CN116985126A - Robot access ladder identification device and method and electronic equipment - Google Patents
Robot access ladder identification device and method and electronic equipment Download PDFInfo
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- CN116985126A CN116985126A CN202310929280.3A CN202310929280A CN116985126A CN 116985126 A CN116985126 A CN 116985126A CN 202310929280 A CN202310929280 A CN 202310929280A CN 116985126 A CN116985126 A CN 116985126A
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 239000002184 metal Substances 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 8
- 230000008859 change Effects 0.000 claims description 7
- 230000008569 process Effects 0.000 abstract description 4
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- 238000009434 installation Methods 0.000 abstract 1
- 230000006698 induction Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 229910052755 nonmetal Inorganic materials 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Indicating And Signalling Devices For Elevators (AREA)
Abstract
The application relates to a ladder entering recognition device and method of a robot and electronic equipment, wherein the device comprises the following components: the detection element is arranged at the bottom of the robot chassis; the tested body is positioned at the corresponding inner and outer boundary positions of the elevator car; the detection element is used for sensing the detected body. The application has higher recognition accuracy, simplifies the work flow of elevator entering recognition, has simple recognition process, reduces the improvement degree of the internal installation of the elevator, and has higher safety and convenience.
Description
Technical Field
The application relates to the technical field of intelligent robots, in particular to a ladder entering and exiting recognition device and method of a robot and electronic equipment.
Background
The robot often needs to take steps in the process of executing navigation tasks to smoothly reach a destination to complete the tasks. The traditional method for identifying the robot entering the elevator is to install a detection element on the elevator, detect the robot through the detection element, judge whether the robot enters the elevator, then send a signal to the robot by the elevator to enable the robot to 'know' whether the robot enters the elevator or not, the robot needs to select the next step of work according to whether the robot enters the elevator or not, for example, if the robot fails to enter the elevator, the elevator operation such as calling the elevator again needs to be carried out, if the elevator entering and exiting process is completed successfully, the next step of delivery and pickup tasks can be continuously executed.
However, the control flow of detecting, recognizing and transmitting signals in the above-described manner is complicated, and it is necessary to transmit signals from the elevator to the robot, and it is necessary to install a related detecting member in the elevator, which affects the safety of the elevator.
Accordingly, there is a need for an improvement over the prior art to overcome the deficiencies described in the prior art.
Disclosure of Invention
The application aims to provide a robot elevator entering and exiting recognition device, a robot elevator entering and exiting recognition method and electronic equipment, which are used for solving the problems that the elevator entering and exiting process of a recognition robot is complex and a detection component needs to be installed on an elevator.
The application aims at realizing the following technical scheme:
in a first aspect, there is provided an access ladder identification device for a robot, comprising:
the detection element is arranged at the bottom of the robot chassis;
a subject to be measured;
the detection element is used for sensing and/or detecting the detected object.
Alternatively, according to any embodiment of the first aspect of the present application, the detecting element is disposed at a bottom end of the robot chassis, the end being defined as a direction opposite to a proceeding direction of the robot.
Alternatively, according to any embodiment of the first aspect of the present application, the object is located at a respective inner and outer boundary position of the elevator car.
Alternatively, according to any embodiment of the first aspect of the present application, the detecting element includes a distance sensor, and the object includes a distance between the distance sensor itself and the ground.
Alternatively, according to any embodiment of the first aspect of the present application, the detecting element includes a magnetic field sensor, and the object includes a magnetic element, and an induction end of the magnetic field sensor faces the magnetic element.
Alternatively, according to any embodiment of the first aspect of the present application, the detecting element includes a hall sensor, the object includes a magnetic element, and an induction end of the hall sensor faces the magnetic element.
Alternatively, according to any embodiment of the first aspect of the present application, the detecting element includes a metal sensor, and the object includes metal at a corresponding boundary position between the elevator car and the hoistway.
Alternatively, according to any embodiment of the first aspect of the present application, the respective inner and outer boundary positions of the elevator car are set as a gap between the elevator car and the hoistway, and the object to be measured is located in the gap.
In a second aspect, a method for identifying an access ladder of a robot is provided, including:
detecting and/or sensing whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car;
if so, it is determined that the robot has entered or exited the elevator car.
Optionally, according to the method for identifying an elevator entering and exiting according to any embodiment of the second aspect of the present application, the detecting and/or sensing whether the robot passes through the respective inner and outer boundary positions of the elevator car includes:
judging whether the distance information between the distance sensor and the ground changes or not, wherein the change of the distance information is detected by the distance sensor arranged at the bottom of the robot chassis when the robot passes through the corresponding inner and outer boundary positions between the elevator car and the elevator shaft;
if yes, judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car.
Optionally, according to the method for identifying an elevator entering and exiting according to any embodiment of the second aspect of the present application, the detecting and/or sensing whether the robot passes through the respective inner and outer boundary positions of the elevator car includes:
judging whether an electric signal sent by a magnetic field sensor is received or not, wherein the electric signal is sent by a magnetic field sensor arranged at the bottom of a chassis of the robot after the magnetic field is sensed when the robot passes through the corresponding inner and outer boundary positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer boundary positions of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
Optionally, according to the method for identifying an elevator entering and exiting according to any embodiment of the second aspect of the present application, the detecting and/or sensing whether the robot passes through the respective inner and outer boundary positions of the elevator car includes:
judging whether an electric signal sent by a Hall sensor is received or not, wherein the electric signal is sent by a robot after the Hall sensor arranged at the bottom of a chassis of the robot senses a magnetic field when the robot passes through the corresponding inner and outer demarcation positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer demarcation positions of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
Optionally, according to the method for identifying an elevator entering and exiting according to any embodiment of the second aspect of the present application, the detecting and/or sensing whether the robot passes through the corresponding position of the boundary between the inside and the outside of the elevator car includes:
judging whether an electric signal sent by a metal sensor is received or not, wherein the electric signal is sent after a metal sensor arranged at the bottom of a chassis of the robot senses metal at the corresponding boundary position between the elevator car and a shaft when the robot passes through the corresponding internal and external boundary position of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
In a third aspect, there is provided an access ladder identification device for a robot, comprising:
the detection module is used for detecting and/or sensing whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car;
and the judging module is used for judging that the robot enters or exits the elevator car if the robot enters or exits the elevator car.
Optionally, the access ladder identification device of the robot according to any embodiment of the third aspect of the present application, the detection module includes:
the judging unit is used for judging whether the distance information between the ranging sensor and the ground changes or not, the change of the distance information is detected by the distance sensor arranged at the bottom of the robot chassis when the robot passes through the corresponding internal and external demarcation positions of the elevator car, and the horizontal plane of the corresponding internal and external demarcation positions of the elevator car is different from the horizontal plane of the internal and external demarcation positions of the elevator car.
And the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
Optionally, according to the robot access ladder identification device of any embodiment of the third aspect of the application, the inner and outer demarcation positions of the elevator car are gaps between the elevator car and the elevator shaft.
Optionally, the access ladder identification device of the robot according to any embodiment of the third aspect of the present application, the detection module includes:
the judging unit is used for judging whether the electric signal sent by the magnetic field sensor is received or not, wherein the electric signal is sent by the magnetic field sensor arranged at the bottom of the chassis of the robot after the magnetic field is sensed by the magnetic field sensor when the robot passes through the corresponding inner and outer boundary positions of the elevator car, and the magnetic field is generated by the magnetic element positioned at the corresponding inner and outer boundary positions of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
Optionally, the access ladder identification device of the robot according to any embodiment of the third aspect of the present application, the detection module includes:
the judging unit is used for judging whether the electric signal sent by the Hall sensor is received or not, wherein the electric signal is sent by the robot after the Hall sensor arranged at the bottom of the chassis of the robot senses a magnetic field when the robot passes through the corresponding inner and outer boundary positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer boundary positions of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
Optionally, the access ladder identification device of the robot according to any embodiment of the third aspect of the present application, the detection module includes:
the judging unit is used for judging whether the electric signal sent by the metal sensor is received or not, wherein the electric signal is sent after the metal sensor arranged at the bottom of the chassis of the robot senses the metal at the corresponding demarcation position between the elevator car and the elevator shaft when the robot passes through the corresponding demarcation position of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
In a fourth aspect, an electronic device is provided, comprising a processor and a memory, wherein the memory stores a computer program for implementing the steps of any embodiment of the method according to the second aspect of the application when the computer program is executed by the processor.
In a fifth aspect, there is provided a computer storage medium having stored thereon a computer program for carrying out the steps of any one of the embodiments of the second aspect of the present application when executed by a processor.
Compared with the prior art, the application has the following beneficial effects: according to the application, the detection element is arranged on the robot, so long as the robot passes through the boundary between the inner and outer sides of the elevator car, the detection element can detect and output corresponding signals, the robot can judge whether the robot enters or exits the elevator car, the judgment flow is simplified, and the detection element is arranged on the robot, so that the improvement degree of the elevator is reduced, and the detection and judgment system is more convenient and safer.
Drawings
FIG. 1 is a block diagram of an identification device according to one embodiment of the present application;
FIG. 2 is a block diagram of an identification device according to an embodiment of the present application;
FIG. 3 is a flow chart of an identification method provided by an embodiment of the present application;
FIG. 4 is a block diagram of an identification device according to an embodiment of the present application;
fig. 5 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The embodiment of the application discloses a ladder entering and exiting recognition device of a robot. Referring to fig. 1, the access ladder recognition device of a robot includes:
the detection element is arranged at the tail end of the bottom of the robot chassis;
the detection element is used for sensing and/or detecting the detected body, in this embodiment, the detected body is an own device between the elevator cars or elevator shafts, or alternatively, the detected body is additionally arranged between the elevator cars or elevator shafts as an identification feature, and the detected body is used for identifying the internal and external demarcation points of the elevator cars.
In this embodiment, the bottom end of the robot chassis refers to the end of the side opposite to the direction of travel of the robot.
As a possible embodiment, the detecting element may be a distance sensor, the object may be a distance between the distance sensor itself and the ground, it being understood that the ground is different from the inside and outside of the elevator car at the respective inside and outside boundary positions of the elevator car, the inside and outside of the elevator car are the same, the distance sensor may detect that the distance between itself and the ground changes when the robot travels to the rear end of the chassis passing the respective inside and outside boundary positions of the elevator car, it being understood that the respective inside and outside boundary positions of the elevator car of the embodiment are provided as a gap between the elevator car and the hoistway, and that the distance between the distance sensor and the ground becomes large when the robot travels to the gap between the elevator car and the hoistway, thereby making it possible to determine that the robot enters or exits the elevator car.
The detection element can also be a metal sensor, the detected body is a metal threshold at the corresponding boundary position between the elevator car and the elevator shaft, in the embodiment, the inside and the outside of the elevator car at the position corresponding to the induction end of the metal sensor are non-metal, and only when the robot moves to the boundary position inside and outside the elevator car, the corresponding position is the metal threshold or the metal door frame, and the detection element is the protection scope of the application. The detection element can sense and/or detect the object to be detected when the robot travels to the chassis end past the respective inner and outer demarcation locations of the elevator car, whereby it can be determined that the robot enters or exits the elevator car.
The second embodiment of the application discloses a ladder entering and exiting recognition device of a robot. Referring to fig. 2, the difference between the present embodiment and the present embodiment is that the object is located at the corresponding inner and outer boundary position of the elevator car, that is, the object is additionally disposed at the corresponding inner and outer boundary position of the elevator car, and when the robot travels to the tail end of the chassis and passes through the corresponding inner and outer boundary position of the elevator car, the detecting element can sense and/or detect the object, thereby determining that the robot enters or exits the elevator car. The detection element may be a magnetic field sensor, the object may be a magnetic element, such as a magnet, and the sensing end of the magnetic field sensor faces the magnetic element.
The magnetic element can generate a magnetic field, and when the robot moves within the induction distance of the magnetic field sensor, the magnetic field can be induced, so that the robot can be determined to pass through the corresponding inner and outer demarcation positions, and the robot can be determined to enter or exit the elevator car. The magnetic field sensor can be a Hall sensor or other types of magnetic field sensors, and the induction end of the Hall sensor faces the magnetic element.
It should be understood that the respective inner and outer boundary positions of the elevator car in this embodiment are set as a gap between the elevator car and the shaft, the object is disposed in the gap, and in addition, the respective inner and outer boundary positions of the elevator car may also be a certain inner and outer boundary positioning point of the elevator car, which is not limited herein, and it should be understood that the purpose of the present application is to distinguish the inner and outer boundaries of the elevator car to determine whether the robot enters or exits the elevator car.
Therefore, the measured object can not influence the passing of the robot, so that the robot can walk more conveniently.
It will be appreciated that the magnetic element in this embodiment is disposed at least one in a transverse direction of the slit.
Therefore, the Hall sensor of the robot can be guaranteed to sense the magnetic element, and the recognition rate is increased.
The third embodiment of the application discloses a method for identifying a robot going in and out of a ladder, and referring to fig. 3, the method for identifying the robot going in and out of the ladder is applied to a main controller of the robot, and the main controller is taken as an execution main body, and the method for identifying the robot going in and out of the ladder in the embodiment of the application is described below.
As shown in fig. 3, the access ladder identification method of the present embodiment at least includes:
s201, detecting and/or sensing whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car;
if yes, it is determined that the robot has entered or exited the elevator car.
It will be appreciated that detecting whether the robot passes the respective inner and outer demarcation locations of the elevator car includes:
judging whether the distance information between the distance sensor and the ground changes or not, wherein the change of the distance information is detected by the distance sensor arranged at the bottom of the robot chassis when the robot passes through the corresponding inner and outer boundary positions between the elevator car and the elevator shaft;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
The distance sensor is arranged at the tail end of the bottom of the chassis of the robot, when the robot moves to the corresponding inner and outer boundary positions of the elevator car, the distance sensor can measure the change of the distance between the robot and the ground, the distance can be increased or decreased, and the corresponding inner and outer boundary positions of the elevator car are gaps at the elevator car under the general condition, so that when the robot passes through the corresponding inner and outer boundary positions of the elevator car, the distance between the distance sensor and the ground is increased, and the robot can be determined to pass through the corresponding inner and outer boundary positions, so that the robot can be determined to enter or exit the elevator car.
Detecting whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car, comprising:
judging whether an electric signal sent by a magnetic field sensor is received or not, wherein the electric signal is sent by a magnetic field sensor arranged at the bottom of a chassis of the robot after the magnetic field is sensed by the magnetic field sensor when the robot passes through the corresponding inner and outer demarcation positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer demarcation positions of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
In the embodiment of the present application, the magnetic field sensor is configured as a hall sensor, and it is understood that one or more of other types of magnetic field sensors, such as an MR sensor (magnetoresistance effect sensor) and an MI sensor (next generation magnetic sensor), may be used, which are all within the scope of the present application. According to the embodiment, the Hall sensor is arranged at the tail end of the bottom of the chassis of the robot, the magnetic element is arranged at the corresponding inner and outer demarcation positions of the elevator car, the magnetic element can generate a magnetic field, and when the robot moves to the sensing distance of the Hall sensor, the magnetic field can be sensed, so that the robot can be determined to pass through the corresponding inner and outer demarcation positions, and the robot can be determined to enter or exit the elevator car.
It will be appreciated that the respective inner and outer demarcation locations of the elevator car of this embodiment are provided as a gap between the elevator car and the hoistway, and that the magnetic element may be disposed within the gap.
Therefore, the Hall sensor can not influence the passing of the robot, and the robot can walk more conveniently.
It will be appreciated that the magnetic element of this embodiment is provided with at least one along the transverse direction of the slit.
Therefore, the Hall sensor of the robot can be guaranteed to sense the magnetic element, and the recognition rate is increased. It will be appreciated that in one embodiment, the present example detects whether a robot passes a respective inner and outer demarcation location of an elevator car, including:
judging whether the distance information between the ranging sensor and the ground is changed or not;
if yes, judging the corresponding internal and external demarcation positions of the robot passing through the elevator car;
the distance information is changed and is detected by a distance measuring sensor arranged at the tail end of the bottom of the robot chassis when the robot passes through a gap between the elevator car and the elevator shaft.
The bottom tail end of the robot chassis can be provided with a ranging sensor, and the signal transmitting end of the ranging sensor faces the ground. The ranging sensor is used for sending out a detection signal so as to detect a gap between the elevator car and the elevator shaft.
In this embodiment, when the robot performs the elevator entering or exiting operation, the distance measuring sensor detects the distance between the robot and the ground in real time, and when the robot passes through the gap between the elevator car and the elevator shaft, the distance measuring sensor measures the gap, and the measured distance information changes at this time, so that the robot can be determined to pass through the gap, and the gap is used as the corresponding internal and external demarcation position of the elevator car, so that the robot can be determined to enter or exit the elevator car.
It will be appreciated that in one embodiment, the present example detects and/or senses whether the robot passes the respective inner and outer demarcation locations of the elevator car, including:
judging whether an electric signal sent by a magnetic field sensor is received or not, wherein the electric signal is sent by a magnetic field sensor arranged at the bottom of a chassis of the robot after the magnetic field is sensed by the magnetic field sensor when the robot passes through the corresponding inner and outer demarcation positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer demarcation positions of the elevator car;
if yes, judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car.
In the embodiment of the present application, the magnetic field sensor is configured as a hall sensor, and it is understood that one or more of other types of magnetic field sensors, such as an MR sensor (magnetoresistance effect sensor) and an MI sensor (next generation magnetic sensor), may be used, which are all within the scope of the present application.
It will be appreciated that in one embodiment, the present example detects and/or senses whether the robot passes the respective inner and outer demarcation locations of the elevator car, including:
judging whether an electric signal sent by a metal sensor is received or not, wherein the electric signal is sent after a metal sensor arranged at the bottom of a chassis of the robot senses metal at the corresponding boundary position between the elevator car and a shaft when the robot passes through the corresponding internal and external boundary position of the elevator car; wherein the metal at the corresponding boundary position between the elevator car and the elevator shaft is an elevator metal threshold in the embodiment;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
The application can detect the robot through the dividing line inside and outside the elevator car by arranging the detection element and output the electric signal, thereby determining that the robot enters or exits the elevator car. The identification device has simple detection mode and high identification accuracy, and can avoid false judgment.
The fourth embodiment of the application discloses a robot entrance/exit ladder identification device, referring to fig. 4, the robot entrance/exit ladder identification device includes:
the detection module is used for detecting and/or sensing whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car; the boundary position between the inner and outer sides of the elevator car is the gap between the elevator car and the elevator shaft.
And the judging module is used for judging that the robot enters or exits the elevator car if the robot enters or exits the elevator car.
As a possible embodiment, the detection module includes:
the judging unit is used for judging whether the distance information between the ranging sensor and the ground changes or not, the change of the distance information is detected by the distance sensor arranged at the bottom of the robot chassis when the robot passes through the corresponding internal and external demarcation positions of the elevator car, and the horizontal plane of the corresponding internal and external demarcation positions of the elevator car is different from the horizontal plane of the internal and external demarcation positions of the elevator car.
And the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
As a possible embodiment, the detection module includes:
a judging unit for judging whether the electric signal from the magnetic field sensor is received, wherein the electric signal is generated when the robot passes through the corresponding inner and outer boundary position of the elevator car and the magnetic field sensor arranged at the bottom of the chassis of the robot senses the magnetic field generated by the magnetic element positioned at the corresponding inner and outer boundary position of the elevator car, the magnetic field sensor is provided as a Hall sensor in the embodiment, it is understood that other types of magnetic field sensors such as one or more of MR sensor (magnetic resistance effect sensor) and MI sensor (next generation magnetic sensor) can be used, and the magnetic field sensor is within the protection scope of the application
And the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
As a possible embodiment, the detection module includes:
the judging unit is used for judging whether the electric signal sent by the metal sensor is received or not, wherein the electric signal is sent after the metal sensor arranged at the bottom of the chassis of the robot senses the metal at the corresponding demarcation position between the elevator car and the elevator shaft when the robot passes through the corresponding demarcation position of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
The fifth embodiment of the application discloses an electronic device, referring to fig. 5, the electronic device includes a processor and a memory, the memory stores a computer program, and the processor is configured to execute the computer program to implement relevant steps of an embodiment of a method for identifying an access ladder; wherein:
a processor may include one or more processing cores, such as: 4 core processor, 6 core processor, etc. The processor may be implemented in at least one hardware form of DSP (Digital Signal Processing ), FPGA (Field-Programmable Gate Array, field programmable gate array), PLA (Programmable Logic Array ).
The memory, which may include high-speed random access memory, may also include non-volatile memory, such as a hard disk, memory, plug-in hard disk, smart Media Card (SMC), secure Digital (SD) Card, flash Card (Flash Card), at least one disk storage device, memory device, or other volatile solid state storage device.
The memory of this embodiment stores a computer program that can be executed by the processor, where the processor executes the computer program to implement all or part of the steps of the access identification method or the related embodiments of the access identification device of the present application, and/or other matters described in the text.
It will be appreciated by those skilled in the art that fig. 5 is merely one possible implementation of an embodiment of the present application, and in other implementations, more or fewer components may be included, or some components may be combined, or different components may be combined, and the embodiment is not limited in this regard.
The application also provides a computer storage medium, wherein the computer storage medium is stored with a program which is used for realizing the steps of the embodiment of the elevator identification method when being executed by a processor.
The technical features of the above-described embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above-described embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (18)
1. An access ladder identification device for a robot, comprising:
the detection element is arranged at the bottom of the robot chassis;
a subject to be measured;
the detection element is used for sensing and/or detecting the detected object.
2. A robot access ladder identification device as claimed in claim 1, characterized in that the detection element is arranged at a bottom end of the robot chassis, said end being defined as the opposite direction to the direction of travel of the robot.
3. The access ladder identification device for a robot of claim 1, wherein the object is located at respective inner and outer demarcation locations of an elevator car.
4. The access ladder identification device for a robot according to claim 1, wherein the detection element comprises a distance sensor, and the object to be detected comprises a distance between the distance sensor itself and the ground.
5. A robot access ladder identification device according to claim 3, characterized in that the detection element comprises a magnetic field sensor, the object to be measured comprises a magnetic element, the sensing end of the magnetic field sensor being directed towards the magnetic element.
6. A robot access ladder identification device as claimed in claim 3, wherein the detection element comprises a hall sensor, the body to be measured comprises a magnetic element, and the sensing end of the hall sensor is directed towards the magnetic element.
7. The access ladder identification device for a robot of claim 1, wherein the detection element comprises a metal sensor and the object comprises metal at a location of a corresponding interface between an elevator car and a hoistway.
8. The method for identifying the entrance and exit of the robot is characterized by comprising the following steps:
detecting and/or sensing whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car;
if so, it is determined that the robot has entered or exited the elevator car.
9. A method of identifying access to a robot as claimed in claim 8, wherein said detecting and/or sensing whether the robot passes the respective inner and outer demarcation locations of the elevator car comprises:
judging whether the distance information between the distance sensor and the ground changes or not, wherein the change of the distance information is detected by the distance sensor arranged at the bottom of the robot chassis when the robot passes through the corresponding inner and outer boundary positions between the elevator car and the elevator shaft;
if yes, judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car.
10. A method of identifying access to a robot as claimed in claim 8, wherein said detecting and/or sensing whether the robot passes the respective inner and outer demarcation locations of the elevator car comprises:
judging whether an electric signal sent by a magnetic field sensor is received or not, wherein the electric signal is sent by a magnetic field sensor arranged at the bottom of a chassis of the robot after the magnetic field is sensed when the robot passes through the corresponding inner and outer boundary positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer boundary positions of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
11. A method of identifying access to a robot as claimed in claim 8, wherein said detecting and/or sensing whether the robot passes the respective inner and outer demarcation locations of the elevator car comprises:
judging whether an electric signal sent by a Hall sensor is received or not, wherein the electric signal is sent by a robot after the Hall sensor arranged at the bottom of a chassis of the robot senses a magnetic field when the robot passes through the corresponding inner and outer demarcation positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer demarcation positions of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
12. The method for recognizing the entrance and exit of the robot according to claim 8, wherein the detecting and/or sensing whether the robot passes through the inner and outer demarcation corresponding positions of the elevator car comprises:
judging whether an electric signal sent by a metal sensor is received or not, wherein the electric signal is sent after a metal sensor arranged at the bottom of a chassis of the robot senses metal at the corresponding boundary position between the elevator car and a shaft when the robot passes through the corresponding internal and external boundary position of the elevator car;
if yes, the corresponding internal and external demarcation positions of the robot passing through the elevator car are judged.
13. An access ladder identification device for a robot, comprising:
the detection module is used for detecting and/or sensing whether the robot passes through the corresponding inner and outer demarcation positions of the elevator car;
and the judging module is used for judging that the robot enters or exits the elevator car if the robot enters or exits the elevator car.
14. The access ladder identification device of a robot of claim 13, wherein the detection module comprises:
the device comprises a judging unit, a distance sensor and a control unit, wherein the judging unit is used for judging whether the distance information between the distance sensor and the ground is changed or not, the change of the distance information is detected by the distance sensor arranged at the bottom of a robot chassis when a robot passes through the corresponding internal and external demarcation positions of an elevator car, and the horizontal plane of the corresponding internal and external demarcation positions of the elevator car is different from the horizontal plane of the inside and outside of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
15. The access ladder identification device of a robot of claim 13, wherein the detection module comprises:
the judging unit is used for judging whether the electric signal sent by the magnetic field sensor is received or not, wherein the electric signal is sent by the magnetic field sensor arranged at the bottom of the chassis of the robot after the magnetic field is sensed by the magnetic field sensor when the robot passes through the corresponding inner and outer boundary positions of the elevator car, and the magnetic field is generated by the magnetic element positioned at the corresponding inner and outer boundary positions of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
16. The access ladder identification device of a robot of claim 13, wherein the detection module comprises:
the judging unit is used for judging whether the electric signal sent by the Hall sensor is received or not, wherein the electric signal is sent by the robot after the Hall sensor arranged at the bottom of the chassis of the robot senses a magnetic field when the robot passes through the corresponding inner and outer boundary positions of the elevator car, and the magnetic field is generated by a magnetic element positioned at the corresponding inner and outer boundary positions of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
17. The access ladder identification device of a robot of claim 13, wherein the detection module comprises:
the judging unit is used for judging whether the electric signal sent by the metal sensor is received or not, wherein the electric signal is sent after the metal sensor arranged at the bottom of the chassis of the robot senses the metal at the corresponding demarcation position between the elevator car and the elevator shaft when the robot passes through the corresponding demarcation position of the elevator car;
and the judging unit is used for judging that the robot passes through the corresponding inner and outer boundary positions of the elevator car if the robot passes through the elevator car.
18. An electronic device comprising a processor and a memory, wherein the memory has stored therein a computer program which, when executed by the processor, is adapted to carry out the steps of the method of any of claims 8-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310929280.3A CN116985126A (en) | 2023-07-27 | 2023-07-27 | Robot access ladder identification device and method and electronic equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310929280.3A CN116985126A (en) | 2023-07-27 | 2023-07-27 | Robot access ladder identification device and method and electronic equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116985126A true CN116985126A (en) | 2023-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310929280.3A Pending CN116985126A (en) | 2023-07-27 | 2023-07-27 | Robot access ladder identification device and method and electronic equipment |
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| Country | Link |
|---|---|
| CN (1) | CN116985126A (en) |
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2023
- 2023-07-27 CN CN202310929280.3A patent/CN116985126A/en active Pending
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