Positioning recovery method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a positioning recovery method and device, electronic equipment and a storage medium. The method is applied to the robot and comprises the following steps: determining information of a current floor where the robot is located currently based on scanning information; when the current floor information is inconsistent with the target floor information of the current task, calling map data corresponding to the current floor information; and determining target positioning of the robot based on the map data so as to recover positioning information of the robot based on the target positioning. According to the technical scheme provided by the embodiment of the invention, the effects of automatically determining the current corresponding positioning information of the robot under the condition of determining that the positioning of the robot is lost and then automatically recovering the positioning information of the robot based on the determined positioning information are achieved.

Description

Technical Field

[0001] Embodiments of the present disclosure relate to the technical field of robot applications, and in particular, to a positioning recovery method, apparatus, electronic device, and storage medium. Background Art

[0002] During the actual driving process of a robot in a target area, due to abnormal elevator control systems, user reasons, for example, during special time periods, the robot is pushed out of the elevator by the user, or other reasons, the robot may run on the wrong floor. In the case of running on the wrong floor, problems such as loss of positioning, the robot getting stuck, or being unable to reach the destination may occur. Therefore, it is necessary to recover the positioning of the robot.

[0003] In related technologies, usually, the robot is manually moved to a specified position, or the on-site positioning is reset to enable the robot to recover the positioning information.

[0004] However, recovering the robot positioning based on the above methods is time-consuming, laborious, and has low efficiency. Moreover, there is also the problem of high operation and maintenance costs of the robot. Summary of the Invention

[0005] Embodiments of the present disclosure provide a positioning recovery method, apparatus, electronic device, and storage medium to automatically determine the positioning information corresponding to the robot when it is determined that the robot's positioning is lost, and then automatically recover the robot's positioning information based on the determined positioning information.

[0006] In a first aspect, embodiments of the present disclosure provide a positioning recovery method applied to a robot. The method includes:

[0007] Based on the scan information, determine the current floor information where the robot is currently located;

[0008] When the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information; where the current task is the task currently being executed by the robot;

[0009] Based on the map data, determine the target positioning of the robot to recover the positioning information of the robot based on the target positioning.

[0010] In a second aspect, embodiments of the present disclosure further provide a positioning recovery apparatus configured in a robot. The apparatus includes:

[0011] A floor information determination module, configured to determine the current floor information where the robot is currently located based on the scan information;

[0012] A map data retrieval module, configured to retrieve map data corresponding to the current floor information when the current floor information is inconsistent with the target floor information of the current task; wherein, the current task is the task currently executed by the robot.

[0013] A positioning information restoration module, configured to determine the target positioning of the robot based on the map data, so as to restore the positioning information of the robot based on the target positioning.

[0014] In a third aspect, an embodiment of the present disclosure further provides an electronic device, which includes:

[0015] One or more processors;

[0016] A storage device, configured to store one or more programs,

[0017] When the one or more programs are executed by the one or more processors, the one or more processors implement the positioning restoration method as described in any one of the embodiments of the present disclosure.

[0018] In a fourth aspect, an embodiment of the present disclosure further provides a storage medium containing computer-executable instructions, and the computer-executable instructions are used to execute the positioning restoration method as described in any one of the embodiments of the present disclosure when executed by a computer processor.

[0019] The technical solution of the embodiment of the present disclosure determines the current floor information where the robot is located based on the scan information. After that, when the current floor information is inconsistent with the target floor information of the current task, it retrieves the map data corresponding to the current floor information. Further, based on the map data and the elevator boarding position of the current task, it determines the preliminary positioning area of the robot. Finally, based on the map data, it determines the target positioning of the robot to restore the positioning information of the robot based on the target positioning, solving the problems in the related art that the process of restoring the positioning of the robot is time-consuming and laborious and has low efficiency, and the operation and maintenance cost of the robot is relatively high. It realizes the effect of automatically determining the positioning information corresponding to the robot when it is determined that the positioning of the robot is lost, and then automatically restoring the positioning information of the robot based on the determined positioning information, achieving the effect of improving the positioning restoration efficiency of the robot on the basis of reducing the operation and maintenance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Combined with the drawings and referring to the following specific embodiments, the above and other features, advantages and aspects of the embodiments of the present disclosure will become more obvious. Throughout the drawings, the same or similar reference numerals represent the same or similar elements. It should be understood that the drawings are schematic and the original elements and elements are not necessarily drawn to scale.

[0021] Figure 1Flow schematic diagram of a positioning recovery method provided by an embodiment of the present disclosure;

[0022] Figure 2 Flow schematic diagram of another positioning recovery method provided by an embodiment of the present disclosure;

[0023] Figure 3 Flow schematic diagram of another positioning recovery method provided by an embodiment of the present disclosure;

[0024] Figure 4 Flow schematic diagram of another positioning recovery method provided by an embodiment of the present disclosure;

[0025] Figure 5 A page schematic diagram of a target page provided by an embodiment of the present disclosure;

[0026] Figure 6 A page schematic diagram of a repositioning operation page provided by an embodiment of the present disclosure;

[0027] Figure 7 Flow schematic diagram of a positioning recovery method provided by an embodiment of the present disclosure;

[0028] Figure 8 Structural schematic diagram of a positioning recovery device provided by an embodiment of the present disclosure;

[0029] Figure 9 Structural schematic diagram of an electronic device provided by an embodiment of the present disclosure. Detailed implementation manners

[0030] Embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure.

[0031] It should be understood that the steps recited in the method embodiments of the present disclosure can be executed in a different order and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard.

[0032] As used herein, the term "including" and its variations are open-ended, that is, "including but not limited to". The term "based on" means "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description.

[0033] It should be noted that the concepts such as "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0034] It should be noted that the modification of "one" and "multiple" mentioned in this disclosure is illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more".

[0035] The names of the messages or information exchanged between multiple devices in the embodiments of this disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information.

[0036] It can be understood that before using the technical solutions disclosed in the various embodiments of this disclosure, the types, usage scopes, usage scenarios, etc. of the personal information involved in this disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0037] For example, in response to receiving an active request from the user, a prompt message is sent to the user to clearly prompt the user that the operation requested by the user will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, an application program, a server, or a storage medium that performs the operations of the technical solutions of this disclosure according to the prompt message.

[0038] As an optional but non-limiting implementation manner, the manner of sending a prompt message to the user in response to receiving an active request from the user can be, for example, in the form of a pop-up window, and the prompt message can be presented in text in the pop-up window. In addition, the pop-up window can also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0039] It can be understood that the above process of notifying and obtaining the user's authorization is only illustrative and does not constitute a limitation on the implementation manner of this disclosure. Other manners that meet relevant laws and regulations can also be applied to the implementation manner of this disclosure.

[0040] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of data) should comply with the requirements of corresponding laws, regulations and related provisions.

[0041] Before introducing this technical solution, an exemplary description of the application scenario can be given first. This technical solution can be applied to any scenario of robot positioning recovery. Exemplarily, when the robot loses positioning information, it may be unable to execute subsequent tasks. At this time, the robot can be positioned and restored so that the robot after positioning restoration can continue to execute the corresponding tasks. When positioning and restoring the robot, it is usually to manually move the robot to a specified position or to reset the position on site to enable the robot to restore the positioning information. However, restoring the robot's positioning based on the above methods is time-consuming, laborious and inefficient, and there is also a problem of high robot operation and maintenance costs.

[0042] In order to facilitate the robot to obtain the current floor information where the robot is located by scanning at preset positions on each floor when the robot travels in the target building, before applying the technical solution of the embodiments of the present disclosure, position identifiers (such as Markers) can be deployed at preset positions on each floor of the target building. Then, when the robot travels to any floor, the position identifiers deployed at the preset positions on that floor can be scanned to obtain scan information. After that, the current floor information where the robot is located can be determined based on the scan information. Further, when it is determined that the current floor information is inconsistent with the target floor information of the current task being executed, it can be determined that the robot has traveled to the wrong floor. At this time, based on the technical solution of the embodiments of the present disclosure, the map data corresponding to the current floor information can be retrieved. Further, the target positioning of the robot can be determined based on the map data to restore the positioning information of the robot based on the target positioning. Thus, the effect of automatically determining the positioning information corresponding to the robot when it is determined that the robot's positioning is lost is achieved. Furthermore, the effect of automatically restoring the robot's positioning information based on the determined positioning information is achieved, and the effect of improving the robot's positioning recovery efficiency while reducing the operation and maintenance costs is achieved.

[0043] Figure 1 It is a schematic flowchart of a positioning recovery method provided by the embodiments of the present disclosure. The embodiments of the present disclosure are applicable to the situation of positioning and restoring a robot when the floor information where the robot is located is inconsistent with the target floor information when the robot executes a task in a building. This method can be applied to a robot and is executed by a positioning recovery device. The device can be implemented in the form of software and / or hardware. Optionally, it is implemented by an electronic device, and the electronic device can be a mobile terminal, a PC or a server, etc.

[0044] Such as Figure 1As shown in the figure, the method of this embodiment may specifically include:

[0045] S110. Determine the current floor information where the robot is currently located based on the scanning information.

[0046] Among them, the robot can be a machine device that automatically performs work. In this embodiment, the robot can be a machine device that can perform any function. Optionally, it can be a building robot, that is, a robot that performs corresponding tasks on each floor.

[0047] In this embodiment, position identifiers can be pre-deployed at preset positions on each floor of the target building where the robot travels. The scanning information can be the information obtained after the robot scans the position identifiers. The current floor information can be understood as the floor information where the robot is currently located at the current moment.

[0048] In practical applications, the robot can perform corresponding tasks on each floor of the target building. Before the robot actually runs, the scanning information representing the floor information on each floor of the target building can be preset. Furthermore, the scanning information corresponding to each floor can be obtained. Further, a mapping relationship between each floor and the corresponding scanning information can be established and stored in the robot.

[0049] During the actual operation of the robot, after the robot reaches any floor, the robot can scan the current environment at any position on this floor through a pre-deployed scanning device. Furthermore, the scanning information can be obtained. Further, based on the scanning information and the pre-stored mapping relationship, the current floor information where the robot is currently located can be determined.

[0050] It should be noted that the scanning information can include any information representing the floor. Therefore, in order to quickly obtain the scanning information after the robot reaches any floor, position identifiers can be pre-set at any position on each floor. Furthermore, after the robot reaches any floor, the position identifiers set on this floor can be scanned to obtain the scanning information, and the current floor information can be determined based on the scanning information.

[0051] Optionally, determining the current floor information where the robot is currently located based on the scanning information includes: scanning the position identifiers deployed at the preset positions by the scanning module deployed on the robot; determining the current floor information of the robot based on the scanning information corresponding to the position identifiers and the pre-determined mapping relationship table.

[0052] In this embodiment, the scanning module can be understood as a device deployed on the robot, which can be used to scan the surrounding environment where the robot is located. The scanning module can be any device capable of implementing the scanning function. Optionally, it can be a camera device (such as an infrared camera, etc.) or a radar scanning device, etc. The scanning module can be deployed at a position on the robot at a preset height from the ground. The preset height can be any height. Optionally, it can be 95 centimeters. It should be noted that in order for the scanning module to effectively identify the position identifier set at the preset position, the deployment position of the scanning module can correspond to the set height corresponding to the position identifier. The preset position can be any position in the floor. Optionally, it can be the top of the elevator door frame.

[0053] Among them, the position identifier can be the identifier information representing the floor where the position is located. The position identifier can be any form of identifier information. Optionally, it can be a graphic identifier that stores data symbol information and is distributed in a plane according to a certain rule with a certain specific geometric figure. In this embodiment, the position identifier can be a graphic identifier obtained by encoding a preset numerical interval, and each numerical value in the preset numerical interval corresponds to a position identifier. The preset numerical interval can be an interval including any numerical values. Optionally, it can be 0 - 120. In practical applications, in order to facilitate the robot to quickly scan the position identifier at the preset position of the corresponding floor, the position identifier can be set at the preset position of the corresponding floor. Exemplarily, in the case where the floor identifier is a graphic label, the graphic label can be set at the top of the elevator door frame. It should be noted that in the case where the preset position is the top of the elevator door frame, in order for the scanning module in the robot to quickly obtain the scanning information after scanning the position identifier set at the preset position, the material used for the position identifier can correspond to the color information of the elevator door frame. The advantage of such a setting is that: the scanning information of the position identifier can be quickly obtained, and thus, the positioning efficiency of the floor information is improved. Optionally, in the case where the color information of the elevator door frame is white, the position identifier set at the top of the elevator door frame can use a diamond white reflective film material; in the case where the color information of the elevator door frame is black, the position identifier set at the top of the elevator door frame can use a black reflective film material. The mapping relation table can be understood as a mapping table used to represent the corresponding relationship between the position identifier and the floor information. The mapping relation table includes the position identifier and the corresponding floor information.

[0054] In practical applications, after the robot reaches any floor, it can move to a preset position on that floor. Furthermore, the position identifier at the preset position can be scanned based on the scanning module deployed on the robot, and the scanning information corresponding to the position identifier can be obtained. Further, the pre-determined mapping relation table can be traversed based on the scanning information. Thus, the floor information corresponding to the scanning information can be determined, and the floor information can be used as the current floor information where the robot is currently located. The advantage of this setting is that it realizes the effect of determining the floor information where the robot is currently located based on the position identifier, simplifies the floor information determination process, and further improves the positioning efficiency.

[0055] It should be noted that when the position identifier cannot be scanned by the scanning module due to physical occlusion or other reasons, the scanning information of the position identifier cannot be obtained, and the current floor information cannot be determined. At this time, the wrong floor reporting logic can be not triggered, and the robot does not perform the positioning recovery operation. Instead, an exception information can be directly generated and sent to the target terminal to display the exception information based on the target terminal.

[0056] S120. When the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information.

[0057] Wherein, the current task is the task currently executed by the robot. The current task can be any type of task. Optionally, it can be a delivery task, a patrol task, a charging task, etc. The target floor information can be understood as the floor information to be reached when executing the current task. The target floor information can include at least two floor information associated with the current task. Optionally, the target floor information can include the task start floor information and / or the task destination floor information, etc. The map data can be understood as pre-determined data used to represent the spatial distribution of the floors. It can be understood that in order to enable the robot to automatically execute corresponding tasks on each floor, during the operation of the robot, navigation can be performed according to the pre-stored map to enable the robot to reach the task execution position. Therefore, before the robot actually operates on each floor, the floor map can be pre-drawn according to the spatial distribution of each floor, and the drawn floor map can be used as the map data corresponding to each floor.

[0058] It should be noted that during the process of the robot performing tasks, it usually switches the map data corresponding to the next floor information associated with the current task while taking the elevator. Furthermore, when the robot reaches the next floor, it can execute the current task based on the switched map data. However, when the current floor information is inconsistent with the target floor information of the current task, at this time, the robot only includes the map data corresponding to the target floor information and does not have the map data corresponding to the current floor information. Therefore, in order to continue the subsequent positioning process, the map data corresponding to the current floor information can be retrieved to determine the target position of the robot based on the map data.

[0059] In practical applications, after determining the current floor information where the robot is currently located, in order to determine whether the robot has run on the wrong floor and reset the robot in a timely manner when it has run on the wrong floor, the target floor information of the current task can be obtained and the current floor information can be compared with the target floor information. Further, when it is determined that the current floor information is inconsistent with the target floor information, the map data corresponding to the current floor information can be retrieved. Furthermore, the robot can be positioned and restored based on the map data.

[0060] It should be noted that in the case of running on the wrong floor, in order to ensure the safety of the robot and / or the users on the floor corresponding to the current floor information, before starting to restore the positioning, the execution of the current task can be paused to avoid the situation where the robot moves randomly within the current floor in order to execute the current task, resulting in a safety accident.

[0061] Optionally, retrieving the map data corresponding to the current floor information includes: pausing the execution of the current task; retrieving the pre-constructed and stored floor map data that is consistent with the current floor information and using it as the map data.

[0062] In this embodiment, the floor map data can be understood as the map data representing the spatial distribution of the floor.

[0063] In practical applications, before the robot runs, the floor map data corresponding to each floor can be pre-constructed and the floor information of each floor can be obtained. Further, the floor information and the corresponding floor map data can be associated and stored. Furthermore, during the actual operation of the robot, when it is determined that the current floor information is inconsistent with the target task information of the current task, the task status of the current task can be first changed to paused to make the robot pause the execution of the current task. After that, the corresponding floor map data can be retrieved based on the current floor information and the retrieved floor map data can be used as the map data of the current floor information.

[0064] It should be noted that when the current floor information is inconsistent with the target floor information of the current task, while restoring the positioning of the robot, abnormal information can be generated and sent to the target terminal to display the abnormal information on the target terminal. Thus, relevant users can timely understand the abnormal positioning situation of the robot.

[0065] Among them, the abnormal information includes at least one of the robot identifier, error message, error start time, current floor information, and current time of the robot. The robot identifier can be any identifier information that can identify the robot. Optionally, it can be the robot serial number (Serial Number, SN). The error message can be understood as the information used to characterize the abnormal situation of the robot. The error start time is the time corresponding to when it is detected that the current floor information is inconsistent with the target floor information of the current task. The abnormal information can also include an error code. The target terminal can be any terminal associated with the robot. Optionally, the target terminal can be a mobile terminal and / or a fixed terminal.

[0066] In practical applications, when it is determined that the current floor information is inconsistent with the target floor information of the current task, abnormal information can be generated. Then, the abnormal information can be sent to the target terminal to display the abnormal information on the display interface of the target terminal. The advantage of this setting is that it is convenient for the operation and maintenance personnel to timely understand the abnormal situation of the robot, and thus improve the abnormal response efficiency. At the same time, it is convenient for subsequent tracing of the robot operation situation.

[0067] S130. Based on the map data, determine the target positioning of the robot to restore the positioning information of the robot based on the target positioning.

[0068] In this embodiment, after obtaining the map data corresponding to the current floor information, the target positioning of the robot can be determined based on the map data. Among them, the target positioning can be understood as the precise positioning of the robot within the current floor.

[0069] In practical applications, in the case of obtaining the map data corresponding to the current floor information, the preliminary positioning area of the robot can be determined first according to the map data and the position corresponding to when the robot exits the elevator. Then, based on the preliminary positioning area and the pre-determined positioning method, the target positioning of the robot can be determined. Thus, the positioning information of the robot can be restored according to the target positioning.

[0070] Optionally, based on the map data, determining to restore the positioning information of the robot includes: based on the map data and the elevator position of the current task, determining the preliminary positioning area of the robot; based on the preliminary positioning area and the laser positioning method, determining the target positioning of the robot to restore the positioning information of the robot based on the target positioning.

[0071] In this embodiment, the elevator boarding position can be understood as the position of the elevator that can be boarded on a floor. It can be understood that for each task, there may be a situation where the current task to be executed involves multiple floors. At this time, the robot will move to the elevator boarding position multiple times to board the elevator during the execution of the current task. Therefore, for the current task, the corresponding elevator boarding positions can include multiple ones. Optionally, they can include the starting elevator boarding position where the current task is initiated and the elevator boarding positions corresponding to each floor change during the execution of the current task, etc. The preliminary positioning area can be understood as the fuzzy positioning area corresponding to the robot, and this positioning area can be used to indicate the approximate position of the robot. Among them, the laser positioning method can be a method of achieving positioning by determining the distance between the laser reflector and the obstacle. The laser positioning method can include various types. Optionally, it includes infrared-assisted positioning, ranging positioning, optical positioning method, laser scanning positioning method, etc.

[0072] Generally, when the robot runs across floors, since the robot is not running on the target floor, there may be a situation where the robot loses its positioning, that is, the robot cannot obtain the positioning information of its current location. In order to determine the positioning information of the robot within the current floor, the approximate area where the robot is located can be determined first, that is, the preliminary positioning area.

[0073] It should be noted that when it is determined that the current floor information is inconsistent with the target floor information of the current task, the execution of the current task is paused. At this time, the robot is in a stationary state. Also, because the current floor information is determined based on the position identifier set at the preset position, the position where the robot is located when pausing the execution of the current task should be within the surrounding area of the preset position. Correspondingly, the preliminary positioning area can be determined based on the elevator boarding position where the robot exits the elevator when arriving at the current floor. It can be understood that the robot arrives at the current floor in order to execute the current task, so the elevator boarding position where the robot exits the elevator when arriving at the current floor can be determined based on the initial elevator boarding position where the current task is initiated and / or the previous corresponding elevator boarding position during the execution of the current task. Further, after determining the elevator boarding position where the robot exits the elevator when arriving at the current floor, the preliminary positioning area can be determined based on this elevator boarding position.

[0074] Optionally, determining the preliminary positioning area of the robot based on the map data and the elevator boarding position of the current task includes: determining the preliminary positioning area of the robot based on the starting elevator boarding position where the current task is initiated and / or the previous corresponding elevator boarding position during the execution of the current task, the preset neighborhood range, and the map data.

[0075] Among them, the starting elevator position for initiating the current task can be understood as the position where the elevator that the robot will take is located when initiating the current task. The previous corresponding elevator position during the execution of the current task can be understood as the elevator position corresponding to the opening of the elevator door the previous time before reaching the current floor during the execution of the current task. The preset neighborhood range can be any value. Optionally, it can be 5 meters.

[0076] In practical applications, in order to determine the elevator that the robot takes when reaching the current floor from at least one elevator included in the current floor, the starting elevator position for initiating the current task can be obtained. Further, based on the starting elevator position, the elevator that the robot takes when reaching the current floor can be determined. Then, based on the map data corresponding to the current floor information, the position information of the elevator within the current floor can be determined. Or, the previous corresponding elevator position during the current task can also be obtained. Further, based on this elevator position, the elevator that the robot takes when reaching the current floor can be determined. Then, based on the map data corresponding to the current floor information, the position information of the elevator within the current floor can be determined. Further, based on the position information of the elevator within the current floor and the preset neighborhood range, an area can be determined, and this area can be used as the preliminary positioning area of the robot. The advantage of such a setting is that based on the starting elevator position and / or the previous corresponding elevator position during the execution of the current task, the general area where the robot is located can be accurately determined, laying a foundation for subsequent determination of the target positioning, and thus improving the positioning accuracy.

[0077] Further, after determining the preliminary positioning area of the robot, the local map data corresponding to the preliminary positioning area can be determined based on the preliminary positioning area and the map data already corresponding to the current floor information. Further, in order to accurately determine the target positioning of the robot, a laser positioning method can be used to match the visual environment information of the current position of the robot with the local map data to determine the position information of the robot in the local map data, and this position information can be used as the target positioning of the robot. Further, the positioning information of the robot can be restored based on the target positioning, so that the robot can clearly determine its own position.

[0078] In practical applications, in order to transport to the target floor corresponding to the current task so that the robot can continue to execute the current task, after determining the target positioning of the robot, an elevator instruction can also be generated based on the target positioning and the current task, so that the elevator arrives at the current floor based on the elevator instruction. Among them, the elevator instruction can be a command sent by the robot to the elevator control terminal, and this command can be used to instruct the elevator control terminal to control the elevator to reach the current floor. The current floor corresponds to the current floor information.

[0079] The technical solution of the embodiment of the present disclosure determines the current floor information where the robot is currently located based on the scan information. Then, when the current floor information is inconsistent with the target floor information of the current task, the map data corresponding to the current floor information is retrieved. Further, based on the map data, the target positioning of the robot is determined to restore the positioning information of the robot based on the target positioning, solving the problems in the related art that the process of restoring the positioning of the robot is time-consuming, laborious and has low efficiency, and the operation and maintenance cost of the robot is relatively high. It realizes the effect that when it is determined that the positioning of the robot is lost, the positioning information corresponding to the robot can be automatically determined, and then the positioning information of the robot can be automatically restored based on the determined positioning information, achieving the effect of improving the positioning restoration efficiency of the robot on the basis of reducing the operation and maintenance cost.

[0080] Figure 2 It is a schematic flowchart of another positioning restoration method provided by the embodiment of the present disclosure. On the basis of the above embodiment, the technical solution of this embodiment collects the picture data at different angles based on the laser light source deployed in the robot. Further, based on the picture data, the local map data of the preliminary positioning area, and the laser positioning method, the target positioning of the robot is determined. The specific implementation manner can refer to the description of this embodiment. Among them, the technical features that are the same or similar to the foregoing embodiment will not be described herein again.

[0081] As Figure 2 shown, the method of this embodiment may specifically include:

[0082] S210. Determine the current floor information where the robot is currently located based on the scan information.

[0083] S220. When the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information.

[0084] S230. Determine the preliminary positioning area of the robot based on the map data and the elevator-taking position of the current task.

[0085] S240. Collect the picture data at different angles based on the laser light source deployed in the robot.

[0086] Among them, the laser light source can be understood as a device capable of producing laser. In this embodiment, the light source type of the laser light source deployed on the robot can be set based on the actual scanning requirements. Optionally, if the required scanning result is the area information of a certain area, a surface laser light source can be used to scan the area to obtain the picture data at different angles of the area. Different angles can be understood as different picture acquisition angles centered on the laser light source. The picture data can be used to characterize the spatial structure distribution of the area where the robot is located at the corresponding angle.

[0087] In practical applications, in order to obtain the video data of the position where the robot is located, the video data can be collected based on the laser light source deployed in the robot. There are at least two ways to collect the video data at different angles based on the laser light source. The following are the descriptions of these two ways respectively.

[0088] The first way: When the laser light source deployed in the robot is rotatable, the robot can be fixed, and the video acquisition angle of the laser light source can be changed sequentially to collect the video data at the corresponding angles. Furthermore, the video data at different angles can be obtained.

[0089] The second way: When the laser light source deployed in the robot is not rotatable, the robot can be rotated sequentially to change the video acquisition angle of the laser light source. Furthermore, the video data at different angles can be collected.

[0090] S250. Based on the video data, the local map data of the preliminary positioning area, and the laser positioning method, determine the target positioning of the robot, so as to restore the positioning information of the robot based on the target positioning.

[0091] In this embodiment, the local map data can be understood as the map data in the map data corresponding to the current floor information of the preliminary positioning area. The local map data can be used to characterize the spatial structure distribution in the preliminary positioning area.

[0092] In practical applications, after determining the preliminary positioning area, the map data corresponding to the preliminary positioning area can be determined based on the map data corresponding to the current floor information, and this map data can be used as the local map data of the preliminary positioning area. Further, after obtaining the video data at different angles at the current acquisition position, the video data and the local map data can be matched based on the laser positioning method to determine the target positioning of the robot.

[0093] Optionally, determining the target positioning of the robot based on the video data, the local map data of the preliminary positioning area, and the laser positioning method includes: using the laser positioning method to perform matching processing on the video data and the local map data to determine the target positioning of the robot; if the target positioning is not determined, move the acquisition position according to the preset movement rule to collect the video data based on the adjusted acquisition position, and repeat the step of determining the target positioning until the condition for stopping determining the target positioning is reached.

[0094] In this embodiment, the preset movement rule can be any rule. Optionally, it can be moving a preset distance in a preset direction, etc. Among them, the preset direction can be any direction pointing from the robot to the surrounding. Optionally, the preset direction can be the left side, right side, front side, or rear side of the robot, etc. The preset distance can be any distance. Optionally, it can be 1 meter, etc. The acquisition position is the position where the robot is located when the laser light source acquires the picture data. The condition for stopping determining the target location can be that the adjusted acquisition position exceeds the preset area; or, the acquisition position is within the preset area and the target location is determined, etc.

[0095] In practical applications, after obtaining the picture data at different angles corresponding to the current acquisition position, in order to determine the specific position of the robot in the preliminary positioning area based on the acquired picture data, a laser positioning method can be used to perform matching processing on the acquired picture data and the local map data of the preliminary positioning area, so as to locate the position in the local map data where the same picture data can be acquired, and the position determined in the local map data can be used as the target location of the robot.

[0096] Further, if no position where the same picture data can be acquired is determined in the local map data, the robot can be moved according to the preset movement rule to adjust the acquisition position. Furthermore, different-angle picture data can be acquired at the adjusted acquisition position based on the laser light source deployed in the robot, and the steps of performing matching processing on the picture data and the local map data using the laser positioning method can be repeatedly executed until the condition for stopping determining the target location is reached. If the target location of the robot is determined when the condition for stopping determining the target location is reached, the positioning information of the robot can be restored based on the target location, so that the robot can continue to execute the current task based on the restored positioning information. If the target location of the robot has not been determined when the condition for stopping determining the target location is reached, other methods can be used to determine the target location of the robot until the target location of the robot is finally obtained. The advantage of such a setting is that: it realizes the effect that the robot automatically determines the target location through the laser positioning method, and at the same time, reduces the positioning restoration cost and improves the positioning restoration efficiency.

[0097] In the technical solution of the embodiment of the present disclosure, based on the scanning information, the current floor information where the robot is located is determined. After that, when the current floor information is inconsistent with the target floor information of the current task, the map data corresponding to the current floor information is retrieved. Further, based on the map data and the elevator boarding position of the current task, the preliminary positioning area of the robot is determined. After that, the image data at different angles is collected based on the laser light source deployed in the robot. Finally, based on the image data, the local map data of the preliminary positioning area, and the laser positioning method, the target positioning of the robot is determined, achieving the effect that the robot automatically determines the target positioning through the laser positioning method. Moreover, the positioning recovery cost is reduced, and at the same time, the positioning recovery efficiency is improved.

[0098] Figure 3 FIG. is a schematic flow chart of another positioning recovery method provided by the embodiment of the present disclosure. Based on the technical solution of this embodiment on the basis of the above embodiment, if the target positioning of the robot is not determined based on the preliminary positioning area and the laser positioning method, the target positioning is determined based on the regional image matching method. For the specific implementation manner, reference can be made to the description of this embodiment. Among them, the same or similar technical features as those in the foregoing embodiment will not be elaborated herein.

[0099] As Figure 3 shown, the method of this embodiment may specifically include:

[0100] S310. Based on the scanning information, determine the current floor information where the robot is located.

[0101] S320. When the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information.

[0102] S330. Based on the map data and the elevator boarding position of the current task, determine the preliminary positioning area of the robot.

[0103] S340. Based on the preliminary positioning area and the laser positioning method, determine the target positioning of the robot to recover the positioning information of the robot based on the target positioning.

[0104] S350. If the target positioning of the robot is not determined based on the preliminary positioning area and the laser positioning method, collect the regional image based on the imaging device deployed on the robot.

[0105] In this embodiment, the imaging device may be any device capable of implementing the image acquisition function. Optionally, it may be a camera or the like. The regional image can be understood as an image representing the area where the robot is located. The regional image may be a panoramic view centered on the robot, or an image corresponding to at least one shooting angle. The embodiment of the present disclosure does not make specific limitations on this.

[0106] In practical applications, if the target location of the robot cannot be determined based on the preliminary positioning area and the laser positioning method, the image within the field of view can be collected by means of a camera device deployed on the robot. Further, a regional image can be obtained.

[0107] S360. Determine the target location of the robot based on the regional image and the map data corresponding to the preliminary positioning area.

[0108] In practical applications, after obtaining the regional image, the regional image can be matched with the map data corresponding to the preliminary positioning area to determine the position in the map data where the same regional image can be collected. Further, the position determined in the map data can be used as the target location of the robot to restore the positioning information of the robot based on the target location.

[0109] The technical solution of the embodiment of the present disclosure determines the current floor information where the robot is currently located based on the scanning information. Then, when the current floor information is inconsistent with the target floor information of the current task, the map data corresponding to the current floor information is retrieved. Further, based on the map data and the elevator riding position of the current task, the preliminary positioning area of the robot is determined. Based on the preliminary positioning area and the laser positioning method, the target location of the robot is determined to restore the positioning information of the robot based on the target location. Further, if the target location of the robot cannot be determined based on the preliminary positioning area and the laser positioning method, the regional image is collected by means of a camera device deployed on the robot. Finally, based on the regional image and the map data corresponding to the preliminary positioning area, the target location of the robot is determined, achieving the effect of determining the target location by means of the regional image matching positioning method of the robot, enriching the determination method of the target location, and further improving the intelligence of the robot.

[0110] Figure 4 It is a schematic flowchart of another positioning restoration method provided by the embodiment of the present disclosure. Based on the technical solution of this embodiment on the basis of the above embodiment, if the target location cannot be determined, a repositioning request is sent to the target terminal so that the target terminal determines the repositioning information based on the repositioning request. Further, the repositioning information is received so that the robot determines the target location based on the repositioning information. The specific implementation manner can refer to the description of this embodiment. Among them, the technical features that are the same as or similar to those of the foregoing embodiment are not described herein again.

[0111] As Figure 4 shown, the method of this embodiment may specifically include:

[0112] S410. Determine the current floor information where the robot is currently located based on the scanning information.

[0113] S420. When the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information.

[0114] S430. Based on the map data, determine the target positioning of the robot to restore the positioning information of the robot based on the target positioning.

[0115] S440. If the target positioning cannot be determined, send a repositioning request to the target terminal so that the target terminal displays the target page based on the repositioning request.

[0116] In this embodiment, if the target positioning cannot be automatically determined based on the logic and information deployed in the robot, the positioning information of the robot can be re-determined, and the re-determined positioning information can be used as the target positioning of the robot, that is, send a repositioning request to the target terminal to determine the target positioning of the robot based on the target terminal.

[0117] Among them, the target terminal can be a device that communicates with the robot and installs relevant application software. Optionally, the target terminal can be a mobile terminal (for example, a smart phone or a tablet computer, etc.) and / or a fixed terminal (for example, a PC). The repositioning request can be understood as a request message sent by the robot to the target terminal, and this request message is used to request the target terminal to reposition the robot. The target page can be understood as a page for operation and maintenance management of the robot. The target page includes a repositioning control. The repositioning control can be pre-set and used to perform a repositioning operation on the robot. The target page can also include other controls. Optionally, it can include a task management control, etc. Exemplarily, Figure 5 is a schematic diagram of the target page. As Figure 5 shown, the target page 50 includes a repositioning control 51 and a task management control 52.

[0118] In practical applications, if the target positioning cannot be determined based on both the laser positioning method and the area image matching, a repositioning request can be generated and sent to the target terminal. Further, when the target terminal receives the repositioning request, a repositioning request prompt message can be displayed based on the target terminal. Furthermore, a page display trigger operation can be input to the target terminal to display the target page when this trigger operation is detected. Or, when the target terminal receives the repositioning request, the target terminal can be triggered to directly display the target page.

[0119] S450. Receive the repositioning information to determine the target positioning based on the repositioning information.

[0120] Among them, the repositioning information is the positioning information determined after triggering the repositioning control on the target page.

[0121] It should be noted that the target terminal also includes a relocation operation page, where the relocation operation page corresponds to a relocation control. The relocation operation page can be understood as a visualization page for performing a relocation operation on the robot. The relocation operation page includes a point selection control and a line-drawing relocation control. The point selection control and the line-drawing relocation control are used to re-determine the relocation information. The point selection control can be understood as a pre-set control for re-determining the relocation information by selecting points. The line-drawing relocation can be understood as a pre-set control for re-determining the relocation information by drawing a line. It should be noted that in addition to the point selection control and the line-drawing relocation control, the relocation operation page can also display a map corresponding to the corresponding floor to relocate the robot based on the displayed map. Exemplarily, Figure 6 is a schematic diagram of the relocation operation page. As Figure 6 shown, the relocation operation page 60 includes a point selection control 61 and a line-drawing relocation control 62. At the same time, it also includes a relocation control 63. Figure 6 The control shown in shadow in the figure can be represented as a selected control.

[0122] In this embodiment, when a trigger operation for the relocation control displayed in the target page is detected, the relocation information determination process can be entered. In order to re-determine the relocation information on the target terminal, the relocation operation page can be displayed on the target terminal to determine the relocation information based on the trigger operation for the positioning control included in the relocation operation page.

[0123] In practical applications, when a trigger operation for the relocation control is detected, the relocation operation page can be displayed. The operation page can display a point selection control, a line-drawing relocation control, and a pre-determined floor map. Further, the relocation information can be determined in different ways by inputting a trigger operation for the point selection control and the line-drawing relocation control.

[0124] Optionally, when a trigger operation for the point selection control is detected, the point selection relocation process can be entered. A click trigger operation can be input at any position on the floor map displayed on the page to mark the position. After that, a trigger operation can be input for the relocation control, and the marked position can be used as the relocation information.

[0125] Optionally, when a trigger operation for the line-drawing repositioning control is detected, the line-drawing repositioning process can be entered. A click trigger operation can be input at any position in the floor map displayed on the page to determine the line-drawing position. Then, a control trigger operation can be input to the direction adjustment control (e.g., a joystick, etc.) to determine the rotation angle. Then, a trigger operation can be input to the repositioning control. When the control trigger operation is detected, the repositioning information can be determined based on the line-drawing position and the rotation angle.

[0126] It should be noted that when no position is marked on the map displayed on the repositioning operation page, the repositioning control can be in a non-triggerable state.

[0127] Furthermore, after the repositioning information is determined, the determined repositioning information can be sent to the robot so that the robot can determine the target positioning based on the repositioning information.

[0128] The technical solution of the embodiment of the present disclosure determines the current floor information where the robot is currently located based on the scan information. Then, when the current floor information is inconsistent with the target floor information of the current task, the map data corresponding to the current floor information is retrieved. Then, based on the map data, the target positioning of the robot is determined to restore the positioning information of the robot based on the target positioning. Further, if the target positioning cannot be determined, a repositioning request is sent to the target terminal so that the target terminal can display the target page based on the repositioning request. Finally, the repositioning information is received to determine the target positioning based on the repositioning information, achieving the effect of re-determining the robot positioning information through remote operation, enriching the method of positioning restoration, enhancing the interaction degree between the user and the robot, and achieving the effect of improving the positioning restoration efficiency while reducing the labor cost.

[0129] Figure 7 It is a schematic flowchart of a positioning restoration method provided by an embodiment of the present disclosure. The embodiment of the present disclosure is an optional embodiment of the above-mentioned various disclosed embodiments. As Figure 7 shown, the method of the embodiment of the present disclosure can include the following steps:

[0130] First, during the process of the robot executing the current task, obtain the scan information corresponding to the location identifier (e.g., Marker); then, based on the scan information and the pre-determined mapping relation table, determine the current floor information corresponding to the location identifier; further, determine whether the current floor information is consistent with the elevator departure floor or the target floor corresponding to the current task; if so, determine that the robot is not running on the wrong floor and do not perform any processing on it; if not, pause the execution of the current task and switch to the floor map corresponding to the current floor information. Further, based on the starting elevator position where the current task is initiated, the preset neighborhood range, and the floor map, determine the preliminary positioning area of the robot; then, use the laser positioning method to rotate the robot and perform matching positioning within the limited area; then, determine whether the target positioning of the robot is determined; if so, resume the execution of the current task; if not, perform matching positioning within the limited area by visual means; then, determine again whether the target positioning of the robot is determined; if so, resume the execution of the current task; if not, generate an alarm message and send it to the target terminal to display the alarm message on the target terminal.

[0131] The technical solution of the embodiments of the present disclosure determines the current floor information where the robot is located based on the scan information. Then, when the current floor information is inconsistent with the target floor information of the current task, the map data corresponding to the current floor information is retrieved. Further, based on the map data and the elevator position of the current task, the preliminary positioning area of the robot is determined. Finally, based on the preliminary positioning area and the laser positioning method, the target positioning of the robot is determined to restore the positioning information of the robot based on the target positioning, solving the problems in the related art that the process of restoring the positioning of the robot is time-consuming, laborious, and has low efficiency, and the operation and maintenance cost of the robot is relatively high. It realizes the effect that when it is determined that the positioning of the robot is lost, the positioning information corresponding to the robot can be automatically determined, and then, based on the determined positioning information, the positioning information of the robot is automatically restored, achieving the effect of improving the positioning restoration efficiency of the robot while reducing the operation and maintenance cost.

[0132] Figure 8 The following is a schematic structural diagram of a positioning restoration device provided by an embodiment of the present disclosure, as Figure 8 shown, the device includes: a floor information determination module 510, a map data retrieval module 520, and a positioning information restoration module 530.

[0133] Among them, the floor information determination module 510 is configured to determine the current floor information where the robot is located based on the scanning information; the map data retrieval module 520 is configured to retrieve the map data corresponding to the current floor information when the current floor information is inconsistent with the target floor information of the current task; where the current task is the task currently executed by the robot; the positioning information restoration module 530 determines the target positioning of the robot based on the map data, so as to restore the positioning information of the robot based on the target positioning.

[0134] Based on the above optional technical solutions, optionally, the floor information determination module 510 includes: an identification scanning unit and a floor information determination unit.

[0135] The identification scanning unit is configured to scan the position identifier deployed at a preset position based on the scanning module deployed on the robot.

[0136] The floor information determination unit is configured to determine the current floor information of the robot based on the scanning information corresponding to the position identifier and a pre-determined mapping relation table; where the preset relation table includes the position identifier and the corresponding floor information.

[0137] Based on the above optional technical solutions, optionally, the map data retrieval module 520 includes: a task suspension unit and a map data retrieval unit.

[0138] The task suspension unit is configured to suspend the execution of the current task.

[0139] The map data retrieval unit is configured to retrieve the floor map data that is pre-constructed and stored and is consistent with the current floor information, and use it as the map data.

[0140] Based on the above optional technical solutions, optionally, the positioning information restoration module 530 includes: a preliminary positioning area determination sub-module and a target positioning determination sub-module.

[0141] The preliminary positioning area determination sub-module is configured to determine the preliminary positioning area of the robot based on the map data and the elevator riding position of the current task.

[0142] The target positioning determination sub-module is configured to determine the target positioning of the robot based on the preliminary positioning area and the laser positioning method.

[0143] Based on the above optional technical solutions, optionally, the preliminary positioning area determination sub-module is specifically configured to determine the preliminary positioning area of the robot based on the starting elevator riding position where the current task is initiated and / or the previous corresponding elevator riding position during the execution of the current task, a preset neighborhood range, and the map data.

[0144] Based on the above optional technical solutions, optionally, the target positioning determination sub-module includes: a picture data acquisition unit and a target positioning determination unit.

[0145] The picture data acquisition unit is used to acquire picture data at different angles based on a laser light source deployed in the robot.

[0146] The target positioning determination unit is used to determine the target positioning of the robot based on the picture data, the local map data of the preliminary positioning area, and the laser positioning method.

[0147] Based on the above optional technical solutions, optionally, the target positioning determination unit includes: a target positioning determination sub-unit and a repeated execution sub-unit.

[0148] The target positioning determination sub-unit is used to perform matching processing on the picture data and the local map data by using the laser positioning method to determine the target positioning of the robot.

[0149] The repeated execution sub-unit is used to, if the target positioning is not determined, move the acquisition position according to a preset movement rule to acquire the picture data based on the adjusted acquisition position, and repeatedly execute the step of determining the target positioning until the condition for stopping the determination of the target positioning is reached.

[0150] Based on the above optional technical solutions, optionally, the device further includes: an image acquisition module and a positioning determination module.

[0151] The image acquisition module is used to acquire area images based on a camera device deployed on the robot if the target positioning of the robot is not determined based on the preliminary positioning area and the laser positioning method.

[0152] The positioning determination module is used to determine the target positioning of the robot based on the area images and the map data corresponding to the preliminary positioning area.

[0153] Based on the above optional technical solutions, optionally, the device further includes: an instruction generation module.

[0154] The instruction generation module is used to generate a lift instruction based on the target positioning and the current task after determining the target positioning, so that the elevator reaches the current floor based on the lift instruction, where the current floor corresponds to the current floor information.

[0155] Based on the above optional technical solutions, optionally, the device further includes: an abnormal information generation module.

[0156] An exception information generation module, configured to generate exception information and send it to a target terminal when the current floor information is inconsistent with the target floor information of the current task, so as to display the exception information on the target terminal, where the exception information includes at least one of the robot identifier of the robot, an error message, an error start time, the current floor information, and the current moment.

[0157] Based on the above optional technical solutions, optionally, the device further includes: a relocalization request sending module and a relocalization information receiving module.

[0158] The localization request sending module is configured to send a relocalization request to a target terminal if the target localization is not determined, so that the target terminal displays a target page based on the relocalization request; where the target page includes a relocalization control.

[0159] The relocalization information receiving module is configured to receive relocalization information to determine the target localization based on the relocalization information, where the relocalization information is the localization information determined after triggering the relocalization control on the target page.

[0160] Based on the above optional technical solutions, optionally, the target terminal further includes a relocalization operation page, where the relocalization operation page corresponds to the relocalization control.

[0161] The relocalization operation page includes a point selection control and a line drawing relocalization control, where the point selection control and the line drawing relocalization control are used to re-determine the relocalization information.

[0162] The technical solution of the embodiment of the present disclosure determines the current floor information where the robot is located based on the scan information, and then, when the current floor information is inconsistent with the target floor information of the current task, retrieves the map data corresponding to the current floor information. Further, based on the map data, the target localization of the robot is determined to restore the localization information of the robot based on the target localization, solving the problems in the related art that the process of restoring the robot's localization is time-consuming and laborious and has low efficiency, and the operation and maintenance cost of the robot is relatively high. It realizes the effect that when it is determined that the robot's localization is lost, the localization information corresponding to the robot can be automatically determined, and then, based on the determined localization information, the robot's localization information is automatically restored, achieving the effect of improving the robot's localization restoration efficiency on the basis of reducing the operation and maintenance cost.

[0163] The localization restoration device provided by the embodiment of the present disclosure can execute the localization restoration method provided by any embodiment of the present disclosure, and has the corresponding functional modules and beneficial effects for executing the method.

[0164] It should be noted that the various units and modules included in the above device are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of the functional units are only for the convenience of mutual distinction and do not limit the protection scope of the embodiments of the present disclosure.

[0165] Figure 9 FIG. is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. The following refers to Figure 9 , which shows a schematic structural diagram of an electronic device 500 suitable for implementing the embodiments of the present disclosure (such as Figure 9 in the terminal device or server). The terminal device in the embodiments of the present disclosure may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (personal digital assistants), PADs (tablet computers), PMPs (portable multimedia players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 9 The electronic device shown is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present disclosure.

[0166] As Figure 9 shown, the electronic device 500 may include a processing device (such as a central processing unit, a graphics processing unit, etc.) 501, which may perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage device 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 are also stored. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An editing / output (I / O) interface 505 is also connected to the bus 504.

[0167] Generally, the following devices may be connected to the I / O interface 505: an input device 506 including, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; an output device 507 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; a storage device 508 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 509. The communication device 509 may allow the electronic device 500 to communicate with other devices wirelessly or wiredly to exchange data. Although Figure 9 shows the electronic device 500 having various devices, it should be understood that it is not required to implement or include all the shown devices. Instead, more or fewer devices may be implemented or included.

[0168] In particular, according to an embodiment of the present disclosure, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, an embodiment of the present disclosure includes a computer program product that includes a computer program carried on a non-transitory computer-readable medium, and the computer program includes program code for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network via the communication device 509, or installed from the storage device 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-mentioned functions defined in the method of the embodiment of the present disclosure are executed.

[0169] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are for illustrative purposes only and are not used to limit the scope of these messages or information.

[0170] The electronic device provided in the embodiment of the present disclosure and the positioning recovery method provided in the above embodiment belong to the same inventive concept. Technical details not described in detail in this embodiment can be referred to in the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0171] The embodiment of the present disclosure provides a computer storage medium, on which a computer program is stored, and when the program is executed by a processor, the positioning recovery method provided in the above embodiment is implemented.

[0172] It should be noted that the above-mentioned computer-readable medium in the present disclosure can be a computer-readable signal medium, a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples of the computer-readable storage medium can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium can include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium can also be any computer-readable medium other than a computer-readable storage medium, and this computer-readable signal medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0173] In some embodiments, the client and the server can communicate using any currently known or future-developed network protocol such as HTTP (Hyper Text Transfer Protocol), and can be interconnected with digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet (e.g., the Internet), and end-to-end networks (e.g., ad hoc end-to-end networks), as well as any currently known or future-developed networks.

[0174] The above-mentioned computer-readable medium can be included in the above-mentioned electronic device; it can also exist separately without being assembled into the electronic device.

[0175] The above computer-readable medium carries one or more programs, which, when executed by the electronic device, cause the electronic device to: determine the current floor information where the robot is currently located based on the scanning information; when the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information; where the current task is the task currently being executed by the robot; determine the target positioning of the robot based on the map data so as to restore the positioning information of the robot based on the target positioning.

[0176] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages or combinations thereof. The programming languages include, but are not limited to, object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user's computer, partially on the user's computer, execute as a stand-alone software package, execute partially on the user's computer and partially on a remote computer, or execute entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0177] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that, in some alternative implementations, the functions marked in the blocks may occur in a different order than marked in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, and they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and the combinations of blocks in the block diagram and / or flowchart, may be implemented by a dedicated hardware-based system for performing the specified functions or operations, or may be implemented by a combination of dedicated hardware and computer instructions.

[0178] The units involved in the embodiments of the present disclosure may be implemented in software or in hardware. Among them, the name of the unit does not constitute a limitation on the unit itself in some cases. For example, the first acquisition unit may also be described as "the unit for acquiring at least two Internet protocol addresses".

[0179] The functions described above in this document can be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that can be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.

[0180] In the context of this disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM or Flash memory), an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0181] The above description is only a preferred embodiment of the present disclosure and an explanation of the applied technical principles. Those skilled in the art should understand that the scope of the disclosure involved in the present disclosure is not limited to the technical solutions formed by the specific combination of the above technical features, and should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosure concept. For example, the technical solutions formed by replacing the above features with other technical features (but not limited to) having similar functions disclosed in the present disclosure.

[0182] In addition, although the operations are depicted in a particular order, this should not be construed as requiring that the operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although a number of specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features described in the context of separate embodiments can also be implemented combinatorially in a single embodiment. Conversely, the various features described in the context of a single embodiment can also be implemented separately or in any suitable sub-combination in multiple embodiments.

[0183] Although the subject matter has been described in language specific to structural features and / or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. On the contrary, the specific features and acts described above are merely example forms of implementing the claims.

Claims

1. A positioning recovery method, characterized in that: Applied to a robot, the method includes: Based on the scanning information, determine the current floor information where the robot is currently located; When the current floor information is inconsistent with the target floor information of the current task, retrieve the map data corresponding to the current floor information; wherein, the current task is the task currently being executed by the robot; Based on the map data, determine the target positioning of the robot to restore the positioning information of the robot based on the target positioning.

2. The method according to claim 1, wherein The determining the current floor information where the robot is currently located based on the scanning information includes: Based on a scanning module deployed on the robot, scan a position identifier deployed at a preset position; Based on the scanning information corresponding to the position identifier and a pre-determined mapping relationship table, determine the current floor information of the robot; Wherein, the mapping relationship table includes position identifiers and corresponding floor information.

3. The method according to claim 1, characterized in that, The retrieving the map data corresponding to the current floor information includes: Pause the execution of the current task; Retrieve the floor map data that is pre-constructed and stored and is consistent with the current floor information, and use it as the map data.

4. The method according to claim 1, wherein The determining the target positioning of the robot based on the map data includes: Based on the map data and the elevator boarding position of the current task, determine the preliminary positioning area of the robot; Based on the preliminary positioning area and the laser positioning method, determine the target positioning of the robot.

5. The method according to claim 4, wherein The determining the preliminary positioning area of the robot based on the map data and the elevator boarding position of the current task includes: Based on the starting elevator boarding position where the current task is initiated and / or the previous corresponding elevator boarding position during the execution of the current task, a preset neighborhood range, and the map data, determine the preliminary positioning area of the robot.

6. The method according to claim 4, wherein The determining the target positioning of the robot based on the preliminary positioning area and the laser positioning method includes: Based on a laser light source deployed in the robot, collect picture data at different angles; Based on the picture data, the local map data of the preliminary positioning area, and the laser positioning method, determine the target positioning of the robot.

7. The method according to claim 6, wherein The determining the target positioning of the robot based on the picture data, the local map data of the preliminary positioning area, and the laser positioning method includes: Use the laser positioning method to perform matching processing on the picture data and the local map data to determine the target positioning of the robot; If the target positioning is not determined, move the acquisition position according to a preset movement rule to collect the picture data based on the adjusted acquisition position, and repeat the step of determining the target positioning until the condition for stopping the determination of the target positioning is reached.

8. The method according to claim 4, characterized in that It further includes: If the target positioning of the robot is not determined based on the preliminary positioning area and the laser positioning method, collect area images based on a camera device deployed on the robot; Based on the area images and the map data corresponding to the preliminary positioning area, determine the target positioning of the robot.

9. The method according to claim 1 or 8, characterized in that: After determining the target positioning, the method further includes: An elevator ride instruction is generated based on the target positioning and the current task, so that the elevator reaches a current floor based on the elevator ride instruction, wherein the current floor corresponds to the current floor information.

10. The method according to claim 1, wherein When the current floor information is inconsistent with the target floor information of the current task, the method further includes: Generate exception information and send it to the target terminal to display the exception information on the target terminal, wherein the exception information includes at least one of the robot identification, error information, error start time, current floor information and current time of the robot.

11. The method according to claim 1 or 8, characterized in that, The method further comprises: If the target location is not determined, sending a relocation request to the target terminal so that the target terminal displays a target page based on the relocation request; wherein the target page includes a relocation control; Relocation information is received to determine the target location based on the relocation information, wherein the relocation information is location information determined after triggering a relocation control on the target page.

12. The method according to claim 11, characterized in that The target terminal also includes a relocation operation page, wherein the relocation operation page corresponds to the relocation control; The repositioning operation page includes a point selection control and a line repositioning control, wherein the point selection control and the line repositioning control are used to re-determine the repositioning information.

13. A positioning recovery device, characterized in that: Configured in a robot, the device includes: A floor information determination module, configured to determine the current floor information of the robot based on the scanning information; a map data retrieval module, configured to retrieve map data corresponding to the current floor information when the current floor information is inconsistent with the target floor information of the current task; wherein the current task is the task currently being performed by the robot; The positioning information recovery module is used to determine the target positioning of the robot based on the map data, so as to recover the positioning information of the robot based on the target positioning.

14. An electronic device, characterized in that: The electronic device comprises: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the positioning recovery method as described in any one of claims 1 to 12.

15. A storage medium containing computer-executable instructions, characterized in that, When the computer executable instructions are executed by a computer processor, they are used to perform the positioning recovery method according to any one of claims 1 to 12.

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