comprising:

a navigation device according to claim 10 or 13.