Floor positioning method and device, mobile robot and storage medium thereof

Abstract

The invention provides a floor positioning method and device, a mobile robot and a storage medium of the mobile robot. The floor positioning method comprises the steps that the wireless signal strength between a wireless device installed in an elevator is collected; according to change information between the wireless signal intensity and historical wireless signal intensity collected historically, a floor query request is sent to an elevator control center; and receiving a floor value fed back by the elevator control center in response to the floor query request, and determining a target floor. Only one wireless device needs to be installed in the elevator, the positioning cost is reduced, meanwhile, accurate positioning of the floor where the mobile robot is located can be achieved, and the problem that the mobile robot cannot call the elevator to the floor where the mobile robot is located due to the wrong floor, and then the machine cannot enter the elevator again is solved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, specifically to a floor positioning method, device, mobile robot, and its storage medium. Background Technology

[0002] As robotics technology continues to mature, mobile robots are increasingly being used across various industries. For example, they are used for tasks such as delivering items or collecting information. In some scenarios, mobile robots need to move around by taking an elevator. During this process, there may be instances where the mobile robot fails to reach its target floor. If the mobile robot does not know its floor, it will be unable to call the elevator to re-enter, which in turn leads to a decrease in the robot's performance. Summary of the Invention

[0003] This application provides a floor positioning method, device, mobile robot and its storage medium, aiming to solve the problem in the prior art that the robot cannot perform floor positioning during the elevator ride, thus resulting in the inability to call the elevator to re-enter the elevator.

[0004] Firstly, this application provides a floor positioning method applied to a mobile robot, the method comprising:

[0005] The strength of the wireless signal between the sensor and the wireless device installed inside the elevator is collected.

[0006] Based on the change information between the wireless signal strength and the historically collected wireless signal strength, a floor query request is sent to the elevator control center.

[0007] Receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor value.

[0008] In this implementation scheme, only one low-power Bluetooth module needs to be attached inside the elevator, which is inexpensive, has high accuracy in floor acquisition, and is highly reliable, thus ensuring the robot's normal operation during elevator rides to the greatest extent.

[0009] In one embodiment of this application, sending a floor query request to the elevator control center based on the change information between the wireless signal strength and historically collected wireless signal strength includes:

[0010] Calculate the signal attenuation rate corresponding to the wireless signal strength based on the wireless signal strength and the historical wireless signal strength collected in the past;

[0011] If the signal attenuation rate meets the preset attenuation rate, a floor query request is sent to the elevator control center.

[0012] In this implementation scheme, the signal attenuation rate corresponding to the real-time collected wireless signal strength is calculated and combined with the preset attenuation rate to determine the moment the elevator door closes, so as to locate the time when the mobile robot exits the elevator. This ensures that a floor query request is sent to the elevator control center immediately when the mobile robot exits the elevator, so that the feedback floor value can represent the target floor value where the mobile robot is located, thereby improving the accuracy of floor value acquisition.

[0013] In one embodiment of this application, receiving the floor value fed back by the elevator control center in response to the floor query request and determining the target floor value includes:

[0014] Receive the floor value fed back by the elevator control center in response to the floor query request, and obtain the time of receipt of the floor value;

[0015] The confidence level of the floor value is determined based on the interval between the sending time and the receiving time corresponding to the floor query request.

[0016] If the confidence level is greater than the preset confidence level, then the floor value is set as the target floor value.

[0017] In this application, after obtaining the floor value fed back by the elevator control center in response to the floor query request, the signal transmission period is determined by combining the receiving time and the sending time. The confidence level of the floor value is determined based on the size of the period. It is understood that if the transmission period is too long, the floor value fed back may not be the actual floor value of the mobile robot due to the low processing efficiency of the elevator control center or the network delay. Therefore, the confidence level of the floor value is determined by combining the size of the transmission period to avoid errors when locating the target floor value based on the floor value, and to further improve the accuracy of the floor position.

[0018] In one embodiment of this application, after determining the confidence level of the floor value based on the interval between the sending time and the receiving time corresponding to the floor query request, the method further includes:

[0019] If the confidence level is less than the preset confidence level, then the elevator operating parameters are obtained, including the elevator dwell time and the elevator operating speed.

[0020] Based on the elevator operating parameters and the interval duration, the floor value is corrected to obtain the target floor value.

[0021] In the implementation scheme of this application, if the confidence level is less than the preset confidence level, it means that the floor value is not the current floor value. At this time, by obtaining the elevator operation parameters and the interval duration, the floor value of the elevator at the time before the corresponding interval duration is calculated as the target floor value. That is, the floor value is corrected according to the elevator operation parameters and the interval duration to obtain the target floor value, so as to improve the accuracy of the target floor value calculation.

[0022] In one embodiment of this application, after receiving the floor value fed back by the elevator control center in response to the floor query request and determining the target floor value, the method further includes:

[0023] If the target floor value is different from the set floor value corresponding to the mobile robot, an elevator call request is generated based on the target floor value and the set floor value, and the elevator call request is sent to the elevator control center. The elevator call request is used to instruct the elevator control center to generate a stop instruction to control the elevator to stop at the target floor value and the set floor value.

[0024] Based on the time period to which the elevator call request belongs and the target confidence level, predict the target waiting time;

[0025] If the target detects that the wireless signal strength is greater than a preset strength threshold within the waiting time, the mobile robot is controlled to enter the elevator and send a floor query request to the elevator control center according to the preset floor access frequency to obtain the floor value.

[0026] When the detected floor value is the same as the set floor value, the mobile robot is controlled to exit the elevator.

[0027] Specifically, when the detected floor value is the same as the set floor value, it indicates that the mobile robot has reached the target floor, and the robot is then controlled to exit the elevator. This completes the elevator ride process, improving the mobile robot's elevator ride flexibility and ensuring its control performance.

[0028] In one embodiment of this application, the method further includes:

[0029] Obtain the signal log corresponding to the target elevator, the signal log including the floor door opening signal time and the floor door closing signal time corresponding to the target elevator;

[0030] Based on the signal log, update the waiting time corresponding to each time period of the target elevator.

[0031] In one embodiment of this application, the method further includes:

[0032] Based on the wireless signal strength and the acquisition time corresponding to the wireless signal strength, the historical signal strength change curve is updated to obtain the signal strength change curve. The historical signal strength change curve is generated based on the historical wireless signal strength acquired in the past and the historical acquisition time corresponding to each historical wireless signal strength.

[0033] The acquisition time is updated to the cutoff time of a preset data acquisition window. The target change curve in the signal strength change curve is acquired through the updated preset data acquisition window. The target change curve represents the change information corresponding to the wireless signal strength.

[0034] During real-time analysis, the target change curve in the signal strength change curve within a certain time period is collected through the data acquisition window of the data sliding, and compared with the preset change curve (the preset change curve represents the fluctuation information of the wireless signal strength when the elevator door is closed when the mobile robot is outside the elevator, that is, it can represent the preset attenuation rate in the above implementation scheme, that is, the target change curve represents the signal attenuation rate in the above implementation scheme. At this time, the signal attenuation rate can be judged by the curve similarity to meet the preset attenuation rate. For example, if the similarity is greater than the preset similarity, it meets the requirement) to improve the comparison accuracy and avoid misjudgment caused by signal interference inside the elevator.

[0035] Secondly, this application provides a floor positioning device, the device comprising:

[0036] The acquisition module is used to acquire the wireless signal strength between the wireless device installed inside the elevator.

[0037] The sending module is used to send a floor query request to the elevator control center based on the change information between the wireless signal strength and the historically collected wireless signal strength.

[0038] The determination module is used to receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor.

[0039] Thirdly, this application also provides a mobile robot, the mobile robot comprising:

[0040] One or more processors;

[0041] Memory; and

[0042] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the floor positioning method.

[0043] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, the computer program being loaded by a processor to perform the steps in the floor positioning method.

[0044] This application provides a floor positioning method, device, mobile robot, and its storage medium. It collects the wireless signal strength between the mobile robot and a wireless device installed inside the elevator; and sends a floor query request to the elevator control center based on the changes in the wireless signal strength compared to historically collected wireless signal strengths; it then receives the floor value from the elevator control center in response to the floor query request to determine the target floor. This solution collects the wireless signal strength between the mobile robot and the wireless device installed inside the elevator, and analyzes the changes in the wireless signal strength compared to historically collected wireless signal strengths to monitor fluctuations in the wireless signal strength. This allows for the understanding of the mobile robot's displacement relative to the elevator based on the fluctuation information. Upon detecting movement of the mobile robot relative to the elevator, a floor query request is promptly sent to the elevator control center. The target floor is then determined based on the floor value fed back by the elevator control center. This method requires only one wireless device installed inside the elevator, reducing positioning costs while achieving accurate positioning of the mobile robot's floor and avoiding the problem of being unable to call the elevator again. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of a scenario for the floor positioning method provided in an embodiment of this application;

[0047] Figure 2 This is a schematic flowchart of an embodiment of the floor positioning method provided in this application;

[0048] Figure 3 A schematic diagram of one implementation scheme for sending a floor query request in the floor positioning method provided for the implementation scheme of this application;

[0049] Figure 4 A schematic diagram of another implementation scheme of the floor positioning method provided in this application;

[0050] Figure 5 A schematic diagram of one implementation scheme for determining change information in the floor positioning method provided for the implementation scheme of this application;

[0051] Figure 6 A complete floor positioning method flowchart is provided for one of the implementation schemes of this application;

[0052] Figure 7 This is a schematic diagram of an embodiment of the floor positioning device provided in this application.

[0053] Figure 8 This is a schematic diagram of an embodiment of the mobile robot provided in this application. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0055] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of the stated features. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0056] In this embodiment, "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. Additionally, the character " / ", unless otherwise specified, generally indicates that the preceding and following associated objects have an "or" relationship.

[0057] In this application, the term "exemplary" is used to mean "serving as an example, illustration, or description." Any embodiment described as "exemplary" in this application is not necessarily to be construed as being more preferred or advantageous than other embodiments. The following description is provided to enable any person skilled in the art to make and use the invention. Details are set forth in the following description for purposes of explanation. It should be understood that those skilled in the art will recognize that the invention can be made without using these specific details. In other instances, well-known structures and processes will not be described in detail to avoid obscuring the description of the invention with unnecessary detail. Therefore, the invention is not intended to be limited to the embodiments shown, but is consistent with the broadest scope of the principles and features disclosed in this application.

[0058] With the development of robots, mobile robots are increasingly operating in various commercial scenarios. In multi-story scenarios, mobile robots need to travel between floors via elevators to perform tasks. During the elevator ride, various situations inevitably occur, such as being forcibly kicked out by passengers. In this case, the robot has not reached the target floor and cannot call the elevator to re-enter unless it knows which floor it is on. Therefore, knowing which floor it is on is crucial for resuming the task.

[0059] Conventional solutions typically involve attaching floor identification QR codes to elevator entrances on each floor to facilitate mobile robots scanning and identifying floors. However, this approach requires placing floor identification QR codes on every single floor, which is cumbersome, difficult to maintain, and the QR codes are easily damaged, reducing the accuracy of the robot's floor identification and consequently degrading the performance of the mobile robot.

[0060] Therefore, this application provides a floor positioning method, device, mobile robot, and computer-readable storage medium (hereinafter referred to as storage medium). It is understood that elevators are mainly made of metal, and the interior of the elevator forms a closed space when the elevator door is closed. The metal elevator door absorbs radio signals, causing signal attenuation. Therefore, this application determines the movement of the mobile robot relative to the elevator (whether it is inside or outside the elevator) by monitoring the change in the wireless signal strength between the mobile robot and the wireless device installed inside the elevator. When the movement of the mobile robot relative to the elevator is detected, a floor query request is sent to the elevator control center in a timely manner to determine the target floor where the mobile robot is located. Only one wireless device needs to be installed inside the elevator. While reducing positioning costs, it can achieve accurate positioning of the floor where the mobile robot is located and avoid the problem of not being able to call the elevator to re-enter the elevator. The following are detailed descriptions.

[0061] The floor positioning method in this embodiment of the invention is applied to a floor positioning device, which is installed in a mobile robot. The mobile robot is equipped with one or more processors, a memory, and one or more application programs, wherein the one or more application programs are stored in the memory and configured to be executed by the processor to implement the floor positioning method.

[0062] like Figure 1 As shown, Figure 1 This is a schematic diagram of a floor positioning method according to an embodiment of the present application. The floor positioning scenario in this embodiment includes a mobile robot 100 (the mobile robot 100 integrates a floor positioning device). The mobile robot 100 runs a computer-readable storage medium corresponding to the floor positioning to perform the floor positioning steps.

[0063] Understandable, Figure 1 The mobile robot 100 in the scenario of the floor positioning method shown, or the devices included in the mobile robot 100, do not constitute a limitation on the embodiments of the present invention. That is, the number or type of devices included in the scenario of the floor positioning method, or the number or type of devices included in each device, do not affect the overall implementation of the technical solution in the embodiments of the present invention, and can all be considered as equivalent substitutions or derivatives of the technical solutions claimed in the embodiments of the present invention.

[0064] In this embodiment of the invention, the mobile robot 100 is mainly used for: collecting wireless signal strength between itself and a wireless device installed inside the elevator; sending a floor query request to the elevator control center based on the change information between the wireless signal strength and historically collected wireless signal strength; and receiving the floor value fed back by the elevator control center in response to the floor query request to determine the target floor.

[0065] In this embodiment of the invention, the mobile robot 100 is equipped with a wireless device, which can be a Bluetooth module, a WiFi module, etc., and is used to achieve wireless connection with the wireless device installed inside the elevator.

[0066] In the scenario of the floor positioning method of this application, an elevator 200 is also included. The elevator 200 is equipped with a wireless device 2001 for wireless connection with the mobile robot 100. It can be understood that the mobile robot 100 may be equipped with a display device, or the mobile robot 100 may not be equipped with a display device but may communicate with an external display device. The elevator 200 is used to output the result of the floor positioning method executed in the mobile robot.

[0067] The mobile robot 100 can access the elevator control center 300 (the elevator control center can be a cloud-based or local control center that controls the movement of the elevator 200), and the elevator control center 300 stores information related to floor positioning.

[0068] It should be noted that, Figure 1 The schematic diagram of the floor positioning method shown is merely an example. The scenarios of the floor positioning method described in this embodiment of the invention are intended to more clearly illustrate the technical solutions of this embodiment and do not constitute a limitation on the technical solutions provided by this embodiment of the invention.

[0069] Based on the scenarios described above for the floor positioning method, an embodiment of the floor positioning method is proposed, which is applied to a mobile robot.

[0070] like Figure 2 The diagram shown is a flowchart of an embodiment of the floor positioning method in this application. The floor positioning method includes steps S201-S203:

[0071] S201. Collect the wireless signal strength between wireless devices installed inside the elevator.

[0072] The wireless signal strength can correspond to the type of wireless device, such as Bluetooth signal strength or WiFi signal strength.

[0073] Specifically, in one embodiment of this application, the mobile robot can receive a mobile task through a robot control center, or obtain a user-inputted mobile task through a display device on the mobile robot, and extract the floor to be reached corresponding to the mobile task as a set floor value. Based on the set floor value and the actual floor value, it generates an elevator call request and sends it to the elevator control center. The elevator control center responds to the elevator call request and generates a stop instruction to control the elevator to stop at the actual floor value and the set floor value. Based on the stop instruction, it controls the elevator to stop and carry passengers at the corresponding floor. At the same time, the mobile robot moves to the elevator entrance corresponding to the elevator to be taken and waits. When it detects that the elevator entrance is open, it enters the elevator to realize the elevator ride. During this process, it continuously or according to a preset acquisition frequency collects the wireless signal strength between itself and the wireless device installed inside the elevator.

[0074] Understandably, in this scenario, when receiving a task, the mobile robot needs to know its actual floor to make an elevator call. This can be achieved by limiting the mobile robot to accepting movement tasks only on fixed floors, where the fixed floor is the actual floor value; or by collecting the current floor value of the mobile robot when receiving a movement task, for example, by displaying a pop-up window on the mobile robot's display panel to collect the current floor value, thereby determining the actual floor and enabling the elevator to automatically execute the movement task.

[0075] Furthermore, it is understood that the mobile robot can store map information and a mobile control module within the mobile scene, and control the mobile robot to move to the elevator entrance through the mobile control module.

[0076] In some implementations, the mobile robot may be equipped with a camera to detect whether the elevator entrance is open or closed. When the elevator is detected to be open, the mobile robot is controlled to move to the elevator via a motion control module.

[0077] In other implementations, the mobile robot may not be equipped with a camera. It is understood that wireless connectivity can be achieved within a certain distance. After sending an elevator call request to the elevator control center, the mobile robot can move to the elevator entrance and wait based on map information. During this process, it can transmit wireless connection signals to establish a wireless connection with a wireless device installed inside the elevator. After a successful connection, the wireless signal strength between the mobile robot and the wireless device installed inside the elevator is collected in real time. Based on the signal strength, it is determined whether the elevator door is open. For example, when the mobile robot is waiting at the elevator entrance, if the elevator door opens, the elevator door's absorption capacity for the wireless signal emitted by the wireless device installed inside the elevator decreases, thereby increasing the wireless signal strength. This allows the robot to detect that the elevator door is open, further controlling the mobile robot to move into the elevator and continuously collecting the wireless signal strength between the mobile robot and the wireless device installed inside the elevator for subsequent detection of the mobile robot's movement relative to the elevator, such as whether it is inside or outside the elevator.

[0078] S202. Based on the change information between the wireless signal strength and the historically collected wireless signal strength, a floor query request is sent to the elevator control center.

[0079] The historical wireless signal strength refers to at least one wireless signal strength that was collected before the real-time wireless signal strength.

[0080] The change information may include the signal strength attenuation rate, signal strength difference, and signal strength change curve between the wireless signal strength and the historically collected wireless signal strength.

[0081] In this implementation scheme, the movement of the mobile robot relative to the elevator is monitored by analyzing the change information between the real-time collected wireless signal strength and the historically collected wireless signal strength, that is, determining whether the mobile robot is inside or outside the elevator.

[0082] It is easy to understand that, since the metal of the elevator has a certain wave absorption property, when the mobile robot is moved out of the elevator, the wireless signal strength will drop sharply when the elevator closes. Specifically, the sharp drop in wireless signal strength can be characterized by the above-mentioned change information. For the specific content of the change information, please refer to the example above. This application does not make any specific limitations. When the online signal strength drops sharply, a floor query request is sent to the elevator control center at this time to obtain the floor value, so as to determine the target floor value where the mobile robot is currently located.

[0083] S203. Receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor.

[0084] Specifically, in one embodiment of this application, the floor value is a set of multiple floor values ​​that the elevator stays at within a certain period of time, and each floor value carries a floor stay time range. After receiving the floor value, the mobile robot determines the target stay time range to which the time of sending the floor query request to the elevator control center (i.e. the time when the wireless signal strength drops sharply) belongs, and then determines the floor value corresponding to the target stay time range as the target floor value.

[0085] In some other embodiments of this application, the floor value is the real-time floor value currently held by the elevator. It is understood that this solution accesses the elevator's current floor via the network, with access time typically in the hundreds of milliseconds. Therefore, it generally does not cause delays in obtaining incorrect floor information. That is, the floor value can be used as the target floor, representing the floor the mobile robot is currently on. It is understood that the above implementation can also be used to determine the target floor value when network latency is high. Specifically, this can be achieved by obtaining the network transmission speed between the mobile robot and the elevator control center (referred to as network speed). Different floor query requests are generated based on the network speed to obtain floor values ​​corresponding to different amounts of information. For example, if the network speed is greater than a preset network speed threshold, a first floor query request is generated to obtain one floor value; if it is less, a second floor query request is generated to obtain multiple floor values ​​where the elevator stops within a certain time period. This application does not impose specific limitations on these details.

[0086] In this implementation scheme, only one low-power Bluetooth module needs to be attached inside the elevator, which is inexpensive, has high accuracy in floor acquisition, and is highly reliable, thus ensuring the robot's normal operation during elevator rides to the greatest extent.

[0087] Furthermore, based on the above implementation scheme, this application also provides a specific implementation scheme for sending a floor query request to the elevator control center based on the change information between the wireless signal strength and historically collected wireless signal strength, see [link to implementation scheme]. Figure 3 , Figure 3A flowchart illustrating one implementation of the floor location method provided in this application for sending a floor query request is shown, specifically including steps S301-S302:

[0088] S301. Calculate the signal attenuation rate corresponding to the wireless signal strength based on the wireless signal strength and the historical wireless signal strength collected in the past.

[0089] Among them, the signal attenuation rate characterizes the degree of intensity attenuation of wireless signals during transmission.

[0090] For example, the mobile robot collects the wireless signal strength between itself and a wireless device installed inside the elevator in real time, and calculates the strength attenuation rate by taking the real-time collected wireless signal strength as the end point, and combining the historical wireless signal strength collected within a preset time and the historical collection time corresponding to each historical wireless signal strength.

[0091] S302. If the signal attenuation rate meets the preset attenuation rate, then send a floor query request to the elevator control center.

[0092] The preset attenuation rate represents the standard value of signal strength attenuation when the elevator door closes. The preset attenuation rate can be set according to the measured attenuation rate corresponding to the elevator closing in the actual environment.

[0093] Specifically, whether the signal attenuation rate meets the preset attenuation rate can also be configured according to accuracy requirements. For example, it can be configured that if the signal attenuation rate is equal to the preset attenuation rate, it is determined that the signal attenuation rate meets the preset attenuation rate; or it can be configured that if the difference between the signal attenuation rate and the preset attenuation rate is less than a preset difference threshold, it is determined that the signal attenuation rate meets the preset attenuation rate, and otherwise it does not. If the signal attenuation rate meets the preset attenuation rate, it means that the mobile robot is outside the elevator, and a floor query request is immediately sent to the elevator control center to obtain the current floor value of the elevator and determine whether to call the elevator again.

[0094] For example, BLE Bluetooth modules are installed in both the mobile robot and the wireless device inside the elevator to achieve Bluetooth connection. When the mobile robot is in the elevator, it receives a strong BLE signal (Bluetooth signal) because there is no metal obstruction. When the robot exits the elevator, the BLE signal attenuates drastically when the door closes, with a measured attenuation of more than 20dB. It is easy to set a threshold that can distinguish between the inside and outside of the elevator. At this time, the current floor of the elevator can be accessed through the network to know the current floor of the mobile robot. If the current floor is the target floor, the task continues to be performed. If it is not the target floor, the elevator is called again to go to the target floor.

[0095] In this implementation scheme, the signal attenuation rate corresponding to the real-time collected wireless signal strength is calculated and combined with the preset attenuation rate to determine the moment the elevator door closes, so as to locate the time when the mobile robot exits the elevator. This ensures that a floor query request is sent to the elevator control center immediately when the mobile robot exits the elevator, so that the feedback floor value can represent the target floor value where the mobile robot is located, thereby improving the accuracy of floor value acquisition.

[0096] Furthermore, in this application's implementation scheme, to more accurately locate the target floor value of the mobile robot, a floor positioning method is also provided, specifically including the following steps for determining the target floor value:

[0097] (1) Receive the floor value fed back by the elevator control center in response to the floor query request, and obtain the receiving time of the floor value;

[0098] (2) Determine the confidence level of the floor value based on the interval between the sending time and the receiving time corresponding to the floor query request;

[0099] (3) If the confidence level is greater than the preset confidence level, then the floor value is set as the target floor value.

[0100] The confidence level is the confidence level that the floor value represents the floor where the mobile robot is located.

[0101] Specifically, in this application, after obtaining the floor value fed back by the elevator control center in response to the floor query request, the signal transmission period is determined by combining the receiving time and the sending time. The confidence level of the floor value is determined based on the size of the period. It is understood that if the transmission period is too long, the floor value fed back may not be the actual floor value of the mobile robot due to the low processing efficiency of the elevator control center or the network delay. Therefore, the confidence level of the floor value is determined by combining the size of the transmission period to avoid errors when locating the target floor value based on the floor value, and to further improve the accuracy of the floor position.

[0102] For example, a mobile robot accesses the elevator control center via the network to obtain the current floor of the elevator. The access time is generally within a few hundred milliseconds, so it usually does not cause delays in obtaining incorrect floor information. However, if there are abnormal situations that cause time delays, the delay time can also be used to avoid obtaining incorrect floor information. Therefore, this solution determines the delay time by detecting the interval duration. When the elevator door closes, the mobile robot requests access to the current floor of the elevator from the elevator control center. The reliability of the currently obtained floor is judged based on the time interval between the mobile robot receiving the returned message. It can be understood that the safe time for obtaining the floor is initially set to a relatively strict value based on experience. During the operation of the mobile robot, the safe time for obtaining the floor (the dwell time from the elevator door closing to the elevator starting) can be automatically corrected by automatically estimating the time from the elevator door closing to the elevator starting. For example, if the safe time for an elevator is 3 seconds, then if the interval between the sending time (door closing time) and the receiving time is within three seconds, it means that the floor value and the target floor to which the mobile robot belongs are reliable.

[0103] That is, it is understood that in the implementation scheme of this application, signal reception interference may be received during signal transmission, which may cause the duration to be less accurate. Therefore, in order to improve the fault tolerance rate, the floor confidence level is configured according to the safe duration. Specifically, when the interval duration is longer than the safe duration, a corresponding confidence level is mapped according to the difference between the interval duration and the safe duration. The confidence level is inversely proportional to the difference. When the interval duration is shorter than the safe duration (within the safe duration range, such as within 3 seconds), the confidence level is the highest.

[0104] It can be understood that the preset confidence threshold is the confidence level corresponding to the maximum tolerable difference between the interval duration and the safe duration. The confidence level can be obtained by querying the preset mapping relationship between the difference and the confidence level. This application does not limit the specifics.

[0105] Furthermore, in another embodiment of this application, after calculating the confidence level of the floor value, the step further includes:

[0106] (1) If the confidence level is less than the preset confidence level, then the elevator operating parameters are obtained, including the elevator dwell time and the elevator operating speed.

[0107] (2) Based on the elevator operating parameters and the interval duration, the floor value is corrected to obtain the target floor value.

[0108] The elevator dwell time represents the duration the elevator stays on each floor. It can be a fixed value or a value determined by real-time dwell information collected for different time periods. For example, a fixed value typically includes the time from when the elevator stops to when the door opens, the door opening duration, and the aforementioned safety duration. Optionally, the door opening duration can be adjusted according to different time periods.

[0109] Specifically, in the implementation scheme of this application, if the confidence level is less than the preset confidence level, it means that the floor value is not the current floor value. At this time, by obtaining the elevator operation parameters and the interval duration, the floor value of the elevator at the time before the corresponding interval duration is calculated as the target floor value. That is, the floor value is corrected according to the elevator operation parameters and the interval duration to obtain the target floor value, so as to improve the accuracy and flexibility of the target floor value calculation.

[0110] Furthermore, based on the above implementation plan, see [link to relevant documentation]. Figure 4 , Figure 4 A flowchart illustrating another implementation of the floor positioning method provided in this application includes steps S401-S407:

[0111] S401. Collect the wireless signal strength between wireless devices installed inside the elevator;

[0112] S402. Based on the change information between the wireless signal strength and the historically collected wireless signal strength, send a floor query request to the elevator control center.

[0113] S403. Receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor value.

[0114] For details on the specific implementation methods of S401-S403, please refer to any of the above implementation schemes.

[0115] S404. If the target floor value is different from the set floor value corresponding to the mobile robot, an elevator call request is generated based on the target floor value and the set floor value, and the elevator call request is sent to the elevator control center.

[0116] The elevator call request is used to instruct the elevator control center to generate a stop instruction that controls the elevator to stop at the target floor value and the set floor value.

[0117] Specifically, in another embodiment of this application, if the confidence level is greater than or equal to a preset confidence threshold, it indicates that the floor value represents the target floor value, and the floor value is set as the target floor value. At this time, if the target floor value is not the same as the set floor value corresponding to the mobile robot, an elevator call request is generated based on the target floor value and the set floor value, and the elevator call request is sent to the elevator control center. The elevator control center responds to the elevator call request and generates a stop instruction to control the elevator to stop at the target floor value and the set floor value, so that the mobile robot can re-enter the elevator.

[0118] S405. Predict the target waiting time based on the time period to which the elevator call request belongs.

[0119] Specifically, by collecting the waiting time of historical call requests for the elevator for each time period, a mapping relationship between time periods and waiting times can be created. When using this method, the mapping relationship is looked up to obtain the waiting time corresponding to the time period to which the call time belongs. This waiting time is then further corrected based on the confidence level to improve the fault tolerance rate and obtain the target waiting time. For example, by obtaining the corrected time corresponding to the confidence level, where the confidence level and the corrected time are inversely proportional, the sum of the corrected time and the waiting time corresponding to the time period to which the call time belongs is calculated to obtain the target waiting time.

[0120] For example, in some other embodiments of this application, the waiting time can be determined in the following ways:

[0121] (1) Obtain the signal log corresponding to the target elevator, the signal log including the floor door opening signal time and the floor door closing signal time corresponding to the target elevator;

[0122] (2) Update the waiting time corresponding to each time period of the target elevator according to the signal log.

[0123] Specifically, by calculating the floor door opening signal time and floor door closing signal time, the elevator's dwell time on each floor is determined. Furthermore, based on the floor dwell frequency corresponding to each time period in the log, the average number of calls within that time period is determined, and the waiting time is further determined.

[0124] S406. If the target detects that the wireless signal strength is greater than a preset strength threshold within the waiting time, the mobile robot is controlled to enter the elevator and send a floor query request to the elevator control center according to the preset floor access frequency to obtain the floor value.

[0125] It can be understood that if the target detects that the wireless signal strength is greater than a preset strength threshold within the waiting time, it means that the elevator is open. Then the mobile robot enters the elevator and sends a floor query request to the elevator control center according to the preset floor access frequency to obtain the floor value.

[0126] S407. When the floor value is detected to be the same as the set floor value, the mobile robot is controlled to exit the elevator.

[0127] Specifically, when the detected floor value is the same as the set floor value, it indicates that the mobile robot has reached the target floor, and the robot is then controlled to exit the elevator. This completes the elevator ride process, improving the mobile robot's elevator ride flexibility and ensuring its control performance.

[0128] Furthermore, based on the above implementation scheme, in order to more accurately determine whether fluctuations in wireless signal strength truly indicate that the mobile robot has moved outside the elevator, and to avoid misjudgments caused by signal interference inside the elevator, this application's implementation scheme uses curve analysis to calculate the change information. See details... Figure 5 , Figure 5 A flowchart illustrating one implementation scheme for determining change information in the floor positioning method provided for the implementation scheme of this application includes steps S501-S502:

[0129] S501. Based on the wireless signal strength and the acquisition time corresponding to the wireless signal strength, update the historical signal strength change curve to obtain the signal strength change curve.

[0130] Specifically, in the embodiments of this application, after the mobile robot establishes a wireless connection with the wireless device installed inside the elevator, it generates a signal strength change curve based on the collected wireless signal strength and the corresponding collection time. During real-time analysis, the generated signal strength change curve is updated as a historical signal strength change curve. That is, the wireless signal strength and the corresponding collection time are added to the historical signal strength change curve. It can be understood that the historical signal strength change curve can represent the change curve within the most recently collected time period.

[0131] S502. Update the acquisition time to the cutoff time of the preset data acquisition window, and acquire the target change curve in the signal strength change curve through the updated preset data acquisition window. The target change curve represents the change information corresponding to the wireless signal strength.

[0132] Specifically, during real-time analysis, the target change curve in the signal strength change curve within a certain time period is collected through a data acquisition window that slides through the data. This target change curve is compared with a preset change curve (the preset change curve represents the fluctuation information of the wireless signal strength when the elevator door is closed when the mobile robot is outside the elevator, which can represent the preset attenuation rate in the above implementation scheme; that is, the target change curve represents the signal attenuation rate in the above implementation scheme. At this time, the signal attenuation rate can be judged by curve similarity to meet the preset attenuation rate. For example, if the similarity is greater than the preset similarity, then it meets the requirement). This improves the comparison accuracy and avoids misjudgment caused by signal interference inside the elevator.

[0133] Furthermore, to better describe any of the above implementation schemes, this application provides a complete schematic diagram of a floor positioning method, see [link / reference]. Figure 6 Specifically, it includes:

[0134] When the mobile robot enters the elevator, it begins polling the elevator control center to check if the elevator doors are closed. When it receives a signal that the elevator doors are fully closed and the time interval between the request and the received response is less than a threshold (within 100-200 ms, no limit here), it records the current time as the closing time. Simultaneously, it continues polling the elevator control center to check the elevator's start status. When it receives a signal that the elevator has started ascending or descending and the time interval between the request and the received response is less than a threshold (within 100-200 ms, no limit here), it records the current time as the elevator start time. The interval between the elevator start time and the closing time, plus a certain redundancy, serves as the floor safety acquisition time. At this point, the preparation work is complete, and the data collection and installation on the elevator proceeds. The internal wireless devices monitor the BLE signal strength. If the BLE signal strength is greater than a threshold, the mobile robot is inside the elevator; otherwise, it is not. If the robot is inside, the system further checks if the signal attenuation rate corresponding to the real-time collected wireless signal strength meets a preset attenuation rate. If it does, the robot exits the elevator. At this point, the floor value is acquired, and the reliability of the current elevator floor is determined. If unreliable, human intervention can be called, or elevator operating parameters, including elevator dwell time and speed, can be obtained according to the above implementation plan. Based on these parameters and the interval time, the floor value is corrected to obtain the target floor value. If the target floor is the set floor, the mobile robot begins its task; otherwise, the elevator is called again.

[0135] This application provides a floor positioning method. It collects the wireless signal strength between a mobile robot and a wireless device installed inside the elevator. Based on the changes in the wireless signal strength compared to historically collected signal strengths, a floor query request is sent to the elevator control center. The method receives the floor value from the elevator control center in response to the query request, thus determining the target floor. This solution collects the wireless signal strength between the mobile robot and the wireless device installed inside the elevator, analyzes the changes in the wireless signal strength compared to historically collected signal strengths, and monitors fluctuations in the wireless signal strength. This allows for understanding the mobile robot's displacement relative to the elevator based on these fluctuations. When movement is detected, a floor query request is promptly sent to the elevator control center. The target floor is then determined based on the floor value from the elevator control center. This method requires only one wireless device installed inside the elevator, reducing positioning costs while achieving accurate floor positioning of the mobile robot and avoiding the problem of being unable to call the elevator again.

[0136] To better implement the floor positioning method in the embodiments of this application, a floor positioning device is also provided in the embodiments of this application, such as... Figure 7 As shown, the floor positioning device includes modules 701-703:

[0137] Acquisition module 701 is used to acquire the wireless signal strength between itself and a wireless device installed inside the elevator.

[0138] The sending module 702 is used to send a floor query request to the elevator control center based on the change information between the wireless signal strength and the historically collected wireless signal strength.

[0139] The determination module 703 is used to receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor.

[0140] In this implementation scheme, only one low-power Bluetooth module needs to be attached inside the elevator, which is inexpensive, has high accuracy in floor acquisition, and is highly reliable, thus ensuring the robot's normal operation during elevator rides to the greatest extent.

[0141] In one embodiment of this application, the sending module 702 is configured to send a floor query request to the elevator control center based on the change information between the wireless signal strength and historically collected wireless signal strength, including:

[0142] Calculate the signal attenuation rate corresponding to the wireless signal strength based on the wireless signal strength and the historical wireless signal strength collected in the past;

[0143] If the signal attenuation rate meets the preset attenuation rate, a floor query request is sent to the elevator control center.

[0144] In this implementation scheme, the signal attenuation rate corresponding to the real-time collected wireless signal strength is calculated and combined with the preset attenuation rate to determine the moment the elevator door closes, so as to locate the time when the mobile robot exits the elevator. This ensures that a floor query request is sent to the elevator control center immediately when the mobile robot exits the elevator, so that the feedback floor value can represent the target floor value where the mobile robot is located, thereby improving the accuracy of floor value acquisition.

[0145] In one embodiment of this application, the determining module 703 is used to receive the floor value fed back by the elevator control center in response to the floor query request, and to determine the target floor, including:

[0146] Receive the floor value fed back by the elevator control center in response to the floor query request, and obtain the time of receipt of the floor value;

[0147] The confidence level of the floor value is determined based on the interval between the sending time and the receiving time corresponding to the floor query request.

[0148] If the confidence level is greater than the preset confidence level, then the floor value is set as the target floor value.

[0149] In this application, after obtaining the floor value fed back by the elevator control center in response to the floor query request, the signal transmission period is determined by combining the receiving time and the sending time. The confidence level of the floor value is determined based on the size of the period. It is understood that if the transmission period is too long, the floor value fed back may not be the actual floor value of the mobile robot due to the low processing efficiency of the elevator control center or the network delay. Therefore, the confidence level of the floor value is determined by combining the size of the transmission period to avoid errors when locating the target floor value based on the floor value, and to further improve the accuracy of the floor position.

[0150] In one embodiment of this application, the determining module 703, after determining the confidence level of the floor value based on the interval between the sending time and the receiving time corresponding to the floor query request, further includes:

[0151] If the confidence level is less than the preset confidence level, then the elevator operating parameters are obtained, including the elevator dwell time and the elevator operating speed.

[0152] Based on the elevator operating parameters and the interval duration, the floor value is corrected to obtain the target floor value.

[0153] In the implementation scheme of this application, if the confidence level is less than the preset confidence level, it means that the floor value is not the current floor value. At this time, by obtaining the elevator operation parameters and the interval duration, the floor value of the elevator at the time before the corresponding interval duration is calculated as the target floor value. That is, the floor value is corrected according to the elevator operation parameters and the interval duration to obtain the target floor value, so as to improve the accuracy of the target floor value calculation.

[0154] In one embodiment of this application, the determining module 703 is configured to receive the floor value fed back by the elevator control center in response to the floor query request, and after determining the target floor value, further includes:

[0155] If the target floor value is different from the set floor value corresponding to the mobile robot, an elevator call request is generated based on the target floor value and the set floor value, and the elevator call request is sent to the elevator control center. The elevator call request is used to instruct the elevator control center to generate a stop instruction to control the elevator to stop at the target floor value and the set floor value.

[0156] Based on the time period to which the elevator call request belongs and the target confidence level, predict the target waiting time;

[0157] If the target detects that the wireless signal strength is greater than a preset strength threshold within the waiting time, the mobile robot is controlled to enter the elevator and send a floor query request to the elevator control center according to the preset floor access frequency to obtain the floor value.

[0158] When the detected floor value is the same as the set floor value, the mobile robot is controlled to exit the elevator.

[0159] Specifically, when the detected floor value is the same as the set floor value, it indicates that the mobile robot has reached the target floor, and the robot is then controlled to exit the elevator. This completes the elevator ride process, improving the mobile robot's elevator ride flexibility and ensuring its control performance.

[0160] In one embodiment of this application, the determining module 703 further includes methods for:

[0161] Obtain the signal log corresponding to the target elevator, the signal log including the floor door opening signal time and the floor door closing signal time corresponding to the target elevator;

[0162] Based on the signal log, update the waiting time corresponding to each time period of the target elevator.

[0163] In one embodiment of this application, the sending module 702 further includes a function for:

[0164] Based on the wireless signal strength and the acquisition time corresponding to the wireless signal strength, the historical signal strength change curve is updated to obtain the signal strength change curve. The historical signal strength change curve is generated based on the historical wireless signal strength acquired in the past and the historical acquisition time corresponding to each historical wireless signal strength.

[0165] The acquisition time is updated to the cutoff time of a preset data acquisition window. The target change curve in the signal strength change curve is acquired through the updated preset data acquisition window. The target change curve represents the change information corresponding to the wireless signal strength.

[0166] During real-time analysis, the target change curve in the signal strength change curve within a certain time period is collected through the data acquisition window of the data sliding, and compared with the preset change curve (the preset change curve represents the fluctuation information of the wireless signal strength when the elevator door is closed when the mobile robot is outside the elevator, that is, it can represent the preset attenuation rate in the above implementation scheme, that is, the target change curve represents the signal attenuation rate in the above implementation scheme. At this time, the signal attenuation rate can be judged by the curve similarity to meet the preset attenuation rate. For example, if the similarity is greater than the preset similarity, it meets the requirement) to improve the comparison accuracy and avoid misjudgment caused by signal interference inside the elevator.

[0167] Furthermore, based on the above implementation scheme, this application also provides a mobile robot, the mobile robot comprising:

[0168] One or more processors;

[0169] Memory; and

[0170] One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the steps in the floor location method described in any of the above embodiments.

[0171] As can be seen from the above embodiments, in some embodiments of this application, the mobile robot unit may include the mobile robot of the above embodiments, and the processor and memory of the mobile robot unit are integrated on the circuit board body included in the mobile robot, and the circuit board body is disposed in the mobile robot.

[0172] It is understood that in some other embodiments of this application, the processor and memory in the mobile robot may not be integrated on the mobile robot, that is, the processor and memory are respectively disposed in the mobile robot as components of the mobile robot.

[0173] like Figure 8 As shown, Figure 8This is a schematic diagram of an embodiment of the mobile robot provided in this application.

[0174] Specifically, a mobile robot may include components such as a processor 1001 with one or more processing cores, a memory 1002 with one or more computer-readable storage media, a power supply 1003, and an input unit 1004. Those skilled in the art will understand that... Figure 8 The mobile robot structure shown does not constitute a limitation on the mobile robot and may include more or fewer parts than shown, or combine certain parts, or have different arrangements of parts. Wherein:

[0175] The processor 1001 is the image processing center, connecting various parts of the mobile robot via various interfaces and lines. It executes software programs and / or modules stored in the memory 1002, and calls data stored in the memory 1002, to perform various functions and process data of the mobile robot, thereby providing overall monitoring of the mobile robot. It is understood that the processor 1001 communicates with the controller via signal transmission. Optionally, the processor 1001 may include one or more processing cores; preferably, the processor 1001 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, while the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may also not be integrated into the processor 1001.

[0176] The memory 1002 can be used to store software programs and modules. The processor 1001 executes various functional applications and data processing by running the software programs and modules stored in the memory 1002. The memory 1002 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created based on the use of the mobile robot, etc. In addition, the memory 1002 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 1002 may also include a memory controller to provide the processor 1001 with access to the memory 1002.

[0177] In some embodiments of this application, the floor positioning device can be implemented as a computer program, which can be implemented in, for example... Figure 8 The mobile robot shown operates on this device. The mobile robot's memory can store the various program modules that make up the floor positioning system, for example... Figure 7The diagram shows a response acquisition module 701, a sending module 702, and a determining module 703. The computer program comprised of these modules causes the processor to execute the steps of the floor positioning methods described in the various embodiments of this application.

[0178] For example, Figure 8 The mobile robot shown can be used as follows Figure 7 The response acquisition module 701 in the floor positioning device shown executes step S201. The mobile robot can execute step S202 via the sending module 702. The mobile robot can execute step S203 via the determining module 703. The mobile robot includes a processor, memory, and network interface connected via a system bus. The processor of the mobile robot provides computing and control capabilities. The memory of the mobile robot includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage medium. The network interface of the mobile robot is used to communicate with external mobile robots via a network connection. When the computer program is executed by the processor, it implements a floor positioning method.

[0179] The mobile robot also includes a power supply 1003 that supplies power to the various components. Preferably, the power supply 1003 can be logically connected to the processor 1001 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 1003 may also include one or more DC or AC power supplies, a recharging system, a power fault detection circuit, a power converter or inverter, a power status indicator, or any other components.

[0180] The mobile robot may also include an input unit 1004, which can be used to receive input digital or character information, and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0181] Although not shown, the mobile robot may also include a display unit, etc., which will not be described in detail here. Specifically, in this embodiment, the processor 1001 in the mobile robot loads the executable files corresponding to the processes of one or more applications into the memory 1002 according to the following instructions, and the processor 1001 runs the applications stored in the memory 1002 to realize various functions, as follows:

[0182] The strength of the wireless signal between the sensor and the wireless device installed inside the elevator is collected.

[0183] Based on the change information between the wireless signal strength and the historically collected wireless signal strength, a floor query request is sent to the elevator control center.

[0184] Receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor value.

[0185] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be performed by instructions, or by instructions controlling related hardware. These instructions can be stored in a computer-readable storage medium and loaded and executed by a processor.

[0186] Therefore, embodiments of the present invention provide a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. A computer program is stored thereon, which is loaded by a processor to execute the steps in any of the floor positioning methods provided in the embodiments of the present invention. For example, the computer program loaded by the processor can execute the following steps:

[0187] The strength of the wireless signal between the sensor and the wireless device installed inside the elevator is collected.

[0188] Based on the change information between the wireless signal strength and the historically collected wireless signal strength, a floor query request is sent to the elevator control center.

[0189] Receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor value.

[0190] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the detailed descriptions of other embodiments above, which will not be repeated here.

[0191] In practice, each of the above units or structures can be implemented as an independent entity or can be arbitrarily combined to be implemented as the same or several entities. For the specific implementation of each of the above units or structures, please refer to the previous method embodiments, which will not be repeated here.

[0192] For details on the implementation of each of the above operations, please refer to the previous examples, which will not be repeated here.

[0193] The above provides a detailed description of a floor positioning method, device, mobile robot, and storage medium provided in the embodiments of this application. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for locating floors, characterized in that, Applied to mobile robots, the method includes: The strength of the wireless signal between the sensor and the wireless device installed inside the elevator is collected. Based on the change information between the wireless signal strength and the historically collected wireless signal strength, a floor query request is sent to the elevator control center. Receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor value.

2. The floor positioning method according to claim 1, characterized in that, The step of sending a floor query request to the elevator control center based on the change information between the wireless signal strength and historically collected wireless signal strength includes: Calculate the signal attenuation rate corresponding to the wireless signal strength based on the wireless signal strength and the historical wireless signal strength collected in the past; If the signal attenuation rate meets the preset attenuation rate, a floor query request is sent to the elevator control center.

3. The floor positioning method according to claim 1, characterized in that, Receive the floor value returned by the elevator control center in response to the floor query request, and determine the target floor value, including: Receive the floor value fed back by the elevator control center in response to the floor query request, and obtain the time of receipt of the floor value; The confidence level of the floor value is determined based on the interval between the sending time and the receiving time corresponding to the floor query request. If the confidence level is greater than the preset confidence level, then the floor value is set as the target floor value.

4. The floor positioning method according to claim 3, characterized in that, After determining the confidence level of the floor value based on the interval between the sending time and the receiving time corresponding to the floor query request, the method further includes: If the confidence level is less than the preset confidence level, then the elevator operating parameters are obtained, including the elevator dwell time and the elevator operating speed. Based on the elevator operating parameters and the interval duration, the floor value is corrected to obtain the target floor value.

5. The floor positioning method according to claim 4, characterized in that, After receiving the floor value from the elevator control center in response to the floor query request and determining the target floor, the method further includes: If the target floor value is different from the set floor value corresponding to the mobile robot, an elevator call request is generated based on the target floor value and the set floor value, and the elevator call request is sent to the elevator control center. The elevator call request is used to instruct the elevator control center to generate a stop instruction to control the elevator to stop at the target floor value and the set floor value. Based on the time period to which the elevator call request belongs and the target confidence level, predict the target waiting time; If the target detects that the wireless signal strength is greater than a preset strength threshold within the waiting time, the mobile robot is controlled to enter the elevator and send a floor query request to the elevator control center according to the preset floor access frequency to obtain the floor value. When the detected floor value is the same as the set floor value, the mobile robot is controlled to exit the elevator.

6. The floor positioning method according to claim 5, characterized in that, The method further includes: Obtain the signal log corresponding to the target elevator, the signal log including the floor door opening signal time and the floor door closing signal time corresponding to the target elevator; Based on the signal log, update the waiting time corresponding to each time period of the target elevator.

7. The floor positioning method according to any one of claims 1-6, characterized in that, The method further includes: Based on the wireless signal strength and the acquisition time corresponding to the wireless signal strength, the historical signal strength change curve is updated to obtain the signal strength change curve. The historical signal strength change curve is generated based on the historical wireless signal strength acquired in the past and the historical acquisition time corresponding to each historical wireless signal strength. The acquisition time is updated to the cutoff time of a preset data acquisition window. The target change curve in the signal strength change curve is acquired through the updated preset data acquisition window. The target change curve represents the change information corresponding to the wireless signal strength.

8. A floor positioning device, characterized in that, The device includes: The acquisition module is used to acquire the wireless signal strength between the wireless device installed inside the elevator. The sending module is used to send a floor query request to the elevator control center based on the change information between the wireless signal strength and the historically collected wireless signal strength. The determination module is used to receive the floor value fed back by the elevator control center in response to the floor query request, and determine the target floor.

9. A mobile robot, characterized in that, The mobile robot includes: One or more processors; Memory; and One or more applications, wherein the one or more applications are stored in the memory and configured to be executed by the processor to implement the floor positioning method of any one of claims 1 to 13.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which is loaded by a processor to perform the steps of the floor positioning method according to any one of claims 1 to 7.

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