A lightweight in-map elevator area deployment method, device and storage medium

Abstract

The application relates to a light-weighted in-map elevator area deployment method, device and storage medium, which comprises the following steps: collecting current area information, constructing a map except for an elevator area; scanning the elevator area and marking the threshold center and elevator center of the elevator area; determining the door opening position of the elevator area, and calculating the length and width of the elevator area based on the threshold center and elevator center of the elevator area, so as to generate digital information of the elevator area; fusing the generated digital information of the elevator area, the threshold center and the elevator center coordinates of the elevator area with a corresponding map, and configuring the identification number of the elevator area; and enabling a robot to take an elevator action based on the identification number of the elevator area. Compared with the prior art, the application can be directly operated on a host computer or a web page of the robot, the process is more simple and convenient, the in-map elevator area deployment process and tools are simplified, and the application is more convenient to implement.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a lightweight method, apparatus, and storage medium for deploying elevator zones within a map. Background Technology

[0002] For robots used indoors, elevators are a frequent point of contact, as robots need to use elevators to move around and complete inventory tasks on different floors.

[0003] During path planning, robots typically pre-store an overall map of the area they are in and plan the optimal path based on the map. However, adding elevator areas to a newly created map presents a technical challenge. To address this, invention CN115638785A discloses a robot mapping method, apparatus, electronic device, and storage medium. The method involves acquiring and rendering an environmental map of the target location sent by the robot's operating system; responding to drawing operations on the target area on the environmental map, determining the drawing order index of each vertex in the target area, and the actual position of each vertex in the environmental map; and storing the drawing order index and actual position of each vertex in the target area in the robot's operating system. The target area can include any of the following functional areas: acceleration zone, deceleration zone, disinfection zone, elevator area, avoidance zone, and restricted area.

[0004] When updating the elevator area, the current solution first needs to draw the vertices of the elevator area based on a pre-built environmental map, add the elevator area, and then merge the elevator area into the map. This requires specific robot development software, such as creating a new map using the Windows version of RoboStudio. After the map is created, the elevator area is added, and then the map is uploaded to the cloud to connect the robot and the elevator. The current solution is cumbersome and inconvenient. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of the prior art, which requires specific robot development software for elevator area updates, resulting in cumbersome and inconvenient operation, and to provide a lightweight method, device, and storage medium for deploying elevator areas within a map.

[0006] The objective of this invention can be achieved through the following technical solutions:

[0007] A lightweight method for deploying elevator areas within a map includes the following steps:

[0008] Collect information about the current area and construct a map excluding the elevator area;

[0009] Scan the elevator area and mark the center of the threshold and the center of the elevator in the elevator area;

[0010] The door opening positions of the elevator area are determined, and the length and width of the elevator area are calculated based on the threshold center and the elevator center, thereby generating digital information of the elevator area.

[0011] The generated digital information of the elevator area, along with the coordinates of its threshold center and elevator center, is integrated with the corresponding map, and an identification number for the elevator area is configured. Based on the identification number of the elevator area, the robot performs the elevator riding action.

[0012] Furthermore, by driving the robot to move to the center of the threshold of the elevator area, the center of the threshold of the elevator area is marked based on the robot's current position.

[0013] Furthermore, by driving the robot to move to the center of the elevator area, the center of the elevator area is marked based on the robot's current position.

[0014] Furthermore, the process of loading the elevator area into the corresponding map is executed via the robot's host computer or a web page.

[0015] Furthermore, the generated digital information for the elevator area also includes the floor information where the elevator area is located.

[0016] The present invention also provides a lightweight in-map elevator area deployment device, comprising:

[0017] The map building module is used to collect information about the current area and build a map excluding the elevator area.

[0018] The elevator information marking module is used to scan the elevator area and mark the center of the threshold and the center of the elevator in the elevator area;

[0019] The elevator area digitization module is used to determine the door opening position of the elevator area, and calculate the length and width of the elevator area based on the threshold center and the elevator center, thereby generating digital information of the elevator area.

[0020] The fusion module is used to merge the generated digital information of the elevator area, as well as the coordinates of its threshold center and elevator center, with the corresponding map, and configure the identification number of the elevator area. Based on the identification number of the elevator area, the robot can perform the elevator riding action.

[0021] Furthermore, the elevator information marking module moves the robot to the center of the threshold of the elevator area, thereby marking the center of the threshold of the elevator area based on the robot's current position.

[0022] Furthermore, the elevator information marking module moves the robot to the center of the elevator area, thereby marking the center of the elevator area based on the robot's current position.

[0023] Furthermore, the digital information of the elevator area generated by the elevator area digitization module also includes the floor information where the elevator area is located.

[0024] The present invention also provides a computer-readable storage medium on which a computer program is stored, the computer program being executed by a processor using the method described above.

[0025] Compared with the prior art, the present invention has the following advantages:

[0026] (1) Compared with the existing solution, which requires adding elevator areas to the map and then uploading the map to the cloud to connect the robot and the elevator, this solution generates elevator areas based on the marked coordinates by marking the center of the elevator threshold and the center of the elevator, and then integrates them into the map and configures the ID of the elevator area, so that the robot can directly perform elevator riding actions based on the ID of the elevator area. This process does not require operation in the robot development software and can be directly operated through the machine's host computer or web page, making the process simpler and faster.

[0027] (2) This invention simplifies the process and tools for deploying elevator areas within a map, making it easier to implement. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating a lightweight in-map elevator area deployment method provided in an embodiment of the present invention. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0031] It should be noted that similar labels 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.

[0032] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed during use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0033] It should be noted that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0034] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0035] Example 1

[0036] like Figure 1 As shown, this embodiment provides a lightweight method for deploying elevator areas within a map, including the following steps:

[0037] S1: Collect information about the current area and build a map excluding the elevator area;

[0038] S2: Scan the elevator area and mark the threshold center and elevator center of the elevator area;

[0039] In this embodiment, the threshold center of the elevator area is marked based on the robot's current position by driving the robot to move to the center of the elevator area threshold.

[0040] By driving the robot to move to the center of the elevator area, the center of the elevator area is marked based on the robot's current position.

[0041] S3: Determine the door opening position of the elevator area, and calculate the length of the elevator area based on the threshold center and elevator center. The width of the elevator area is preset, and can be assumed to be 1 meter, which is the width of a regular passenger elevator in the mall, thereby generating the digital information of the elevator area.

[0042] The generated digital information for the elevator area also includes the floor information where the elevator area is located.

[0043] S4: Load the generated elevator area digital information, along with the coordinates of its threshold center and elevator center, into the corresponding map, and configure the elevator area's identifier.

[0044] The process of loading the elevator area into the corresponding map is executed through the robot's host computer or a web page.

[0045] In other words, this solution allows for the direct addition of elevator areas when creating new maps across multiple floors. By marking the center of the elevator threshold and the elevator center, the door opening position of the elevator area is calculated based on the orientation, and the length and width of the elevator are calculated using the two marked coordinates. Finally, the elevator area is generated. Multiple maps are merged and integrated based on the elevator coordinates before being loaded into the business logic. An elevator ID can be configured in Node-RED, enabling robots to directly perform elevator actions.

[0046] This solution can be implemented using C++ or Python programming in Node-RED. Compared to existing solutions that require adding elevator areas to a map, uploading the map to the cloud, using robot development software such as RoboStudio to add the elevator areas, and finally connecting the robot and elevator via the cloud, this solution eliminates the need for operation within the robot development software. It can be directly operated through the robot's host computer or a web page, making the process much simpler and faster.

[0047] The above is an introduction to the method embodiments. The following describes the present invention further through device embodiments.

[0048] This embodiment also provides a lightweight in-map elevator area deployment device, including:

[0049] The map building module is used to collect information about the current area and build a map excluding the elevator area.

[0050] The elevator information marking module is used to scan the elevator area and mark the center of the threshold and the center of the elevator in the elevator area;

[0051] The elevator area digitization module is used to determine the door opening position of the elevator area, and calculate the length and width of the elevator area based on the threshold center and the elevator center, thereby generating digital information of the elevator area.

[0052] The map update module is used to load the generated elevator area digital information, along with the coordinates of its threshold center and elevator center, into the corresponding map and configure the elevator area's identifier.

[0053] The elevator information marking module marks the center of the elevator area's threshold by driving the robot to move to the center of the threshold.

[0054] The elevator information marking module marks the center of the elevator area based on the robot's current position by driving the robot to move to the center of the elevator area.

[0055] The digital information of the elevator area generated by the elevator area digitization module also includes the floor information where the elevator area is located.

[0056] It should be noted that the specific details and beneficial effects of the device in this application can be found in the above-described method embodiments, and will not be repeated here.

[0057] This embodiment also provides a computer-readable storage medium storing a computer program, which is executed by a processor to perform the aforementioned lightweight map-based elevator area deployment method.

[0058] The program code used to implement the methods of the present invention can be written in any combination of one or more programming languages. This program code can be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code can be executed entirely on the machine, partially on the machine, as a standalone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0059] In the context of this invention, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0060] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A lightweight method for deploying elevator areas within a map, characterized in that, Includes the following steps: Collect information about the current area and construct a map excluding the elevator area; Scan the elevator area and mark the center of the threshold and the center of the elevator in the elevator area; The door opening position of the elevator area is determined, and the length of the elevator area is calculated based on the threshold center and the elevator center. Combined with the pre-set width of the elevator area, the digital information of the elevator area is generated. The generated digital information of the elevator area, along with the coordinates of its threshold center and elevator center, is integrated with the corresponding map, and an identification number for the elevator area is configured. Based on the identification number of the elevator area, the robot performs the elevator riding action.

2. The lightweight in-map elevator area deployment method according to claim 1, characterized in that, By driving the robot to move to the center of the threshold of the elevator area, the center of the threshold of the elevator area is marked based on the robot's current position.

3. The lightweight in-map elevator area deployment method according to claim 1, characterized in that, By driving the robot to move to the center of the elevator area, the center of the elevator area is marked based on the robot's current position.

4. The lightweight in-map elevator area deployment method according to claim 1, characterized in that, The process of loading the elevator area into the corresponding map is executed through the robot's host computer or a web page.

5. A lightweight map-based elevator area deployment method according to claim 1, characterized in that, The generated digital information for the elevator area also includes the floor information where the elevator area is located.

6. A lightweight in-map elevator area deployment device, characterized in that, include: The map building module is used to collect information about the current area and build a map excluding the elevator area. The elevator information marking module is used to scan the elevator area and mark the center of the threshold and the center of the elevator in the elevator area; The elevator area digitization module is used to determine the door opening position of the elevator area, and calculate the length of the elevator area based on the threshold center and the elevator center. Combined with the pre-set width of the elevator area, it generates digital information of the elevator area. The fusion module is used to merge the generated digital information of the elevator area, as well as the coordinates of its threshold center and elevator center, with the corresponding map, and configure the identification number of the elevator area. Based on the identification number of the elevator area, the robot can perform the elevator riding action.

7. A lightweight in-map elevator area deployment device according to claim 6, characterized in that, The elevator information marking module moves the robot to the center of the threshold of the elevator area, thereby marking the center of the threshold of the elevator area based on the robot's current position.

8. A lightweight in-map elevator area deployment device according to claim 6, characterized in that, The elevator information marking module moves the robot to the center of the elevator area, thereby marking the center of the elevator area based on the robot's current position.

9. A lightweight in-map elevator area deployment device according to claim 6, characterized in that, The digital information of the elevator area generated by the elevator area digitization module also includes the floor information where the elevator area is located.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which is executed by a processor according to any one of claims 1 to 5.

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