Robot navigation method and device, computer readable storage medium and robot

Abstract

The invention belongs to the technical field of robots, and particularly relates to a robot navigation method and device, a computer readable storage medium and a robot. The method comprises the following steps: based on a three-dimensional radar positioning mode, controlling a robot to navigate from a starting point of a starting floor to an elevator waiting point of the starting floor; under the condition that the elevator reaches the starting floor, based on a two-dimensional local positioning mode, the robot is controlled to be navigated to a designated position in the elevator from an elevator waiting point of the starting floor; under the condition that the elevator reaches a target floor, based on the two-dimensional local positioning mode, the robot is controlled to navigate to an elevator leaving point of the target floor from a designated position in the elevator; and based on the three-dimensional radar positioning mode, controlling the robot to navigate to a target point of the target floor from an elevator leaving point of the target floor. Through combined use of a three-dimensional radar positioning mode and a two-dimensional local positioning mode, the navigation stability of the robot can be effectively improved.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and in particular relates to a robot navigation method, device, computer-readable storage medium, and robot. Background Technology

[0002] With the increasing prevalence of smart buildings and unmanned warehouses, robots need to autonomously navigate between multiple floors to perform tasks such as material delivery and cleaning / disinfection. Traditional manual scheduling or elevator retrofitting solutions are costly and have poor compatibility, creating a demand for non-intrusive autonomous elevator navigation technology. Current technologies typically rely on 3D radar positioning for robot navigation; however, elevators have high passenger flow and complex, ever-changing environments, making robots susceptible to various dynamic interferences during entry and exit, resulting in poor navigation stability. Summary of the Invention

[0003] In view of this, embodiments of this application provide a robot navigation method, apparatus, computer-readable storage medium, and robot to solve the problem of poor stability in robot navigation in the prior art.

[0004] A first aspect of this application provides a robot navigation method, which may include:

[0005] Based on the three-dimensional radar positioning mode, the robot is controlled to navigate from the starting point on the starting floor to the waiting point on the starting floor.

[0006] When the elevator arrives at the starting floor, the robot is controlled to navigate from the waiting point on the starting floor to the designated location inside the elevator based on the two-dimensional local positioning mode.

[0007] When the elevator reaches the target floor, based on the two-dimensional local positioning mode, the robot is controlled to navigate from a designated location inside the elevator to the exit point of the target floor.

[0008] Based on the three-dimensional radar positioning mode, the robot is controlled to navigate from the exit point of the target floor to the target point on the target floor.

[0009] In one specific implementation of the first aspect, before controlling the robot to navigate from the waiting point on the starting floor to the designated location inside the elevator, the method may further include:

[0010] Based on the coordinates of the waiting point of the starting floor in the first world coordinate system, a first coordinate system transformation matrix is ​​determined to transform from the first local coordinate system to the first world coordinate system; wherein, the first world coordinate system is the coordinate system corresponding to the starting floor in the three-dimensional radar positioning mode, and the first local coordinate system is the coordinate system corresponding to the starting floor in the two-dimensional local positioning mode.

[0011] Based on the first coordinate system transformation matrix, the points in the first local coordinate system are transformed to the first world coordinate system.

[0012] In one specific implementation of the first aspect, after controlling the robot to navigate from the waiting point on the starting floor to a designated location inside the elevator, the method may further include:

[0013] Based on the coordinates of the specified position inside the elevator in the first world coordinate system, the coordinates of the specified position inside the elevator in the second world coordinate system are determined; wherein, the second world coordinate system is the coordinate system corresponding to the target floor in the three-dimensional radar positioning mode.

[0014] In one specific implementation of the first aspect, before controlling the robot to navigate from a designated location within the elevator to the exit point of the target floor, the method may further include:

[0015] Based on the coordinates of the specified location inside the elevator in the second world coordinate system, a second coordinate system transformation matrix is ​​determined to transform from the second local coordinate system to the second world coordinate system; wherein, the second local coordinate system is the coordinate system corresponding to the target floor in the two-dimensional local positioning mode;

[0016] Based on the second coordinate system transformation matrix, the points in the second local coordinate system are transformed to the second world coordinate system.

[0017] In one specific implementation of the first aspect, after controlling the robot to navigate from the waiting point on the starting floor to a designated location inside the elevator, the method may further include:

[0018] Switch the first map to the second map; wherein the first map is the map corresponding to the starting floor, and the second map is the map corresponding to the target floor.

[0019] In one specific implementation of the first aspect, before controlling the robot to navigate from the starting point on the initial floor to the waiting point on the initial floor, the following may be included:

[0020] Construct a 3D point cloud map and a raster map for a specified floor;

[0021] Based on the 3D point cloud map and raster map of the specified floor, construct the 3D point cloud map and raster map of each floor.

[0022] In one specific implementation of the first aspect, constructing the 3D point cloud map and raster map of the specified floor may include:

[0023] Construct a grid map of the specified elevator on the specified floor;

[0024] Based on the grid map of the specified elevator on the specified floor, construct a grid map of each elevator on the specified floor.

[0025] A second aspect of this application provides a robot navigation device, which may include:

[0026] The starting floor navigation module is used to control the robot to navigate from the starting point on the starting floor to the waiting point on the starting floor based on the three-dimensional radar positioning mode.

[0027] The elevator navigation module is used to control the robot to navigate from the waiting point on the starting floor to a designated location inside the elevator based on a two-dimensional local positioning mode when the elevator arrives at the starting floor.

[0028] An elevator exit navigation module is used to control the robot to navigate from a designated location inside the elevator to the exit point of the target floor based on the two-dimensional local positioning mode when the elevator reaches the target floor.

[0029] The target floor navigation module is used to control the robot to navigate from the exit point of the target floor to the target point of the target floor based on the three-dimensional radar positioning mode.

[0030] In one specific implementation of the second aspect, the robot navigation device may further include:

[0031] The first coordinate system transformation module is used to determine a first coordinate system transformation matrix from a first local coordinate system to the first world coordinate system before controlling the robot to navigate from the waiting point of the starting floor to a designated position inside the elevator; wherein, the first world coordinate system is the coordinate system corresponding to the starting floor in the three-dimensional radar positioning mode, and the first local coordinate system is the coordinate system corresponding to the starting floor in the two-dimensional local positioning mode; and the points in the first local coordinate system are transformed to the first world coordinate system according to the first coordinate system transformation matrix.

[0032] In one specific implementation of the second aspect, the robot navigation device may further include:

[0033] The elevator coordinate determination module is used to determine the coordinates of the specified position inside the elevator in a second world coordinate system based on the coordinates of the specified position in the first world coordinate system after controlling the robot to navigate from the waiting point of the starting floor to the specified position inside the elevator; wherein, the second world coordinate system is the coordinate system corresponding to the target floor in the three-dimensional radar positioning mode.

[0034] In one specific implementation of the second aspect, the robot navigation device may further include:

[0035] The second coordinate system transformation module is used to determine a second coordinate system transformation matrix from the second local coordinate system to the second world coordinate system before controlling the robot to navigate from a designated position inside the elevator to the exit point of the target floor. This matrix is ​​based on the coordinates of the designated position inside the elevator in the second world coordinate system. The second local coordinate system is the coordinate system corresponding to the target floor in the two-dimensional local positioning mode. The module transforms the points in the second local coordinate system to the second world coordinate system based on the second coordinate system transformation matrix.

[0036] In one specific implementation of the second aspect, the robot navigation device may further include:

[0037] The map switching module is used to switch the first map to the second map after controlling the robot to navigate from the waiting point of the starting floor to the designated location inside the elevator; wherein the first map is the map corresponding to the starting floor, and the second map is the map corresponding to the target floor.

[0038] In one specific implementation of the second aspect, the robot navigation device may further include:

[0039] The first map building module is used to build a 3D point cloud map and a raster map of a specified floor.

[0040] The second map construction module is used to construct 3D point cloud maps and raster maps for each floor based on the 3D point cloud map and raster map of the specified floor.

[0041] In one specific implementation of the second aspect, the first map building module may be specifically used to: build a grid map of a specified elevator on the specified floor; and build a grid map of each elevator on the specified floor based on the grid map of the specified elevator on the specified floor.

[0042] A third aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of any of the robot navigation methods described above.

[0043] A fourth aspect of this application provides a robot including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of any of the robot navigation methods described above.

[0044] The fifth aspect of this application provides a computer program product that, when run on a robot, causes the robot to perform the steps of any of the robot navigation methods described above.

[0045] The beneficial effects of this application embodiment compared with the prior art are as follows: This application embodiment, based on a three-dimensional radar positioning mode, controls the robot to navigate from the starting point on the initial floor to the elevator waiting point on the initial floor; when the elevator arrives at the initial floor, based on a two-dimensional local positioning mode, it controls the robot to navigate from the elevator waiting point on the initial floor to a designated position inside the elevator; when the elevator arrives at the target floor, based on the two-dimensional local positioning mode, it controls the robot to navigate from the designated position inside the elevator to the exit point on the target floor; and based on the three-dimensional radar positioning mode, it controls the robot to navigate from the exit point on the target floor to the target point on the target floor. Through this application embodiment, the robot can be controlled to navigate based on a three-dimensional radar positioning mode in general scenarios, while during the robot's entry and exit from elevators, it can be controlled to navigate based on a two-dimensional local positioning mode to avoid various possible dynamic interferences. The combined use of the three-dimensional radar positioning mode and the two-dimensional local positioning mode can effectively improve the stability of robot navigation. Attached Figure Description

[0046] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0047] Figure 1 This is a schematic diagram of the mapping process;

[0048] Figure 2 This is a flowchart of one embodiment of a robot navigation method according to the present application.

[0049] Figure 3 A schematic diagram of the robot navigation process;

[0050] Figure 4 This is a diagram illustrating the robot's switching of positioning modes during navigation.

[0051] Figure 5 This is a structural diagram of one embodiment of a robot navigation device according to the present application.

[0052] Figure 6 This is a schematic block diagram of a robot according to an embodiment of this application. Detailed Implementation

[0053] To make the inventive objectives, features, and advantages of this application more apparent and understandable, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0054] It should be understood that, when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0055] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0056] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0057] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [the described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [the described condition or event] is detected," or "in response to detection of [the described condition or event]."

[0058] Furthermore, in the description of this application, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0059] With the increasing prevalence of smart buildings and unmanned warehouses, robots need to autonomously navigate between multiple floors to perform tasks such as material delivery and cleaning / disinfection. Traditional manual scheduling or elevator retrofitting solutions are costly and have poor compatibility, creating a demand for non-intrusive autonomous elevator navigation technology. Current technologies typically rely on 3D radar positioning for robot navigation; however, elevators have high passenger flow and complex, ever-changing environments, making robots susceptible to various dynamic interferences during entry and exit, resulting in poor navigation stability.

[0060] In view of this, embodiments of this application provide a robot navigation method, apparatus, computer-readable storage medium, and robot to solve the problem of poor stability in robot navigation in the prior art.

[0061] In this embodiment, the robot can be controlled to navigate based on the three-dimensional radar positioning mode in general scenarios, while the robot can be controlled to navigate based on the two-dimensional local positioning mode when entering or exiting an elevator, so as to avoid various possible dynamic interferences. By combining the three-dimensional radar positioning mode and the two-dimensional local positioning mode, the stability of robot navigation can be effectively improved.

[0062] The executing entity in this application embodiment can be a robot, including but not limited to delivery robots, cleaning robots, inspection robots, or robots that perform various other tasks.

[0063] Robots may include, but are not limited to, sensors such as 3D radar, 2D radar, inertial measurement units (IMUs), and odometry. 3D radar can be used to achieve high-precision robot localization in general scenarios and spatial detection within elevators; 2D radar can be used for obstacle avoidance of low obstacles and simultaneous localization and mapping (SLAM) in small environments; IMUs can be used to predict changes in the robot's angle and position; and odometry can assist in robot localization.

[0064] In this embodiment, 3D point cloud maps and grid maps for each floor can be pre-constructed. Specifically, any 3D mapping algorithm can be used to construct the 3D point cloud map, including but not limited to LOAM, LIO, etc., and this embodiment does not impose any specific limitations on this. After the 3D point cloud map is constructed, a specified height plane can be cropped to generate the corresponding grid map. The grid map can be used for robot motion path planning and elevator editing, etc.

[0065] For all elevator lobbies in a building, except for the lobby on the first floor, the other elevators are highly similar. Following typical deployment procedures, a robot needs to create a map for each elevator lobbies on each floor and for each elevator itself. Controlling the robot to enter each elevator consumes significant deployment resources. Furthermore, even after map building, if the scene during mapping differs from the scene during navigation (e.g., the elevator is empty during mapping but full during navigation), the robot's localization will still have significant errors.

[0066] like Figure 1 As shown in this embodiment, based on the high similarity between elevator lobbies and elevators on each floor, during the mapping process of elevator lobbies and elevators, only a 3D point cloud map and a raster map of a specified floor can be constructed. This specified floor can be any floor except the first-floor lobby. For the elevator interior, even constructing a 3D point cloud map cannot handle situations where positioning is inaccurate due to complex scene changes; therefore, it is unnecessary to construct a 3D point cloud map, and the elevator scene can be generated only at the raster map level. When multiple elevators exist on a specified floor, only a raster map of a specified elevator can be constructed. This specified elevator can be any elevator on the specified floor. Then, based on the raster map of the specified elevator on the specified floor, raster maps of all elevators on the specified floor can be constructed. Figure 1 In the example shown, the raster map of elevator A can be directly copied to the location of elevator B to obtain the raster map of elevator B. After constructing the 3D point cloud map and raster map of the specified floor, the 3D point cloud map and raster map of each floor can be constructed based on the height similarity of the elevator lobbies and elevators on each floor, thereby improving mapping efficiency and reducing resource consumption during the mapping process.

[0067] After mapping is completed, the robot can be controlled to navigate based on the generated map. Please refer to [link / reference]. Figure 2 One embodiment of a robot navigation method in this application may include:

[0068] Step S201: Based on the three-dimensional radar positioning mode, control the robot to navigate from the starting point on the starting floor to the waiting point on the starting floor.

[0069] During this process, the robot can use the 3D point cloud map of the starting floor for localization, such as... Figure 3 As shown in section ① of the route, the navigation from the starting point to the elevator waiting area corresponds to the first-world coordinate system, denoted as T. w1 The coordinates of the waiting point in the first world coordinate system can be denoted as: The superscript indicates the coordinate system in which it is located. These are the horizontal axis coordinate, the vertical axis coordinate, and the attitude angle, respectively.

[0070] Step S202: When the elevator arrives at the starting floor, based on the two-dimensional local positioning mode, control the robot to navigate from the waiting point on the starting floor to the designated position inside the elevator.

[0071] During the elevator entry process, the robot can switch from three-dimensional radar positioning mode to two-dimensional local positioning mode. The corresponding coordinate system is the first local coordinate system, denoted as T. L1 .

[0072] In this embodiment of the application, the first coordinate system transformation matrix from the first local coordinate system to the first world coordinate system can be determined based on the coordinates of the waiting point of the starting floor in the first world coordinate system, that is:

[0073] Using the first coordinate system transformation matrix, points in the first local coordinate system can be transformed to the first world coordinate system. This is illustrated in the following equation:

[0074]

[0075] Among them, p l1 Let p be any point in the first local coordinate system. w1 In the first world coordinate system, p l1 The corresponding point.

[0076] Based on the coordinate system transformation relationship described above, the robot can always be transformed to T. w1 In a coordinate system, this allows for local positioning in a two-dimensional environment, such as... Figure 3 As shown in section ② of the route, from the waiting point Navigate to the designated location inside the elevator And upon arrival Then, turn off the two-dimensional local positioning mode.

[0077] In this embodiment, the SLAM algorithm used by the robot in the two-dimensional local localization mode may include, but is not limited to, Gmapping, Hector-SLAM, etc., and this embodiment does not specifically limit it. In the two-dimensional local localization mode, the robot consumes less computing power, and with the integration of IMU, it can achieve better localization results in uneven ground and small scenes. Furthermore, it is better suited for planar motion.

[0078] After the robot reaches the designated location inside the elevator, the first map can be switched to the second map. The first map corresponds to the starting floor, and the second map corresponds to the target floor. Furthermore, based on the coordinates of the designated location inside the elevator in the first world coordinate system, the coordinates of that location in the second world coordinate system can be determined and denoted as follows: in, The coordinates are represented by the horizontal axis, the vertical axis, and the attitude angle, respectively. The second-world coordinate system is the coordinate system corresponding to the target floor in the three-dimensional radar positioning mode, denoted as T. w10 .

[0079] Step S203: When the elevator reaches the target floor, based on the two-dimensional local positioning mode, control the robot to navigate from the designated position inside the elevator to the exit point of the target floor.

[0080] During the exit process, the robot can restart a new two-dimensional local positioning mode, with the corresponding coordinate system being the second local coordinate system, denoted as T. L10 .

[0081] In this embodiment of the application, the second coordinate system transformation matrix from the second local coordinate system to the second world coordinate system can be determined based on the coordinates of a specified position inside the elevator in the second world coordinate system, that is:

[0082] Using the second coordinate system transformation matrix, points in the second local coordinate system can be transformed to the second world coordinate system. As shown in the following equation:

[0083]

[0084] Among them, p l10 Let p be any point in the second local coordinate system. w10 In the second world coordinate system, with p l10 The corresponding point.

[0085] Based on the coordinate system transformation relationship described above, the robot can always be transformed to T. w10 In a coordinate system, this allows for local positioning in a two-dimensional environment, such as... Figure 3 The first half of the route in section ③ is shown in the image. Navigate to the elevator exit point Q on the target floor w10 .

[0086] Step S204: Based on the three-dimensional radar positioning mode, control the robot to navigate from the exit point of the target floor to the target point of the target floor.

[0087] After the robot reaches the exit point of the target floor, it can switch from two-dimensional local positioning mode to three-dimensional radar positioning mode, making it more suitable for high-precision positioning in large scenes. During this process, the robot can use a three-dimensional point cloud map of the target floor for positioning, such as... Figure 3 The latter half of the third segment of the route is shown in the diagram, starting from exit point Q. w10 Navigate to the final destination and record it as... in, These are the horizontal axis coordinate, the vertical axis coordinate, and the attitude angle, respectively.

[0088] Figure 4 The diagram illustrates the robot's localization mode switching during navigation. As shown, at the starting floor, the robot navigates using a 3D radar localization mode, from its starting point to the elevator waiting area. During elevator entry, the robot can switch from 3D radar localization to 2D local localization, navigating from the waiting area to a designated location within the elevator. After entering the elevator, the robot can deactivate the 2D local localization mode and switch maps. During elevator exit, the robot can reactivate the 2D local localization mode for relocalization, then navigate from the designated location within the elevator to the exit point on the target floor. After exiting the elevator, the robot can switch back to 3D radar localization, navigating from the exit point on the target floor to its final destination.

[0089] In summary, through the embodiments of this application, the robot can be controlled to navigate based on the three-dimensional radar positioning mode in general scenarios, while the robot can be controlled to navigate based on the two-dimensional local positioning mode when entering or exiting elevators, so as to avoid various possible dynamic interferences. By combining the three-dimensional radar positioning mode and the two-dimensional local positioning mode, the stability of robot navigation can be effectively improved.

[0090] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0091] Corresponding to the robot navigation method described in the above embodiments, Figure 5 This illustration shows a structural diagram of one embodiment of a robot navigation device provided in this application.

[0092] In this embodiment, a robot navigation device may include:

[0093] The starting floor navigation module 501 is used to control the robot to navigate from the starting point of the starting floor to the waiting point of the elevator on the starting floor based on the three-dimensional radar positioning mode.

[0094] The elevator navigation module 502 is used to control the robot to navigate from the waiting point on the starting floor to a designated position inside the elevator based on a two-dimensional local positioning mode when the elevator arrives at the starting floor.

[0095] The elevator exit navigation module 503 is used to control the robot to navigate from a designated position inside the elevator to the exit point of the target floor based on the two-dimensional local positioning mode when the elevator reaches the target floor.

[0096] The target floor navigation module 504 is used to control the robot to navigate from the exit point of the target floor to the target point of the target floor based on the three-dimensional radar positioning mode.

[0097] In one specific implementation of this application embodiment, the robot navigation device may further include:

[0098] The first coordinate system transformation module is used to determine a first coordinate system transformation matrix from a first local coordinate system to the first world coordinate system before controlling the robot to navigate from the waiting point of the starting floor to a designated position inside the elevator; wherein, the first world coordinate system is the coordinate system corresponding to the starting floor in the three-dimensional radar positioning mode, and the first local coordinate system is the coordinate system corresponding to the starting floor in the two-dimensional local positioning mode; and the points in the first local coordinate system are transformed to the first world coordinate system according to the first coordinate system transformation matrix.

[0099] In one specific implementation of this application embodiment, the robot navigation device may further include:

[0100] The elevator coordinate determination module is used to determine the coordinates of the specified position inside the elevator in a second world coordinate system based on the coordinates of the specified position in the first world coordinate system after controlling the robot to navigate from the waiting point of the starting floor to the specified position inside the elevator; wherein, the second world coordinate system is the coordinate system corresponding to the target floor in the three-dimensional radar positioning mode.

[0101] In one specific implementation of this application embodiment, the robot navigation device may further include:

[0102] The second coordinate system transformation module is used to determine a second coordinate system transformation matrix from the second local coordinate system to the second world coordinate system before controlling the robot to navigate from a designated position inside the elevator to the exit point of the target floor. This matrix is ​​based on the coordinates of the designated position inside the elevator in the second world coordinate system. The second local coordinate system is the coordinate system corresponding to the target floor in the two-dimensional local positioning mode. The module transforms the points in the second local coordinate system to the second world coordinate system based on the second coordinate system transformation matrix.

[0103] In one specific implementation of this application embodiment, the robot navigation device may further include:

[0104] The map switching module is used to switch the first map to the second map after controlling the robot to navigate from the waiting point of the starting floor to the designated location inside the elevator; wherein the first map is the map corresponding to the starting floor, and the second map is the map corresponding to the target floor.

[0105] In one specific implementation of this application embodiment, the robot navigation device may further include:

[0106] The first map building module is used to build a 3D point cloud map and a raster map of a specified floor.

[0107] The second map construction module is used to construct 3D point cloud maps and raster maps for each floor based on the 3D point cloud map and raster map of the specified floor.

[0108] In one specific implementation of this application embodiment, the first map building module may be specifically used to: build a grid map of a specified elevator on the specified floor; and build a grid map of each elevator on the specified floor based on the grid map of the specified elevator on the specified floor.

[0109] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the devices, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0110] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0111] Figure 6 A schematic block diagram of a robot provided in an embodiment of this application is shown. For ease of explanation, only the parts related to the embodiment of this application are shown.

[0112] like Figure 6 As shown, the robot 6 in this embodiment includes: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60. When the processor 60 executes the computer program 62, it implements the steps described in the various robot navigation method embodiments above, for example... Figure 2 Steps S201 to S204 are shown. Alternatively, when the processor 60 executes the computer program 62, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 5 The functions of modules 501 to 504 are shown.

[0113] For example, the computer program 62 may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete this application. The one or more modules / units may be a series of computer program instruction segments capable of performing a specific function, which describe the execution process of the computer program 62 in the robot 6.

[0114] Those skilled in the art will understand that Figure 6 This is merely an example of robot 6 and does not constitute a limitation on robot 6. It may include more or fewer parts than shown, or combine certain parts, or different parts. For example, robot 6 may also include input / output devices, network access devices, buses, etc.

[0115] The processor 60 can be a Central Processing Unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0116] The memory 61 can be an internal storage unit of the robot 6, such as a hard drive or memory. The memory 61 can also be an external storage device of the robot 6, such as a plug-in hard drive, Smart Media Card (SMC), Secure Digital (SD) card, or Flash Card. Furthermore, the memory 61 can include both internal and external storage units of the robot 6. The memory 61 is used to store the computer program and other programs and data required by the robot 6. The memory 61 can also be used to temporarily store data that has been output or will be output.

[0117] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0118] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0119] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0120] In the embodiments provided in this application, it should be understood that the disclosed devices / robots and methods can be implemented in other ways. For example, the device / robot embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms.

[0121] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0123] If the integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable storage medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a portable hard drive, a magnetic disk, an optical disk, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium, etc. It should be noted that the content included in the computer-readable storage medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable storage medium does not include electrical carrier signals and telecommunication signals.

[0124] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application.

Claims

1. A robot navigation method, characterized in that, include: Based on the three-dimensional radar positioning mode, the robot is controlled to navigate from the starting point on the starting floor to the waiting point on the starting floor. When the elevator arrives at the starting floor, the robot is controlled to navigate from the waiting point on the starting floor to the designated location inside the elevator based on the two-dimensional local positioning mode. When the elevator reaches the target floor, based on the two-dimensional local positioning mode, the robot is controlled to navigate from a designated position inside the elevator to the exit point of the target floor. Based on the three-dimensional radar positioning mode, the robot is controlled to navigate from the exit point of the target floor to the target point on the target floor.

2. The robot navigation method according to claim 1, characterized in that, Before controlling the robot to navigate from the waiting point on the starting floor to the designated location inside the elevator, the method further includes: Based on the coordinates of the waiting point of the starting floor in the first world coordinate system, a first coordinate system transformation matrix is ​​determined to transform from the first local coordinate system to the first world coordinate system; wherein, the first world coordinate system is the coordinate system corresponding to the starting floor in the three-dimensional radar positioning mode, and the first local coordinate system is the coordinate system corresponding to the starting floor in the two-dimensional local positioning mode. Based on the first coordinate system transformation matrix, the points in the first local coordinate system are transformed to the first world coordinate system.

3. The robot navigation method according to claim 2, characterized in that, After controlling the robot to navigate from the waiting point on the starting floor to the designated location inside the elevator, the process further includes: Based on the coordinates of the specified position inside the elevator in the first world coordinate system, the coordinates of the specified position inside the elevator in the second world coordinate system are determined; wherein, the second world coordinate system is the coordinate system corresponding to the target floor in the three-dimensional radar positioning mode.

4. The robot navigation method according to claim 3, characterized in that, Before controlling the robot to navigate from a designated location within the elevator to the exit point of the target floor, the method further includes: Based on the coordinates of the specified location inside the elevator in the second world coordinate system, a second coordinate system transformation matrix is ​​determined to transform from the second local coordinate system to the second world coordinate system; wherein, the second local coordinate system is the coordinate system corresponding to the target floor in the two-dimensional local positioning mode; Based on the second coordinate system transformation matrix, the points in the second local coordinate system are transformed to the second world coordinate system.

5. The robot navigation method according to claim 1, characterized in that, After controlling the robot to navigate from the waiting point on the starting floor to the designated location inside the elevator, the process further includes: Switch the first map to the second map; wherein the first map is the map corresponding to the starting floor, and the second map is the map corresponding to the target floor.

6. The robot navigation method according to any one of claims 1 to 5, characterized in that, Before controlling the robot to navigate from the starting point on the initial floor to the elevator waiting point on the initial floor, the following steps are also included: Construct a 3D point cloud map and a raster map for a specified floor; Based on the 3D point cloud map and raster map of the specified floor, construct the 3D point cloud map and raster map of each floor.

7. The robot navigation method according to claim 6, characterized in that, The construction of the 3D point cloud map and raster map of the specified floor includes: Construct a grid map of the specified elevator on the specified floor; Based on the grid map of the specified elevator on the specified floor, construct a grid map of each elevator on the specified floor.

8. A robot navigation device, characterized in that, include: The starting floor navigation module is used to control the robot to navigate from the starting point on the starting floor to the waiting point on the starting floor based on the three-dimensional radar positioning mode. The elevator navigation module is used to control the robot to navigate from the waiting point on the starting floor to a designated location inside the elevator based on a two-dimensional local positioning mode when the elevator arrives at the starting floor. An elevator exit navigation module is used to control the robot to navigate from a designated location inside the elevator to the exit point of the target floor based on the two-dimensional local positioning mode when the elevator reaches the target floor. The target floor navigation module is used to control the robot to navigate from the exit point of the target floor to the target point of the target floor based on the three-dimensional radar positioning mode.

9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the robot navigation method as described in any one of claims 1 to 7.

10. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the robot navigation method as described in any one of claims 1 to 7.

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