Method, device, robot and storage medium for restoring staggered floors of robot taking elevator

Abstract

The present application provides a method, device, robot and storage medium for recovering staggered floors when a robot takes an elevator. The method includes: when the received target task needs to cross floors, control the robot to move to the target elevator; after moving to the boarding and alighting point in the elevator, turn on staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time; when the target elevator stops, if the first IMU data and the second IMU data in the monitoring time period from the previous stop to the current stop are inconsistent, it is determined that the robot has staggered floor behavior, and the first map data of the wrong floor is determined; the robot is located and retrieved according to the first map data, and the elevator request is re-executed until the target floor for executing the target task is reached. In this way, the staggered floor behavior of the robot can be determined in a timely and accurate manner through this solution, and the position of the robot can be restored in a timely manner when staggered, thereby effectively ensuring the normal execution of the robot task.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a method, device, robot and storage medium for recovering staggered floors when a robot takes an elevator. Background Art

[0002] With the rapid development of artificial intelligence, automatic control, and sensor technology, robotics has made significant progress in the past few decades, especially in the field of service robots. Service robots can complete various auxiliary tasks in human living and working environments, bringing unprecedented convenience and efficiency improvement to society. Today, robots have been widely used in scenes such as homes, hotels, hospitals, and commercial buildings, and have undertaken a variety of tasks including cleaning, delivery, security, and care. With the improvement of the level of automation, in multi-story structures such as modern intelligent buildings, hotels, and hospitals, service robots have gradually taken on cross-floor tasks, providing users with a variety of services such as item delivery, guidance, security monitoring, and cleaning.

[0003] However, the realization of cross-floor tasks faces many challenges. For example, when the robot is riding an elevator, due to the limited space in the elevator, it is sometimes manually moved out of the elevator. At this time, the robot and the staff cannot sense it specifically. When the floor moved out is not the target floor, the positioning cannot be restored, resulting in it being stuck on the floor being moved out, and unable to complete the task normally. Therefore, how to timely determine the robot's staggered behavior and correctly restore the staggered behavior when the robot performs a cross-floor task, so as to ensure the normal progress of the task, is an urgent problem to be solved when the robot performs a cross-floor task.

[0004] To this end, the prior art (CN115235469A) discloses a method, device, equipment and medium for positioning a robot in an elevator scenario. The scheme calculates the running speed of each elevator at different times through a preset sliding window to obtain the running range of each elevator, and matches the running range of the elevator with the robot imu event in chronological order; when there is an elevator in the elevator group that is consistent with the elevator mark to be entered, it means that the robot is accurately positioned and has entered the elevator corresponding to the elevator mark to be entered; when there is no elevator in the elevator group that is consistent with the elevator mark to be entered, it means that the robot is inaccurately positioned and the robot needs to be repositioned to ensure that the robot can accurately enter the elevator it needs to enter when it cannot recognize the surrounding environment or the GPS positioning is wrong.

[0005] According to the above content, CN115235469A collects all elevator operation intervals and matches them with the robot IMU events to determine whether the robot has entered the target elevator, thereby avoiding the situation of entering the wrong elevator. However, even if the robot enters the correct elevator, there may still be a staggered exit from the wrong elevator. Therefore, the solution of CN115235469A cannot solve the problem of the robot exiting the elevator by mistake, and does not provide specific technical means for recovery after staggered exit.

[0006] In addition, the prior art (CN114180430B) discloses a method and device for a robot to perform tasks. The solution is to set an inertial measurement sensor (IMU) on the robot, and can detect the acceleration of the robot in the horizontal or vertical direction based on the inertial measurement sensor. If there is acceleration in the vertical direction, it is determined that the robot is lifted and moved out of the elevator; if there is acceleration in the horizontal direction, it is determined that the robot is pushed out of the elevator. Then, the visual sensor collects the elevator serial number, and / or the surrounding environmental identification (identification of each floor), and / or the floor information in the wifi information, and / or the voice interaction information of the surrounding personnel to determine the current floor of the robot, and the robot's position information is determined based on the floor.

[0007] However, when the robot is riding the elevator, the inertial measurement sensor (IMU) will also detect acceleration during the elevator's ascent and descent, which can lead to misidentification of the elevator exit status. In addition, when the elevator is not marked with a serial number, there are no floor signs around, there is no wifi information with floor information, and there are no people around, the technical solution (CN114180430B) cannot determine the current floor of the robot, and thus cannot perform the target task. Summary of the invention

[0008] In view of this, the purpose of the present application is to provide a method, device, robot and storage medium for recovering the staggered floors of a robot taking an elevator, which can timely and accurately determine the staggered floor behavior of the robot and restore the position of the robot in time when staggered, thereby effectively ensuring the normal execution of the robot's tasks.

[0009] The embodiment of the present application provides a method for recovering a staggered floor when a robot takes an elevator, and the method for recovering a staggered floor includes:

[0010] When the received target task requires crossing floors, control the robot to move to the target elevator;

[0011] After moving to the boarding and alighting point in the elevator, staggered-floor monitoring is started, and the first IMU data of the robot and the second IMU data of the target elevator are acquired in real time;

[0012] When the target elevator is identified to be stopped, determining whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop, and determining whether the target floor has been reached at the same time;

[0013] If it is determined that the motion states of the robot and the target elevator are inconsistent, it is determined that the robot has staggered behavior;

[0014] Determine the wrong floor where the robot is currently located according to the last stop floor of the target elevator, and obtain first map data of the wrong floor;

[0015] Perform robot positioning and retrieval according to the first map data, determine the current position of the robot, and re-execute the elevator request until the robot reaches the target floor where the target task is to be performed;

[0016] The method of retrieving the robot location according to the first map data to determine the current location of the robot includes:

[0017] Extracting a local map of a predetermined area where the target elevator is located on the wrong floor from the first map data;

[0018] Using the environmental data collected by the robot to match the local map, determining whether the local positioning search is successful;

[0019] If the local positioning search is successful, the current position of the robot is determined.

[0020] Optionally, when the received target task requires crossing floors, controlling the robot to move toward the target elevator includes:

[0021] After receiving the target task, determining whether the target floor where the target task is to be executed is consistent with the floor where the robot is currently located;

[0022] If they are inconsistent, determining a target elevator to be taken to execute the target task, and controlling the robot to move to a waiting point outside the target elevator;

[0023] After arriving at the waiting point outside the target elevator, monitoring whether the target elevator has arrived;

[0024] When the target elevator arrives, the robot is controlled to move to the boarding and alighting point in the elevator;

[0025] When the robot moves to the boarding and alighting point of the target elevator, the map data in the robot is switched to the second map data of the target floor;

[0026] The target elevator to be taken to perform the target task is determined by the following steps:

[0027] According to the dispatching data of all elevators, a target elevator is determined from at least one elevator according to a preset selection strategy;

[0028] Or, according to the current position of the robot and the map data of the floor where the robot is located, the elevator closest to the robot is determined as the target elevator.

[0029] Optionally, determining whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in a monitoring time period from the last stop to the current stop includes:

[0030] Performing inertial data trend analysis on the first IMU data and the second IMU data within the monitoring time period respectively to obtain at least one inertial trend reference parameter of the robot and the target elevator;

[0031] When the inertial trend reference parameters of the two meet the consistency determination requirements, it is determined that the motion states of the robot and the target elevator are consistent; otherwise, it is determined that the motion states of the robot and the target elevator are inconsistent;

[0032] The inertial trend reference parameter includes at least one of the following: acceleration curve fitting result, data continuity, acceleration monotonicity, and velocity monotonicity.

[0033] Optionally, the performing robot positioning and retrieving according to the first map data to determine the current position of the robot further includes:

[0034] If the local positioning search fails, a global positioning search is performed;

[0035] If the global positioning search is successful, the current position of the robot is determined; if the global positioning search fails, a help command is sent to the target person to retrieve the current position of the robot.

[0036] Optionally, the staggered layer recovery method further includes:

[0037] When it is determined that the robot and the target elevator have the same motion state, but have not reached the target floor:

[0038] Continue to perform staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time;

[0039] When it is determined that the robot and the target elevator have the same motion state and have reached the target floor:

[0040] Controlling the robot to move outside the elevator;

[0041] When the elevator moves to the exit point on the target floor, the staggered floor monitoring is turned off and the target task is started.

[0042] Optionally, the staggered layer recovery method further includes:

[0043] If the robot does not move to the exit point on the target floor within a predetermined time, the elevator door opening operation is controlled, and the robot is continued to be controlled to move out of the elevator;

[0044] If the elevator has not moved to the exit point on the target floor while the target elevator is opening its door, the elevator request is re-executed and staggered floor monitoring is continued.

[0045] Optionally, determining a target elevator to be taken to perform the target task, and controlling the robot to move to a waiting point outside the target elevator, includes:

[0046] Obtaining the waiting point outside the target elevator;

[0047] According to the current position of the robot and the waiting point outside the elevator of the target elevator, a path planning process is performed in combination with the map data of the floor where the robot is currently located, so as to determine the movement path of the robot from the current position to the waiting point outside the elevator;

[0048] Controlling the robot to move according to the moving path until it moves to a waiting point outside the target elevator;

[0049] Before monitoring whether the target elevator has arrived, the staggered floor recovery method further includes:

[0050] Sending a first elevator ride request carrying target floor information to the control system of the target elevator; wherein the first elevator ride request is sent in any of the following ways:

[0051] Sending a first elevator ride request to an elevator control system corresponding to the target elevator through wireless communication;

[0052] Sending a first elevator ride request to an elevator control system corresponding to the target elevator through the Internet of Things platform established by the robot and the target elevator;

[0053] When the robot arrives at the waiting point outside the target elevator, it sends a first elevator ride request to the elevator control system corresponding to the target elevator through short-distance communication;

[0054] When the robot arrives at the waiting point outside the target elevator, the robot is controlled to operate the elevator call button outside the target elevator to send a second elevator request to the elevator control system corresponding to the target elevator; wherein the second elevator request does not carry the target floor information;

[0055] After controlling the robot to operate the elevator call button outside the target elevator, the staggered floor recovery method further includes:

[0056] When it is determined that the robot moves to the boarding and alighting point in the elevator, the robot is controlled to operate the floor selection key in the target elevator to send the target floor information to the elevator control system corresponding to the target elevator.

[0057] The embodiment of the present application also provides a staggered-floor recovery device for a robot taking an elevator, the staggered-floor recovery device comprising:

[0058] A control module is used to control the robot to move to the target elevator when the received target task requires crossing floors;

[0059] The first monitoring module is used to start staggered floor monitoring after moving to the boarding and alighting point in the elevator, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time;

[0060] A first determination module is used to determine whether the motion state of the robot and the target elevator is consistent, and whether the target floor is reached according to the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop when the target elevator is identified to be stopped;

[0061] A second determination module is used to determine that the robot has staggered behavior if it is determined that the motion states of the robot and the target elevator are inconsistent;

[0062] A third determination module is used to determine the wrong floor where the robot is currently located according to the last stop floor of the target elevator, and obtain first map data of the wrong floor;

[0063] A recovery module, used to retrieve the robot's position according to the first map data, determine the robot's current position, and re-execute the elevator request until the robot reaches the target floor where the target task is to be executed;

[0064] Wherein, when the recovery module is used to retrieve the robot position according to the first map data and determine the current position of the robot, the recovery module is used to:

[0065] Extracting a local map of a predetermined area where the target elevator is located on the wrong floor from the first map data;

[0066] Using the environmental data collected by the robot to match the local map, determining whether the local positioning search is successful;

[0067] If the local positioning search is successful, the current position of the robot is determined.

[0068] An embodiment of the present application also provides a robot, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the robot is running, the processor communicates with the memory through the bus, and when the machine-readable instructions are executed by the processor, the steps of the above-mentioned staggered layer recovery method are performed.

[0069] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above-mentioned fault-layer recovery method are executed.

[0070] The embodiments of the present application provide a method, device, robot and storage medium for recovering the staggered floors of a robot taking an elevator. The staggered floors recovery method comprises: when a received target task needs to cross floors, controlling the robot to move toward a target elevator; after moving to a boarding and alighting point in the elevator, starting staggered floors monitoring, and acquiring first IMU data of the robot and second IMU data of the target elevator in real time; when the target elevator is identified to be stopped, determining whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop, and determining whether the target floor has been reached at the same time; if it is determined that the motion states of the robot and the target elevator are inconsistent, determining that the robot has staggered floors; determining the wrong floor where the robot is currently located based on the last stop floor of the target elevator, and acquiring first map data of the wrong floor; performing robot positioning and retrieval based on the first map data, determining the current position of the robot, and re-executing the elevator request until the target floor where the target task is executed is reached.

[0071] In this way, when the robot performs a cross-floor task, this solution starts the staggered floor monitoring of the elevator riding process after the robot enters the target elevator, which can avoid the occupation of processing resources by the monitoring-related data of the non-elevator riding process, obtain the first IMU data of the robot and the second IMU data of the target elevator in real time, and judge whether the motion state of the robot and the elevator is consistent based on the IMU data in the monitoring time period (the period from the previous stop to the current stop) each time the elevator stops, so that the staggered floor behavior occurring during the robot's elevator riding process can be determined in time; and, in this solution, after determining that the robot has staggered floor behavior, the wrong floor where the robot is currently located is quickly determined based on the last stop floor of the target elevator, so that a local positioning search is performed based on the map data of the wrong floor, and the current position of the robot (the position on the wrong floor) can be quickly and accurately determined on the basis of reducing the amount of calculation; after determining the staggered floor behavior and performing autonomous positioning recovery, the robot re-executes the elevator riding request to ensure that it finally reaches the target floor to perform the target task.

[0072] In summary, this solution ensures that the robot can automatically recover and adjust even in the event of a misalignment, thereby improving the robot's task execution efficiency and stability in a multi-floor environment, thereby ensuring that the robot can complete tasks efficiently and accurately in a multi-story building environment.

[0073] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, preferred embodiments are specifically cited below and described in detail with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0075] Figure 1 A flowchart of a staggered-floor recovery method for a robot taking an elevator provided in an embodiment of the present application;

[0076] Figure 2 A schematic diagram of an elevator riding process environment provided for this application;

[0077] Figure 3 A schematic diagram of a process of recovering a staggered floor when a robot takes an elevator provided by an embodiment of the present application;

[0078] Figure 4 One of the structural schematic diagrams of a staggered-level recovery device for a robot taking an elevator provided in an embodiment of the present application;

[0079] Figure 5 The second structural schematic diagram of a staggered-level recovery device for a robot taking an elevator provided in an embodiment of the present application;

[0080] Figure 6 A schematic diagram of the structure of a robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, each other embodiment obtained by those skilled in the art without making creative work belongs to the scope of protection of the present application.

[0082] First, the application scenarios to which the present application can be applied are introduced. The present application can be applied to robots, and specifically to the field of service robots, such as delivery robots, cleaning robots, etc.

[0083] Research has found that with the rapid development of artificial intelligence, automatic control, and sensor technology, robotics has made significant progress in the past few decades, especially in the field of service robots. Service robots can complete various auxiliary tasks in human living and working environments, bringing unprecedented convenience and efficiency improvements to society. Today, robots have been widely used in homes, hotels, hospitals, commercial buildings and other scenarios, and have undertaken a variety of tasks including cleaning, delivery, security, and care. With the improvement of automation levels, in modern intelligent buildings, hotels, hospitals and other multi-story structures, service robots have gradually taken on cross-floor tasks, providing users with a variety of services such as item delivery, guidance, security monitoring, and cleaning.

[0084] However, the realization of cross-floor tasks faces many challenges. For example, when a robot is riding an elevator, it is sometimes manually moved out of the elevator due to limited elevator space. At this time, the robot and the staff cannot perceive it specifically. When the floor moved out is not the target floor, the positioning cannot be restored, resulting in it being stuck on the floor and unable to complete the task normally. Taking the delivery robot as an example, when the robot is staggered out of the elevator, the positioning is abnormal, which may cause the robot to be stuck, or send to the wrong destination, resulting in the delivery of items. Therefore, how to timely determine the robot's staggered behavior and correctly restore the staggered behavior when the robot performs cross-floor tasks, so as to ensure the normal progress of the task, is an urgent problem to be solved when the robot performs cross-floor tasks.

[0085] See also Figure 1 , Figure 1 This is a flow chart of a staggered floor recovery method for a robot taking an elevator provided in an embodiment of the present application. Figure 1 As shown in , the staggered layer recovery method provided by the embodiment of the present application includes:

[0086] S101. When the received target task requires crossing floors, control the robot to move toward the target elevator.

[0087] S102, after moving to the boarding and alighting point in the elevator, start staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time.

[0088] S103. When it is recognized that the target elevator is stopped, determine whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in the monitoring time period from the previous stop to the current stop, and at the same time determine whether the target floor has been reached.

[0089] S104: If it is determined that the motion states of the robot and the target elevator are inconsistent, it is determined that the robot has staggered floor behavior.

[0090] When the motion states are inconsistent, it means that the robot has exited the target elevator when it last stopped, and the robot is still in the staggered floor monitoring process, which means that the robot has not exited the target floor, and it can be determined that the robot has staggered floor behavior.

[0091] S105. Determine the wrong floor where the robot is currently located according to the last stop floor of the target elevator, and obtain first map data of the wrong floor.

[0092] Since this solution is an active monitoring, when an erroneous exit occurs, it can be discovered in time when the elevator stops next time. Therefore, the robot's current floor can be determined based on the last stop floor of the target elevator. The last stop floor of the target elevator can be obtained through the elevator control system and sent to the robot through wireless communication.

[0093] S106. Retrieve the robot's position according to the first map data, determine the robot's current position, and re-execute the elevator request until the robot reaches the target floor where the target task is to be performed.

[0094] In this embodiment, both the robot and the target elevator are provided with an inertial measurement unit (IMU sensor) to obtain the IMU data of the robot and the target elevator. The inertial measurement unit of the target elevator can be set in the elevator car and rise and fall with the elevator car. The IMU data can reflect the movement situation, so the IMU data can be used to determine whether the movement situation of the robot and the target elevator is consistent, and whether the robot has exited the elevator.

[0095] The embodiment of the present application provides a staggered-floor recovery method for a robot taking an elevator. First, after the robot receives a target task, if the target task needs to be executed across floors, for example, the robot is on the 1st floor and the cleaning task is to clean the 5th floor; for another example, the robot is on the 2nd floor and the delivery task is to deliver the target items in the container on the 1st floor to Room 601 on the 6th floor; the robot is controlled to move to the target elevator, which can be an elevator that can reach the target floor in one ride or an elevator that can reach the target floor after a transfer ride; then, when the robot enters the target elevator and arrives at the boarding and alighting point in the elevator, it is confirmed that the robot has successfully entered the elevator, and the robot begins to obtain the robot's The first IMU data and the second IMU data of the target elevator, and each time the target elevator stops, the robot and the elevator are judged whether their motion states are consistent based on the IMU data in the monitoring time period (the period from the previous stop to the current stop); it is understandable that the robot can take the elevator at the same time as pedestrians or other robots, and the target floors may be different. Even if the robot takes the elevator alone, other pedestrians or robots may enter on the way, that is, in the process of the robot going to the target elevator, the target elevator may open the door at a non-target floor, and each time the door is opened, there is a possibility that the robot is mistakenly moved out of the elevator by a human, or the robot malfunctions and mistakenly exits the elevator by itself. Therefore, each time the target elevator stops, a status judgment is performed, and active monitoring can be achieved, so that the staggered behavior that occurs during the robot's elevator ride can be determined in time; then, after determining that the robot has staggered behavior, the wrong floor where the robot is currently located is quickly determined based on the floor where the previous target elevator stopped, so that a local positioning search is performed based on the map data of the wrong floor, which can quickly and accurately determine the robot's current position (the position on the wrong floor) on the basis of reducing the amount of calculation; finally, after determining the staggered behavior and performing autonomous positioning recovery, the robot re-executes the elevator ride request to ensure that it finally reaches the target floor to perform the target task.

[0096] In summary, this method ensures that the robot can automatically recover and adjust even in the event of a misalignment, which improves the robot's task execution efficiency and stability in a multi-floor environment, thereby ensuring that the robot can complete tasks efficiently and accurately in a multi-floor environment.

[0097] The following is a description of the exemplary steps of the present application embodiment:

[0098] Regarding step S101, in this step, when the robot receives the target task, it determines whether the target floor for executing the target task is consistent with the robot's current floor. If not, the robot is controlled to move to the target elevator to take the elevator to the target floor.

[0099] Here, the target task carries the target floor information on which the target task is to be executed.

[0100] For example, the target task can be sent by the following entities: central control system (for example, the centralized management system or dispatching platform in the building sends the target task to the robot according to the floor demand or service request), user terminal device (for example, the user can directly send the target task to the robot through a mobile device (such as a mobile phone app or smart terminal)), other robots or smart devices (for example: if it is a multi-robot collaborative system, other robots or smart devices (such as floor terminals, sensors) can send the target task), and manual operators (for example: managers can manually send the target task through the background system). In addition, other sending methods can also be used, which are not limited here.

[0101] For example, the target tasks may be: delivery tasks, cleaning tasks, cross-floor handover tasks, etc.

[0102] With respect to step S101, in an implementation scheme provided in the present application, when the received target task requires crossing floors, controlling the robot to move toward the target elevator includes:

[0103] S1011. After receiving the target task, determine whether the target floor where the target task is to be executed is consistent with the floor where the robot is currently located.

[0104] S1012: If they are inconsistent, determine the target elevator required to perform the target task, and control the robot to move to the waiting point outside the target elevator.

[0105] S1013. After arriving at the waiting point outside the target elevator, monitor whether the target elevator has arrived.

[0106] S1014: When the arrival of the target elevator is detected, the robot is controlled to move to a boarding or alighting point in the elevator.

[0107] S1015. When the robot moves to the boarding and alighting point of the target elevator, the map data in the robot is switched to the second map data of the target floor.

[0108] With respect to step S1011, when the robot receives a target task, it identifies the target floor where the target task is to be performed, and determines whether the target floor is consistent with the floor where the robot is currently located.

[0109] For step S1012, when it is determined that the target floor for executing the target task is not the current floor, the target elevator to be taken when reaching the target floor is determined, and the robot is controlled to move to the waiting point outside the target elevator. A corresponding waiting point outside the elevator is set in advance for each elevator.

[0110] It should be noted that if there is only one elevator on the floor where the robot is located, the elevator can be directly determined as the target elevator. If there are multiple elevators on the floor where the robot is located, one elevator needs to be selected as the target elevator.

[0111] For example, in one embodiment provided in the present application, the target elevator required to perform the target task is determined by the following steps: based on the scheduling data of all elevators, the target elevator is determined from at least one elevator according to a preset selection strategy; or, based on the current position of the robot and the map data of the floor on which it is located, the elevator closest to the robot is determined as the target elevator.

[0112] Here, determining the target elevator from at least one elevator according to the scheduling data of all elevators and the preset selection strategy may include: selecting an optimal "target elevator" from multiple elevators for the robot to use based on the current scheduling data (such as position, running direction, idle state, etc.) of each elevator and the preset selection strategy. The selection strategy is formulated based on the principle of maximizing the efficiency of the robot during the waiting and riding process.

[0113] For example, the preset selection strategy may be: minimum waiting time strategy, idle elevator priority strategy, etc., which are not limited here.

[0114] Continuing with step S1012, in one embodiment provided in the present application, determining the target elevator required to perform the target task and controlling the robot to move to the waiting point outside the target elevator includes: obtaining the waiting point outside the target elevator; performing path planning processing based on the current position of the robot and the waiting point outside the target elevator, and in combination with the map data of the floor where the robot is currently located, to determine the movement path of the robot from the current position to the waiting point outside the elevator; controlling the movement of the robot according to the movement path until it moves to the waiting point outside the target elevator.

[0115] Here, according to the current position of the robot and the waiting point outside the elevator of the target elevator, the path planning process is performed in combination with the map data of the floor where the robot is currently located, and the moving path of the robot from the current position to the waiting point outside the elevator is determined, including: determining the current position of the robot as the starting point, and determining the waiting point outside the elevator of the target elevator as the end point; according to the map data of the floor where the robot is currently located, determining the environmental data in the area from the starting point to the end point (for example: the terrain, passages, obstacles, openings, corners, etc. in the floor), and then using the path planning algorithm based on these environmental data, generate an optimal path to avoid obstacles, ensure that the robot arrives at the waiting point outside the elevator in the shortest and safest path, and avoid collisions and detours. Pre-setting the waiting point outside the elevator is conducive to the stability of the robot's elevator behavior and facilitates the robot to ride the elevator with people.

[0116] In this way, through precise path planning and control, the robot can efficiently and safely move to the waiting point outside the target elevator. In addition, this solution can dynamically adapt to the elevator waiting points of different locations and layouts on the floor. In a multi-floor environment, the robot can flexibly adjust the path according to the changes in the elevator waiting point with the support of map data on different floors, making it adaptable to different floor environments and improving the flexibility and stability of task execution.

[0117] For examples, see Figure 2 , Figure 2 A schematic diagram of the elevator riding process provided by this application. Figure 2 As shown in the figure, the robot, the current position of the robot, the waiting point outside the elevator, the target elevator, the map data of the current floor, the boarding and alighting points inside the elevator, and the obstacle information in the map are shown. When the robot receives a target task and needs to cross floors, a moving path that avoids obstacles is planned based on the robot's current position and the waiting point outside the elevator, so as to control the robot to move to the waiting point outside the elevator, and then move to the boarding and alighting point inside the elevator after the target elevator is reached.

[0118] In another embodiment provided in the present application, before monitoring whether the target elevator has arrived, the staggered floor recovery method also includes: sending a first elevator request carrying the target floor information to the control system of the target elevator; wherein the first elevator request is sent in any one of the following ways: sending the first elevator request to the elevator control system corresponding to the target elevator through wireless communication; or, sending the first elevator request to the elevator control system corresponding to the target elevator through the Internet of Things platform established by the robot and the target elevator; or, when the robot arrives at the waiting point outside the target elevator, sending the first elevator request to the elevator control system corresponding to the target elevator through short-distance communication.

[0119] Here, three exemplary methods of sending the first elevator request (including target floor information) are provided, namely wireless communication, Internet of Things platform and short-distance communication.

[0120] Among them, the robot implementing the above three sending methods can be a robot with autonomous navigation and communication functions. Under any of the following implementation conditions (the elevator system needs to provide an interface (API or other communication methods) that can accept floor requests and has the ability to communicate with the robot, the robot has multiple communication methods, the robot and the elevator control system need to be connected to a unified Internet of Things platform, and the building has network coverage), the robot can automatically send an elevator request using the corresponding sending method, thereby efficiently and safely performing tasks across floors.

[0121] In this way, by sending the first elevator request with the target floor information in advance, the robot can reduce the waiting time for the elevator and improve the execution efficiency of cross-floor tasks. By supporting wireless communication, IoT platform and short-distance communication, a flexible way of sending elevator requests is provided, so that the robot can choose the most suitable communication method in different environments, thereby improving the adaptability and portability of the solution and being able to adapt to different network conditions and device compatibility requirements.

[0122] In addition, before monitoring whether the target elevator has arrived, the staggered floor recovery method further includes: when the robot arrives at the waiting point outside the target elevator, controlling the robot to operate the elevator call button outside the target elevator to send a second elevator request to the elevator control system corresponding to the target elevator; wherein the second elevator request does not carry the target floor information. When it is determined that the robot has moved to the boarding and alighting point inside the elevator, controlling the robot to operate the floor selection button inside the target elevator to send the target floor information to be reached to the elevator control system corresponding to the target elevator.

[0123] Here, the robot implementing the second elevator request is generally an autonomous mobile robot with basic mechanical operation capabilities. For example, the robot needs to have a precise mechanical arm or operating device so that it can press the elevator call button outside the elevator and the floor selection button inside the elevator.

[0124] In this way, by controlling the robot to operate the elevator call button and floor selection button to realize the elevator request, the robot can adapt to different types of elevator systems. Even if the elevator system cannot directly receive floor information (such as without networking or IoT functions), the robot can still control the elevator through physical operation. This flexible operation mode expands the scope of application of the robot.

[0125] With respect to step S1013, in this step, after the robot reaches the waiting point outside the elevator of the target elevator, the working state of the target elevator is monitored in real time to determine in time whether the target elevator has arrived.

[0126] For example, when determining whether the target elevator has arrived, the monitoring method used includes:

[0127] Wireless communication interface: The elevator systems of some smart buildings will open APIs or other communication interfaces. The robot can communicate with the elevator system to obtain information such as the elevator's real-time location, target floor, door status, etc. When the elevator reaches the target floor and sends a signal, the robot can confirm that the elevator has arrived.

[0128] Visual recognition: The robot can monitor the elevator door area through the installed camera and use image recognition algorithms to determine whether the elevator door has reached and is aimed at the specified floor (the robot can use image processing technology to detect the edge or shape of the door to determine whether the door is open).

[0129] LiDAR or infrared sensor: The robot can use LiDAR, infrared sensor or ultrasonic sensor to detect the open or closed state of the elevator door. When the elevator door opens to a certain width, the sensor will detect the signal change, confirming that the elevator has arrived and the door has been opened.

[0130] With respect to step S1014, in this step, the boarding and alighting point in the elevator may be a point reached by the robot after moving a predetermined distance into the elevator, or may be a point pre-set in the elevator.

[0131] For example, in this step, controlling the robot to move to the boarding and alighting point in the ladder may be: controlling the robot to move forward X rice (X can be adaptively selected or set), enter the elevator, and complete the control of the robot to move to the boarding and alighting point in the elevator.

[0132] Regarding step S1015, in this step, when the robot moves to the "boarding and alighting point" in the elevator, the robot automatically switches its map data to the map of the target floor, and realizes the map data extraction and switching of the target floor, thereby ensuring that the robot can quickly complete positioning and perform the task after reaching the target floor.

[0133] For example, suppose the robot receives a task in a building to deliver goods from the 5th floor (the current floor) to the 10th floor. When it enters the elevator and reaches the boarding and alighting point inside the elevator, it automatically switches to the map data of the 10th floor. In this way, after the elevator reaches the 10th floor and opens the door, the robot can immediately identify the environment of the 10th floor, determine its current location, and plan the path to successfully complete the task.

[0134] In this way, after receiving the target task, the robot can determine whether it is necessary to perform the task across floors through floor consistency judgment, and quickly determine the appropriate target elevator when necessary, and guide the robot to the waiting point outside the elevator, so as to ensure the efficiency and safety of taking the elevator. And by setting a fixed waiting point outside the elevator, the safety and efficiency of taking the elevator can be effectively guaranteed, which provides certain help for the robot to take the elevator autonomously. In addition, after the robot reaches the boarding and alighting point in the elevator, the map data is switched to the map data of the target floor, so that the robot can immediately use accurate environmental data for navigation when it reaches the target floor, thereby ensuring the execution effect of the robot's cross-floor task. Therefore, through the coordinated work of intelligent floor judgment, precise elevator selection, automated waiting and map data switching, it can effectively ensure that the robot can complete the cross-floor task smoothly and efficiently, reduce the need for manual intervention, and significantly improve the robot's autonomous navigation and task execution capabilities in a multi-floor environment.

[0135] Regarding step S102, in this step, when the robot moves into the target elevator, the staggered floor monitoring mechanism is started, and the first IMU data of the robot and the second IMU data of the target elevator are acquired in real time.

[0136] Here, the activation of the split-level monitoring can be achieved by triggering a specific state change.

[0137] IMU data can include information such as acceleration and angular velocity.

[0138] The first IMU data is also the IMU data of the robot, which can read the robot's own motion data in real time through the robot's built-in IMU sensor module.

[0139] The second IMU data, that is, the IMU data of the elevator, can be obtained through an IMU sensor module installed in the elevator.

[0140] Regarding step S103, in this step, when the robot takes the elevator, it will continuously monitor the status of the elevator. When it recognizes that the elevator is stopped (i.e., stops at a certain floor), the robot will enter the status detection phase to determine whether it has reached the target floor with the elevator.

[0141] When performing status detection, the first IMU data and the second IMU data from the last stop of the elevator to the current stop (monitoring time period) are analyzed to determine whether the movement states of the two are consistent and whether the target floor has been reached.

[0142] Here, if the motion status is inconsistent, it means that the robot leaves the ladder early.

[0143] For example, suppose the robot needs to perform a task from the 1st floor to the 10th floor. It enters the elevator and starts the staggered floor monitoring. The elevator starts to go up and stops at the 5th floor, 7th floor, and 10th floor respectively. The robot will make the following judgments each time it stops:

[0144] When stopping at the 5th floor: During the monitoring period from the 1st floor to the 5th floor, the robot analyzed the first IMU and second IMU data during this period and found that the motion state was consistent, but it detected that the current floor was not the 10th floor. Judgment result: Not the target floor, the robot continues to wait for the elevator to go up.

[0145] When stopping at the 7th floor: During the monitoring period from the 5th floor to the 7th floor, the robot analyzes the first and second IMU data during this period, and the motion state is still the same, but the current floor is still not the target floor. Judgment result: Not the target floor, the robot continues to wait.

[0146] When stopping at the 10th floor: During the monitoring period from the 7th floor to the 10th floor, the robot analyzed the first IMU and second IMU data during this period, the motion state was consistent, and it was detected that the current floor was the 10th floor. Judgment result: The target floor is reached, and the robot can safely exit the elevator and start the mission.

[0147] With respect to step S103, in one embodiment provided in the present application, determining whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop includes:

[0148] S1031. Perform inertial data trend analysis on the first IMU data and the second IMU data within the monitoring time period respectively to obtain at least one inertial trend reference parameter of the robot and the target elevator.

[0149] S1032. When the inertial trend reference parameters of the two meet the consistency determination requirement, it is determined that the motion states of the robot and the target elevator are consistent; otherwise, it is determined that the motion states of the robot and the target elevator are inconsistent.

[0150] For step S1031, the inertial trend reference parameter includes at least one of the following: acceleration curve fitting result, data continuity, acceleration monotonicity, and velocity monotonicity.

[0151] The acceleration curve fitting result is determined by the following steps: first, data preprocessing is performed (for example, outliers are removed, peak / trough data are cut (to prevent uniform acceleration / deceleration scenarios, where the acceleration curve does not conform to the sine / cosine waveform), etc.), then fitting is performed to obtain a fitting curve, and finally, the least squares method is used to minimize the error between the observed data and the fitting curve to obtain the acceleration curve fitting result.

[0152] The data continuity means that the total number of target data within a certain period of time is greater than the threshold, and each target data meets the preset data trend, and the data continuity is determined. For example, if there are no less than B imu acceleration information in Ams, and each imu acceleration information meets monotonicity, the data continuity is determined; among them, A and B can be determined adaptably.

[0153] The acceleration monotonicity indicates whether the acceleration has monotonic characteristics within a certain period of time. When a normal elevator starts or stops, the acceleration changes in a gradual increase / decrease process. If there is a state inconsistency within the judgment period (such as a sudden decrease in the trend of increase), it is considered to be an abnormal rise / fall behavior.

[0154] The velocity monotonicity is the result of the acceleration integration. If the calculated vertical velocity is not monotonic, it is considered as non-elevator motion, such as bumps over a bump / slope, which may cause the vertical velocity to rise and then fall in a short time, but does not meet the overall velocity monotonicity.

[0155] For step S1032, when the inertial trend reference parameters are acceleration curve fitting results, data continuity, acceleration monotonicity, and speed monotonicity, the acceleration curve fitting results, data continuity, acceleration monotonicity, and speed monotonicity of the robot are compared one by one with the acceleration curve fitting results, data continuity, acceleration monotonicity, and speed monotonicity of the target elevator. If all four items meet the consistency determination requirements, it is determined that the motion states of the robot and the target elevator are consistent; if any one item does not meet the consistency determination requirements, it is determined that the motion states of the robot and the target elevator are inconsistent. By setting four inertial trend reference parameters for comparison and confirmation, the coincidence of IMU data caused by people pushing or lifting the robot can be reduced, and the accuracy of monitoring can be improved.

[0156] For example, the consistency determination requirement may be: when within the same time period, the acceleration monotonicity and speed monotonicity of the robot and the target elevator are consistent (determined to be rising / falling / stationary at the same time), the waveforms of the acceleration fitting curves of the two are consistent (for example, if the similarity of the waveforms of the two exceeds a threshold, then it is determined that the waveforms of the two are consistent), and the data of the two meet the continuity requirements, then it is determined that the motion states of the robot and the target elevator are consistent (normal elevator ride); otherwise, it is determined that the motion states of the robot and the target elevator are inconsistent and a staggered floor has occurred (for example, when the robot is determined to be stationary and the elevator is rising / falling, the robot has a staggered floor).

[0157] In this way, in each monitoring time period, by analyzing the first IMU data of the robot and the second IMU data of the target elevator respectively, and calculating at least one inertial trend reference parameter (such as acceleration curve fitting results, data continuity, acceleration monotonic trend, speed monotonic trend, etc.), the motion characteristics of the robot and the elevator can be understood more accurately, so that the consistency of the motion state can be judged more reliably. And through trend analysis rather than single data point comparison, it can maintain good performance in real time, effectively avoid misjudgment caused by short-term fluctuations, jitter or sensor errors, further improve the accuracy of staggered layer detection, and thus improve the safety of the elevator process and the reliability of task execution.

[0158] Regarding step S104, in this step, if it is determined that the motion states of the robot and the target elevator are inconsistent, it is determined that the robot has staggered floor behavior. Generally, it is determined that the robot gets off the elevator in advance before reaching the target floor.

[0159] For step S105, in this step, the last stop floor of the target elevator is determined according to the operating data of the target elevator, the last stop floor of the target elevator is used to determine the wrong floor where the robot is currently located, and the map data of the determined wrong floor (i.e., the first map data) is obtained.

[0160] With respect to step S106, in one embodiment provided in the present application, the robot positioning and retrieving according to the first map data to determine the current position of the robot includes: extracting a local map within a predetermined area where the target elevator is located on the wrong floor from the first map data; matching the environmental data collected by the robot with the local map to determine whether the local positioning search is successful; if the local positioning search is successful, determining the current position of the robot.

[0161] For example, a local map of the predetermined area where the target elevator is located on the wrong floor is intercepted from the first map data, including: intercepting a map covering the elevator entrance and the surrounding area (such as the elevator hall area) from the first map data to obtain a local map. In this way, the search range can be narrowed and the amount of calculation can be reduced. For example, it can be a local map of 5 meters × 5 meters around the target elevator. The robot staggered phenomenon is often caused by people pushing the robot to get out of the elevator in advance. Therefore, the robot is likely to lose its positioning and stay near the elevator after getting out of the elevator. Therefore, the local positioning search can take into account both the amount of calculation and the positioning success rate.

[0162] The environmental data collected by the robot can be spatial contours and obstacle information obtained through lidar, depth cameras or visual sensors.

[0163] The environmental data collected by the robot is matched with the local map, which can be as follows: the robot collects surrounding environmental data and compares feature points or structures with the local map. If the matched feature points or structures are highly consistent with the local map, it indicates that the local positioning search is successful, so that the robot can successfully locate the current position.

[0164] Here, a local map is used instead of a full-floor map for matching, which narrows the search range, significantly reduces the computational burden, and improves positioning efficiency.

[0165] In addition, if the local positioning search fails, the present application also provides another implementation method for determining the current position of the robot, specifically including: if the local positioning search fails, a global positioning search is performed; if the global positioning search succeeds, the current position of the robot is determined; if the global positioning search fails, a request for help is sent to the target person to retrieve the current position of the robot. If the robot is moved far away after mistakenly exiting the elevator, or is moved to another area around the elevator, the local search and positioning may fail. Adding a global positioning search can increase the probability of successful positioning retrieval.

[0166] Here, when the robot uses a local map for positioning, if the search fails due to environmental data mismatch or other interference factors, it is necessary to switch to a larger-scale positioning method. The robot will call the complete map data (first map data) of the entire floor and match it through a global positioning search. This method expands the search range and increases the possibility of matching, enabling the robot to find a location that matches its environmental data in a larger range. If the global positioning match is successful, the robot can determine the current precise location and re-request the elevator based on the current location. If the global positioning still fails to determine the current location, the robot will send a help command to notify the designated target person (such as an operator or support staff) to intervene manually to retrieve the current location of the robot.

[0167] Among them, the help command may include relevant information about the current location, floor number or surrounding environment feature data, so that personnel can quickly find the robot and assist it to return to the correct location.

[0168] In this way, after local positioning fails, global positioning by expanding the search range further ensures that the robot can find its current location, enhancing the fault tolerance of the solution. Even when both local and global positioning fail, the robot can still ensure that it will not fall into an unknown position by asking for help from the target person, thereby improving the continuity and reliability of task execution. In addition, the multi-level positioning strategy effectively reduces the need for manual intervention, and only asks for help when it is really unable to locate itself, saving human resources and improving the autonomy and efficiency of the solution.

[0169] In addition, in another embodiment provided in the present application, the staggered layer recovery method further includes:

[0170] S201, when it is determined that the motion states of the robot and the target elevator are consistent, but the target floor has not been reached: continue to perform staggered floor monitoring, and acquire the first IMU data of the robot and the second IMU data of the target elevator in real time;

[0171] S202. When it is determined that the motion state of the robot is consistent with that of the target elevator and the target floor is reached: the robot is controlled to move outside the elevator; when it moves to the exit point of the target floor, the staggered floor monitoring is turned off, and the target task is started to be executed.

[0172] After executing step S103, if it is determined that the robot and the target elevator have the same motion state but have not reached the target floor, step S201 is executed.

[0173] In step S201, if the robot detects that the motion state is consistent with that of the elevator (for example, the acceleration curve fitting results, data continuity, acceleration monotonicity, and velocity monotonicity of the two meet the consistency judgment requirements through IMU inertial data analysis), but has not yet reached the target floor specified by the task, the robot continues to maintain "staggered floor monitoring" and does not move. In addition, during this process, the robot will continue to obtain its own IMU data (first IMU data) and the IMU data of the target elevator (second IMU data).

[0174] After executing step S103, if it is determined that the motion state of the robot is consistent with that of the target elevator and the target floor has been reached, step S202 is executed.

[0175] In step S202, when the robot and the elevator have the same motion state and detect that the elevator has reached the target floor, the robot will start to leave the elevator and move to the predetermined exit point (a specific position outside the elevator door; or the position outside the elevator after moving forward a certain distance). When the robot successfully moves to the exit point, the "staggered floor monitoring" function will be turned off to save resources and ensure that the monitoring function is turned off in time. Subsequently, the robot enters the stage of executing the target task, that is, continuing to complete the predetermined operation on the target floor according to the requirements of the target task.

[0176] In this way, through continuous staggered floor monitoring, the robot can be ensured not to exit the elevator by mistake when it is not the target floor, thus reducing staggered floor problems caused by leaving the elevator early. Staggered floor monitoring is only started when necessary, and is turned off in time after reaching the target floor to avoid unnecessary resource consumption. In addition, the robot automatically moves to the exit point and turns off staggered floor monitoring before starting to execute the target task, which can improve the continuity and completion of the task.

[0177] In addition, when the robot arrives at the target floor to exit the elevator, the present application also provides another implementation method, including: if the robot does not move to the exit point on the target floor within a predetermined time, execute the elevator door opening operation and continue to control the robot to move out of the elevator; if it has not moved to the exit point on the target floor during the target elevator door opening period, re-execute the elevator request and continue to perform staggered floor monitoring.

[0178] Here, when the robot reaches the target floor, it should usually move from the target elevator to the exit point of the target floor within the specified time (the preset elevator door opening time). If the robot fails to move to the exit point smoothly within this time (for example, there is an obstruction), in order to ensure that it can continue the task, the elevator door will be controlled to reopen (for example, the elevator door is controlled to open for 40 seconds). While the elevator door is open, the robot will continue to try to move to the exit point outside the elevator to complete the exit action. If the robot still fails to leave the elevator and reach the exit point within the time period when the elevator door is reopened, it means that the robot may encounter obstacles or inaccurate positioning during the exit process. At this time, the robot will re-initiate the elevator request, that is, let the elevator restart the elevator operation to the target floor, while maintaining staggered floor monitoring.

[0179] In this way, by automatically controlling the elevator to reopen the door when the exit is unsuccessful, the robot is given extra time and opportunity to ensure that it can successfully move to the exit point of the target floor, thereby increasing the success rate of exiting the elevator and ensuring the normal progress of the task. In addition, if the robot does not leave the elevator within the predetermined time, the solution can timely re-initiate the elevator request to avoid the robot from falling into the staggered state, thereby ensuring the continuity and accuracy of the task.

[0180] In addition, in order to have a more intuitive understanding of the implementation process of this solution, please refer to Figure 3 , Figure 3 This is a schematic diagram of a process of restoring a staggered floor when a robot takes an elevator provided by an embodiment of the present application. Figure 3 As shown, S1: start; S2: when the received target task needs to cross floors; S3: determine the target elevator and execute path planning; S4: according to the planned moving path, control the robot to move to the waiting point outside the elevator; S5: after the target elevator is reached, control the robot to move to the boarding and alighting point inside the elevator; S6: turn on the staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time, and switch to the second map data; S7: determine whether the target elevator is docked; if so, execute step S8; if not, return to execute the real-time acquisition of the first IMU data of the robot and the second IMU data of the target elevator in step S6; S8: determine whether the motion states of the two are consistent according to the IMU data within the monitoring time period, and whether the target floor is reached; if it is determined that the motion states are inconsistent, execute step S9; if it is determined that the motion states are consistent, but the target floor has not been reached, continue to execute the real-time acquisition of the first IMU data of the robot and the second IMU data of the target elevator in step S6; if the motion states are consistent, but the target floor has not been reached, continue to execute the real-time acquisition of the first IMU data of the robot and the second IMU data of the target elevator in step S6; if the motion If the robot is in the same dynamic state and reaches the target floor, then execute step S14; S9: determine whether the staggered floor behavior occurs; S10: perform a local search according to the first map data; if successful, execute step S13; if failed, execute step S11; S11: perform a global search according to the first map data; if successful, execute step S13; if failed, execute step S12; S12: send a help command to the target person; S13: determine the current position of the robot; S14: control the robot to move outside the elevator; if successful, execute step S16; if failed, execute step S15; S15: execute the elevator door opening operation and continue to control the robot to move outside the elevator; if successful, execute step S16; if failed, resend the elevator request and return to execute step S6 to obtain the first IMU data of the robot and the second IMU data of the target elevator in real time; S16: after moving to the exit point of the target floor, turn off the staggered floor monitoring and start to execute the target task; S17: end.

[0181] Based on the same inventive concept, an embodiment of the present application also provides a staggered layer recovery device corresponding to the staggered layer recovery method. Since the principle of solving the problem by the device in the embodiment of the present application is similar to the above-mentioned staggered layer recovery method in the embodiment of the present application, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be repeated.

[0182] See also Figure 4 , Figure 5 , Figure 4 This is one of the structural schematic diagrams of a staggered-level recovery device for a robot taking an elevator provided in an embodiment of the present application. Figure 5This is a second structural diagram of a staggered-level recovery device for a robot taking an elevator provided in an embodiment of the present application. Figure 4 As shown in , the staggered layer recovery device 400 includes:

[0183] The control module 410 is used to control the robot to move to the target elevator when the received target task needs to cross floors;

[0184] The first monitoring module 420 is used to start staggered floor monitoring after moving to the boarding and alighting point in the elevator, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time;

[0185] A first determination module 430 is used to determine whether the motion state of the robot is consistent with that of the target elevator and whether the target floor has been reached based on the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop when the target elevator is identified to be stopped, and at the same time determine whether the robot has reached the target floor;

[0186] A second determination module 440 is used to determine that the robot has a staggered behavior if it is determined that the motion states of the robot and the target elevator are inconsistent;

[0187] A third determination module 450 is used to determine the wrong floor where the robot is currently located according to the last stop floor of the target elevator, and obtain the first map data of the wrong floor;

[0188] A recovery module 460 is used to retrieve the robot's position according to the first map data, determine the robot's current position, and re-execute the elevator request until the robot reaches the target floor where the target task is to be executed;

[0189] Wherein, when the recovery module 460 is used to retrieve the robot position according to the first map data and determine the current position of the robot, the recovery module 460 is used to:

[0190] Extracting a local map of a predetermined area where the target elevator is located on the wrong floor from the first map data;

[0191] Using the environmental data collected by the robot to match the local map, determining whether the local positioning search is successful;

[0192] If the local positioning search is successful, the current position of the robot is determined.

[0193] Optionally, when the received target task requires crossing floors, the control module 410 controls the robot to move toward the target elevator, the control module 410 is used to:

[0194] After receiving the target task, determining whether the target floor where the target task is to be executed is consistent with the floor where the robot is currently located;

[0195] If they are inconsistent, determining a target elevator to be taken to execute the target task, and controlling the robot to move to a waiting point outside the target elevator;

[0196] After arriving at the waiting point outside the target elevator, monitoring whether the target elevator has arrived;

[0197] When the target elevator arrives, the robot is controlled to move to the boarding and alighting point in the elevator;

[0198] When the robot moves to the boarding and alighting point of the target elevator, the map data in the robot is switched to the second map data of the target floor;

[0199] The control module 410 is further configured to determine the target elevator to be taken to perform the target task through the following steps:

[0200] According to the dispatching data of all elevators, a target elevator is determined from at least one elevator according to a preset selection strategy;

[0201] Or, according to the current position of the robot and the map data of the floor where the robot is located, the elevator closest to the robot is determined as the target elevator.

[0202] Optionally, when the first determination module 430 is used to determine whether the motion states of the robot and the target elevator are consistent according to the first IMU data and the second IMU data in a monitoring time period from the last stop to the current stop, the first determination module 430 is used to:

[0203] Performing inertial data trend analysis on the first IMU data and the second IMU data within the monitoring time period respectively to obtain at least one inertial trend reference parameter of the robot and the target elevator;

[0204] When the inertial trend reference parameters of the two meet the consistency determination requirements, it is determined that the motion states of the robot and the target elevator are consistent; otherwise, it is determined that the motion states of the robot and the target elevator are inconsistent;

[0205] The inertial trend reference parameter includes at least one of the following: acceleration curve fitting result, data continuity, acceleration monotonicity, and velocity monotonicity.

[0206] Optionally, when the recovery module 460 is used to retrieve the robot's position according to the first map data and determine the current position of the robot, the recovery module 460 is used to:

[0207] If the local positioning search fails, a global positioning search is performed;

[0208] If the global positioning search is successful, the current position of the robot is determined; if the global positioning search fails, a help command is sent to the target person to retrieve the current position of the robot.

[0209] Optional, such as Figure 5 As shown, the staggered layer recovery device 400 further includes a second monitoring module 470, and the second monitoring module 470 is used to:

[0210] When it is determined that the robot and the target elevator have the same motion state, but have not reached the target floor:

[0211] Continue to perform staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time;

[0212] When it is determined that the robot and the target elevator have the same motion state and have reached the target floor:

[0213] Controlling the robot to move outside the elevator;

[0214] When the elevator moves to the exit point on the target floor, the staggered floor monitoring is turned off and the target task is started.

[0215] Optionally, the staggered floor recovery device 400 further includes an elevator control module 480, and the elevator control module 480 is used to:

[0216] If the robot does not move to the exit point on the target floor within a predetermined time, the elevator door opening operation is controlled, and the robot is continued to be controlled to move out of the elevator;

[0217] If the elevator has not moved to the exit point on the target floor while the target elevator is opening its door, the elevator request is re-executed and staggered floor monitoring is continued.

[0218] Optionally, when the control module 410 is used to determine the target elevator to be taken to perform the target task and control the robot to move to the waiting point outside the target elevator, the control module 410 is used to:

[0219] Obtaining the waiting point outside the target elevator;

[0220] According to the current position of the robot and the waiting point outside the elevator of the target elevator, a path planning process is performed in combination with the map data of the floor where the robot is currently located, so as to determine the movement path of the robot from the current position to the waiting point outside the elevator;

[0221] Controlling the robot to move according to the moving path until it moves to a waiting point outside the target elevator;

[0222] Optionally, the fault recovery device 400 further includes a request module 490, and the request module 490 is used to:

[0223] Before monitoring whether the target elevator has arrived, a first elevator ride request carrying target floor information is sent to the control system of the target elevator; wherein the first elevator ride request is sent in any of the following ways:

[0224] Sending a first elevator ride request to an elevator control system corresponding to the target elevator through wireless communication;

[0225] Sending a first elevator ride request to an elevator control system corresponding to the target elevator through the Internet of Things platform established by the robot and the target elevator;

[0226] When the robot arrives at the waiting point outside the target elevator, it sends a first elevator ride request to the elevator control system corresponding to the target elevator through short-distance communication;

[0227] When the robot arrives at the waiting point outside the target elevator, the robot is controlled to operate the elevator call button outside the target elevator to send a second elevator request to the elevator control system corresponding to the target elevator; wherein the second elevator request does not carry the target floor information;

[0228] After controlling the robot to operate the elevator call button outside the target elevator, when it is determined that the robot has moved to the boarding and alighting point inside the elevator, the robot is controlled to operate the floor selection button inside the target elevator to send the target floor information to the elevator control system corresponding to the target elevator.

[0229] See also Figure 6 , Figure 6 This is a schematic diagram of the structure of a robot provided in an embodiment of the present application. Figure 6 As shown in , the robot 600 includes a processor 610 , a memory 620 and a bus 630 .

[0230] The memory 620 stores machine-readable instructions executable by the processor 610. When the robot 600 is running, the processor 610 communicates with the memory 620 via the bus 630. When the machine-readable instructions are executed by the processor 610, the above-mentioned Figures 1 to 3 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0231] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figures 1 to 3 The specific implementation of the steps in the method embodiment shown can be found in the method embodiment, and will not be repeated here.

[0232] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0233] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of devices or units can be electrical, mechanical or other forms.

[0234] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0235] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0236] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0237] Finally, it should be noted that the above-described embodiments are only specific implementation methods of the present application, which are used to illustrate the technical solutions of the present application, rather than to limit them. The protection scope of the present application is not limited thereto. Although the present application is described in detail with reference to the above-mentioned embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-mentioned embodiments within the technical scope disclosed in the present application, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes 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 present application, and should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.

Claims

1. A staggered-floor recovery method for a robot taking an elevator, characterized in that: The staggered layer recovery method comprises: When the received target task requires crossing floors, control the robot to move to the target elevator; When it is detected that the target elevator has arrived, the robot is controlled to move from the waiting point outside the target elevator to the boarding and alighting point inside the target elevator. When it moves to the boarding and alighting point inside the target elevator, staggered floor monitoring is started, and the first IMU data of the robot and the second IMU data of the target elevator are obtained in real time, and the map data in the robot is switched to the second map data of the target floor; wherein, whether the target elevator has arrived is monitored by at least one of the following methods: wireless communication interface, visual recognition, and laser radar or infrared sensor; When the target elevator is identified to be stopped, determining whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop, and determining whether the target floor has been reached at the same time; If it is determined that the motion states of the robot and the target elevator are inconsistent, it is determined that the robot has staggered behavior; Determine the wrong floor where the robot is currently located according to the last stop floor of the target elevator, and obtain first map data of the wrong floor; Perform robot positioning and retrieval according to the first map data, determine the current position of the robot, and re-execute the elevator request until the robot reaches the target floor where the target task is to be performed; The method of retrieving the robot location according to the first map data to determine the current location of the robot includes: Extracting a local map of a predetermined area where the target elevator is located on the wrong floor from the first map data; wherein the local map is a map including an elevator entrance and an elevator hall area where the target elevator is located; Using the environmental data collected by the robot to match the local map, determining whether the local positioning search is successful; If the local positioning search is successful, determining the current position of the robot; If the local positioning search fails, a global positioning search is performed based on the map of the entire floor; If the global positioning search is successful, determining the current position of the robot; If the global positioning search fails, a help command is sent to the target person to retrieve the current position of the robot, and the help command includes the floor number or surrounding environment feature data; The determining whether the motion states of the robot and the target elevator are consistent according to the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop includes: The first IMU data and the second IMU data within the monitoring time period are respectively subjected to inertial data trend analysis and processing to obtain a plurality of inertial trend reference parameters of the robot and the target elevator; wherein the inertial trend reference parameters include: acceleration curve fitting result, data continuity, acceleration monotonicity, and speed monotonicity; the acceleration curve fitting result is determined by the following steps: firstly, data preprocessing is performed to remove abnormal values, and then fitting processing is performed to obtain the acceleration curve fitting result; the data continuity refers to: the total number of target data within a certain period of time is greater than a threshold value, and each target data satisfies a preset data trend, and the data continuity is determined; the acceleration monotonicity refers to whether the acceleration within a certain period of time has a monotonic characteristic; the speed monotonicity is the result after the acceleration is integrated; When, within the same time period, the acceleration monotonicity and velocity monotonicity of the robot and the target elevator are consistent, the waveforms of the acceleration fitting curves of the two are consistent, and the data of the two meet the continuity requirements, it is determined that the motion states of the robot and the target elevator are consistent; otherwise, it is determined that the motion states of the robot and the target elevator are inconsistent.

2. The staggered layer recovery method according to claim 1, characterized in that: When the received target task requires crossing floors, controlling the robot to move toward the target elevator includes: After receiving the target task, determining whether the target floor where the target task is to be executed is consistent with the floor where the robot is currently located; If they are inconsistent, determining a target elevator to be taken to execute the target task, and controlling the robot to move to a waiting point outside the target elevator; After arriving at the waiting point outside the target elevator, monitoring whether the target elevator has arrived; The target elevator to be taken to perform the target task is determined by the following steps: According to the dispatching data of all elevators, a target elevator is determined from at least one elevator according to a preset selection strategy; Or, according to the current position of the robot and the map data of the floor where the robot is located, the elevator closest to the robot is determined as the target elevator.

3. The staggered layer recovery method according to claim 1, characterized in that: The staggered layer recovery method further comprises: When it is determined that the robot and the target elevator have the same motion state, but have not reached the target floor: Continue to perform staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time; When it is determined that the robot and the target elevator have the same motion state and have reached the target floor: Controlling the robot to move outside the elevator; When the elevator moves to the exit point on the target floor, the staggered floor monitoring is turned off and the target task is started.

4. The staggered layer recovery method according to claim 3, characterized in that: The staggered layer recovery method further comprises: If the robot does not move to the exit point on the target floor within a predetermined time, the elevator door opening operation is controlled, and the robot is continued to be controlled to move out of the elevator; If the elevator has not moved to the exit point on the target floor while the target elevator is opening its door, the elevator request is re-executed and staggered floor monitoring is continued.

5. The staggered layer recovery method according to claim 2, characterized in that: The step of determining a target elevator to be taken to perform the target task and controlling the robot to move to a waiting point outside the target elevator comprises: Obtaining the waiting point outside the target elevator; According to the current position of the robot and the waiting point outside the elevator of the target elevator, a path planning process is performed in combination with the map data of the floor where the robot is currently located, so as to determine the movement path of the robot from the current position to the waiting point outside the elevator; Controlling the robot to move according to the moving path until it moves to a waiting point outside the target elevator; Before monitoring whether the target elevator has arrived, the staggered floor recovery method further includes: Sending a first elevator ride request carrying target floor information to the control system of the target elevator; wherein the first elevator ride request is sent in any of the following ways: Sending a first elevator ride request to an elevator control system corresponding to the target elevator through wireless communication; Sending a first elevator ride request to an elevator control system corresponding to the target elevator through the Internet of Things platform established by the robot and the target elevator; When the robot arrives at the waiting point outside the target elevator, it sends a first elevator ride request to the elevator control system corresponding to the target elevator through short-distance communication; When the robot arrives at the waiting point outside the target elevator, the robot is controlled to operate the elevator call button outside the target elevator to send a second elevator request to the elevator control system corresponding to the target elevator; wherein the second elevator request does not carry the target floor information; After controlling the robot to operate the elevator call button outside the target elevator, the staggered floor recovery method further includes: When it is determined that the robot moves to the boarding and alighting point in the elevator, the robot is controlled to operate the floor selection key in the target elevator to send the target floor information to the elevator control system corresponding to the target elevator.

6. A staggered-level recovery device for a robot taking an elevator, characterized in that: The staggered layer recovery device comprises: A control module is used to control the robot to move to the target elevator when the received target task requires crossing floors; The first monitoring module is used to control the robot to move from the waiting point outside the target elevator to the boarding and alighting point inside the target elevator after monitoring that the target elevator has arrived, and after moving to the boarding and alighting point inside the target elevator, start staggered floor monitoring, and obtain the first IMU data of the robot and the second IMU data of the target elevator in real time, and switch the map data in the robot to the second map data of the target floor; wherein, whether the target elevator has arrived is monitored by at least one of the following methods: wireless communication interface, visual recognition, and laser radar or infrared sensor; A first determination module is used to determine whether the motion state of the robot and the target elevator is consistent, and whether the target floor is reached according to the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop when the target elevator is identified to be stopped; A second determination module is used to determine that the robot has staggered behavior if it is determined that the motion states of the robot and the target elevator are inconsistent; A third determination module is used to determine the wrong floor where the robot is currently located according to the last stop floor of the target elevator, and obtain first map data of the wrong floor; A recovery module, used to retrieve the robot's position according to the first map data, determine the robot's current position, and re-execute the elevator request until the robot reaches the target floor where the target task is to be executed; Wherein, when the recovery module is used to retrieve the robot position according to the first map data and determine the current position of the robot, the recovery module is used to: Extracting a local map of a predetermined area where the target elevator is located on the wrong floor from the first map data; wherein the local map is a map including an elevator entrance and an elevator hall area where the target elevator is located; Using the environmental data collected by the robot to match the local map, determining whether the local positioning search is successful; If the local positioning search is successful, determining the current position of the robot; If the local positioning search fails, a global positioning search is performed based on the map of the entire floor; If the global positioning search is successful, determining the current position of the robot; If the global positioning search fails, a help command is sent to the target person to retrieve the current position of the robot, and the help command includes the floor number or surrounding environment feature data; When the first determination module is used to determine whether the motion states of the robot and the target elevator are consistent based on the first IMU data and the second IMU data in the monitoring time period from the last stop to the current stop, the first determination module is used to: The first IMU data and the second IMU data within the monitoring time period are respectively subjected to inertial data trend analysis and processing to obtain a plurality of inertial trend reference parameters of the robot and the target elevator; wherein the inertial trend reference parameters include: acceleration curve fitting result, data continuity, acceleration monotonicity, and speed monotonicity; the acceleration curve fitting result is determined by the following steps: firstly, data preprocessing is performed to remove abnormal values, and then fitting processing is performed to obtain the acceleration curve fitting result; the data continuity refers to: the total number of target data within a certain period of time is greater than a threshold value, and each target data satisfies a preset data trend, and the data continuity is determined; the acceleration monotonicity refers to whether the acceleration within a certain period of time has a monotonic characteristic; the speed monotonicity is the result after the acceleration is integrated; When, within the same time period, the acceleration monotonicity and velocity monotonicity of the robot and the target elevator are consistent, the waveforms of the acceleration fitting curves of the two are consistent, and the data of the two meet the continuity requirements, it is determined that the motion states of the robot and the target elevator are consistent; otherwise, it is determined that the motion states of the robot and the target elevator are inconsistent.

7. A robot, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the robot is running, the processor and the memory communicate through the bus, and the machine-readable instructions are executed by the processor to execute the steps of the staggered layer recovery method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the fault-layer recovery method according to any one of claims 1 to 5 are executed.

Images