A method for mobile robot to identify congestion degree in elevator
A mobile robot and crowding technology, applied in the field of robotics, can solve problems such as poor interactive experience, bumping into others, elevator stuck at the elevator entrance, etc., to achieve the effect of improving the interactive experience
Active Publication Date: 2020-08-25
SHANGHAI YOGO ROBOTICS CO LTD
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AI Technical Summary
Problems solved by technology
[0002] When the robot rides the elevator, without sensing the elevator space, it rushes into the elevator regardless of the surrounding environment, and the interactive experience is not good.
It is easy to enter the situation where the elevator gets stuck at the elevator entrance or bumps into others when there are many people going back and forth at the elevator door
Method used
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[0032] The present invention will be described in detail below, and the technical solutions in the embodiments of the present invention will be clearly and completely described. Apparently, the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
[0033] The present invention provides a kind of method that mobile robot recognizes the degree of crowding in the elevator by improving here, as Figure 1-Figure 4 shown, including the following steps:
[0034] Step S01: The mobile robot uses the laser ranging sensor to detect the straight line from itself to the wall of the surrounding environment, the straight line of the elevator door and the feature point information of the corner, and can determine the position of the elevator...
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The invention relates to the technical field of robots, in particular to a method for recognizing the congestion degree in an elevator by a mobile robot. The method comprises the steps that S01, the mobile robot detects feature point information from the mobile robot to the surrounding environment by using a laser distance measuring sensor; S02, the area of the whole space of the elevator is calculated; S03, whether the number of the laser ray lengths greater than 2m is less than a specified threshold value T or not is counted, if yes, it is affirmative that the elevator can be closed, and ifnot, the step S04 is executed; S04, the number of the laser ray lengths greater than 2m is counted to be greater than the threshold value T, the elevator door is in an opening state or an opened state, and the space area value of the elevator in the visual field which can be seen by laser rays is counted; and S05, the space area value of the elevator in the visual field which can be seen by the laser rays is counted to be greater than a preset value, and the mobile robot enters the elevator. Whether there is enough space in the elevator or not to guarantee that the mobile robot can enter; andthe interactive experience is improved.
Description
technical field [0001] The invention relates to the technical field of robots, in particular to a method for a mobile robot to identify congestion in an elevator. Background technique [0002] When the robot takes the elevator, without sensing the elevator space, it rushes into the elevator regardless of the surrounding environment, and the interactive experience is not good. It is easy to enter the situation where the elevator gets stuck at the elevator entrance or bumps into others when there are many people coming and going in and out at the elevator door. In this paper, laser rays are used to identify the degree of congestion in the elevator and decide whether the robot can enter the elevator. Contents of the invention [0003] The purpose of the present invention is to provide a method for a mobile robot to identify the degree of congestion in an elevator, so as to solve the problems raised in the above-mentioned background technology. [0004] The technical scheme ...
Claims
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IPC IPC(8): G01S17/88G01S17/48
CPCG01S17/48G01S17/88
Inventor 白雪蔡龙生赵明
Owner SHANGHAI YOGO ROBOTICS CO LTD