Robot floor positioning method, device, electronic device and computer-readable medium

Abstract

The present disclosure relates to the field of robot control technology, and provides a robot floor positioning method, device, electronic device, and computer-readable medium. The method includes: determining a reference air pressure value; obtaining a real-time ambient air pressure value at the location where the robot is located; calculating a real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; and determining the floor where the robot is located based on the real-time air pressure value difference. This method arranges the air pressure sensor on the robot body, without the need to set other sensors in each floor and elevator hall, saving time and effort, with simple deployment, and can achieve real-time tracking of the robot with relatively high accuracy.

Description

Technical Field

[0001] The present disclosure relates to the field of robot control technologies, and in particular, to a method and apparatus for robot floor positioning, an electronic device, and a computer-readable medium. Background Art

[0002] A robot is a machine device that automatically performs work. It can accept human instructions and communicate with people, run pre-programmed programs, or act according to the principles and guidelines customized by artificial intelligence technology. Its task is to assist or replace human work, such as in the manufacturing industry, construction industry, or dangerous work. A robot is a product of the advanced integration of cybernetics, mechatronics, computers, materials, and bionics. Currently, it has important uses in various fields such as industry, medicine, agriculture, and even military.

[0003] The automatic execution process of a robot's task requires the successful accumulation of each step. If there is a problem in one link, the entire task cannot succeed. There are many abnormal situations in the key link of taking the elevator during a robot's cross-floor task. For example, the robot fails to obtain the correct floor or gets an incorrect floor, the robot is carried out of or into the elevator by a person during the elevator ride, or is carried into another elevator. Generally, elevator companies are reluctant to communicate with the outside world and release floor information for safety reasons. Regarding the problem of the robot failing to obtain the floor correctly or getting an incorrect floor, the main floor acquisition methods on the market currently include infrared laser or UWB sensor ranging + wireless communication / network communication, installing multiple rfid or infrared sensors near the elevator stop floors in the elevator shaft to determine whether the elevator passes through the current floor, and thus determine which floor the elevator is on, and positioning the floor through wifi AP. There are many problems among these methods. Both sensor ranging and wireless communication have a maximum distance problem. When the floor is relatively high, the ranging exceeds the limit and cannot be measured, and the communication fails. Network communication has a serious delay problem in the elevator shaft and an incorrect floor acquisition problem. The problem with deploying rfid / infrared in the elevator shaft is that sensors need to be deployed above and below the elevator stop position on each floor. Although the accuracy is relatively high, it is time-consuming and laborious, and the deployment is troublesome. Moreover, most of the solutions measure the elevator floor, and do not directly measure the robot floor. It is difficult to track when there is an inconsistency. Wifi AP also has a deployment problem. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a method and apparatus for robot floor positioning, an electronic device, and a computer-readable medium to solve the problem of how to accurately position the robot floor in the prior art.

[0005] A first aspect of an embodiment of the present disclosure provides a robot floor positioning method, comprising: determining a reference air pressure value; obtaining a real-time ambient air pressure value of the robot's location; calculating a real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; and determining the floor where the robot is located based on the real-time air pressure value difference.

[0006] According to a second aspect of an embodiment of the present disclosure, a robot floor positioning device is provided, comprising: an air pressure value determination unit, configured to determine a reference air pressure value; an acquisition unit, configured to acquire a real-time ambient air pressure value of the robot's location; a calculation unit, configured to calculate a real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; and a floor determination unit, configured to determine the floor where the robot is located based on the real-time air pressure value difference.

[0007] According to a third aspect of an embodiment of the present disclosure, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above method when executing the computer program.

[0008] According to a fourth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, which stores a computer program, and when the computer program is executed by a processor, the steps of the above method are implemented.

[0009] Compared with the prior art, the beneficial effects of the embodiments of the present disclosure are as follows: first, determine the reference air pressure value; second, obtain the real-time ambient air pressure value of the robot's location; then, based on the reference air pressure value and the real-time ambient air pressure value, calculate the real-time air pressure value difference; finally, based on the real-time air pressure value difference, determine the floor where the robot is located. The method provided by the embodiments of the present disclosure determines the reference floor in a cross-floor scene through the air pressure sensor of the robot body, obtains the air pressure value of the reference floor as the reference air pressure value, and then obtains the ambient air pressure value of the robot's real-time location, and then calculates the real-time air pressure difference. Through the real-time air pressure difference and the pre-acquired average air pressure value set, the classification model is used to output the floor where the robot is located in real time. The method provided by the embodiments of the present disclosure can arrange the air pressure sensor on the robot body, without setting other sensors on each floor and in the elevator room, saving time and effort, simple deployment, and can achieve real-time tracking of the robot with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 is a schematic diagram of an application scenario of a robot floor positioning method according to some embodiments of the present disclosure;

[0012] Figure 2 is a flowchart of some embodiments of the robot floor positioning method according to the present disclosure;

[0013] Figure 3 is a schematic structural diagram of some embodiments of the robot floor positioning device according to the present disclosure;

[0014] Figure 4 is a schematic structural diagram of an electronic device suitable for implementing some embodiments of the present disclosure. Detailed implementation manners

[0015] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the accompanying drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0016] In addition, it should be noted that for the sake of convenience of description, only parts related to the relevant invention are shown in the accompanying drawings. Without conflict, the embodiments in the present disclosure and the features in the embodiments can be combined with each other.

[0017] It should be noted that concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence relationship of the functions performed by these devices, modules or units.

[0018] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0019] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0020] The present disclosure will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] Figure 1 is a schematic diagram of an application scenario of a robot floor positioning method according to some embodiments of the present disclosure.

[0022] InFigure 1 In the application scenario, first, the computing device 101 can determine a reference air pressure value 102. Second, the computing device 101 can obtain the real-time ambient air pressure value 103 at the location where the robot is located. Then, the computing device 101 can calculate the real-time air pressure value difference 104 based on the reference air pressure value 102 and the real-time ambient air pressure value 103. Finally, the computing device 101 can determine the floor where the robot is located 105 based on the above real-time air pressure value difference 104.

[0023] It should be noted that the above computing device 101 can be hardware or software. When the computing device 101 is hardware, it can be implemented as a distributed cluster composed of multiple servers or terminal devices, or as a single server or a single terminal device. When the computing device 101 is embodied as software (for example, a program or system for controlling a robot), it can be installed in the above-listed hardware devices. It can be implemented as, for example, multiple software or software modules for providing distributed services, or as a single software or software module. No specific limitation is made here.

[0024] It should be understood that Figure 1 the number of computing devices in

[0025] Figure 2 is a flowchart of some embodiments of the robot floor positioning method according to the present disclosure. Figure 2 The robot floor positioning method in Figure 1 can be executed by the Figure 2 computing device 101. As

[0026] shown, the robot floor positioning method includes:

[0027] Step S201, determining a reference air pressure value.

[0028] In some embodiments, the above reference air pressure value may refer to the air pressure value on the floor where the robot charging pile is located in a cross-floor scenario. In some embodiments, the above execution entity can determine the reference air pressure value through the following steps:

[0029] Second, based on the above environmental feature information, the above execution entity can determine whether the robot operation scenario is a cross-floor scenario. Here, the execution entity determines whether the robot operation scenario is a cross-floor scenario based on the environmental feature information obtained in the first step.

[0030] Third, in response to determining that the robot operation scenario is a cross-floor scenario, the above execution entity can obtain the floor where the robot charging pile is located. Here, when determining that the robot operation scenario is a cross-floor scenario, the above execution entity can obtain the floor where the robot charging pile is located through the pre-stored building information.

[0031] Fourth, the above execution entity can determine the floor where the robot charging pile is located as the reference floor.

[0032] Fifth, the above execution entity can measure the air pressure value of the reference floor and use the air pressure value of the reference floor as the reference air pressure value. Specifically, the above execution entity stores the historical air pressure value of the reference floor. Before the robot works, it controls the robot to be in a connected state with the robot charging pile. The air pressure sensor set on the robot itself measures the air pressure value of the floor where the charging pile is located, and resets the air pressure value of the reference floor as the reference air pressure value based on the measurement result.

[0033] Step S202: Obtain the real-time environmental air pressure value at the position where the robot is located.

[0034] In some embodiments, the above execution entity can measure the real-time environmental air pressure value at the position where the robot is located through the air pressure sensor set on the robot itself.

[0035] Step S203: Calculate the real-time air pressure value difference based on the above reference air pressure value and the above real-time environmental air pressure value.

[0036] In some embodiments, calculate the real-time air pressure value difference based on the determined reference air pressure value and the real-time environmental air pressure value at the position where the robot is located.

[0037] Step S204: Determine the floor where the above robot is located based on the above real-time air pressure value difference.

[0038] In some embodiments, input the above real-time air pressure value difference into a pre-trained classification model, and output the floor where the above robot is located. It is realized through the following steps:

[0039] First step: Input the above real-time barometric pressure difference into a pre-trained classification model, calculate the mapping distance values between the above real-time barometric pressure difference and the average barometric pressure differences corresponding to each floor, and obtain a set of mapping distance values. Here, the training process of the above classification model is as follows: First, obtain the average barometric pressure values of each floor in the above cross-floor scenario, where the average barometric pressure value of each floor is obtained by averaging a number of barometric pressure values measured by the robot on that floor; Second, based on the above average barometric pressure values of each floor and the above reference barometric pressure value, calculate the average barometric pressure differences corresponding to each floor to obtain a set of average barometric pressure differences; Finally, for each average barometric pressure difference in the above set of average barometric pressure differences, use the above average barometric pressure difference as the input of the initial model and the floor corresponding to the above average barometric pressure difference as the expected output to train the above classification model. Specifically, as an example, the above classification model is a KNN model. Input the above real-time barometric pressure difference into the pre-trained KNN model. The above real-time barometric pressure value is mapped into an n-dimensional space, and the average barometric pressure differences corresponding to each floor are used as samples in the sample set to obtain the mapping distance values between the above real-time barometric pressure difference and the average barometric pressure differences corresponding to each floor, and obtain a set of mapping distance values. The above is only for illustration as an example, and no specific limitations are made in this regard.

[0040] Second step: Based on the above set of mapping distance values, screen a preset number of mapping distance values. Here, sort the above distance values from smallest to largest and screen the top several mapping distance values. In one embodiment, the above classification model is a KNN model, and K mapping distance values are screened. Here, the selection of the K value is related to the number of floors and the prediction accuracy. As an example, when the number of floors is 10, the K value is 2; when the number of floors is 20, the K value is 4. The above is only for illustration as an example, and no specific limitations are made in this regard.

[0041] The third step is to determine the floor where the robot is located based on the preset number of mapping distance values. In one embodiment, the specific implementation steps are as follows: First, select the mapping distance value with the smallest value from the preset number of mapping distance values as the target mapping distance value. As an example, the number of floors is 10, the K value is 2, and the top-ranked mapping distance value among the two is selected as the target mapping distance value, that is, the mapping distance value with the shortest distance is used as the target mapping distance value; secondly, determine whether the above target mapping distance value is less than the preset threshold; here, in order to ensure the validity of the data, prevent data loss, data not entered or system errors, set a threshold to check the validity of the data. As an example, the threshold is the distance value corresponding to the highest floor air pressure value in the cross-floor scene where the robot is running and the reference air pressure value in the n-dimensional preset space. The above is only explained as an example, and no one-to-one limitation is made. Finally, in response to determining that the above target mapping distance value is less than the above preset threshold, the floor corresponding to the above target mapping distance value is determined as the floor where the robot is located.

[0042] In some optional implementations of some embodiments, when the target mapping distance value is greater than the preset threshold, the floor estimation is invalid. At this time, the robot can be positioned on the floor through manual assistance or a monitoring system in the building.

[0043] Compared with the prior art, the beneficial effects of the embodiments of the present disclosure are as follows: first, determine the reference air pressure value; second, obtain the real-time ambient air pressure value of the robot's location; then, based on the reference air pressure value and the real-time ambient air pressure value, calculate the real-time air pressure value difference; finally, based on the real-time air pressure value difference, determine the floor where the robot is located. The method provided by the embodiments of the present disclosure determines the reference floor in a cross-floor scene through the air pressure sensor of the robot body, obtains the air pressure value of the reference floor as the reference air pressure value, and then obtains the ambient air pressure value of the robot's real-time location, and then calculates the real-time air pressure difference. Through the real-time air pressure difference and the pre-acquired average air pressure value set, the classification model is used to output the floor where the robot is located in real time. The method provided by the embodiments of the present disclosure can arrange the air pressure sensor on the robot body, without setting other sensors on each floor and in the elevator room, saving time and effort, simple deployment, and can achieve real-time tracking of the robot with high accuracy.

[0044] All the above optional technical solutions can be arbitrarily combined to form optional embodiments of the present application, which will not be described one by one here.

[0045] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0046] Figure 3It is a schematic structural diagram of some embodiments of a robot floor positioning device according to the present disclosure. As Figure 3 shown, the robot floor positioning device includes: a barometric pressure value determination unit 301, an acquisition unit 302, a calculation unit 303, and a floor determination unit 304. Among them, the barometric pressure value determination unit 301 is configured to determine a reference barometric pressure value; the acquisition unit 302 is configured to acquire the real-time ambient barometric pressure value of the position where the robot is located; the calculation unit 303 is configured to calculate the real-time barometric pressure value difference based on the above reference barometric pressure value and the above real-time ambient barometric pressure value; the floor determination unit 304 is configured to determine the floor where the above robot is located based on the above real-time barometric pressure value difference.

[0047] In some alternative implementation manners of some embodiments, the barometric pressure value determination unit 301 of the robot floor positioning device is further configured to: acquire the environmental characteristic information of the robot operation scenario; determine whether the robot operation scenario is a cross-floor scenario based on the above environmental characteristic information; in response to determining that the robot operation scenario is a cross-floor scenario, acquire the floor where the robot charging pile is located; determine the floor where the robot charging pile is located as the reference floor; measure the barometric pressure value of the above reference floor, and use the barometric pressure value of the above reference floor as the reference barometric pressure value.

[0048] In some alternative implementation manners of some embodiments, when measuring the barometric pressure value of the above reference floor and using the barometric pressure value of the above reference floor as the reference barometric pressure value, control the above robot to be in a connected state with the above robot charging pile.

[0049] In some alternative implementation manners of some embodiments, the floor determination unit 304 of the robot floor positioning device is further configured to: input the above real-time barometric pressure value difference into a pre-trained classification model, and output the floor where the above robot is located.

[0050] In some alternative implementation manners of some embodiments, the training steps of the above classification model include: acquiring the average barometric pressure value of each floor in the above cross-floor scenario; calculating the average barometric pressure value difference corresponding to each floor based on the above average barometric pressure value of each floor and the above reference barometric pressure value, to obtain an average barometric pressure value difference set; for each average barometric pressure value difference in the above average barometric pressure value difference set, use the above average barometric pressure value difference as the input of the initial model, and use the floor corresponding to the above average barometric pressure value difference as the expected output, and train to obtain the above classification model.

[0051] In some alternative implementations of some embodiments, the step of inputting the real-time air pressure difference into a pre-trained classification model to output the floor where the robot is located is further configured as follows: input the real-time air pressure difference into the pre-trained classification model, calculate the mapping distance values between the real-time air pressure difference and the average air pressure differences corresponding to each floor to obtain a set of mapping distance values; based on the set of mapping distance values, screen a preset number of mapping distance values; and based on the preset number of mapping distance values, determine the floor where the robot is located.

[0052] In some alternative implementations of some embodiments, the step of determining the floor where the robot is located based on the preset number of mapping distance values is further configured to select the mapping distance value with the smallest numerical value from the preset number of mapping distance values as the target mapping distance value; determine whether the target mapping distance value is less than a preset threshold; and in response to determining that the target mapping distance value is less than the preset threshold, determine the floor corresponding to the target mapping distance value as the floor where the robot is located.

[0053] Reference is made below to Figure 4 , which shows a schematic structural diagram of an electronic device (e.g., the computing device 101 in Figure 1 ) 400 suitable for implementing some embodiments of the present disclosure. Figure 4 The server shown is merely an example and should not impose any limitation on the functions and usage scopes of the embodiments of the present disclosure.

[0054] As Figure 4 shown, the electronic device 400 may include a processing device (e.g., a central processing unit, a graphics processing unit, etc.) 401, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 402 or a program loaded from a storage device 408 into a random access memory (RAM) 403. In the RAM 403, various programs and data required for the operation of the electronic device 400 are also stored. The processing device 401, the ROM 402, and the RAM 403 are connected to each other through a bus 404. An input / output (I / O) interface 405 is also connected to the bus 404.

[0055] Generally, the following devices may be connected to the I / O interface 405: an input device 406 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 407 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 408 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 409. The communication device 409 may allow the electronic device 400 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 4An electronic device 400 with various devices is shown, but it should be understood that it is not required to implement or have all the shown devices. Instead, more or fewer devices may be implemented or had. Figure 4 Each block shown in Figure 4 may represent one device or, as needed, multiple devices.

[0056] In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product that includes a computer program carried on a computer-readable medium, and the computer program contains program codes for performing the methods shown in the flowcharts. In such some embodiments, the computer program may be downloaded and installed from a network through a communication device 409, or installed from a storage device 408, or installed from a ROM 402. When the computer program is executed by a processing device 401, the above functions defined in the methods of some embodiments of the present disclosure are performed.

[0057] It should be noted that the computer-readable medium in some embodiments of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. A computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having 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 some embodiments of the present disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. And in some embodiments of the present disclosure, the computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program codes. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer-readable signal medium may also be any computer-readable medium other than the computer-readable storage medium, and the computer-readable signal medium may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program codes contained on the computer-readable medium may be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0058] In some embodiments, the client and the server can communicate using any currently known or future-developed network protocol such as HTTP (HyperText Transfer Protocol), and can be interconnected with digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed network.

[0059] The computer-readable medium described above can be included in the above-mentioned device; it can also exist separately without being assembled into the electronic device. The computer-readable medium carries one or more programs, and when the above one or more programs are executed by the electronic device, the electronic device is caused to: determine a reference air pressure value; obtain the real-time ambient air pressure value of the location where the robot is located; calculate the real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; and determine the floor where the robot is located based on the real-time air pressure value difference.

[0060] Computer program code for performing the operations of some embodiments of the present disclosure can be written in one or more programming languages or combinations thereof. The programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., by using an Internet service provider to connect through the Internet).

[0061] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in an order different from that marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, as well as combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system that performs the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0062] The units described in some embodiments of the present disclosure can be implemented in software or in hardware. The described units can also be provided in a processor. For example, it can be described as: a processor includes an air pressure value determination unit, an acquisition unit, a calculation unit, and a floor determination unit. Among them, the names of these units do not constitute a limitation on the unit itself in some cases. For example, the air pressure value determination unit can also be described as "a unit for determining a reference air pressure value".

[0063] The functions described above can be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chip (SOCs), Complex Programmable Logic Devices (CPLDs), and so on.

[0064] The above description is only some preferred embodiments of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the invention involved in the embodiments of the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above inventive concept. For example, technical solutions formed by mutually replacing the above features with (but not limited to) technical features having similar functions disclosed in the embodiments of the present disclosure.

Claims

1. A robot floor positioning method, characterized in that, Including: Determine a reference air pressure value; Obtain the real-time ambient air pressure value at the location where the robot is located; Based on the reference air pressure value and the real-time ambient air pressure value, calculate the real-time air pressure value difference; Based on the real-time air pressure value difference, determine the floor where the robot is located; The determination of the reference air pressure value includes: Obtain the environmental characteristic information of the robot operation scenario; Based on the environmental characteristic information, determine whether the robot operation scenario is a cross-floor scenario; In response to determining that the robot operation scenario is a cross-floor scenario, obtain the floor where the robot charging pile is located; Determine the floor where the robot charging pile is located as the reference floor; Measure the air pressure value of the reference floor and use the air pressure value of the reference floor as the reference air pressure value; The determination of the floor where the robot is located based on the real-time air pressure value difference includes: Input the real-time air pressure value difference into a pre-trained classification model, and output the floor where the robot is located; The training steps of the classification model include: Obtain the average air pressure value of each floor in the cross-floor scenario; Based on the average air pressure value of each floor and the reference air pressure value, calculate the average air pressure value difference corresponding to each floor to obtain an average air pressure value difference set; For each average air pressure value difference in the average air pressure value difference set, use the average air pressure value difference as the input of the initial model and the floor corresponding to the average air pressure value difference as the expected output, and train to obtain the classification model.

2. The robot floor positioning method according to claim 1, wherein, When measuring the air pressure value of the reference floor and using the air pressure value of the reference floor as the reference air pressure value, control the robot to be in a connected state with the robot charging pile.

3. The robot floor positioning method according to claim 1, wherein The inputting the real-time air pressure value difference into a pre-trained classification model and outputting the floor where the robot is located includes: Input the real-time air pressure value difference into a pre-trained classification model, calculate the mapping distance value between the real-time air pressure value difference and the average air pressure value difference corresponding to each floor, and obtain a mapping distance value set; Based on the mapping distance value set, screen a preset number of mapping distance values; Based on the preset number of mapping distance values, determine the floor where the robot is located.

4. The robot floor positioning method according to claim 3, characterized in that, The determination of the floor where the robot is located based on the preset number of mapping distance values includes: Select the mapping distance value with the smallest numerical value from the preset number of mapping distance values as the target mapping distance value; Determine whether the target mapping distance value is less than a preset threshold; In response to determining that the target mapping distance value is less than the preset threshold, determine the floor corresponding to the target mapping distance value as the floor where the robot is located.

5. A robot floor positioning device, characterized in that, Including: An air pressure value determination unit configured to determine a reference air pressure value; An acquisition unit configured to obtain the real-time ambient air pressure value at the location where the robot is located; A calculation unit configured to calculate the real-time air pressure value difference based on the reference air pressure value and the real-time ambient air pressure value; A floor determination unit configured to determine the floor where the robot is located based on the real-time air pressure value difference; The determination of the reference air pressure value includes: Obtain the environmental characteristic information of the robot operation scenario; Based on the environmental characteristic information, determine whether the robot operation scenario is a cross-floor scenario; In response to determining that the robot running scenario is a cross-floor scenario, obtain the floor where the robot charging pile is located; Determine the floor where the robot charging pile is located as the reference floor; Measure the air pressure value of the reference floor and use the air pressure value of the reference floor as the reference air pressure value; The determining the floor where the robot is located based on the real-time air pressure value difference includes: Input the real-time air pressure value difference into a pre-trained classification model, and output the floor where the robot is located; The training steps of the classification model include: Obtain the average air pressure value of each floor in the cross-floor scenario; Based on the average air pressure value of each floor and the reference air pressure value, calculate the average air pressure value difference corresponding to each floor to obtain an average air pressure value difference set; For each average air pressure value difference in the average air pressure value difference set, use the average air pressure value difference as the input of the initial model, and use the floor corresponding to the average air pressure value difference as the expected output to train the classification model.

6. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 4.

7. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the method according to any one of claims 1 to 4.

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