Method for robot entering and exiting elevator and robot control system for entering and exiting elevator
A control system and robot technology, applied in the direction of program control of manipulators, manipulators, manufacturing tools, etc., can solve the problems of large positioning and relative position errors, and achieve the effects of reducing negative effects, high measurement accuracy, and obvious reference objects
Active Publication Date: 2020-08-25
SHANGHAI YOGO ROBOTICS CO LTD
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- Application Information
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Problems solved by technology
[0005] The purpose of the present invention is to provide a method for a robot to enter and exit an elevator and a robot control system for entering and exiting an elevator. accuracy, and reduce the interference of fellow passengers on the measurement of robot sensors
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[0024] In order to make the object, technical solution and beneficial technical effects of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific implementations described in this specification are only for explaining the present invention, not for limiting the present invention.
[0025] In the embodiment of the present invention, one aspect of the present invention is to provide a robot control system 100 for entering and exiting an elevator, which realizes a method for a robot entering and exiting an elevator.
[0026] It should be noted that, according to the movement mode, robots include but are not limited to walking robots and wheeled robots; again, due to the gap between the elevator shaft and the outer wall and the need to open and close the elevator door, each elevator opens the elevator door. There must be a more p...
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The invention discloses a method for allowing a robot to go in and out of an elevator. The method comprises the following steps that whether the target elevator is opened or no is judged through a sensor assembly; the target elevator is inducted through the sensor assembly, and induction data are obtained; feature data recognition is carried out according to the induction data, and whether the recognized feature data are matched with feature data of an elevator slot or not is judged; the distance between the elevator slot and the sensor assembly, the angle between the elevator slot and the ground and the minimum distance between the sensor assembly and the front obstacle in the advancing direction of the robot are acquired through the sensor assembly, and whether L0 is larger than the sumof L1costheta and L2 or not is judged; and the robot is controlled to run to the target elevator. According to the method for allowing the robot to go in and out of the elevator, the reference substance is obvious, the measurement precision is high, the negative influence on normal operation of the elevator is reduced, and the problem that when an existing robot goes in and out of the elevator, due to human blocking, the positioning error is large is relieved.
Description
【Technical field】 [0001] The invention relates to the technical field of robot control, in particular to a method for a robot entering and exiting an elevator and a robot control system for entering and exiting an elevator. 【Background technique】 [0002] At present, service robots with autonomous mobility need to have the ability to autonomously ride building elevators when working in urban buildings. However, since the elevator space is used as a public space, when a passenger enters the elevator space, the relative relationship between the current position of the robot and the position of the elevator space (including whether the robot is completely inside or outside the elevator, whether the current position of the robot affects the position of the elevator door) close) is one of the important determinants for the robot to make autonomous decisions in the process of taking the elevator. If the relative position of the robot and the elevator space cannot be accurately jud...
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IPC IPC(8): B25J9/16
CPCB25J9/16B25J9/1664B25J9/1679B25J9/1694
Inventor 江源
Owner SHANGHAI YOGO ROBOTICS CO LTD