A method for guiding a robot into a disinfection cabin, a related device and a robot

Abstract

The present invention provides a method, a related device and a robot for guiding a robot to enter a disinfection cabin, the method comprising: moving to a first position outside the disinfection cabin, collecting original point clouds from the environment around the robot at the first position, extracting geometric features from the original point clouds, screening a target point cloud representing the disinfection cabin according to the geometric features, locating a second position located inside the disinfection cabin in the target point cloud, generating a first route from the first position to the second position, and driving along the first route to move to the interior of the disinfection cabin. The present invention makes the calculation of the second position more accurate by selecting the target point cloud representing the disinfection cabin in the real-time collection of the original point cloud, and improves the planning accuracy of the driving process of the robot entering the disinfection cabin.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of robot driving, and in particular to a method for guiding a robot to enter a disinfection cabin, a related device and a robot. Background Art

[0002] With the development of science and technology, more and more medical facilities are using robots to deliver medical supplies and automate the disinfection of wards, thereby improving the efficiency of ward disinfection and material distribution, reducing the risk of cross-infection caused by medical staff working in wards, and saving the time cost of medical staff.

[0003] However, robots working in medical facilities are often exposed to various wards and are at risk of carrying and spreading multiple viruses. Therefore, in the process of using robots, regular disinfection of the robots is one of the working links of the robot operation. At present, the main method for disinfecting robots is to use a disinfection cabin designed specifically for robots. The robot marks the coordinates and direction of the center point in the disinfection cabin in a pre-stored map, and determines the coordinate positions of two points located a certain distance outside the disinfection cabin door based on the map. These two points are on the same straight line as the coordinates of the aforementioned center point. When the robot enters the disinfection cabin, it first walks to a point outside the disinfection cabin door, and then drives along the above straight line to reach the center point in the disinfection cabin. After the robot automatically enters the disinfection cabin, it is disinfected by ultraviolet rays or spraying disinfectant to reduce the risk of cross-infection when the robot is performing tasks. However, such disinfection cabins are usually small in size, with little remaining space after accommodating a robot, and in the disinfection cabin that uses ultraviolet light to disinfect the robot, the ultraviolet lamp is usually exposed. In the process of the robot automatically entering the disinfection cabin, due to factors such as wheel slippage, mileage cumulative error, lack of environmental characteristics, and environmental changes, there will be a certain degree of deviation in the robot's driving process into the disinfection cabin. For example, the robot's positioning of its own position when entering the disinfection cabin deviates, the robot's determination of the disinfection cabin relative to its own position deviates, and the robot's own estimated calibration of the disinfection position after entering the disinfection cabin and the calculation of the route generated in and out of the disinfection cabin will all deviate. When the above-mentioned deviations occur, the robot may not necessarily travel along the center line of the cabin door during the process of entering and exiting the disinfection cabin, thereby causing the robot to scratch the cabin wall, collide with the exposed ultraviolet lamp, causing the ultraviolet lamp to break, and not enter the disinfection cabin deep enough, resulting in the inability to close the disinfection cabin door, or even the robot being unable to enter the disinfection cabin, etc., which reduces the efficiency of the robot's disinfection process, causes unnecessary loss of disinfection tools, and increases the time and financial costs of manually checking and repairing the disinfection cabin. Summary of the invention

[0004] The embodiments of the present invention propose a method, related devices and robot for guiding a robot into a disinfection cabin, so as to solve the problem that when the robot automatically drives into the disinfection cabin for disinfection, it relies on a designated location pre-marked by a map, and the positioning is inaccurate and the route generation is biased due to factors such as mileage error and environmental changes, resulting in damage to the disinfection cabin facilities.

[0005] In a first aspect, an embodiment of the present invention provides a method for guiding a robot to enter a disinfection cabin, comprising:

[0006] Moving to a first position outside the disinfection chamber;

[0007] Collecting an original point cloud of the robot's surrounding environment at the first position;

[0008] Extracting geometric features from the original point cloud;

[0009] Filter the original point cloud representing the disinfection cabin according to the geometric features as the target point cloud;

[0010] Locating a second position inside the disinfection cabin in the target point cloud;

[0011] generating a first route from the first location to the second location;

[0012] Travel along the first route to move into the interior of the disinfection cabin.

[0013] In a second aspect, an embodiment of the present invention further provides a device for guiding a robot to enter a disinfection cabin, comprising:

[0014] A first position moving module, used to move to a first position outside the disinfection cabin;

[0015] An original point cloud acquisition module, used to acquire an original point cloud of the robot's surrounding environment at the first position;

[0016] A geometric feature extraction module, used to extract geometric features from the original point cloud;

[0017] A target point cloud screening module, used for screening the original point cloud representing the disinfection cabin according to the geometric features as a target point cloud;

[0018] A second position positioning module, used to locate a second position inside the disinfection cabin in the target point cloud;

[0019] A first route generating module, configured to generate a first route from the first location to the second location;

[0020] The first route moving module is used to travel along the first route to move into the interior of the disinfection cabin.

[0021] In a third aspect, an embodiment of the present invention further provides a computer device, the computer device comprising:

[0022] one or more processors;

[0023] a memory for storing one or more programs,

[0024] When the one or more programs are executed by the one or more processors, the one or more processors implement the method of guiding the robot to enter the disinfection cabin as described in the first aspect.

[0025] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the method for guiding a robot to enter a disinfection cabin as described in the first aspect is implemented.

[0026] In a fifth aspect, an embodiment of the present invention further provides a robot, wherein the robot comprises the apparatus as described in the second aspect or the computer device as described in the third aspect.

[0027] In the embodiment of the present invention, the robot is controlled to move to the first position outside the disinfection cabin, and the original point cloud is collected from the environment around the robot at the first position, and geometric features are extracted from the original point cloud, and then the original point cloud representing the disinfection cabin is selected according to the geometric features as the target point cloud, and the selected target point cloud is used to calculate the second position of the robot after entering the disinfection cabin, and after the second position is calculated, the first route for the robot to reach the second position from the first position is generated, so that the robot enters the disinfection cabin from the outside of the disinfection cabin along the first route for disinfection. The target point cloud used to calculate the second position in the embodiment of the present invention is selected from the original point cloud collected in real time, so compared with the method of calibrating the position of the disinfection cabin and the position of the robot after entering the disinfection cabin in the map pre-stored by the robot, the embodiment of the present invention is less affected by factors such as environmental changes and mileage accumulation when calculating the second position, so that the calculation of the second position is more accurate, and the accuracy of the process planning when the robot drives into the disinfection cabin is improved, avoiding the impact of the robot hitting the inside of the disinfection cabin due to inaccurate planning, causing equipment damage or the robot failing to fully enter the disinfection cabin, so that the robot's environmental adaptability, safety and efficiency when performing its own disinfection task are improved. At the same time, since damage to the equipment is effectively avoided and the accuracy of the robot's self-planning of the driving path to enter the disinfection cabin in this embodiment is improved, the proportion of manual correction of the robot's planning process is also reduced. Therefore, the embodiment of the present invention also saves manpower consumed in planning the driving process when the robot enters the disinfection cabin, and improves the efficiency of the robot's self-planning of the driving process. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A flowchart of a method for guiding a robot to enter a disinfection cabin provided in Embodiment 1 of the present invention;

[0029] Figure 2 A schematic diagram of the outline of a disinfection cabin provided in Embodiment 1 of the present invention;

[0030] Figure 3 A schematic diagram of a target point cloud provided in Embodiment 1 of the present invention;

[0031] Figure 4 A schematic diagram of a first route provided in Embodiment 1 of the present invention;

[0032] Figure 5 A flowchart of a method for guiding a robot to enter a disinfection cabin provided in Embodiment 2 of the present invention;

[0033] Figure 6 A schematic diagram of a second route provided in the first embodiment of the present invention;

[0034] Figure 7 A schematic diagram of the structure of a device for guiding a robot to enter a disinfection cabin provided in a third embodiment of the present invention;

[0035] Figure 8 A schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention.

[0036] Fig. 9 A schematic diagram of a robot provided in Embodiment 6 of the present invention;

[0037] Fig.10 A schematic diagram of a device for guiding a robot to enter a disinfection cabin using a robot provided in Embodiment 6 of the present invention. DETAILED DESCRIPTION

[0038] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0039] Embodiment 1

[0040] Figure 1This is a flowchart of a method for guiding a robot to enter a disinfection cabin provided in Embodiment 1 of the present invention. This embodiment can be applied to the case where the robot reaches a designated location according to a pre-stored map, etc., and the positioning is inaccurate due to mileage accumulation or environmental changes. In the case where the route calculation is deviated, the method can be executed by a device for guiding the robot to enter a disinfection cabin. The device for guiding the robot to enter a disinfection cabin can be implemented by software and / or hardware, and can be configured in a computer device, such as a robot, and specifically includes the following steps:

[0041] Step 101, move to a first position outside the disinfection chamber.

[0042] In this embodiment, the above method of guiding the robot to enter the disinfection cabin can be applied to robots, such as robots that undertake the work of transporting medical supplies in hospitals. With the development of robot intelligence and the impact of epidemic infection, more and more robots have taken on various positions in various stages of medical work because they can effectively avoid the risk of cross-infection between doctors and patients, have high efficiency and no fatigue period. However, since these medical robots contact more patients and enter more wards in hospitals, the possibility of being contaminated by bacteria floating in the air of the hospital or attached to some medical equipment and instruments increases, and the disinfection device carried by the robot itself is usually used to disinfect the transported medical supplies or various parts of the hospital campus, and it is difficult to disinfect the bacteria that may be contaminated on the outer surface of the robot itself. Therefore, a disinfection room or disinfection cabin for disinfecting the outer surface of the robot is usually provided, and the disinfection method has a variety of options from spraying disinfectant to ultraviolet light irradiation.

[0043] In this embodiment, a disinfection cabin equipped with ultraviolet lamps can be used to disinfect the robot. Before the robot is disinfected, in order to ensure that the robot enters the disinfection cabin completely, does not get stuck at the cabin door to affect the closure of the cabin door, and does not deviate from the route when the robot is driving in the disinfection cabin, does not collide with the cabin wall, etc., in this embodiment, it is proposed not to directly control the robot disinfection cabin according to the map pre-stored in the control center of the robot, the position of the disinfection cabin and the fixed disinfection position of the robot after entering the disinfection cabin calibrated in advance, but to control the robot to a certain adjacent position outside the disinfection cabin before the robot is disinfected, that is, the first position of this embodiment, and use the laser radar configured by the robot at the first position to scan the disinfection cabin as a whole to obtain the real-time position information of the disinfection cabin, and calculate the route of the robot entering the disinfection cabin based on the real-time position information, and the disinfection position after entering the disinfection cabin, thereby avoiding the influence of deviations in the planning of the driving process of the robot entering the disinfection cabin caused by reliance on pre-stored maps and calibrated disinfection cabin positions, disinfection positions, etc., and ignoring factors such as mileage errors and environmental changes.

[0044] When determining the first position of the robot outside the disinfection cabin in the embodiment of the present invention, the first coordinate and orientation of the disinfection cabin can be queried in the preset map, wherein the coordinate system used in the preset map can be set by itself, and it varies according to the hospital, such as the Mars coordinate system GCJ (Guojia, Cehui, Ju)-02, or it can be encrypted again according to the needs based on the Mars coordinate system GCJ-02, so that the design of the coordinate system of the preset map of the robot working in the hospital is conducive to improving the efficiency of daily work or meeting the requirements of confidentiality. In this embodiment, the orientation of the disinfection cabin can refer to the direction of the disinfection cabin from the exit door to the entrance door, and the first coordinate can be the center point position of the disinfection cabin. When the robot obtains the first coordinate and orientation of the disinfection cabin, it can superimpose the preset first distance on the basis of the first coordinate along the orientation to obtain a coordinate value, which can represent the first position outside the entrance door.

[0045] When the coordinate value of the first position is obtained, a control instruction can be generated to control the robot to move toward the first position.

[0046] Step 102: Collect an original point cloud of the robot's surrounding environment at a first position.

[0047] In this embodiment, when the robot reaches the first position, the laser radar equipped on the robot can be controlled to start working, and point cloud data of the environment around the robot can be collected as the original point cloud.

[0048] Laser radar is usually composed of a transmitting unit, a receiving unit, a control unit and a signal processing unit. The transmitting unit mainly includes a laser and a transmitting optical system for transmitting a laser beam detection signal; the receiving unit mainly includes a receiving optical system, an optical filter device, a light spot detector, etc., for receiving the reflected laser signal, i.e., the echo signal; the control unit mainly includes a controller, a logic circuit, etc., for controlling laser excitation, signal reception and system working mode; the signal processing unit is used for photoelectric conversion, signal analysis data acquisition and other tasks. In actual use, laser radar has been widely used due to its advantages of high resolution, strong anti-interference ability, rich information acquisition and all-weather operation. The type of laser radar in this embodiment can be a single-line laser radar or a multi-line laser radar, which is not limited in this embodiment.

[0049] The technology used by LiDAR is Time of Flight (TOF). Specifically, after emitting laser light, the return time after the laser light encounters an obstacle is recorded based on the received return laser light, thereby calculating the relative distance between the target and itself. The laser beam can accurately measure the relative distance between the edge of the object contour in the field of view and the device. These contour information constitute the so-called point cloud and draw a 3D environmental map with an accuracy of up to centimeters, thereby improving measurement accuracy.

[0050] In this embodiment, when the robot collects raw point cloud data at the first position, it is also necessary to adjust the posture of the robot at the first position so that the robot faces the entrance door of the disinfection cabin to obtain as complete contour information of the disinfection cabin as possible.

[0051] After adjusting the robot's posture, the disinfection cabin can be notified to open the entrance door. The robot and the disinfection cabin can communicate through Bluetooth or other methods. This embodiment does not limit the communication method between the robot and the disinfection cabin. In this embodiment, the disinfection cabin is notified to open the entrance door because when the robot collects the original point cloud facing the entrance door of the disinfection cabin, if the entrance door is closed, it is difficult to determine the contour information of the exit door of the disinfection cabin. After the entrance door is opened, the robot can collect the contour of the exit door of the disinfection cabin and the point cloud information such as the distance between the exit door and the current position of the robot through the laser radar.

[0052] In this embodiment, when the cabin door is open, the laser radar can be controlled to collect the original point cloud from the environment around the robot. In this embodiment, after the original point cloud is collected by the laser radar, the coordinate values ​​of the original point cloud collected by the laser radar coordinate system are converted to the robot body coordinate system, where the robot body coordinate system refers to the coordinate system with the geometric center of the robot as the coordinate origin. The coordinate values ​​used to calculate the second position below are all based on the robot body coordinate system.

[0053] Step 103: Extract geometric features from the original point cloud.

[0054] In this embodiment, the original point cloud data collected by the laser radar contains multiple features. In order to help the robot locate the contour information of the disinfection cabin in real time, geometric features can be extracted from the original point cloud as geometric features, and further target point clouds that can represent the contour of the disinfection cabin in the original point cloud can be screened according to the extracted geometric features, which are used to calculate the second position where the robot stands when entering the disinfection cabin for disinfection, and the first route from the first position to the second position.

[0055] In this embodiment, the extraction of geometric features from the original point cloud can be to extract features from the original point cloud representing straight lines as geometric features, or to extract features from the original point cloud representing corner points as geometric features.

[0056] In this embodiment, the geometric features extracted from the original point cloud representing the straight line can be identified by a variety of parameters, such as the straight line number, the normal direction of the straight line, the distance between the origin of the coordinate system and the straight line (polar diameter), the length of the straight line, the X-axis coordinate of the starting endpoint, the Y-axis coordinate of the starting endpoint, the X-axis coordinate of the ending endpoint, and the Y-axis coordinate of the ending endpoint. It is worth noting that the origin of the coordinate system here refers to the origin in the coordinate system based on the laser radar body, which should be distinguished from the origin of the coordinate system involved in the map coordinate system mentioned above.

[0057] In this embodiment, the geometric features of the original point cloud representing the straight line are extracted because the original point cloud representing the straight line can correspond to the lines that make up the contour of the disinfection cabin in reality, which helps the robot to screen out the original point cloud that can represent the contour of the disinfection cabin as the target point cloud. Secondly, the geometric features of the original point cloud representing the corner point are extracted because the original point cloud representing the corner point can also be used to verify the selected target point cloud representing the straight line, for example, the coordinates of the intersection of the target point cloud representing the straight line are obtained. If the coordinate value of the intersection can match the coordinate value of the original point cloud representing the corner point, it means that the verification is successful, and the above target point cloud can accurately represent the contour information of the disinfection cabin in the original point cloud collected in real time.

[0058] Step 104: Filter the original point cloud representing the disinfection cabin according to the geometric features as the target point cloud.

[0059] In the present embodiment, when obtaining the original point cloud of the environment around the disinfection cabin, not all original point clouds representing straight lines can necessarily represent the contour information of the disinfection cabin. Therefore, in the present embodiment, after extracting the geometric features of the original point cloud representing the straight line, the original point cloud that can represent the disinfection cabin can be screened according to the geometric features as the target point cloud.

[0060] In this embodiment, the specific process of selecting the target point cloud in the original point cloud according to the geometric features can be expressed as: obtaining a model for describing the geometric characteristics of the disinfection cabin, the model includes the first position relationship between the contour lines constituting the contour of the disinfection cabin and / or the original length of the contour lines, the contour lines include the straight line of the cabin entrance, the straight line of the cabin exit, the straight line of the left cabin wall and the straight line of the right cabin wall, and the first position relationship includes parallel or vertical. Figure 2As shown, the overall contour lines of the disinfection cabin 210 can be composed of a straight line 220 representing the cabin entrance, a straight line 230 representing the cabin exit, a straight line 240 of the left bulkhead, and a straight line 250 of the right bulkhead. The original lengths of the above four straight lines are fixed and can be pre-stored in the robot. The first positional relationship includes the parallel relationship between the straight line representing the cabin entrance and the straight line representing the cabin exit, the parallel relationship between the straight line representing the left bulkhead and the straight line representing the right bulkhead, the vertical relationship between the straight line representing the cabin entrance and the straight line of the left bulkhead and the straight line of the right bulkhead, and the vertical relationship between the straight line representing the cabin exit and the straight line of the left bulkhead and the straight line of the right bulkhead. Obviously, the first positional relationship is also fixed. Therefore, in this embodiment, the target point cloud can be screened from the matching of the original length and the matching of the first positional relationship in turn.

[0061] In this embodiment, the original point clouds whose geometric features on the straight line match the original length are firstly screened as candidate point clouds to represent the straight line of the cabin door, the straight line of the left bulkhead and the straight line of the right bulkhead.

[0062] The screening process may include:

[0063] Comparing the characteristic length of the geometric feature on the straight line with the original length, it can be seen from the above that the geometric feature can be identified by a variety of parameters. In this embodiment, the characteristic length of the geometric feature can refer to the straight line length among the parameters used to identify the geometric feature.

[0064] If the difference between the characteristic length and the original length of the straight line of the exit door is less than the preset first difference threshold, the original point cloud to which the geometric feature pointed to by the characteristic length belongs is determined as a candidate point cloud. In this embodiment, since it is difficult to avoid certain errors when calculating the characteristic length due to the consideration of extracting geometric features from the original point cloud, a first difference threshold can be obtained after multiple tests. When the characteristic length and the original length are compared, if the difference between the two is less than the first difference threshold, it can be determined that the original point cloud to which the geometric feature pointed to by the characteristic length belongs can be used as a candidate point cloud. For example, when the difference between the characteristic length and the original length of the straight line of the exit door is less than the first difference threshold, it means that the original point cloud to which the geometric feature pointed to by the characteristic length belongs can be used as a candidate point cloud representing the straight line of the exit door.

[0065] If the difference between the characteristic length and the original length of the left bulkhead straight line is less than a preset second difference threshold, the original point cloud to which the geometric feature pointed to by the characteristic length belongs is determined as a candidate point cloud, that is, the candidate point cloud can be used as a candidate point cloud representing the left bulkhead straight line.

[0066] If the difference between the characteristic length and the original length of the right bulkhead line is less than a preset third difference threshold, the original point cloud to which the geometric feature pointed to by the characteristic length belongs is determined as a candidate point cloud, that is, the candidate point cloud can be used as a candidate point cloud representing the right bulkhead line.

[0067] In this embodiment, after the candidate point clouds are screened out, due to the influence of other factors in the environment, candidate point clouds whose characteristic lengths satisfy the quantitative relationship of the above-mentioned first difference threshold or the second difference threshold may be screened out, but in fact cannot represent the real-time contour information of the disinfection cabin. Therefore, the second position relationship between the candidate point clouds can be matched through the first position relationship between the contour lines of the disinfection cabin, and the successfully matched candidate point cloud is selected as the target point cloud, thereby further improving the accuracy of the selection of the real-time contour information of the disinfection cabin and the accuracy of the subsequent calculation results of the second position and the first route.

[0068] The second positional relationship between the candidate point clouds is checked. In this embodiment, the positional relationship between the candidate point clouds includes verticality, parallelism, etc. When checking the second positional relationship, methods such as exhaustive enumeration or traversal can be adopted.

[0069] The first positional relationship is matched with the second positional relationship. In this embodiment, the first positional relationship is matched with the second positional relationship separately. For example, the correspondence between the candidate point cloud and the straight line of the exit door of the disinfection cabin, the straight line of the left cabin wall and the straight line of the right cabin wall can be determined according to the above-mentioned characteristic length and original length. Based on this correspondence and the first positional relationship, the second positional relationship is matched.

[0070] For example, according to the characteristic length and the original length, the candidate point cloud of the straight line representing the exit door, the straight line representing the left bulkhead, and the candidate point cloud of the straight line representing the right door are determined, and then the candidate point cloud of the straight line representing the left bulkhead and the candidate point cloud of the straight line representing the right door are checked to see whether they are parallel. If they are parallel, it is considered that the first condition is satisfied.

[0071] Furthermore, it is possible to check whether the candidate point cloud of the straight line representing the exit door is perpendicular to the straight line representing the left bulkhead and the straight line representing the right bulkhead. If they are perpendicular, it is considered that the second condition is satisfied.

[0072] If both the first and second conditions are met, it can be determined that the second position relationship matches the first position relationship successfully. If the match is successful, it can be determined that the candidate point cloud represents the disinfection cabin and is used as the target point cloud. Figure 3 As shown, a straight line 310 representing a left bulkhead, a straight line 320 representing a right bulkhead, and a straight line 330 representing an exit door are included.

[0073] Step 105: Locate a second position inside the disinfection cabin in the target point cloud.

[0074] In this embodiment, after determining the target point cloud, the contour information of the disinfection cabin in real time is determined, that is, the real-time contour information of the disinfection cabin. At this time, the second position of the robot when it enters the disinfection cabin for disinfection can be calculated based on this real-time contour information.

[0075] In this embodiment, the process of calculating the second position includes: selecting a target point cloud representing the straight line out of the cabin door as the target point cloud for the second position. From the above, it can be seen that the target point cloud representing the straight line out of the cabin door can be determined by the characteristic length of the geometric features of the target point cloud and the original length of the straight line out of the cabin door.

[0076] Obtain identification parameters of the second position target point cloud, the identification parameters include starting point coordinates of the starting point of the straight line indicating the exit door, and end point coordinates of the end point of the straight line indicating the exit door; in this embodiment, the second position target point cloud is screened from the original point cloud indicating the straight line. It can be seen from the above that the original point cloud indicating the straight line is identified by identification parameters. Therefore, the identification parameters of the second position target point cloud can be correspondingly obtained for the second position target point cloud, and the second coordinates of the midpoint of the straight line indicating the exit door can be calculated according to the starting point coordinates and the end point coordinates included in the identification parameters. In this embodiment, the horizontal coordinate and the vertical coordinate of the second coordinate indicating the midpoint of the straight line indicating the exit door can be obtained by adding the horizontal coordinate values ​​of the starting point coordinate and the end point coordinate and multiplying them by 1 / 2, and adding the vertical coordinate values ​​of the starting point coordinate and the end point coordinate and multiplying them by 1 / 2.

[0077] The body length of the robot is obtained. In this embodiment, the body length of the robot may be the maximum longitudinal length of the robot from front to back.

[0078] The original length of the left bulkhead straight line or the right bulkhead straight line of the disinfection cabin is obtained as the target original length. Because the left bulkhead and the right bulkhead of the disinfection cabin are usually symmetrical structures, in this embodiment, when calculating the second position, the original length of the left bulkhead straight line or the original length of the right bulkhead straight line can be used as the target original length.

[0079] The first spacing is calculated based on the fuselage length and the target original length. In this embodiment, after the fuselage length and the target original length are obtained, they can be substituted into the first spacing calculation formula to obtain the first spacing. The first spacing formula is: first spacing = (target original length - fuselage length) / 2 + fuselage length / 2.

[0080] The unmounted-initial second position is determined based on the second coordinate and the first spacing. Since the robot in this embodiment can also mount a shelf behind it and enter the disinfection cabin for disinfection in the state of mounting the shelf, the calculation of the second position in this embodiment can be divided into two cases: the robot has no shelf mounted and the robot has a shelf mounted. This embodiment first discusses the calculation of the second position of the robot when there is no shelf mounted, that is, after determining the second coordinate and the first spacing, the length of the first spacing is extended along the normal direction of the above-mentioned straight line representing the cabin door with the second coordinate as the starting point to obtain the unmounted-initial second position. It should be noted that the normal direction of the straight line representing the cabin door points to the front and rear sides of the straight line respectively. Therefore, when the length of the first spacing is extended along the normal direction of the above-mentioned straight line representing the cabin door with the second coordinate as the starting point, two coordinate points will be obtained. In this embodiment, the coordinate point that is closer to the robot in position can be selected as the unmounted-initial second position.

[0081] The unmounted-initial second position is transformed based on the map coordinate system to obtain the second position, and the map coordinate system is determined according to the map pre-stored in the robot. As can be seen from the above, when the original point cloud is used to calculate the second position, the coordinates of each coordinate point are based on the robot body coordinate system, and when the robot is driven to the inside of the disinfection cabin, it depends on the map coordinate system. Therefore, in this embodiment, when the unmounted-initial second position is obtained, the unmounted-initial second position based on the robot body coordinate system can also be converted to the map coordinate system to obtain the second position. In this embodiment, the formula can be used to convert the coordinates based on the robot body coordinate system to the coordinates based on the map coordinate system:

[0082] Where x and y represent the coordinate values ​​of the coordinate point after conversion to the map coordinate system, x1 and y1 represent the coordinate values ​​of the origin of the robot body coordinate system in the map coordinate system, x2 and y2 represent the coordinate values ​​of the converted coordinate point in the robot body coordinate system, and θ represents the rotation angle of the X-axis of the robot body coordinate system relative to the X-axis of the map coordinate system. In practice, this rotation angle can be calculated by integrating the robot's motion angle.

[0083] In this embodiment, there is also a situation where a shelf is mounted behind the robot. Therefore, in this embodiment, the process of calculating the second position for the situation where the robot may be mounted with the shelf includes:

[0084] To detect whether the robot is mounted on a shelf, in this embodiment, a certain parameter can be set to change when the robot is mounted on a shelf, and then whether the robot is mounted on a shelf can be determined based on the changed parameter. There are many ways to detect whether the robot is mounted on a shelf, and this embodiment does not limit this.

[0085] If so, the length of the shelf is obtained. In this embodiment, it is necessary to ensure that the robot can completely enter the disinfection cabin when the shelf is mounted. Therefore, when calculating the second position, in addition to considering the length of the robot, the length of the shelf must also be considered.

[0086] The second spacing is calculated based on the fuselage length, the rack length and the target original length. In this embodiment, the calculation formula of the second spacing can be expressed as: second spacing = (target original length - fuselage length - rack length) / 2 + fuselage length / 2.

[0087] Then, based on the second coordinate and the second distance, the initial second position with mount is determined, that is, after determining the second coordinate and the first distance, the length of the second distance is extended along the normal direction of the above-mentioned straight line representing the cabin door with the second coordinate as the starting point to obtain the initial second position with mount. It should be noted that the normal direction of the straight line representing the cabin door points to the front and rear sides of the straight line respectively. Therefore, when the length of the second distance is extended along the normal direction of the above-mentioned straight line representing the cabin door with the second coordinate as the starting point, two coordinate points will be obtained. In this embodiment, the coordinate point that is closer to the robot in position can be selected as the initial second position with mount.

[0088] The map coordinate system is transformed based on the mount-initial second position to obtain the second position.

[0089] Step 106: Generate a first route from the first location to the second location.

[0090] In this embodiment, after the second position is calculated, in order for the robot to reach the second position smoothly from the first position, a first route from the first position to the second position is also calculated.

[0091] In this embodiment, when calculating the first route, the second position is first extended along the first direction by a preset second distance to form a line segment, which is used as the first cabin entry route. The first direction is consistent with the direction represented by the normal of the straight line of the exit door. The preset second distance in this embodiment can be obtained through experiments.

[0092] The first position and the first cabin entry route are connected according to a Bezier curve to obtain a second cabin entry route. The Bezier curve is a mathematical curve applied to two-dimensional graphics applications. The Bezier curve includes a starting point, an ending point (also called an anchor point), and a control point. By adjusting the control point, the shape of the Bezier curve will change. The Bezier curve moves evenly when the starting point and the ending point are locked. In this embodiment, the first position and the endpoint close to the first position in the first cabin entry route can be used as the starting point and the ending point of the Bezier curve, respectively, to generate the second cabin entry route. In this embodiment, a curve such as a B-spline curve can also be used instead of a Bezier curve to generate the second cabin entry route.

[0093] The first route is obtained by splicing the first route into the cabin and the second route into the cabin.

[0094] Step 107: Travel along the first route to move into the disinfection cabin.

[0095] In this embodiment, after the first route is obtained by splicing, the robot can be controlled to travel along the first route, and finally move to the second position inside the disinfection chamber to be disinfected. Figure 4 As shown, the robot 420 will move from a first position 430 to a second position 440 within the sterilization chamber 410 .

[0096] In the embodiment of the present invention, the robot is controlled to move to the first position outside the disinfection cabin, and the original point cloud is collected from the environment around the robot at the first position, and geometric features are extracted from the original point cloud, and then the original point cloud representing the disinfection cabin is selected according to the geometric features as the target point cloud, and the selected target point cloud is used to calculate the second position of the robot after entering the disinfection cabin, and after the second position is calculated, the first route for the robot to reach the second position from the first position is generated, so that the robot enters the disinfection cabin from the outside of the disinfection cabin along the first route for disinfection. The target point cloud used to calculate the second position in the embodiment of the present invention is selected from the original point cloud collected in real time, so compared with the method of calibrating the position of the disinfection cabin and the position of the robot after entering the disinfection cabin in the map pre-stored by the robot, the embodiment of the present invention is less affected by factors such as environmental changes and mileage accumulation when calculating the second position, so that the calculation of the second position is more accurate, and the accuracy of the process planning when the robot drives into the disinfection cabin is improved, avoiding the impact of the robot hitting the inside of the disinfection cabin due to inaccurate planning, causing equipment damage or the robot failing to fully enter the disinfection cabin, so that the robot's environmental adaptability, safety and efficiency when performing its own disinfection task are improved. At the same time, since the damage to the equipment is effectively avoided and the accuracy of the robot's self-planning of the driving path to enter the disinfection cabin in this embodiment is improved, the proportion of manual correction of the robot's planning process is reduced. Therefore, the embodiment of the present invention also saves manpower consumed in planning the driving process when the robot enters the disinfection cabin, and improves the efficiency of the robot's self-planning of the driving process.

[0097] Embodiment 2

[0098] Figure 5 This is a flow chart of a method for guiding a robot to enter a disinfection chamber provided in Embodiment 2 of the present invention. This embodiment is based on the previous embodiment and further adds operations of the robot entering the disinfection chamber for disinfection and leaving the disinfection chamber after the disinfection is completed. The method specifically includes the following steps:

[0099] Step 501, move to a first position outside the disinfection chamber.

[0100] Step 502: Collect an original point cloud of the robot's surrounding environment at a first position.

[0101] Step 503: Extract geometric features from the original point cloud.

[0102] Step 504: Filter the original point cloud representing the disinfection cabin according to the geometric features as the target point cloud.

[0103] Step 505: Locate a second position inside the disinfection cabin in the target point cloud.

[0104] Step 506: Generate a first route from the first location to the second location.

[0105] Step 507: Travel along the first route to move to the interior of the disinfection cabin.

[0106] Step 508: When the robot reaches the second position, a disinfection instruction is generated, and the disinfection instruction is used to start the disinfection operation.

[0107] In this embodiment, when the robot reaches the second position inside the disinfection chamber, a disinfection instruction can be generated and transmitted to the disinfection chamber to control the disinfection chamber to start the disinfection operation, such as irradiating the robot with ultraviolet light.

[0108] Step 509: Send the disinfection instruction to the disinfection cabin.

[0109] In this embodiment, after generating the disinfection instruction, the robot sends the disinfection instruction to the disinfection cabin.

[0110] Step 510: After a preset disinfection time, calculate a third position, where the third position is outside the disinfection chamber.

[0111] In this embodiment, the disinfection time can be preset inside the robot, and the timing is started when the disinfection instruction is sent to the disinfection cabin. When the preset disinfection time has passed, the third position is calculated. The third position is located outside the disinfection cabin and is the first position reached by the robot after the disinfection is completed. In this embodiment, the disinfection time can also be preset for the disinfection cabin. When the disinfection cabin receives the disinfection instruction and starts disinfection, the timing can be synchronized. When it is confirmed that the preset disinfection time has passed, a signal that the disinfection is completed can be fed back to the robot to notify the robot to calculate the third position. The method for calculating the third position in this embodiment can be to superimpose a distance on the basis of the second position in the direction of the second position pointing to the exit door to form a straight line, then one end of the straight line is the second position and the other end is the third position. In this embodiment, the robot can also be controlled to return to the first position after the disinfection is completed, that is, the first position is used as the third position of the robot leaving the disinfection cabin.

[0112] Step 511: Generate a second route from the second location to the third location.

[0113] In this embodiment, after the third position is determined, in order to control the robot to move to the third position, a second route may be generated according to the second position and the third position. The method for generating the second route is similar to the method for generating the first route.

[0114] Step 512: Travel along the second route to move to the outside of the disinfection cabin.

[0115] In this embodiment, after the second route is generated, the robot can be controlled to travel along the second route, and finally move to the outside of the disinfection chamber to complete the disinfection process of the robot. Figure 6 As shown, the robot 620 can travel from a second position 630 located inside the disinfection chamber 610 to a third position 640 located outside the disinfection chamber 610 .

[0116] In this embodiment, after the robot enters the disinfection cabin, the robot is controlled to generate a disinfection instruction and sent to the disinfection cabin. After receiving the disinfection instruction, the disinfection cabin starts the disinfection operation for the robot to disinfect. At the same time, in this embodiment, by presetting the disinfection time, the disinfection is stopped when the disinfection time is met, and the robot leaves the disinfection cabin, which improves the automation of the process of the robot entering the disinfection cabin for disinfection and leaving the disinfection cabin.

[0117] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0118] Embodiment 3

[0119] Figure 7 A schematic diagram of the structure of a device for guiding a robot to enter a disinfection cabin provided in Embodiment 3 of the present invention may specifically include the following modules:

[0120] A first position moving module 710, used to move to a first position outside the disinfection chamber;

[0121] An original point cloud acquisition module 720, configured to acquire an original point cloud of the robot's surrounding environment at the first position;

[0122] A geometric feature extraction module 730, used to extract geometric features from the original point cloud;

[0123] A target point cloud screening module 740 is used to screen the original point cloud representing the disinfection cabin according to the geometric features as a target point cloud;

[0124] A second position positioning module 750, used to locate a second position inside the disinfection cabin in the target point cloud;

[0125] A first route generating module 760, configured to generate a first route from the first location to the second location;

[0126] The first route moving module 770 is used to travel along the first route to move into the interior of the disinfection cabin.

[0127] In one embodiment of the present invention, the first position moving module 310 includes:

[0128] A query module, used to query the first coordinates and orientation of the disinfection cabin in a preset map;

[0129] A first position calculation module, configured to superimpose a preset first distance on the basis of the first coordinate along the direction to obtain a first position outside the cabin door;

[0130] The first driving module is used for driving toward the first position.

[0131] In one embodiment of the present invention, the original point cloud acquisition module 720 includes:

[0132] a posture adjustment module, used for adjusting the posture of the robot at the first position so that the robot faces the entrance door of the disinfection cabin;

[0133] A door opening module, used to notify the disinfection cabin to open the cabin door;

[0134] The first original point cloud acquisition module is used to collect original point clouds from the environment around the robot when the cabin door is open.

[0135] In one embodiment of the present invention, the geometric feature extraction module 730 includes:

[0136] A first geometric feature extraction module, used to extract features from the original point cloud representing the straight line as geometric features;

[0137] The second geometric feature extraction module is used to extract features from the original point cloud representing corner points as geometric features.

[0138] In one embodiment of the present invention, the target point cloud screening module 740 includes:

[0139] A model acquisition module, used to acquire a model for describing the geometric characteristics of the disinfection cabin, wherein the model includes a first positional relationship between contour lines constituting the contour of the disinfection cabin and / or an original length of the contour lines, wherein the contour lines include a straight line for entering the cabin, a straight line for exiting the cabin, a straight line for the left bulkhead, and a straight line for the right bulkhead, and wherein the first positional relationship includes parallel or vertical;

[0140] A candidate point cloud screening module is used to screen the original point cloud whose geometric features on the straight line match the original length as a candidate point cloud to represent the straight line of the exit door, the straight line of the left bulkhead, and the straight line of the right bulkhead;

[0141] A second position relationship verification module, used to verify the second position relationship between the candidate point clouds;

[0142] A position relationship matching module, used for matching the first position relationship with the second position relationship;

[0143] The target point cloud determination module is used to determine that the candidate point cloud represents the disinfection cabin as the target point cloud if the match is successful.

[0144] In one embodiment of the present invention, the candidate point cloud screening module includes:

[0145] comparing a characteristic length of the geometric feature on the straight line with the original length;

[0146] a first candidate point cloud determination module, configured to determine, if a difference between the characteristic length and the original length of the straight line of the exit door is less than a preset first difference threshold, that the original point cloud to which the geometric feature pointed to by the characteristic length belongs is a candidate point cloud;

[0147] a second candidate point cloud determination module, configured to determine, if a difference between the characteristic length and the original length of the left bulkhead straight line is less than a preset second difference threshold, that the original point cloud to which the geometric feature pointed to by the characteristic length belongs is the candidate point cloud;

[0148] The third candidate point cloud determination module is used to determine that the original point cloud to which the geometric feature pointed to by the characteristic length belongs is the candidate point cloud if the difference between the characteristic length and the original length of the right bulkhead straight line is less than a preset third difference threshold.

[0149] In one embodiment of the present invention, the position relationship matching module includes:

[0150] A first condition checking module, used to check whether the candidate point cloud representing the straight line of the left bulkhead is parallel to the candidate point cloud representing the straight line of the right door. If they are parallel, it is considered that the first condition is satisfied;

[0151] A second condition checking module is used to check whether the candidate point cloud representing the straight line of the exit door is perpendicular to the straight line representing the left bulkhead and the candidate point cloud representing the right bulkhead, and if so, the second condition is considered to be satisfied;

[0152] The matching success determination module is used to determine that the second position relationship matches the first position relationship successfully if both the first condition and the second condition are met.

[0153] In one embodiment of the present invention, the second position positioning module 750 includes:

[0154] A second position target point cloud selection module, used to select the target point cloud representing the straight line of the hatch as the second position target point cloud;

[0155] an identification parameter acquisition module, used to acquire identification parameters of the target point cloud at the second position, wherein the identification parameters include a starting point coordinate indicating a starting point of the straight line of the exit door and an end point coordinate indicating an end point of the straight line of the exit door;

[0156] A first coordinate calculation module, used for calculating the first coordinate of the midpoint of the straight line representing the exit door according to the starting point coordinate and the end point coordinate;

[0157] A body length acquisition module, used to acquire the body length of the robot;

[0158] A target original length acquisition module is used to acquire the original length of the left bulkhead straight line or the right bulkhead straight line of the disinfection cabin as the target original length;

[0159] A first spacing calculation module, used for calculating a first spacing based on the fuselage length and the target original length;

[0160] A no-mount-initial second position determining module, configured to determine a no-mount-initial second position based on the first coordinate and the first distance;

[0161] The second position A calculation module is used to transform the unmounted initial second position based on a map coordinate system to obtain a second position, and the map coordinate system is determined according to a map pre-stored in the robot. In one embodiment of the present invention, the second position positioning module 350 also includes:

[0162] A shelf detection module is used to detect whether the robot is mounted on a shelf, and if so, call a shelf length acquisition module;

[0163] A shelf length acquisition module, used to acquire the shelf length of the shelf;

[0164] A second spacing calculation module, used for calculating a second spacing based on the fuselage length, the frame length and the target original length;

[0165] A module for determining a mounted-initial second position, configured to determine a mounted-initial second position based on the first coordinate and the second distance;

[0166] The second position B calculation module is used to transform the mounted initial second position based on the map coordinate system to obtain a second position.

[0167] In one embodiment of the present invention, the first route generation module 360 ​​includes:

[0168] A first cabin entry route generating module, configured to extend the second position along a first direction by a preset second distance to form a line segment as a first cabin entry route, wherein the first direction is consistent with a direction represented by a normal line of the straight line of the cabin exit door;

[0169] A second cabin entry route generating module, configured to connect the first position and the first cabin entry route according to a Bezier curve to obtain a second cabin entry route;

[0170] The first route splicing module is used to splice the first cabin entry route and the second cabin entry route to obtain a first route.

[0171] In one embodiment of the present invention, the device for guiding the robot to enter the disinfection cabin further comprises:

[0172] a disinfection instruction generating module, configured to generate a disinfection instruction when the robot reaches the second position, wherein the disinfection instruction is used to start the disinfection operation;

[0173] A disinfection instruction sending module, used for sending the disinfection instruction to the disinfection cabin;

[0174] A third position calculation module, used to calculate a third position after a preset disinfection time, wherein the third position is located outside the disinfection cabin;

[0175] A second route generating module, configured to generate a second route from the second location to the third location;

[0176] The second route moving module is used to travel along the second route to move to the outside of the disinfection cabin.

[0177] The device for guiding a robot to enter a disinfection chamber provided in the embodiment of the present invention can execute the method for guiding a robot to enter a disinfection chamber provided in any embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method.

[0178] Figure 8A schematic diagram of the structure of a computer device provided in Embodiment 4 of the present invention. Figure 8 A block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention is shown. Figure 8 The computer device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0179] like Figure 8 As shown, the computer device 12 is in the form of a general-purpose computing device. The components of the computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0180] Bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, a processor or a local bus using any of a variety of bus architectures. By way of example, these architectures include, but are not limited to, an Industry Standard Architecture (ISA) bus, a Micro Channel Architecture (MAC) bus, an Enhanced ISA bus, a Video Electronics Standards Association (VESA) local bus, and a Peripheral Component Interconnect (PCI) bus.

[0181] The computer device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the computer device 12, including volatile and non-volatile media, removable and non-removable media.

[0182] The system memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The computer device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 8 not shown, usually called a "hard drive"). Although Figure 8 Not shown in the figure, a disk drive for reading and writing to a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing to a removable non-volatile optical disk (e.g., a CD-ROM, a DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present invention.

[0183] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described herein.

[0184] The computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), one or more devices that enable a user to interact with the computer device 12, and / or any device that enables the computer device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. Furthermore, the computer device 12 may also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) through a network adapter 20. Figure 8 As shown, the network adapter 20 communicates with other modules of the computer device 12 via the bus 18. It should be understood that although Figure 8 Not shown, other hardware and / or software modules may be used in conjunction with computer device 12, including but not limited to microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0185] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28, such as implementing the method for guiding the robot to enter the disinfection cabin provided in the embodiment of the present invention.

[0186] Embodiment 5

[0187] Embodiment 5 of the present invention further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned method of guiding the robot to enter the disinfection cabin are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0188] Among them, computer-readable storage media may include, for example, but are not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, device or device.

[0189] Embodiment 6

[0190] Fig. 9 A schematic diagram of a robot provided in Example 6 of the present invention.

[0191] In the embodiment of the present invention, the robot 910 may be composed of a voltage-stabilized power supply controller 920 , a sensing processor 930 , a main control module 940 , a sensor 950 , and a driving device 960 .

[0192] The voltage-stabilized power supply controller 920 is used to provide power for the robot 910 to automatically drive or complete other tasks, such as path planning.

[0193] The sensing processor 930 , in this embodiment, can process the external data collected by the sensor 950 and transmit the processed external data to the main control module 940 .

[0194] The main control module 940 is responsible for the overall intelligent control of the robot 910, and can perform path planning based on the processed external data received, to help the robot 910 complete the tasks of entering the disinfection cabin for disinfection and leaving the disinfection cabin after the disinfection is completed.

[0195] The sensor 950 includes, but is not limited to, a laser radar, a camera, a microphone, etc. In this embodiment, the sensor 950 may include a laser radar.

[0196] It should be noted that the method for guiding the robot to enter the disinfection cabin provided in the embodiment of the present invention can be executed by the main control module 940. The device for guiding the robot to enter the disinfection cabin can be used in a vehicle, and Figure 10 is a schematic diagram of the device 1001 for guiding the robot to enter the disinfection cabin being applied in the robot 1002. Further, the device for guiding the robot to enter the disinfection cabin is generally provided in the main control module 940. Or the robot 910 may include a computer device, which is configured on the robot and can be used to implement the aforementioned method for guiding the robot to enter the disinfection cabin. Of course, the method for guiding the robot to enter the disinfection cabin provided in the embodiment of the present invention can also be executed by a server connected to the main control module 940. Accordingly, the method for guiding the robot to enter the disinfection cabin is generally provided in a server connected to the main control module 940, and the embodiment of the present invention does not limit this.

[0197] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for guiding a robot into a disinfection cabin, characterized in that: Applied to a robot, the method comprises: Moving to a first position outside the disinfection chamber; Collecting an original point cloud of the robot's surrounding environment at the first position; Extracting geometric features from the original point cloud; Filtering an original point cloud representing the disinfection cabin according to the geometric features as a target point cloud; Locating a second position inside the disinfection cabin in the target point cloud; generating a first route from the first location to the second location; Traveling along the first route to move into the interior of the disinfection cabin; When the robot reaches the second position, a disinfection instruction is generated, where the disinfection instruction is used to start the disinfection operation; Sending the disinfection instruction to the disinfection cabin; After a preset disinfection time, a third position is calculated, and the third position is located outside the disinfection cabin; generating a second route from the second location to the third location; Travel along the second route to move to the outside of the disinfection cabin.

2. The method according to claim 1, characterized in that The moving to the first position outside the disinfection cabin includes: Query the first coordinates and direction of the disinfection cabin in the preset map; Superimposing a preset first distance on the basis of the first coordinate along the direction to obtain a first position outside the cabin door; Travel toward the first location.

3. The method according to claim 1, characterized in that The collecting of the original point cloud of the robot's surrounding environment at the first position includes: Adjusting the posture of the robot at the first position so that the robot faces the entrance door of the disinfection cabin; Notifying the disinfection cabin to open the cabin door; Under the condition that the cabin door is open, an original point cloud is collected from the environment around the robot.

4. The method according to claim 1, characterized in that Extracting geometric features from the original point cloud includes: Extract features from the original point cloud representing the straight line as geometric features; Features are extracted from the original point cloud representing corner points as geometric features.

5. The method according to claim 1, characterized in that The step of selecting the original point cloud representing the disinfection cabin according to the geometric features as the target point cloud includes: Acquire a model for describing the geometric characteristics of the disinfection cabin, the model including a first positional relationship between contour lines constituting the contour of the disinfection cabin and / or an original length of the contour lines, the contour lines including a straight line of an entrance door, a straight line of an exit door, a straight line of a left bulkhead, and a straight line of a right bulkhead, the first positional relationship including parallel or vertical; Filtering the original point clouds whose geometric features on the straight line match the original length as candidate point clouds to represent the straight line of the exit door, the straight line of the left bulkhead, and the straight line of the right bulkhead; Checking a second positional relationship between the candidate point clouds; Matching the first position relationship with the second position relationship; If the match is successful, it is determined that the candidate point cloud represents the disinfection cabin and is used as the target point cloud.

6. The method according to claim 5, characterized in that The screening of the original point cloud whose geometric features on the straight line match the original length as a candidate point cloud includes: comparing a characteristic length of the geometric feature on the straight line with the original length; If the difference between the characteristic length and the original length of the straight line of the exit door is less than a preset first difference threshold, determining the original point cloud to which the geometric feature pointed to by the characteristic length belongs as a candidate point cloud; If the difference between the characteristic length and the original length of the left bulkhead straight line is less than a preset second difference threshold, determining the original point cloud to which the geometric feature pointed to by the characteristic length belongs as the candidate point cloud; If the difference between the characteristic length and the original length of the right bulkhead straight line is less than a preset third difference threshold, the original point cloud to which the geometric feature pointed to by the characteristic length belongs is determined as the candidate point cloud.

7. The method according to claim 5, characterized in that The matching the first position relationship with the second position relationship includes: Check whether the candidate point cloud representing the straight line of the left bulkhead is parallel to the candidate point cloud representing the straight line of the right bulkhead. If they are parallel, it is considered that the first condition is satisfied; Check whether the candidate point cloud of the straight line representing the exit door is perpendicular to the straight line representing the left bulkhead and the candidate point cloud of the straight line representing the right bulkhead, and if so, the second condition is considered to be satisfied; If both the first condition and the second condition are satisfied, it is determined that the second position relationship matches the first position relationship successfully.

8. The method according to claim 1, characterized in that The locating a second position inside the disinfection cabin in the target point cloud includes: Selecting the target point cloud representing the straight line of the hatch as the second position target point cloud; Acquire identification parameters of the second position target point cloud, wherein the identification parameters include starting point coordinates indicating the starting point of the straight line of the exit door and end point coordinates indicating the end point of the straight line of the exit door; Calculate the second coordinates of the midpoint of the straight line representing the exit door according to the starting point coordinates and the end point coordinates; Obtaining the body length of the robot; Obtaining the original length of the left bulkhead straight line or the right bulkhead straight line of the disinfection cabin as the target original length; Calculate a first distance based on the fuselage length and the target original length; Determine a no-mount-initial second position based on the second coordinate and the first distance; The unmounted initial second position is transformed based on a map coordinate system to obtain a second position, wherein the map coordinate system is determined according to a map pre-stored in the robot.

9. The method according to claim 8, characterized in that After obtaining the body length of the robot, locating a second position inside the disinfection cabin in the target point cloud further includes: Detecting whether the robot is mounted on a shelf; If yes, then obtain the length of the shelf; Calculate a second distance based on the fuselage length, the frame length and the target original length; Determine a mount-initial second position based on the second coordinate and the second distance; The mounted-initial second position is transformed based on the map coordinate system to obtain a second position.

10. The method according to any one of claims 5 to 9, characterized in that: The generating a first route from the first location to the second location includes: Extending the second position along the first direction by a preset second distance to form a line segment as a first cabin entry route, wherein the first direction is consistent with the direction represented by the normal line of the straight line of the cabin exit door; Connecting the first position and the first cabin entry route according to a Bezier curve to obtain a second cabin entry route; The first cabin entry route and the second cabin entry route are connected to obtain a first route.

11. A method for guiding a robot into a disinfection cabin, characterized in that: Applied to a robot, the method comprises: Moving to a first position outside the disinfection chamber; Collecting an original point cloud of the robot's surrounding environment at the first position; Extracting geometric features from the original point cloud; Filtering an original point cloud representing the disinfection cabin according to the geometric features as a target point cloud; Locating a second position inside the disinfection cabin in the target point cloud; generating a first route from the first location to the second location; Traveling along the first route to move into the interior of the disinfection cabin; Wherein, the step of selecting the original point cloud representing the disinfection cabin according to the geometric features as the target point cloud includes: Acquire a model for describing the geometric characteristics of the disinfection cabin, the model including a first positional relationship between contour lines constituting the contour of the disinfection cabin and / or an original length of the contour lines, the contour lines including a straight line of an entrance door, a straight line of an exit door, a straight line of a left bulkhead, and a straight line of a right bulkhead, the first positional relationship including parallel or vertical; Filtering the original point clouds whose geometric features on the straight line match the original length as candidate point clouds to represent the straight line of the exit door, the straight line of the left bulkhead, and the straight line of the right bulkhead; Checking a second positional relationship between the candidate point clouds; Matching the first position relationship with the second position relationship; If the match is successful, it is determined that the candidate point cloud represents the disinfection cabin and is used as the target point cloud.

12. A method for guiding a robot into a disinfection cabin, characterized in that: Applied to a robot, the method comprises: Moving to a first position outside the disinfection chamber; Collecting an original point cloud of the robot's surrounding environment at the first position; Extracting geometric features from the original point cloud; Filtering an original point cloud representing the disinfection cabin according to the geometric features as a target point cloud; Locating a second position inside the disinfection cabin in the target point cloud; generating a first route from the first location to the second location; Traveling along the first route to move into the interior of the disinfection cabin; Wherein, locating the second position inside the disinfection cabin in the target point cloud includes: Selecting the target point cloud representing the straight line of the hatch as the second position target point cloud; Acquire identification parameters of the second position target point cloud, wherein the identification parameters include starting point coordinates indicating the starting point of the straight line of the exit door and end point coordinates indicating the end point of the straight line of the exit door; Calculate the second coordinates of the midpoint of the straight line representing the exit door according to the starting point coordinates and the end point coordinates; Obtaining the body length of the robot; Obtaining the original length of the left bulkhead straight line or the right bulkhead straight line of the disinfection cabin as the target original length; Calculate a first distance based on the fuselage length and the target original length; Determine a no-mount-initial second position based on the second coordinate and the first distance; The unmounted initial second position is transformed based on a map coordinate system to obtain a second position, wherein the map coordinate system is determined according to a map pre-stored in the robot.

13. A device for guiding a robot into a disinfection cabin, comprising: A first position moving module, used to move to a first position outside the disinfection cabin; An original point cloud acquisition module, used to acquire an original point cloud of the robot's surrounding environment at the first position; A geometric feature extraction module, used to extract geometric features from the original point cloud; A target point cloud screening module, used for screening the original point cloud representing the disinfection cabin according to the geometric features as a target point cloud; A second position positioning module, used to locate a second position inside the disinfection cabin in the target point cloud; A first route generating module, configured to generate a first route from the first location to the second location; A first route moving module, used for traveling along the first route to move to the interior of the disinfection cabin; a disinfection instruction generating module, configured to generate a disinfection instruction when the robot reaches the second position, wherein the disinfection instruction is used to start the disinfection operation; A disinfection instruction sending module, used for sending the disinfection instruction to the disinfection cabin; A third position calculation module, used to calculate a third position after a preset disinfection time, wherein the third position is located outside the disinfection cabin; A second route generating module, configured to generate a second route from the second location to the third location; The second route moving module is used to travel along the second route to move to the outside of the disinfection cabin.

14. A device for guiding a robot into a disinfection cabin, comprising: A first position moving module, used to move to a first position outside the disinfection cabin; An original point cloud acquisition module, used to acquire an original point cloud of the robot's surrounding environment at the first position; A geometric feature extraction module, used to extract geometric features from the original point cloud; A target point cloud screening module, used for screening the original point cloud representing the disinfection cabin according to the geometric features as a target point cloud; A second position positioning module, used to locate a second position inside the disinfection cabin in the target point cloud; A first route generating module, configured to generate a first route from the first location to the second location; A first route moving module, used for traveling along the first route to move to the interior of the disinfection cabin; Wherein, the target point cloud screening module includes: A model acquisition module, used to acquire a model for describing the geometric characteristics of the disinfection cabin, wherein the model includes a first positional relationship between contour lines constituting the contour of the disinfection cabin and / or an original length of the contour lines, wherein the contour lines include a straight line for entering the cabin, a straight line for exiting the cabin, a straight line for the left bulkhead, and a straight line for the right bulkhead, and wherein the first positional relationship includes parallel or vertical; A candidate point cloud screening module is used to screen the original point cloud whose geometric features on the straight line match the original length as a candidate point cloud to represent the straight line of the exit door, the straight line of the left bulkhead, and the straight line of the right bulkhead; A second position relationship verification module, used to verify the second position relationship between the candidate point clouds; A position relationship matching module, used for matching the first position relationship with the second position relationship; The target point cloud determination module is used to determine that the candidate point cloud represents the disinfection cabin as the target point cloud if the match is successful.

15. A device for guiding a robot into a disinfection cabin, comprising: A first position moving module, used to move to a first position outside the disinfection cabin; An original point cloud acquisition module, used to acquire an original point cloud of the robot's surrounding environment at the first position; A geometric feature extraction module, used to extract geometric features from the original point cloud; A target point cloud screening module, used for screening the original point cloud representing the disinfection cabin according to the geometric features as a target point cloud; A second position positioning module, used to locate a second position inside the disinfection cabin in the target point cloud; A first route generating module, configured to generate a first route from the first location to the second location; A first route moving module, used for traveling along the first route to move to the interior of the disinfection cabin; Wherein, the second position positioning module includes: A second position target point cloud selection module, used to select the target point cloud representing the straight line of the hatch as the second position target point cloud; an identification parameter acquisition module, used to acquire identification parameters of the target point cloud at the second position, wherein the identification parameters include a starting point coordinate indicating a starting point of the straight line of the exit door and an end point coordinate indicating an end point of the straight line of the exit door; A coordinate calculation module, used to calculate a second coordinate of a midpoint of the straight line representing the exit door according to the starting point coordinate and the end point coordinate; A body length acquisition module, used to acquire the body length of the robot; A target original length acquisition module is used to acquire the original length of the left bulkhead straight line or the right bulkhead straight line of the disinfection cabin as the target original length; A first spacing calculation module, used for calculating a first spacing based on the fuselage length and the target original length; A no-mount-initial second position determining module, configured to determine a no-mount-initial second position based on the second coordinate and the first distance; The second position A calculation module is used to transform the unmounted initial second position based on a map coordinate system to obtain a second position, and the map coordinate system is determined according to a map pre-stored in the robot.

16. A computer device, characterized in that: The computer device comprises: one or more processors; a memory for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method for guiding a robot to enter a disinfection chamber as described in any one of claims 1-10, or the method for guiding a robot to enter a disinfection chamber as described in claim 11, or the method for guiding a robot to enter a disinfection chamber as described in claim 12.

17. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, it implements the method for guiding a robot to enter a disinfection chamber as described in any one of claims 1 to 10, or the method for guiding a robot to enter a disinfection chamber as described in claim 11, or the method for guiding a robot to enter a disinfection chamber as described in claim 12.

18. A robot, characterized in that: Includes the device of claim 13, or the device of claim 14, or the device of claim 15.

19. A robot, characterized in that: A computer device comprising claim 16.

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