A building robot autonomous navigation positioning method, system and medium

Abstract

This application provides a method, system, and medium for autonomous navigation and positioning of a building robot. Belonging to the field of building navigation and positioning technology, the method includes: constructing a building map, marking the robot's starting position, and obtaining the robot's starting position information; receiving task information and determining the task destination location information; acquiring the robot's position information, and generating optimal path information through a path planning model based on the destination location information and the robot's position information; the robot moving according to the optimal path information, collecting real-time robot movement status information, comparing the real-time robot movement status information with preset movement status information to obtain a deviation rate; determining whether the deviation rate is greater than a preset deviation rate threshold; if it is greater, generating correction information, correcting the robot's movement status information using the correction information, and transmitting the correction result to a terminal; enabling the building robot to adapt to different buildings for autonomous navigation and positioning.

Description

Technical Field

[0001] This application relates to the field of building robot navigation and positioning technology, and more specifically, to a building robot autonomous navigation and positioning method, system and medium. Background Technology

[0002] Existing building robots, when using elevators to perform tasks on different floors, need to use SLAM technology to create maps for each floor. The starting point for map creation may differ between floors, requiring the robot to reinitialize after switching maps in the elevator. Using QR codes on the ceiling for initialization requires additional QR code and recognition equipment, increasing deployment and robot costs. There is a lack of a reliable and effective autonomous navigation and positioning method adaptable to different buildings.

[0003] Effective technical solutions are urgently needed to address the above problems. Summary of the Invention

[0004] The purpose of this application is to provide a building robot autonomous navigation and positioning method, system, and medium. By constructing a building map and marking the robot's starting position, the optimal path information is generated through a path planning model based on the destination location information and the robot's position information. The robot moves according to the optimal path information, enabling the building robot to adapt to different buildings for autonomous navigation and positioning technology.

[0005] This application also provides an autonomous navigation and positioning method for building robots, including:

[0006] Construct a building map, mark the robot's starting position, and obtain the robot's starting position information;

[0007] Receive mission information and determine the mission destination location information;

[0008] Obtain robot location information, and generate optimal path information through path planning model based on destination location information and robot location information;

[0009] The robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with the preset movement status information, and obtains the deviation rate.

[0010] Determine whether the deviation rate is greater than a preset deviation rate threshold;

[0011] If the value is greater than the specified value, correction information is generated. The robot's movement state information is then corrected using this correction information, and the correction result is transmitted to the terminal.

[0012] Optionally, in the building robot autonomous navigation and positioning method described in the embodiments of this application, the step of constructing a building map, marking the robot's starting position, and obtaining the robot's starting position information includes:

[0013] Obtain elevator location and elevator parameter information;

[0014] Construct elevator point coordinates based on elevator parameter information to determine the location of the elevator center point;

[0015] The mobile robot enters the center point of the elevator, and the rotating robot scans the interior space of the elevator and begins to build a map using SLAM technology.

[0016] Once the map is completed, designate it as the base map;

[0017] The robot exits the elevator and scans the space on the first floor to obtain expansion information.

[0018] The basic map is expanded based on the expansion information to form the first floor space map;

[0019] Based on the spatial map of the first floor, the spatial maps of the remaining floors are constructed sequentially to form a comprehensive spatial map of the building.

[0020] The center of each elevator floor is used as the starting point for robot navigation.

[0021] Optionally, in the building robot autonomous navigation and positioning method described in the embodiments of this application, the step of constructing a building map, marking the robot's starting position, and obtaining the robot's starting position information further includes:

[0022] Collect image information from different floors of a building to construct a 3D point cloud map of the building;

[0023] Downsampling filtering is applied to the 3D point cloud map to obtain filtered 3D point cloud data;

[0024] Collect air pressure parameters from different floors and calculate the height difference between each floor based on the air pressure parameters;

[0025] The building's 3D point cloud map is reconstructed by stitching together multi-floor maps based on the height differences of each floor and the filtered 3D point cloud data.

[0026] Optionally, in the building robot autonomous navigation and positioning method described in the embodiments of this application, the step of collecting air pressure parameters of different floors and calculating the height difference between each floor based on the air pressure parameters includes:

[0027] Collect air molecular mass parameters, gravitational acceleration, gas constant, and temperature information to calculate the air pressure at the current location. Establish the relationship between altitude and air pressure based on the current location's air pressure, as shown in the following formula:

[0028]

[0029] Where p(n) represents the relationship between altitude and air pressure, p0 represents standard atmospheric pressure, e represents an exponential function, m represents the mass of the air being analyzed, g represents gravitational acceleration, n represents altitude, k represents the gas constant, and T represents temperature information;

[0030] The height difference between each floor is calculated based on the relationship between air pressure and altitude.

[0031] Optionally, in the building robot autonomous navigation and positioning method described in the embodiments of this application, the step of obtaining elevator position and elevator parameter information, constructing elevator point coordinates based on elevator parameter information, determining the elevator center point position, and moving the robot to the elevator center point position includes:

[0032] Obtain elevator parameter information, obtain elevator door size information, and establish an elevator door plane coordinate system;

[0033] Establish a centerline based on the elevator door size information, and set multiple centerline marker points along the elevator height direction;

[0034] Transform the midline marker points into a plane coordinate system to obtain the coordinates of the midline marker points;

[0035] When the elevator doors open, the movement position information of the side door edge lines on both sides of the elevator is obtained in real time;

[0036] The elevator door opening information is obtained by calculating the coordinates of the midline marker point and the movement position information of the side door edge line.

[0037] When the elevator door opens to a degree greater than the preset opening, the robot is controlled to enter the elevator.

[0038] Optionally, in the building robot autonomous navigation and positioning method described in the embodiments of this application, the step of obtaining robot location information and generating optimal path information through a path planning model based on destination location information and robot location information includes:

[0039] The robot's location information and destination location information are obtained based on a comprehensive spatial map.

[0040] Input the robot's parameter information and current motion pose information into the path planning model to generate the optimal path.

[0041] The robot moves along the optimal path according to the preset motion information;

[0042] During the movement, the current pose data is collected in real time and compared with the preset pose information to obtain the pose deviation rate;

[0043] Determine whether the pose deviation rate is greater than a preset deviation rate;

[0044] If the value is greater than the preset motion information of the robot, then the preset motion information of the robot will be adjusted.

[0045] The robot's pose data is denoted as (x, y, θ), where x represents the x-axis movement data based on the world coordinate system established by the omnidirectional spatial map, y represents the y-axis movement data based on the world coordinate system established by the omnidirectional spatial map, and θ represents the robot's heading angle data during movement. The formula for calculating the robot's pose data is as follows:

[0046]

[0047] Where λ represents the robot's movement speed correction value; v1 represents the robot's left wheel drive speed, v2 represents the robot's right wheel drive speed, and θ t θ represents the robot's heading angle at time t. t+△t This represents the robot's heading angle after time Δt from time t.

[0048] Optionally, the autonomous navigation and positioning method for building robots described in the embodiments of this application further includes: obtaining destination location information and calculating destination floor information based on the height difference between the all-round spatial map and each floor;

[0049] Collect image information from the elevator control panel, extract the control button area, and obtain the numerical information of the control buttons;

[0050] Based on the destination floor information, control the robot to press the corresponding floor's operation button number, so that the robot can reach the corresponding floor and perform the task.

[0051] Secondly, embodiments of this application provide an autonomous navigation and positioning system for a building robot. The system includes a memory and a processor. The memory includes a program for an autonomous navigation and positioning method for a building robot. When the program for the autonomous navigation and positioning method for a building robot is executed by the processor, it implements the following steps:

[0052] Construct a building map, mark the robot's starting position, and obtain the robot's starting position information;

[0053] Receive mission information and determine the mission destination location information;

[0054] Obtain robot location information, and generate optimal path information through path planning model based on destination location information and robot location information;

[0055] The robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with the preset movement status information, and obtains the deviation rate.

[0056] Determine whether the deviation rate is greater than a preset deviation rate threshold;

[0057] If the value is greater than the specified value, correction information is generated. The robot's movement state information is then corrected using this correction information, and the correction result is transmitted to the terminal.

[0058] Optionally, in the building robot autonomous navigation and positioning system described in the embodiments of this application, elevator position and elevator parameter information are obtained;

[0059] Construct elevator point coordinates based on elevator parameter information to determine the location of the elevator center point;

[0060] The mobile robot enters the center point of the elevator, and the rotating robot scans the interior space of the elevator and begins to build a map using SLAM technology.

[0061] Once the map is completed, designate it as the base map;

[0062] The robot exits the elevator and scans the space on the first floor to obtain expansion information.

[0063] The basic map is expanded based on the expansion information to form the first floor space map;

[0064] Based on the spatial map of the first floor, the spatial maps of the remaining floors are constructed sequentially to form a comprehensive spatial map of the building.

[0065] The center of each elevator floor is used as the starting point for robot navigation.

[0066] Thirdly, embodiments of this application also provide a computer-readable storage medium, which includes a building robot autonomous navigation and positioning method program. When the building robot autonomous navigation and positioning method program is executed by a processor, it implements the steps of the building robot autonomous navigation and positioning method as described in any of the above claims.

[0067] As can be seen from the above, the building robot autonomous navigation and positioning method, system, and medium provided in this application embodiment constructs a building map, marks the robot's starting position, and obtains the robot's starting position information; receives task information and determines the task destination location information; acquires the robot's position information, and generates optimal path information through a path planning model based on the destination location information and the robot's position information; the robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with preset movement status information, and obtains a deviation rate; determines whether the deviation rate is greater than a preset deviation rate threshold; if it is greater, generates correction information, corrects the robot's movement status information through the correction information, and transmits the correction result to the terminal; the building robot can adapt to different buildings for autonomous navigation and positioning.

[0068] Other features and advantages of this application will be set forth in the following description and will be apparent in part from the description or may be learned by practicing embodiments of this application. The objectives and other advantages of this application may be realized and obtained by means of the structures particularly pointed out in the written description, claims, and drawings. Attached Figure Description

[0069] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 A flowchart of the autonomous navigation and positioning method for building robots provided in the embodiments of this application;

[0071] Figure 2 A flowchart illustrating the construction of a comprehensive building spatial map for the building robot autonomous navigation and positioning method provided in this application embodiment;

[0072] Figure 3 A flowchart of the building 3D point cloud map reconstruction process for the building robot autonomous navigation and positioning method provided in this application embodiment;

[0073] Figure 4 A flowchart of the UAV pose determination method for the autonomous navigation and positioning method for building robots provided in this application embodiment;

[0074] Figure 5 This is a schematic diagram of the structure of the autonomous navigation and positioning system for building robots provided in the embodiments of this application. Detailed Implementation

[0075] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0076] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0077] Please refer to Figure 1 , Figure 1 This is a flowchart of an autonomous navigation and positioning method for a building robot, as described in some embodiments of this application. This method is used in terminal devices, such as computers and mobile phones. The autonomous navigation and positioning method for a building robot includes the following steps:

[0078] S101, Construct a building map, mark the robot's starting position, and obtain the robot's starting position information;

[0079] S102, Receive task information and determine the task destination location information;

[0080] S103, Obtain robot position information, and generate optimal path information through path planning model based on destination position information and robot position information;

[0081] S104, the robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with the preset movement status information, and obtains the deviation rate;

[0082] S105, determine whether the autonomous navigation and positioning deviation rate of the building robot is greater than the preset deviation rate threshold;

[0083] S106, if it is greater than, then generate correction information, correct the robot's movement state information using the correction information, and transmit the correction result to the terminal.

[0084] It should be noted that when creating maps for multiple floors, ensuring that the starting position is consistent, i.e., that the map origin is consistent, will eliminate the need for additional initialization when switching target floor maps in the elevator, thus reducing additional deployment and equipment costs.

[0085] Furthermore, when the robot needs to perform a task on another floor, after the robot calls the elevator and enters the elevator, it switches to the map corresponding to the target floor. At this time, the robot's position on the map before and after switching is the same, so there is no need to initialize the positioning module with the positioning pose. The robot continues to perform positioning based on the position before switching the map, ensuring the continuity and reliability of positioning.

[0086] Please refer to Figure 2 , Figure 2 This is a flowchart illustrating the construction of a comprehensive building spatial map in some embodiments of this application. According to embodiments of the present invention, a building robot autonomously navigates and locates itself to construct a building map, marks its starting position, and obtains its starting position information, including:

[0087] S201, Obtain elevator location and elevator parameter information, construct elevator point coordinates based on elevator parameter information, and determine the elevator center point location;

[0088] S202, the mobile robot enters the center point of the elevator, the rotating robot scans the interior space of the elevator and starts to build a map using SLAM technology. After the map is built, it is set as the base map.

[0089] S203, the robot exits the elevator and performs a scanning motion of the space on the first floor to obtain expansion information;

[0090] S204, expand the basic map according to the expansion information to form the first floor space map;

[0091] S205, construct the spatial maps of the remaining floors sequentially based on the spatial map of the first floor, forming a comprehensive spatial map of the building;

[0092] S206 uses the center position of each elevator floor as the starting position for robot navigation.

[0093] Please refer to Figure 3 , Figure 3 This is a flowchart of a building 3D point cloud map reconstruction process in some embodiments of this application. According to embodiments of the present invention, a building robot autonomously navigates and locates to construct a building map, marks the robot's starting position, and obtains the robot's starting position information, further including:

[0094] S301 collects image information from different floors of a building and constructs a 3D point cloud map of the building.

[0095] S302, perform downsampling filtering on the 3D point cloud map to obtain filtered 3D point cloud data;

[0096] S303 collects air pressure parameters from different floors and calculates the height difference between each floor based on the air pressure parameters;

[0097] S304 reconstructs a building 3D point cloud map by stitching together multi-floor maps based on the height differences of each floor and the filtered 3D point cloud data.

[0098] According to an embodiment of the present invention, a building robot autonomously navigates and locates, collects air pressure parameters of different floors, and calculates the height difference between each floor based on the air pressure parameters, including:

[0099] Collect air molecular mass parameters, gravitational acceleration, gas constant, and temperature information to calculate the air pressure at the current location. Establish the relationship between altitude and air pressure based on the current location's air pressure, as shown in the following formula:

[0100]

[0101] Where p(n) represents the relationship between altitude and air pressure, p0 represents standard atmospheric pressure, e represents an exponential function, m represents the mass of the air being analyzed, g represents gravitational acceleration, n represents altitude, k represents the gas constant, and T represents temperature information;

[0102] The height difference between each floor is calculated based on the relationship between air pressure and altitude.

[0103] According to an embodiment of the present invention, a building robot autonomously navigates and locates to obtain elevator position and elevator parameter information, constructs elevator point coordinates based on the elevator parameter information, determines the elevator center point position, and moves the robot to the elevator center point position, including:

[0104] Obtain elevator parameter information, obtain elevator door size information, and establish an elevator door plane coordinate system;

[0105] Establish a centerline based on the elevator door size information, and set multiple centerline marker points along the elevator height direction;

[0106] Transform the midline marker points into a plane coordinate system to obtain the coordinates of the midline marker points;

[0107] When the elevator doors open, the movement position information of the side door edge lines on both sides of the elevator is obtained in real time;

[0108] The elevator door opening information is obtained by calculating the coordinates of the midline marker point and the movement position information of the side door edge line.

[0109] When the elevator door opens to a degree greater than the preset opening, the robot is controlled to enter the elevator.

[0110] It should be noted that the elevator doors are divided into a left door and a right door. The center line can be established based on the connection point between the left and right doors after they are closed. When the elevator opens, the left and right doors gradually move away from the center line. The distance between the marker point on the center line and the edge of the left or right door is used to determine whether the elevator opening is large enough to accommodate the robot. When the robot can enter, it is controlled to move into the elevator to prevent it from colliding with the elevator door and causing damage to the robot or the elevator door, thus improving the safety of the robot during use.

[0111] Please refer to Figure 4 , Figure 4 This is a flowchart of a drone pose determination method in some embodiments of this application. According to embodiments of the present invention, a building robot autonomously navigates and locates itself to obtain robot position information, and generates optimal path information through a path planning model based on destination location information and robot position information; including:

[0112] S401, obtains robot location information and destination location information based on a comprehensive spatial map;

[0113] S402: Input the robot's parameter information and current motion pose information into the path planning model to generate the optimal path.

[0114] S403, the robot moves along the optimal path according to the preset motion information;

[0115] S404: During the movement, the current pose data is collected in real time and compared with the preset pose information to obtain the pose deviation rate;

[0116] S405, determine whether the pose deviation rate of the building robot's autonomous navigation and positioning is greater than the preset deviation rate;

[0117] S406, if it is greater than, then the robot's preset motion information will be adjusted;

[0118] The robot's pose data is denoted as (x, y, θ), where x represents the x-axis movement data based on the world coordinate system established by the omnidirectional spatial map, y represents the y-axis movement data based on the world coordinate system established by the omnidirectional spatial map, and θ represents the robot's heading angle data during movement. The formula for calculating the robot's pose data is as follows:

[0119]

[0120] Where λ represents the robot's movement speed correction value; v1 represents the robot's left wheel drive speed, v2 represents the robot's right wheel drive speed, and θ t θ represents the robot's heading angle at time t. t+△tThis represents the robot's heading angle after time Δt from time t.

[0121] According to an embodiment of the present invention, the method further includes: obtaining destination location information and calculating destination floor information based on the height difference between the all-round spatial map and each floor;

[0122] Collect image information from the elevator control panel, extract the control button area, and obtain the numerical information of the control buttons;

[0123] Based on the destination floor information, control the robot to press the corresponding floor's operation button number, so that the robot can reach the corresponding floor and perform the task.

[0124] According to an embodiment of the present invention, the method further includes: acquiring an image of an elevator control panel and segmenting the image;

[0125] Extract the character and non-character regions from the elevator control panel image;

[0126] Non-character regions are removed, and then edge extraction is performed on the character regions.

[0127] Before extracting the character region edges, the elevator control panel image is first smoothed using Gaussian filtering.

[0128] Establish a Gaussian kernel equation, set the Gaussian kernel to an odd number, and convolve the elevator control panel image using the Gaussian kernel to obtain a smoothed elevator control panel image.

[0129] The gradient magnitude and direction of each pixel in the elevator control panel image are obtained, and the characters of the control buttons are identified and located.

[0130] Please refer to Figure 5 , Figure 5 This application describes an autonomous navigation and positioning system for a building robot in some embodiments. Secondly, this application provides an autonomous navigation and positioning system 5 for a building robot, comprising: a memory 51 and a processor 52. The memory includes a program for an autonomous navigation and positioning method for the building robot. When the program is executed by the processor, it performs the following steps:

[0131] Construct a building map, mark the robot's starting position, and obtain the robot's starting position information;

[0132] Receive mission information and determine the mission destination location information;

[0133] Obtain robot location information, and generate optimal path information through path planning model based on destination location information and robot location information;

[0134] The robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with the preset movement status information, and obtains the deviation rate.

[0135] Determine whether the autonomous navigation and positioning deviation rate of the building robot is greater than a preset deviation rate threshold;

[0136] If the value is greater than the specified value, correction information is generated. The robot's movement state information is then corrected using this correction information, and the correction result is transmitted to the terminal.

[0137] It should be noted that when creating maps for multiple floors, ensuring that the starting position is consistent, i.e., that the map origin is consistent, will eliminate the need for additional initialization when switching target floor maps in the elevator, thus reducing additional deployment and equipment costs.

[0138] Furthermore, when the robot needs to perform a task on another floor, after the robot calls the elevator and enters the elevator, it switches to the map corresponding to the target floor. At this time, the robot's position on the map before and after switching is the same, so there is no need to initialize the positioning module with the positioning pose. The robot continues to perform positioning based on the position before switching the map, ensuring the continuity and reliability of positioning.

[0139] According to an embodiment of the present invention, elevator position and elevator parameter information are obtained;

[0140] Construct elevator point coordinates based on elevator parameter information to determine the location of the elevator center point;

[0141] The mobile robot enters the center point of the elevator, and the rotating robot scans the interior space of the elevator and begins to build a map using SLAM technology.

[0142] Once the map is completed, designate it as the base map;

[0143] The robot exits the elevator and scans the space on the first floor to obtain expansion information.

[0144] The basic map is expanded based on the expansion information to form the first floor space map;

[0145] Based on the spatial map of the first floor, the spatial maps of the remaining floors are constructed sequentially to form a comprehensive spatial map of the building.

[0146] The center of each elevator floor is used as the starting point for robot navigation.

[0147] According to an embodiment of the present invention, the building robot autonomously navigates and locates to construct a building map, marks the robot's starting position, and obtains the robot's starting position information, and further includes:

[0148] Collect image information from different floors of a building to construct a 3D point cloud map of the building;

[0149] Downsampling filtering is applied to the 3D point cloud map to obtain filtered 3D point cloud data;

[0150] Collect air pressure parameters from different floors and calculate the height difference between each floor based on the air pressure parameters;

[0151] The building's 3D point cloud map is reconstructed by stitching together multi-floor maps based on the height differences of each floor and the filtered 3D point cloud data.

[0152] According to an embodiment of the present invention, a building robot autonomously navigates and locates, collects air pressure parameters of different floors, and calculates the height difference between each floor based on the air pressure parameters, including:

[0153] Collect air molecular mass parameters, gravitational acceleration, gas constant, and temperature information to calculate the air pressure at the current location. Establish the relationship between altitude and air pressure based on the current location's air pressure, as shown in the following formula:

[0154]

[0155] Where p(n) represents the relationship between altitude and air pressure, p0 represents standard atmospheric pressure, e represents an exponential function, m represents the mass of the air being analyzed, g represents gravitational acceleration, n represents altitude, k represents the gas constant, and T represents temperature information;

[0156] The height difference between each floor is calculated based on the relationship between air pressure and altitude.

[0157] According to an embodiment of the present invention, a building robot autonomously navigates and locates to obtain elevator position and elevator parameter information, constructs elevator point coordinates based on the elevator parameter information, determines the elevator center point position, and moves the robot to the elevator center point position, including:

[0158] Obtain elevator parameter information, obtain elevator door size information, and establish an elevator door plane coordinate system;

[0159] Establish a centerline based on the elevator door size information, and set multiple centerline marker points along the elevator height direction;

[0160] Transform the midline marker points into a plane coordinate system to obtain the coordinates of the midline marker points;

[0161] When the elevator doors open, the movement position information of the side door edge lines on both sides of the elevator is obtained in real time;

[0162] The elevator door opening information is obtained by calculating the coordinates of the midline marker point and the movement position information of the side door edge line.

[0163] When the elevator door opens to a degree greater than the preset opening, the robot is controlled to enter the elevator.

[0164] It should be noted that the elevator doors are divided into a left door and a right door. The center line can be established based on the connection point between the left and right doors after they are closed. When the elevator opens, the left and right doors gradually move away from the center line. The distance between the marker point on the center line and the edge of the left or right door is used to determine whether the elevator opening is large enough to accommodate the robot. When the robot can enter, it is controlled to move into the elevator to prevent it from colliding with the elevator door and causing damage to the robot or the elevator door, thus improving the safety of the robot during use.

[0165] According to an embodiment of the present invention, a building robot autonomously navigates and locates itself to obtain robot position information, and generates optimal path information through a path planning model based on destination location information and robot position information; including:

[0166] The robot's location information and destination location information are obtained based on a comprehensive spatial map.

[0167] Input the robot's parameter information and current motion pose information into the path planning model to generate the optimal path.

[0168] The robot moves along the optimal path according to the preset motion information;

[0169] During the movement, the current pose data is collected in real time and compared with the preset pose information to obtain the pose deviation rate;

[0170] Determine whether the pose deviation rate of the building robot's autonomous navigation and positioning is greater than the preset deviation rate;

[0171] If the value is greater than the preset motion information of the robot, then the preset motion information of the robot will be adjusted.

[0172] The robot's pose data is denoted as (x, y, θ), where x represents the x-axis movement data based on the world coordinate system established by the omnidirectional spatial map, y represents the y-axis movement data based on the world coordinate system established by the omnidirectional spatial map, and θ represents the robot's heading angle data during movement. The formula for calculating the robot's pose data is as follows:

[0173]

[0174] Where λ represents the robot's movement speed correction value; v1 represents the robot's left wheel drive speed, v2 represents the robot's right wheel drive speed, and θ t θ represents the robot's heading angle at time t. t+△t This represents the robot's heading angle after time Δt from time t.

[0175] According to an embodiment of the present invention, the method further includes: obtaining destination location information and calculating destination floor information based on the height difference between the all-round spatial map and each floor;

[0176] Collect image information from the elevator control panel, extract the control button area, and obtain the numerical information of the control buttons;

[0177] Based on the destination floor information, control the robot to press the corresponding floor's operation button number, so that the robot can reach the corresponding floor and perform the task.

[0178] According to an embodiment of the present invention, the method further includes: acquiring an image of an elevator control panel and segmenting the image;

[0179] Extract the character and non-character regions from the elevator control panel image;

[0180] Non-character regions are removed, and then edge extraction is performed on the character regions.

[0181] Before extracting the character region edges, the elevator control panel image is first smoothed using Gaussian filtering.

[0182] Establish a Gaussian kernel equation, set the Gaussian kernel to an odd number, and convolve the elevator control panel image using the Gaussian kernel to obtain a smoothed elevator control panel image.

[0183] The gradient magnitude and direction of each pixel in the elevator control panel image are obtained, and the characters of the control buttons are identified and located.

[0184] A third aspect of the present invention provides a computer-readable storage medium, which includes a building robot autonomous navigation and positioning method program. When the building robot autonomous navigation and positioning method program is executed by a processor, it implements the steps of the building robot autonomous navigation and positioning method described above.

[0185] This invention discloses a building robot autonomous navigation and positioning method, system, and medium. It involves constructing a building map, marking the robot's starting position, and obtaining the robot's starting position information; receiving task information and determining the task destination location information; acquiring the robot's position information; generating optimal path information through a path planning model based on the destination location information and the robot's position information; the robot moving according to the optimal path information; collecting the robot's real-time movement status information; comparing the robot's real-time movement status information with preset movement status information to obtain a deviation rate; determining whether the building robot's autonomous navigation and positioning deviation rate is greater than a preset deviation rate threshold; if it is greater, generating correction information to correct the robot's movement status information and transmitting the correction result to a terminal; enabling the building robot to adapt to different buildings for autonomous navigation and positioning.

[0186] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods, such as: 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, direct coupling, or communication connection between the various components shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0187] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units. They may be located in one place or distributed across multiple network units. Some or all of the units may be selected to achieve the purpose of this embodiment according to actual needs.

[0188] In addition, in the various embodiments of the present invention, each functional unit can be integrated into one processing unit, or each unit can be a separate unit, or two or more units can be integrated into one unit; the integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0189] Those skilled in the art will understand that all or part of the steps of the above method embodiments can be implemented by hardware related to program instructions. The aforementioned program can be stored in a readable storage medium. When the program is executed, it performs the steps of the above method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0190] Alternatively, if the integrated units of this invention are implemented as software functional modules and sold or used as independent products, they can also be stored in a readable storage medium. Based on this understanding, the technical solutions of the embodiments of this invention, or the parts that contribute to the prior art, can be embodied in the form of a software product. This software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as mobile storage devices, ROM, RAM, magnetic disks, or optical disks.

Claims

1. A method for autonomous navigation and localization of a building robot, characterized in that, include: The process involves constructing a building map, determining the robot's starting position, and obtaining the robot's starting position information. Specifically, this includes: acquiring the elevator's location and parameter information; constructing elevator coordinates based on the elevator parameters to determine the elevator's center point; moving the robot to the elevator's center point and rotating it to scan the elevator's interior space while using SLAM technology to begin mapping; establishing the base map after mapping; the robot exiting the elevator and scanning the space on the first floor to obtain expansion information; expanding the base map based on this expansion information to form a first-floor spatial map; sequentially constructing spatial maps for the remaining floors based on the first-floor spatial map to form a comprehensive building spatial map; and using the center point of each elevator floor as the robot's navigation starting position. Receive mission information and determine the mission destination location information; Obtain robot location information, and generate optimal path information through path planning model based on destination location information and robot location information; The robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with the preset movement status information, and obtains the deviation rate. Determine whether the deviation rate is greater than a preset deviation rate threshold; If the value is greater than the value, correction information is generated, the robot's movement state information is corrected using the correction information, and the correction result is transmitted to the terminal. Specifically, this includes: obtaining robot location information and destination location information based on a comprehensive spatial map; Input the robot's parameter information and current motion pose information into the path planning model to generate the optimal path. The robot moves along the optimal path according to the preset motion information; During the movement, the current pose data is collected in real time and compared with the preset pose information to obtain the pose deviation rate; Determine whether the pose deviation rate is greater than a preset deviation rate; If the value is greater than the preset motion information of the robot, then the preset motion information of the robot will be adjusted. The robot's pose data is denoted as... ,in This indicates the establishment of a world coordinate system based on a full-range spatial map. Axis movement data, This indicates the establishment of a world coordinate system based on a full-range spatial map. Axis movement data, This represents the robot's heading angle data during movement. The formula for calculating the robot's pose data is as follows: ； in, This indicates the correction value for the robot's movement speed; Indicates the speed of the robot's left wheel drive. Indicates the robot's right drive speed. express The robot's heading angle at that moment Indicates that the robot is from Time passes The robot's heading angle after a certain time.

2. The method of claim 1, wherein, The process of constructing a building map, marking the robot's starting position, and obtaining the robot's starting position information also includes: Collect image information from different floors of a building to construct a 3D point cloud map of the building; Downsampling filtering is applied to the 3D point cloud map to obtain filtered 3D point cloud data; Collect air pressure parameters from different floors and calculate the height difference between each floor based on the air pressure parameters; The building's 3D point cloud map is reconstructed by stitching together multi-floor maps based on the height differences of each floor and the filtered 3D point cloud data.

3. The building robot autonomous navigation and positioning method according to claim 2, characterized in that, The process of collecting air pressure parameters from different floors and calculating the height difference between each floor based on these parameters includes: Collect air molecular mass parameters, gravitational acceleration, gas constant, and temperature information to calculate the air pressure at the current location. Based on the air pressure at the current location, establish the relationship between altitude and air pressure, as shown in the following formula: ； in This indicates the relationship between altitude and air pressure. Indicates standard atmospheric pressure. Represents an exponential function. Indicates air quality analysis. Represents gravitational acceleration. Indicates altitude, Represents the gas constant. Indicates temperature information; The height difference between each floor is calculated based on the relationship between air pressure and altitude.

4. The autonomous navigation and positioning method for building robots according to claim 1, characterized in that, The process of acquiring elevator position and parameter information, constructing elevator point coordinates based on elevator parameter information, determining the elevator center point position, and having the mobile robot enter the elevator center point position includes: Obtain elevator parameter information, obtain elevator door size information, and establish an elevator door plane coordinate system; Establish a centerline based on the elevator door size information, and set multiple centerline marker points along the elevator height direction; Transform the midline marker points into a plane coordinate system to obtain the coordinates of the midline marker points; When the elevator doors open, the movement position information of the side door edge lines on both sides of the elevator is obtained in real time; The elevator door opening information is obtained by calculating the coordinates of the midline marker point and the movement position information of the side door edge line. When the elevator door opens to a degree greater than the preset opening, the robot is controlled to enter the elevator.

5. The autonomous navigation and positioning method for building robots according to claim 1, characterized in that, It also includes: obtaining destination location information and calculating destination floor information based on the height difference between the full-range spatial map and each floor; Collect image information from the elevator control panel, extract the control button area, and obtain the numerical information of the control buttons; Based on the destination floor information, control the robot to press the corresponding floor's operation button number, so that the robot can reach the corresponding floor and perform the task.

6. A building robot autonomous navigation and positioning system, characterized by, The system includes a memory and a processor. The memory contains a program for an autonomous navigation and positioning method for a building robot. When the program for the autonomous navigation and positioning method for a building robot is executed by the processor, it performs the following steps: The process involves constructing a building map, determining the robot's starting position, and obtaining the robot's starting position information. Specifically, this includes: acquiring the elevator's location and parameter information; constructing elevator coordinates based on the elevator parameters to determine the elevator's center point; moving the robot to the elevator's center point and rotating it to scan the elevator's interior space while using SLAM technology to begin mapping; establishing the base map after mapping; the robot exiting the elevator and scanning the space on the first floor to obtain expansion information; expanding the base map based on this expansion information to form a first-floor spatial map; sequentially constructing spatial maps for the remaining floors based on the first-floor spatial map to form a comprehensive building spatial map; and using the center point of each elevator floor as the robot's navigation starting position. Receive mission information and determine the mission destination location information; Obtain robot location information, and generate optimal path information through path planning model based on destination location information and robot location information; The robot moves according to the optimal path information, collects the robot's real-time movement status information, compares the robot's real-time movement status information with the preset movement status information, and obtains the deviation rate. Determine whether the deviation rate is greater than a preset deviation rate threshold; If the value is greater than the value, correction information is generated, the robot's movement state information is corrected using the correction information, and the correction result is transmitted to the terminal. Specifically, this includes: obtaining robot location information and destination location information based on a comprehensive spatial map; Input the robot's parameter information and current motion pose information into the path planning model to generate the optimal path. The robot moves along the optimal path according to the preset motion information; During the movement, the current pose data is collected in real time and compared with the preset pose information to obtain the pose deviation rate; Determine whether the pose deviation rate is greater than a preset deviation rate; If the value is greater than the preset motion information of the robot, then the preset motion information of the robot will be adjusted. The robot's pose data is denoted as... ,in This indicates the establishment of a world coordinate system based on a full-range spatial map. Axis movement data, This indicates the establishment of a world coordinate system based on a full-range spatial map. Axis movement data, This represents the robot's heading angle data during movement. The formula for calculating the robot's pose data is as follows: ； in, This indicates the correction value for the robot's movement speed; Indicates the speed of the robot's left wheel drive. Indicates the robot's right drive speed. express The robot's heading angle at that moment Indicates that the robot is from Time passes The robot's heading angle after a certain time.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a building robot autonomous navigation and positioning method program, which, when executed by a processor, implements the steps of the building robot autonomous navigation and positioning method as described in any one of claims 1 to 5.

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