A robot repositioning method and robot

Abstract

The application relates to the technical field of robots, and discloses a robot repositioning method and a robot, the robot repositioning method comprising the following steps: determining a current floor where the robot is located according to a test signal emitted by an elevator car at a stop floor; obtaining an environment map corresponding to the current floor; and determining the position of the robot on the current floor based on the environment map. The current floor is determined through the test signal emitted by the elevator car, the environment map corresponding to the current floor is obtained, and repositioning is completed through the environment map, so that the problem of repositioning failure of the robot when the robot is squeezed out of the elevator car is solved, and the positioning efficiency of the robot is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, and in particular to a robot repositioning method and a robot. BACKGROUND

[0002] Nowadays, robots are developing rapidly, and more and more robots have entered people's lives. In existing mobile service robots, robots can perform tasks according to navigation information, and can perform tasks such as delivery, guidance, and cleaning across floors.

[0003] At present, robots need to cope with complex external environments in the process of performing tasks, such as taking elevators. Based on this, when a robot is taking an elevator, if the robot is not at the destination floor and is pushed out or moved out of the car in the middle of the journey, at this time, the robot does not know which floor it is on, and the robot fails to load the map of the corresponding floor, thereby causing the robot to fail to position and lose the ability of automatic positioning and navigation. SUMMARY

[0004] The embodiments of the present application provide a robot repositioning method and a robot to solve the problem of robot repositioning failure when the robot is pushed out of the elevator car.

[0005] To solve the above problems, the embodiments of the present application provide the following technical solutions:

[0006] In a first aspect, the embodiments of the present application provide a robot repositioning method, comprising:

[0007] determining a current floor where the robot is located according to a test signal emitted by an elevator car at a stop floor;

[0008] obtaining an environment map corresponding to the current floor, and determining the position of the robot on the current floor based on the environment map.

[0009] In some embodiments, the robot is communicatively connected to an elevator, and the elevator includes a car, and the car is provided with a signal emitter;

[0010] determining a current floor where the robot is located according to a test signal emitted by an elevator car at a stop floor, comprising:

[0011] sending a control instruction to the elevator, wherein the control instruction is used to control the car to stop at each floor, and the signal emitter emits a test signal each time the car stops at each floor;

[0012] receiving the test signal emitted by the signal emitter in real time;

[0013] determining a current floor where the robot is located according to the test signal received in real time.

[0014] In some embodiments, the current floor where the robot is located is determined according to the test signals received in real time, comprising:

[0015] The test signal with the maximum signal strength is determined according to the signal strength of each test signal;

[0016] The floor corresponding to the test signal with the maximum signal strength is determined as the current floor where the robot is located.

[0017] In some embodiments, the method further comprises:

[0018] The position of the robot relative to the car is determined according to the test signals;

[0019] The car is controlled to run according to the position of the robot relative to the car.

[0020] In some embodiments, the robot comprises a signal receiver for receiving the test signals emitted by the signal emitter of the car;

[0021] The position of the robot relative to the car is determined according to the test signals, comprising:

[0022] The position of the robot relative to the car is determined according to the direction of the test signals received by the signal receiver, wherein the position of the robot relative to the car comprises that the current floor where the robot is located is above or below the car;

[0023] The car is controlled to run according to the position of the robot relative to the car, comprising:

[0024] If the current floor where the robot is located is above the car, an up command is sent to the elevator to control the car to run upwards;

[0025] If the current floor where the robot is located is below the car, a down command is sent to the elevator to control the car to run downwards.

[0026] In some embodiments, the method further comprises:

[0027] The running state of the elevator is acquired;

[0028] If the running state of the elevator is a static state and the elevator is at the first floor within a preset time period, a control command is sent to the elevator, wherein the control command is used to control the car to run upwards from the first floor, the control command is also used to control the car to stop at each floor, and the car sends a test signal once when stopping at each floor;

[0029] Or, if the running state of the elevator is a static state and the elevator is located at the highest floor within a preset time period, a control instruction is sent to the elevator, wherein the control instruction is used to control the car to run downward from the highest floor, the control instruction is also used to control the car to stop at each floor, and the car sends a test signal once when stopping at each floor.

[0030] In some embodiments, before sending the control instruction to the elevator, the method further comprises:

[0031] Obtaining image information of a current floor where the robot is located, and determining a position of the robot relative to a doorway of the elevator at the current floor;

[0032] According to the position of the robot relative to the doorway of the elevator at the current floor, controlling the robot to move locally until the robot is directly opposite the doorway of the elevator.

[0033] In some embodiments, the method further comprises:

[0034] Planning a first path based on image information of a current floor where the robot is located, wherein the first path passes through a preset first position and a second position, the first position is directly opposite the doorway of the elevator, and the second position is a middle position of the doorway of the elevator;

[0035] Controlling the robot to travel along the first path, after the robot arrives at the second position, obtaining a real-time laser key frame in real time, and constructing a local map based on the obtained real-time laser key frame to control the robot to enter the car interior of the elevator;

[0036] Or,

[0037] Controlling the robot to enter the car interior of the elevator based on a preset guide path, wherein the guide path passes through a preset first position, a second position and a third position, and the first position, the second position and the third position are marked by a signal tag.

[0038] In some embodiments, constructing the local map to control the robot to enter the car interior of the elevator comprises:

[0039] Determining a maximum remaining space in the car interior of the elevator based on the local map;

[0040] Controlling the robot to move to a middle position of the remaining space so that the robot arrives at a third position, wherein the third position is the middle position of the remaining space.

[0041] In a second aspect, the embodiments of the present application provide a robot, comprising at least one processor and at least one memory, wherein the memory stores a computer program, and when the program is executed by the processor, the processor executes the steps of the method of any one of the above-mentioned embodiments.

[0042] The application provides a robot repositioning method and a robot, the robot repositioning method comprising: determining a current floor where the robot is located according to a test signal emitted by an elevator car at a stop floor; obtaining an environment map corresponding to the current floor, and determining the position of the robot at the current floor based on the environment map.

[0043] Compared with the prior art, the application determines the current floor through the test signal emitted by the elevator car, obtains the environment map corresponding to the current floor, and completes repositioning through the environment map, thereby solving the problem of repositioning failure of the robot when the robot is squeezed out of the elevator car, improving the positioning efficiency of the robot, and further improving the working efficiency of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0044] One or more embodiments are illustrated by way of example with reference to the accompanying drawings, which are schematic and not intended to be limiting of the embodiments, and in which like reference numerals designate similar items in the figures, in which: the figures do not limit the proportion.

[0045] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the application;

[0046] Figure 2 is a flowchart of a robot repositioning method provided by an embodiment of the application;

[0047] Figure 3 is Figure 2 a detailed flowchart of step S21 in

[0048] Figure 4 is Figure 3 a detailed flowchart of step S213 in

[0049] Figure 5 is a supplementary flowchart of a robot repositioning method provided by an embodiment of the application;

[0050] Figure 6 is Figure 5 a detailed flowchart of step S51 in

[0051] Figure 7 is Figure 6 a detailed flowchart of step S52 in

[0052] Figure 8 is a supplementary flowchart of a robot repositioning method provided by an embodiment of the application;

[0053] Figure 9 is a flowchart of a robot entry process provided by an embodiment of the application;

[0054] Figure 10 is a schematic diagram of an application environment of a robot elevator entering process provided in an embodiment of the present application;

[0055] Figure 11 is a schematic diagram of a supplementary flow of a robot elevator entering process provided in an embodiment of the present application;

[0056] Figure 12 is a schematic diagram of a supplementary flow of step S112 in Figure 11

[0057] Figure 13 is a schematic diagram of an application environment of a car provided in an embodiment of the present application;

[0058] Figure 14 is a schematic diagram of a structure of a robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and should not be used to limit the present application.

[0060] It should be noted that, if there is no conflict, each feature in the embodiments of the present application can be combined with each other, and all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematic diagram, and the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order from the module division in the device schematic diagram or the order in the flowchart.

[0061] Unless otherwise defined, all technical and scientific terms used in the present application have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. The term "and / or" used in the present application includes any and all combinations of one or more related listed items.

[0062] Please refer to Figure 1 , Figure 1 is a schematic diagram of an application environment provided in an embodiment of the present application;

[0063] As Figure 1 ​As shown, the application environment 100 includes a terminal (not shown in the figure), a robot 10, and an elevator 20. The robot 10 includes a signal receiver 11, which can be arranged inside or outside the robot 10. The elevator 20 is provided with a signal transmitter 21, which is communicatively connected to the signal receiver 11 of the robot. Specifically, the signal receiver 11 and the signal transmitter 21 can be communicatively connected by using a wireless transmission protocol to realize the interaction between the elevator car 20 and the robot 10. The terminal and the robot 10 are communicatively connected by a network. In the embodiment of the present application, the robot 10 and the elevator 20 are communicatively connected by using a wireless communication technology. The elevator control system of the elevator 20 is communicatively connected to the robot 10 based on the wireless communication technology, so that the elevator 20 and the robot 10 can share information, or the robot 10 can send a control instruction to the elevator 20. In addition, the elevator 20 can also send the running state information of the elevator 20 to the robot 10. It can be understood that the network includes a wireless local area network, a Bluetooth network, and the like. It can be understood that the wireless communication technology includes a radio frequency identification technology, a wireless fidelity (WiFi) technology, a Bluetooth communication technology (Blue Tooth), a near field communication (NFC) technology, and the like.

[0064] In the embodiment of the present application, the terminal is communicatively connected to the robot 10, and is configured to send a task requirement to the robot 10, or receive path information sent by the robot 10, so as to present the path information and the related image of the robot 10 on the screen of the terminal, to monitor the travel process of the robot. The terminal is provided with an application program APP, and a user can send a control command to the robot 10 through the application program APP, to control the robot 10 to perform a corresponding task. Alternatively, the terminal is integrated into the robot 10. The terminal includes, but is not limited to, a mobile communication device, a mobile personal computer device, a portable entertainment device, or other electronic devices with a video playing function and an online function.

[0065] In the embodiment of the present application, the robot 10 includes a mobile robot, such as a delivery robot, a guide service robot, a cleaning robot, a pet robot, a carrying robot, a nursing robot, a remote monitoring robot, a sweeping robot, and the like. The cleaning robot includes, but is not limited to, a sweeping robot, a dust collecting robot, a mopping robot, or a washing robot.

[0066] The robot comprises a main body and a driving wheel component, a camera unit, a laser radar, a radio frequency unit and a controller. The main body can be generally oval, triangular, D-shaped or other shapes. The controller is arranged on the main body, and the driving wheel component is mounted on the main body for driving the robot to move.

[0067] In the embodiment of the present application, the driving wheel component comprises a left driving wheel, a right driving wheel and a driven wheel. The left driving wheel and the right driving wheel are respectively mounted on opposite sides of the main body. The driven wheel is mounted on the front position of the bottom of the main body. The driven wheel is a movable caster wheel, which can rotate horizontally by 360 degrees, so that the robot can turn flexibly. The installation of the left driving wheel, the right driving wheel and the driven wheel forms a triangle, so as to improve the stability of the robot walking.

[0068] In the embodiment of the present application, the camera unit is arranged on the body of the robot, and is used to acquire image information and / or video data. The camera unit is communicatively connected to the controller, and is used to acquire image information and / or video data within the coverage range of the camera unit, for example, to acquire image information and / or video data within a certain closed space, or to acquire image information and / or video data within a certain open space, and to send the acquired image information and / or video data to the controller. In the embodiment of the present application, the camera unit includes but is not limited to an infrared camera, a night vision camera, a network camera, a digital camera, a high-definition camera, a 4K camera, an 8K high-definition camera and the like.

[0069] In the embodiment of the present application, the laser radar is communicatively connected to the controller. The laser radar is arranged on the body of the robot, for example, the laser radar is arranged on the front side of the body of the robot. The multi-line laser radar is used to acquire laser point cloud data. Specifically, the laser radar is used to acquire laser point cloud data within a monitoring range. The body of the robot is provided with a communication module. The laser point cloud data acquired by the laser radar is sent to the controller through the communication module.

[0070] In other embodiments, the radio frequency unit is arranged on the body of the robot, and is used to send control information. The radio frequency unit is communicatively connected to the controller, and is used to send control information to each floor elevator, so as to control the operation of the elevator, so that the robot can ride the elevator. The control information includes control instructions, a target floor to be reached by the robot, a current floor where the robot is located and the like.

[0071] In the embodiment of the present application, the controller is arranged in the main body, and the controller is electrically connected with the left driving wheel and the right driving wheel respectively. The controller serves as the control core of the robot, and is used for controlling the robot to move forward, backward and some business logic processing. For example, the pose of the robot is adjusted to maximize the strength of the test signal obtained, or the robot is controlled to move forward. The controller constructs a corresponding environment map of the application scene by using a Simultaneous Localization and Mapping (SLAM) technology, i.e., a laser SLAM algorithm, and is used for controlling the robot to move.

[0072] In the embodiment of the present application, the controller can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine), or other programmable logic devices, discrete gates or transistor logic, discrete hardware components, or any combination of these components. The controller can also be any conventional processor, controller, microcontroller, or state machine. The controller can also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors in conjunction with a DSP and / or any other such configuration, or a combination of one or more of a microcontroller unit (MCU), a field-programmable gate array (FPGA), and a system on chip (SoC).

[0073] It can be understood that the robot 10 in the embodiment of the present application also includes a storage module, which includes but is not limited to a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the storage can optionally include a storage remotely arranged with respect to the processor, and these remote storages can be connected to the robot through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0074] In the embodiment of the present application, the elevator 20 includes a power-driven car elevator, such as a passenger elevator, a cargo elevator, a service elevator, etc.

[0075] In the embodiment of the present application, the elevator 20 stops at least at two floors to enable the robot to board to different floors, the elevator 20 comprises a signal transmitter 21 arranged in the interior of the elevator car, specifically, the signal transmitter 21 transmits a test signal each time the elevator 20 stops at each floor. The signal receiver 11 arranged in the interior of the robot is used to receive the test signal transmitted by the elevator 20 to determine the current floor where the robot is located. The robot receives the current floor information and transmits the control information to the elevator 20, so that the elevator 20 responds to the control instruction and controls the running state of the elevator according to the control information, so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor.

[0076] Please refer to Figure 2 , Figure 2 is a flowchart of a robot repositioning method provided by the embodiment of the present application;

[0077] As Figure 2 shown, the robot repositioning method comprises:

[0078] Step S21: determining the current floor where the robot is located according to the test signal transmitted by the elevator car at the stop floor;

[0079] Specifically, the signal receiver arranged in the interior of the robot receives the test signal transmitted by the signal transmitter arranged in the elevator car at the stop floor, determines the maximum test signal according to the signal strength, and determines the current floor where the robot is located according to the test signal with the maximum signal strength.

[0080] Specifically, the robot determines the maximum test signal by determining whether the signal strength is in the maximum signal interval, at this time, the floor corresponding to the elevator is the current floor where the robot is located.

[0081] In the embodiment of the present application, the memory of the robot pre-stores the signal strength data of the maximum test signal, which is obtained by the robot receiving the test signal transmitted by the elevator corresponding to the current floor at different floors, and all the signal data measured at different floors is divided into a maximum signal interval.

[0082] It can be understood that if the measured signal strength of the test signal is in the interval, it means that the corresponding floor of the elevator at this moment is the current floor of the robot. For example, through pre-test, it is measured that the maximum signal strength of the test signal received by the robot at different floors remains in the interval of-50dBm~0dBm, and-50dBm~0dBm is set as the maximum signal interval. If the signal strength measured by the robot in actual measurement is-25dBm, since-25dBm is in the maximum signal interval, it means that the signal strength of the test signal received by the robot at this moment is the maximum value, and the corresponding floor of the elevator at this moment is the current floor of the robot.

[0083] Specifically, please refer to Figure 3 , Figure 3 is Figure 2 a refinement process diagram of step S21 in

[0084] As shown in Figure 3 , the step S21: determining the current floor of the robot according to the test signal emitted by the elevator car at the stop floor, comprising:

[0085] Step S211: sending a control instruction to the elevator, wherein the control instruction is used to control the car to stop at each floor, and the signal emitter emits a test signal each time the car stops at each floor.

[0086] Specifically, after the robot is squeezed out of the elevator car and loses the self-positioning function, the robot is in communication connection with the elevator control system, so as to be able to send a control instruction to the elevator through the robot.

[0087] When the robot fails to position without loading the environment map of the current floor, the robot sends a control instruction to the elevator. The control instruction is used to control the car to stop at each floor, and the signal emitter emits a test signal each time the car stops at each floor.

[0088] Alternatively, in some other embodiments, the robot body is provided with a radio frequency unit, and a controller connected with the radio frequency unit sends a control instruction to the elevator.

[0089] In other embodiments, a camera is arranged inside the elevator car, the camera is in wireless communication connection with the terminal, and the camera is used to monitor image information in a coverage range inside the car. When the terminal sends a task instruction to the robot, the robot performs a ride operation according to the task instruction. In the process of the robot entering the elevator, riding in the elevator to the target floor, and exiting the elevator, the camera tracks and detects image information of the robot inside the elevator car in real time to ensure that the robot reaches the specified target floor in the process of riding in the elevator. If the camera does not identify the robot in the image information of the robot detected in real time in the process of the robot riding in the elevator to the specified target floor, the terminal sends a task request to a radio frequency unit arranged on the robot body. After receiving the task request, the controller connected with the radio frequency unit sends a control instruction to the elevator. The control instruction is used to control the car to stop at each floor. When the car stops at each floor, the signal transmitter arranged inside the elevator car emits a test signal.

[0090] In other embodiments, before the robot sends the control instruction to the elevator, the robot further includes: the robot judges whether there is a ride signal in the elevator. The ride signal is composed of dynamic data in the image information obtained by the camera arranged inside the elevator car. The camera, the robot, and the terminal are in wireless communication connection. The camera sends the dynamic data in the image information in the coverage range to the terminal. The terminal transmits the dynamic data to the robot. The robot judges whether there is a ride signal in the elevator through the dynamic data. If there is a ride signal, the robot controller does not send a control instruction to the elevator at this time. If there is no ride signal and the elevator is in a stationary state within a preset time, the robot sends a control instruction to the elevator at this time.

[0091] It can be understood that the dynamic data is composed of passengers or other robots inside the elevator car. When there are passengers or other robots inside the elevator car performing a ride operation, the robot waits until the elevator is in a stationary state, and then performs the above instruction operation.

[0092] Step S212: Real-time receiving of the test signal emitted by the signal transmitter.

[0093] Specifically, the robot includes a signal receiver, and the signal receiver is used to receive the test signal emitted by the signal transmitter in real time. The signal transmitter emits a test signal once when the car stops at each floor. When the robot receives the test signal in real time, the robot records a plurality of test signals.

[0094] Step S213: According to the test signal received in real time, determining the current floor where the robot is located.

[0095] Among the recorded multiple test signals, a target test signal with the strongest signal strength is determined. The floor where the car stops when emitting the target test signal is the current floor where the robot is located.

[0096] Specifically, refer to Figure 4 , Figure 4 is Figure 3 a detailed flowchart of step S213 in

[0097] As shown in Figure 4 , the step S213: determining the current floor where the robot is located according to the real-time received test signals, comprises:

[0098] Step S2131: determining the test signal with the strongest signal strength according to the signal strength of each test signal.

[0099] Specifically, the signal transmitter is arranged on the elevator car, and the test signal is transmitted from the signal transmitter to the signal receiver arranged on the robot body. The signal transmitter will send a test signal each time the elevator stops at each floor, and the signal receiver will receive a test signal each time. The test signal is transmitted in the form of electromagnetic waves, and the signal receiver determines the test signal with the strongest signal strength by comparing the values of the electromagnetic wave strength received at each floor.

[0100] Step S2132: determining the floor corresponding to the test signal with the strongest signal strength as the current floor where the robot is located.

[0101] The robot receives the test signals emitted from the car at each stopping floor at the current floor. The signal strengths of the test signals received by the robot are different. In this embodiment, when the car and the robot are at the same floor, the signal strength of the test signal received by the robot is the strongest. When the stopping floor of the car is farther away from the floor where the robot is located, the signal strength of the test signal received by the robot is weaker. In this application, the car stops at each floor and emits a test signal. The robot determines a target test signal with the strongest signal strength according to the received multiple test signals. The floor where the car stops when emitting the target test signal is the current floor where the robot is located.

[0102] In some embodiments, when the signal strength of the measured test signal presents a maximum value in a preset range interval, the signal strength data of the maximum test signal is pre-stored in the robot memory, and the signal strength data is obtained by the robot receiving the test signal transmitted by the elevator corresponding to the current floor where the robot is located at different floors. When the test signal with the maximum signal strength is obtained, the floor corresponding to the elevator is the current floor where the robot is located. It should be noted that the preset range interval in the embodiments of the present application can refer to the related description in step S21, which will not be described here.

[0103] Step S22: Obtain an environment map corresponding to the current floor, and determine the position of the robot on the current floor based on the environment map.

[0104] Specifically, after the robot obtains the number of the current floor where the robot is located, the robot obtains an environment map corresponding to the current floor. The robot obtains the environment map from the memory of the robot, and realizes the self-repositioning function of the robot by loading the environment map.

[0105] Please refer to Figure 5 , Figure 5 is a supplementary flowchart of the robot repositioning method provided in the embodiments of the present application;

[0106] As Figure 5 shown, the robot repositioning method further comprises:

[0107] Step S51: determining the position of the robot relative to the car according to the test signal;

[0108] The first test signal is recorded, the direction of arrival of the test signal is determined, and the position of the robot relative to the car is determined according to the direction of arrival of the test signal.

[0109] Specifically, please refer to Figure 6 , Figure 6 is a detailed flowchart of step S51 in Figure 5 ;

[0110] As Figure 6 shown, step S51: determining the position of the robot relative to the car according to the test signal, comprises:

[0111] Step S511: determining the position of the robot relative to the car according to the direction of the test signal received by the signal receiver, wherein the position of the robot relative to the car includes that the current floor where the robot is located is above or below the car.

[0112] Specifically, the direction of arrival of the radio electromagnetic wave of the test signal is obtained based on a radio direction finding technology, and the specific position of the robot relative to the car is determined according to the direction of arrival of the radio electromagnetic wave, and the specific position includes that the current floor where the robot is located is above or below the car.

[0113] In some embodiments, the method for determining the direction of arrival includes: determining the direction of arrival according to the difference in the amplitudes of the signals received from different directions during the transmission of the electromagnetic wave by using the directional characteristics of the direction finding antenna array or the direction finding antenna; or, determining the direction of arrival by measuring the phase difference between the phases received by the different direction finding antenna units in space when the electromagnetic wave arrives at the direction finding antenna array from different directions; or, determining the direction of arrival by measuring the time difference of the electromagnetic wave arriving at the different direction finding antenna units during the transmission of the electromagnetic wave, and so on.

[0114] Step S52: controlling the car to run according to the position of the robot relative to the car;

[0115] According to the position of the robot relative to the car, the robot sends a control instruction to the elevator, and the control instruction includes an up instruction or a down instruction to control the car to run upwards or downwards.

[0116] Specifically, please refer to Figure 7 , Figure 7 is Figure 6 a detailed flowchart of step S52 in

[0117] As shown in Figure 7 , the step S52 of controlling the car to run according to the position of the robot relative to the car includes:

[0118] Step S521: if the current floor where the robot is located is above the car, an up instruction is sent to the elevator to control the car to run upwards;

[0119] Specifically, when the specific position of the robot is above the car, the controller arranged on the robot body sends a control instruction to the elevator, and the control instruction includes an up instruction, and the elevator controls the car to run upwards by responding to the up instruction.

[0120] Step S522: if the current floor where the robot is located is below the car, a down instruction is sent to the elevator to control the car to run downwards;

[0121] Specifically, when the specific position of the robot is below the car, the controller arranged on the robot body sends a control instruction to the elevator, and the control instruction includes a down instruction, and the elevator controls the car to run downwards by responding to the down instruction.

[0122] The application embodiment determines the position of the robot relative to the car through the measured direction of arrival of the radio electromagnetic wave of the test signal, and then controls the car to run, thereby improving the positioning efficiency of the robot and the working efficiency of the robot.

[0123] Please refer to Figure 8 , Figure 8 is a supplementary flowchart of a robot repositioning method provided by the application embodiment;

[0124] As Figure 8 shown, the robot repositioning method further comprises:

[0125] Step S81: Obtain the running state of the elevator;

[0126] The elevator control system of the elevator obtains the running state information of the elevator and sends the running state information to the robot.

[0127] In other embodiments, the robot obtains the running state of the elevator through a terminal, a camera is arranged inside the elevator car, the camera, the elevator and the terminal are in wireless communication connection, the camera is used to obtain image information of the car within the coverage range, part of dynamic data is extracted based on the image information of the car within the coverage range, and the running state of the elevator is determined through the dynamic data.

[0128] Specifically, the dynamic data includes elevator door information and passenger information, wherein the elevator door information includes the opening and closing state of the elevator door, and the passenger information includes the dynamic trajectory of the passenger.

[0129] Specifically, the running state of the elevator includes a static state and a motion state, wherein the static state includes a floor stay state or a first floor stay state, and the first floor is the initial starting floor of the elevator, and the motion state includes an upward state and a downward state.

[0130] Step S82: If the running state of the elevator is a static state and the elevator is located at the first floor within a preset time period, a control instruction is sent to the elevator, wherein the control instruction is used to control the car to run upward from the first floor, the control instruction is also used to control the car to stop at each floor, and the car sends a test signal once when stopping at each floor;

[0131] In other embodiments, if the camera detects that the elevator door and the dynamic trajectory of the passenger in the image information are in a static state within a preset time period, it indicates that the elevator is in a static state at this time, at this time, if the elevator is located at the first floor, the controller of the robot sends an upward control instruction to the elevator, the elevator responds to the upward control instruction to control the elevator to run upward from the first floor, and the control instruction also controls the car to stop at each floor, and the signal transmitter sends a test signal once when the car stops at each floor.

[0132] Step S83: If the running state of the elevator is the static state and the elevator is at the highest floor within the preset time period, a control instruction is sent to the elevator, wherein the control instruction is used to control the car to run downward from the highest floor, the control instruction is also used to control the car to stop at each floor, and the car sends a test signal once when stopping at each floor.

[0133] The elevator control system obtains the floor where the car is located and the running state of the car, and sends them to the robot.

[0134] In other embodiments, if the elevator door and the dynamic trajectory of the passenger in the image information detected by the camera are in the static state within the preset time period, it indicates that the elevator is in the static state at this time. At this time, if the elevator is at the highest floor, the controller of the robot sends a downward control instruction to the elevator, and the elevator responds to the downward control instruction to control the elevator to run downward from the highest floor. The control instruction also controls the car to stop at each floor, and the signal transmitter sends a test signal once when the car stops at each floor.

[0135] It should be noted that in the embodiments of the present application, the elevator is controlled to run by the boarding instruction, which can be formed by the passenger pressing the elevator button or other control instructions sent by the robot. It can be understood that the elevator can still provide boarding service for passengers or other robots during the process of collecting the test signal by the robot.

[0136] The running state of the elevator is obtained through the elevator camera, and then the robot controls the elevator to run upward or downward, which meets the requirement of the robot to obtain test signals of different floors, and further determines the floor where the robot is located according to the test signals, thereby optimizing the way of the robot controlling the elevator car to run and obtaining the test signal.

[0137] The embodiments of the present application determine the current floor where the robot is located through the test signal emitted by the elevator car when stopping at the floor; obtain the environment map corresponding to the current floor, and determine the position of the robot in the current floor based on the environment map, so that the robot can still determine the floor where it is located after being squeezed out of the elevator car, and load the environment map corresponding to the current floor, thereby solving the technical problem that the robot fails to be positioned and loses the autonomous positioning and navigation because the robot is separated from the car before reaching the destination floor during the process of boarding the elevator, realizing repositioning, improving the positioning efficiency of the robot, and further improving the working efficiency of the robot.

[0138] Please refer to Figure 9 , Figure 9 is a flowchart of the process of the robot boarding the elevator provided by the embodiments of the present application;

[0139] As Figure 9As shown, the robot repositioning method further includes:

[0140] Step S91: Obtain image information of a current floor where the robot is located, and determine a position of the robot relative to a doorway of an elevator on the current floor;

[0141] Specifically, the camera unit arranged on the robot body is configured to obtain the image information of the current floor, wherein the camera unit is communicatively connected to the controller and configured to obtain image information within a coverage range of the camera unit and send the obtained image information to the controller. In the embodiments of the present application, the camera unit includes, but is not limited to, an infrared camera, a night vision camera, a network camera, a digital camera, a high-definition camera, a 4K camera, an 8K high-definition camera, and the like.

[0142] Step S92: According to the position of the robot relative to the doorway of the elevator on the current floor, control the robot to move locally until the robot faces the doorway of the elevator;

[0143] When the robot cannot be positioned through the laser point cloud data matching algorithm, the robot can still be driven to move locally. Specifically, according to the position of the robot relative to the doorway of the elevator on the current floor, the driven wheels are driven to make the robot move locally so that the robot faces the doorway of the elevator. Specifically, the robot includes a main body and a controller arranged inside the main body, and the controller is electrically connected to the left driven wheel and the right driven wheel. The controller controls the driven wheels to make the robot move locally until the robot faces the doorway of the elevator based on the image information. Generally, a wireless signal will attenuate when it encounters an obstacle during transmission. In the embodiments of the present application, when the car and the robot are located on the same floor and the robot is located at the doorway of the elevator, the test signal received by the robot is the strongest, and there is a more obvious difference in strength compared with the test signal received by the robot on other floors.

[0144] By controlling the robot to move to the doorway of the elevator, when the car arrives at the floor and the elevator door is opened, the test signal received by the robot is the strongest because there is no signal blocking effect of the elevator door when the car is on the floor where the robot is located, and the test signal strength measured by the robot signal receiver is more obviously different in strength compared with the test signal strength received by the robot on other floors. In this way, the strongest test signal can be more accurately determined from multiple test signals, and the current floor of the robot can be accurately determined according to the strongest test signal.

[0145] Please refer to Figure 10 , Figure 10 is a schematic diagram of an application environment of a robot elevator entering process provided in the embodiments of the present application;

[0146] AsFigure 10 The first position is opposite the door of the elevator, the second position is a middle position of the door of the elevator, and the third position is a middle position of the remaining space. The path from the first position to the second position is a first path. Optionally, the first position is a position point 1.5 meters away from the second position.

[0147] Referring to Figure 11 , Figure 11 is a supplementary flowchart of a robot elevator entering process provided by an embodiment of the present application;

[0148] As Figure 11 shown, the robot repositioning method further includes:

[0149] Step S111: planning a first path based on image information of a current floor where the robot is located, wherein the first path passes through a preset first position and a second position, the first position is opposite the door of the elevator, the second position is a middle position of the door of the elevator, and the first position and the second position are apart from each other by a preset distance (for example, 1.5 meters);

[0150] Specifically, after the robot successfully reloads the current floor map, the robot will again take the elevator to the target floor to continue the unfinished task. When the elevator door opens at the floor where the robot is located, the robot plans a first path based on the first position and the second position.

[0151] Step S112: controlling the robot to travel along the first path, and after the robot arrives at the second position, acquiring a laser key frame in real time and constructing a local map based on the acquired real-time laser key frame to control the robot to enter the inside of the car of the elevator;

[0152] Specifically, in an embodiment of the present application, the robot can enter the inside of the car of the elevator in two ways.

[0153] The first way includes: when the robot travels along the first path to the second position, the robot is located at the middle position of the elevator door. At this time, the laser radar arranged on the robot body acquires a laser key frame in real time through the collected laser scanning data, and constructs an environment map of the inside of the car based on the laser key frame.

[0154] Step S113: controlling the robot to enter the inside of the car of the elevator based on a preset guide path, wherein the guide path passes through a preset first position, a second position and a third position, and the first position, the second position and the third position are marked by signal tags;

[0155] The second mode includes: positioning and navigation based on signal tag positioning technology, by setting signal tags at preset positions, the robot enters the elevator car by following the path indicated by the signal tags in the process of entering the elevator. For example, the signal tag is a navigation magnetic stripe.

[0156] Please refer to Figure 12 , Figure 12 is a refinement process diagram of step S112 in Figure 11 ;

[0157] As shown in Figure 12 , constructing a local map to control the robot to enter the elevator car includes:

[0158] Step S1121: determining the maximum remaining space in the elevator car based on the local map;

[0159] Based on the laser key frame, an environment map of the car interior is constructed, and the largest square area in the remaining space area of the elevator car is determined. The square area is the largest remaining space in the car.

[0160] Specifically, please refer to Figure 13 , Figure 13 is a schematic diagram of an application environment in the car interior provided in an embodiment of the present application;

[0161] As shown in Figure 13 , determining the maximum remaining space in the elevator car based on the local map includes:

[0162] Based on the real-time constructed local grid map, the grid map is used to divide the car interior space, determine the maximum remaining space, and propose a better path planning method. In the embodiment of the present application, the remaining space area is searched by a free space division and merging algorithm, and the remaining space area is divided into square areas. All square areas are traversed, and finally the coordinates of two opposite vertices of the square area are used to represent the position of the square area. The largest square area in the remaining space area is the largest remaining space in the car.

[0163] Step S1122: controlling the robot to move to the middle position of the remaining space, so that the robot reaches the third position, wherein the third position is the middle position of the remaining space.

[0164] Specifically, after the robot obtains the position coordinates of the largest remaining space, the controller controls the robot drive wheel to move to the position coordinates of the remaining space, which is set as the third position.

[0165] The embodiment of the application provides an elevator entering method, image information of a current floor where a robot is located is acquired, the position of the robot relative to a door of an elevator on the current floor is determined; then the robot is controlled to move locally according to the position of the robot relative to the door of the elevator on the current floor, until the robot faces the door of the elevator; an environment map of an inside of a car is constructed based on a laser key frame, the robot is controlled to enter the inside of the car, the robot is controlled to smoothly enter a middle position of a remaining space of the car, so that the robot continues to execute an unfinished task after repositioning, the elevator entering efficiency of the robot is improved, and the working efficiency of the robot is improved.

[0166] The embodiment of the application provides a robot repositioning method, a test signal emitted by an elevator car at a stop floor is used to determine a current floor where a robot is located; an environment map corresponding to the current floor is acquired, and the position of the robot on the current floor is determined based on the environment map; image information of the current floor where the robot is located is acquired, the position of the robot relative to a door of an elevator on the current floor is determined; then the robot is controlled to move locally according to the position of the robot relative to the door of the elevator on the current floor, until the robot faces the door of the elevator; the robot is controlled to enter the inside of the car of the elevator based on the image information of the current floor, so that the robot can determine the floor where the robot is located after being squeezed out of the car of the elevator, load a corresponding floor to realize repositioning, and the robot is smoothly controlled to enter the car, so that the robot continues to execute an unfinished task after repositioning, the working efficiency of the robot is improved, and the technical problem that the robot fails to be positioned and loses automatic positioning and navigation capability due to being squeezed out or moved out of the car in the process of the robot taking the elevator and not reaching a destination floor is solved.

[0167] Please refer to Figure 14 , Figure 14 is a structural schematic diagram of a robot provided by the embodiment of the application.

[0168] As Figure 14 shown, the robot 140 of the embodiment includes a processor 141, a memory 142, a computer program 1421 stored in the memory 142 and executable on the processor 141, and a signal receiver 143. The processor 141 executes steps in each method embodiment. Alternatively, the processor 141 executes the functions of each module / unit in each device embodiment.

[0169] Exemplarily, the computer program 1421 can be segmented into one or more modules / units, which are stored in the memory 142 and executed by the processor 141 to accomplish the present disclosure. The one or more modules / units can be a series of computer program instruction segments capable of accomplishing specific functions, which are used to describe the execution process of the computer program 1421 in the robot 140.

[0170] The robot 140 can include but is not limited to the processor 141 and the memory 142. Those skilled in the art can understand that the robot 140 can further include other components required for the robot 140 to operate normally, and the components are not limited to the processor 141 and the memory 142. Figure 14 The robot 140 is only an example and does not constitute a limitation on the robot 140, and can include more or fewer components than the illustration, or combine certain components, or different components, for example, the robot can also include an input / output device, a network access device, a bus, etc.

[0171] The processor 141 can be a central processing unit (CPU), and can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0172] The memory 142 can be an internal storage unit of the robot 140, for example, a hard disk or a memory of the robot 140. The memory 142 can also be an external storage device of the robot 140, for example, a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the robot 140. Further, the memory 142 can include both the internal storage unit and the external storage device of the robot 140. The memory 142 is used to store computer programs and other programs and data required by the robot. The memory 142 can also be used to temporarily store data that has been output or will be output.

[0173] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above functional units and modules is taken as an example for description, and in actual application, the above functions can be completed by different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit, and the integrated unit can be realized in the form of hardware or in the form of software functional unit. In addition, the specific names of each functional unit and module are only for easy distinction, and do not limit the protection scope of the present application. The specific working process of the units and modules in the system can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0174] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in detail in a certain embodiment can be referred to the related description of other embodiments.

[0175] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be realized in electronic hardware or in a combination of computer software and electronic hardware. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present disclosure.

[0176] In the embodiments provided in the present disclosure, it should be understood that the disclosed device / robot structure and method can be implemented in other ways. For example, the device / robot structure embodiments described above are only schematic, for example, the division of modules or units is only a logical function division, and actual implementation can have another division manner, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interface, device or unit, and can be electrical, mechanical or other forms.

[0177] The units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, i.e. may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme. In addition, the functional units in each embodiment of the disclosure can be integrated in one processing unit, or each unit can be physically present alone, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0178] If the integrated module / unit is realized in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, all or part of the processes in the above-mentioned embodiment methods can also be completed by a computer program instructing related hardware, and the computer program can be stored in a computer readable storage medium. The computer program can be executed by a processor to implement the steps of each method embodiment described above. The computer program can include computer program code, which can be in the form of source code, object code, executable file or some intermediate form. The computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content included in the computer readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction, for example, in some jurisdictions, according to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.

[0179] The above embodiments are only used to illustrate the technical solutions of the disclosure, rather than limit them; although the disclosure has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can be modified, or some technical features can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the disclosure, and should be included in the protection scope of the disclosure.

Claims

1. A robot repositioning method, characterized by, The method comprises: determining the current floor where the robot is located according to the test signal emitted by the elevator car at the stop floor; obtaining the environment map corresponding to the current floor, and determining the position of the robot on the current floor based on the environment map; the robot is communicatively connected to the elevator, and the elevator comprises a car provided with a signal emitter; determining the current floor where the robot is located according to the test signal emitted by the elevator car at the stop floor, comprising: sending a control instruction to the elevator, wherein the control instruction is used to control the car to stop at each floor, and the signal emitter emits a test signal each time the car stops at each floor; receiving the test signal emitted by the signal emitter in real time; determining the current floor where the robot is located according to the test signal received in real time; determining the current floor where the robot is located according to the test signal received in real time, comprising: determining the test signal with the maximum signal strength according to the signal strength of each test signal; determining the floor corresponding to the test signal with the maximum signal strength as the current floor where the robot is located.

2. The method of claim 1, wherein, The method further comprises: determining the position of the robot relative to the car according to the test signal; controlling the car to run according to the position of the robot relative to the car.

3. The method of claim 2, wherein, The robot comprises a signal receiver for receiving the test signal emitted by the signal emitter of the car; determining the position of the robot relative to the car according to the direction of the test signal received by the signal receiver, wherein the position of the robot relative to the car comprises that the current floor where the robot is located is above or below the car; controlling the car to run according to the position of the robot relative to the car, comprising: if the current floor where the robot is located is above the car, sending an upward instruction to the elevator to control the car to run upward; if the current floor where the robot is located is below the car, sending a downward instruction to the elevator to control the car to run downward. The method further comprises:

4. The method of claim 1, wherein, obtaining the running state of the elevator; if the running state of the elevator is a static state and the elevator is located at a first floor within a preset time period, sending a control instruction to the elevator, wherein the control instruction is used to control the car to run upward from the first floor, and the control instruction is also used to control the car to stop at each floor and send a test signal each time the car stops at each floor; or, if the running state of the elevator is a static state and the elevator is located at the highest floor within a preset time period, sending a control instruction to the elevator, wherein the control instruction is used to control the car to run downward from the highest floor, and the control instruction is also used to control the car to stop at each floor and send a test signal each time the car stops at each floor. ​ 5. The method according to claim 1 or 4, characterized in that, Before sending the control instruction to the elevator, the method further comprises: acquiring image information of a current floor where the robot is located, and determining a position of the robot on the current floor relative to a doorway of the elevator; controlling the robot to move locally according to the position of the robot on the current floor relative to the doorway of the elevator, until the robot is directly opposite the doorway of the elevator.

6. The method of claim 5, wherein, The method further comprises: planning a first path based on the image information of the current floor where the robot is located, wherein the first path passes through a first position and a second position, the first position being directly opposite the doorway of the elevator, and the second position being a middle position of the doorway of the elevator; controlling the robot to travel along the first path, after the robot arrives at the second position, acquiring a real-time laser key frame, and constructing a local map based on the acquired real-time laser key frame, to control the robot to enter an interior of a car of the elevator; or, controlling the robot to enter the interior of the car of the elevator based on a preset guide path, the guide path passing through a first position, a second position and a third position, the first position, the second position and the third position being marked by a signal tag.

7. The method of claim 6, wherein, The constructing of the local map to control the robot to enter the interior of the car of the elevator comprises: determining a maximum remaining space in the interior of the car of the elevator based on the local map; controlling the robot to move to a middle position of the remaining space, so that the robot arrives at the third position, wherein the third position is the middle position of the remaining space.

8. A robot, characterized in that comprises: at least one processor and at least one memory, wherein the memory stores a computer program, when the program is executed by the processor, the processor executes the steps of the method of any one of claims 1-7.

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