CN109895105A - Intelligent device - Google Patents
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- CN109895105A CN109895105A CN201711310710.4A CN201711310710A CN109895105A CN 109895105 A CN109895105 A CN 109895105A CN 201711310710 A CN201711310710 A CN 201711310710A CN 109895105 A CN109895105 A CN 109895105A
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Abstract
The invention discloses an intelligent device, which comprises a processor and a mechanical arm, wherein a controller is electrically connected with the mechanical arm; the controller is used for: determining a target key according to a target floor; acquiring an operation instruction according to the target key; sending an operation instruction to the mechanical arm; generating an operation instruction according to the relative position coordinate of the target key relative to the intelligent device; the mechanical arm is used for pressing down the target key according to the operation instruction. The operation instruction is generated according to the relative position coordinate of the target key relative to the intelligent device, so that the mechanical arm can be controlled to press the target key according to the operation instruction, information interaction does not occur between the intelligent device and the elevator in the whole elevator taking process, and the whole operation process is more similar to the mode of people using the elevator daily. Therefore, by adopting the method for taking the elevator and the intelligent device provided by the embodiment of the invention, the intelligent device can automatically take the elevator without modifying the elevator.
Description
Technical field
The present invention relates to field of artificial intelligence more particularly to a kind of intelligent apparatus.
Background technique
With the continuous development of artificial intelligence and robot technology, intelligent vehicle and robot have obtained extensively in all trades and professions
General application.The commercial service robot for having automatic positioning navigation feature especially occurred in recent years and distributed robot,
It may be implemented in office building, the autonomous conveying articles of the particular places such as Hotel building greatly reduce relevant industries attendant's
Labor intensity improves the production efficiency of these industries, reduces hotel, and the personnel cost of the industries such as food delivery is taken out in express delivery.
In office building or Hotel building, commercial service robot and distributed robot need to take elevator in each building
Interlayer shuttle conveying articles, but how to realize that robot is a problem to be solved to the control of elevator.Currently, having gone out
Show through the interaction between communication unit realization robot and elevator, to complete the method to elevator controlling.However, due to
Elevator is a kind of special equipment, is transformed to it and installs the examination and approval procedures that communication unit needs to pass through complexity additional, moreover, elevator changes
It makes costly, long period is transformed, there is also certain risks for the safety of improved elevator.
Summary of the invention
The present invention provides a kind of intelligent apparatus, can realize automatic seating elevator without being transformed to elevator.
In a first aspect, the present invention provides a kind of intelligent apparatus, comprising: controller and mechanical arm；
The controller and mechanical arm electrical connection；
The controller is used for:
Target key is determined according to purpose floor；Operational order is obtained according to the target key；By the operational order
It is sent to the mechanical arm；Relative position coordinates of the operational order according to the target key relative to the intelligent apparatus
It generates；
The mechanical arm is used to press the target key according to the operational order.
With reference to first aspect, for the present invention in the first implementation of first aspect, the intelligent apparatus further includes moving
Moving cell and acquisition unit；The mobile unit and the acquisition unit are electrically connected with the controller respectively；
The controller is specifically used for when determining target key according to purpose floor:
Determine the intelligent apparatus in set spatial position coordinate system by the range information that the acquisition unit acquires
Position coordinates；
According to the position coordinates of the position coordinates of the intelligent apparatus and predetermined registration operation point, generates move and be sent to
The mobile unit；
The mobile unit, for being moved to the predetermined registration operation point according to the move；
The controller is also used to:
It calls the predetermined registration operation point to correspond to the operational order of the target key and is sent to the mechanical arm.
With reference to first aspect, for the present invention in second of implementation of first aspect, the intelligent apparatus further includes moving
Moving cell and acquisition unit；The mobile unit and the acquisition unit are electrically connected with the controller respectively；
The controller is specifically used for when determining target key according to purpose floor:
Relative position coordinates of the target key relative to the intelligent apparatus are determined by the acquisition unit；
Coordinate judges whether the distance between the intelligent apparatus and the target key exceed depending on that relative position
The maximum opereating specification of the mechanical arm；
If it is not, then Coordinate generation operational order depending on that relative position；
If so, controlling the control after the mobile unit is moved within the maximum opereating specification of the mechanical arm
Device obtains relative position coordinates of the target key relative to the intelligent apparatus again by the acquisition unit, and according to
The relative position coordinates obtained again generate operational order.
With reference to first aspect, for the present invention in the third implementation of first aspect, the intelligent apparatus further includes adopting
Collect unit and mobile unit；The mobile unit and the acquisition unit are electrically connected with the controller respectively；
The controller is also used to:
Obtain the current floor information image of the elevator of the acquisition unit shooting；
According to the current floor information image, determine that the elevator is currently located control when floor is the purpose floor
The mobile unit makes the intelligent apparatus move out the elevator, or, determining that the elevator is currently located floor is the intelligence
The mobile unit can be controlled where device when floor makes the intelligent apparatus enter the elevator.
The third implementation with reference to first aspect, the present invention are described in the 4th kind of implementation of first aspect
Controller determines that the elevator is currently located control when floor is the purpose floor according to the current floor information image
The mobile unit makes the intelligent apparatus move out the elevator, or, determining that the elevator is currently located floor is the intelligence
When the mobile unit can be controlled when floor where device makes the intelligent apparatus enter the elevator, it is specifically used for:
It obtains the acquisition unit and monitors the distance between the elevator door of the intelligent apparatus and elevator information；
Floor is currently located as the purpose floor in the elevator, and the elevator door of the intelligent apparatus and the elevator
The distance between information change when, controlling the mobile unit makes the intelligent apparatus move out the elevator；
Or, it is floor where the intelligent apparatus and the intelligence dress that the controller, which is currently located floor in the elevator,
When setting the distance between the elevator door of elevator information change, controlling the mobile unit makes the intelligent apparatus enter institute
State elevator.
The first implementation with reference to first aspect, the present invention are described in the 5th kind of implementation of first aspect
Controller determines the intelligent apparatus in set spatial position coordinate system in the range information acquired by the acquisition unit
Position coordinates when, be specifically used for:
The intelligent apparatus of acquisition unit measurement is obtained apart from 1 points of elevator inner wall of range information；Institute
It states and at least there are two adjacent walls that two points are distributed in the elevator inner wall in 1 points；
It is determined according to preset working map and the intelligent apparatus apart from 1 points of elevator inner wall of range information
Position coordinates of the intelligent apparatus in the set spatial position coordinate system.
The first implementation with reference to first aspect, the present invention are described in the 6th kind of implementation of first aspect
Controller determines the intelligent apparatus in set spatial position coordinate system in the range information acquired by the acquisition unit
Position coordinates when, be specifically used for:
Local map is generated according to the scanning information that the acquisition unit is sent；The scanning information is the acquisition unit
Scanning ambient enviroment obtains；
The position of the intelligent apparatus is determined according to the matching relationship between the local map and preset working map
Coordinate.
The 6th kind of implementation with reference to first aspect, the present invention are described in the 7th kind of implementation of first aspect
Controller is also used to:
Judge whether the distance between position coordinates of the position coordinates and the elevator are more than pre-determined distance；
If so, the controller according to the working map by the mobile unit navigate to the pre-determined distance it
It is interior, and determine again by the acquisition unit position coordinates of the intelligent apparatus.
With reference to first aspect, the present invention further includes for bearing goods in the 8th kind of implementation of first aspect
Storage unit.
With reference to first aspect or the first any implementation into the 8th kind of implementation of first aspect, described
Acquisition unit includes camera, and, laser radar sensor and/or depth camera.
In conclusion the embodiment of the invention provides a kind of intelligent apparatus, which includes controller and mechanical arm,
Controller and mechanical arm electrical connection；Controller is used for: determining target key according to purpose floor；It is obtained and is operated according to target key
Instruction；Operational order is sent to mechanical arm；Relative position coordinates of the operational order according to target key relative to intelligent apparatus
It generates；Mechanical arm is used to press target key according to operational order.Operational order is according to target key relative to intelligent apparatus
Relative position coordinates generate, therefore can control mechanical arm according to operational order and press target key, are entirely taking elevator
In the process, for intelligent apparatus there is no information exchange occurs between elevator, whole operation process is daily more similar to people
Use the mode of elevator.It therefore, can be without being transformed to elevator using intelligent apparatus provided by the embodiment of the present invention
It can be achieved with taking elevator automatically.
Detailed description of the invention
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly introduced, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without any creative labor, it can also be obtained according to these attached drawings
His attached drawing.
Fig. 1 is a kind of intelligent apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 2 is the flow diagram that a kind of intelligent apparatus provided in an embodiment of the present invention takes elevator；
Fig. 3 is a kind of feasible intelligent apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 4 is that a kind of position provided in an embodiment of the present invention positions schematic diagram；
Fig. 5 is a kind of feasible intelligent apparatus structural schematic diagram provided in an embodiment of the present invention；
Fig. 6 is a kind of feasible robot external structure schematic diagram provided in an embodiment of the present invention；
Fig. 7 is the feasible robot external structure schematic diagram of another kind provided in an embodiment of the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with attached drawing to the present invention make into
It is described in detail to one step, it is clear that described embodiments are only a part of the embodiments of the present invention, rather than whole implementation
Example.Based on the embodiments of the present invention, obtained by those of ordinary skill in the art without making creative efforts
All other embodiment, shall fall within the protection scope of the present invention.
In order to realize in the case where elevator is not transformed, intelligent apparatus is enable to take elevator, the embodiment of the present invention automatically
A kind of intelligent apparatus provided, as shown in Figure 1, being a kind of intelligent apparatus structural schematic diagram provided in an embodiment of the present invention.Fig. 1
In, intelligent apparatus includes: controller 1 and mechanical arm 2, and controller 1 is electrically connected with mechanical arm 2；Controller 1 is used for: according to purpose
Floor determines target key；Operational order is obtained according to target key；Operational order is sent to mechanical arm 2；Operational order root
Relative position coordinates according to target key relative to intelligent apparatus generate；Mechanical arm 2 be used for according to operational order press target by
Key.In specific implementation process, which can be such as robot, intelligent automobile intelligent apparatus.It should be understood that in Fig. 1
Straight line is only for indicating the electrical connection between controller 1 and mechanical arm 2, is also likely to be directly solid in actual application
It is scheduled on together.The line between each component can be saved in the next embodiment of the present invention, it should be appreciated that eliminate line
Attached drawing be only used for indicating connection relationship of each component in intelligent apparatus external structure, be not intended to represent it and internal being electrically connected
Connect relationship.
Based on above-mentioned intelligent apparatus, Fig. 2 is that the process that a kind of intelligent apparatus provided in an embodiment of the present invention takes elevator is shown
Be intended to, it discloses intelligent apparatus provided by the embodiment of the present invention take elevator detailed process, as shown in Fig. 2, include with
Lower step:
S201: controller determines target key according to purpose floor.
S202: controller obtains operational order according to target key；Operational order is according to target key relative to intelligent dress
The relative position coordinates set generate.
S203: operational order is sent to mechanical arm by controller.
S204: mechanical arm presses target key according to operational order.
The working map of intelligent apparatus initial phase deposit, the work are stored in specific implementation process, in controller
The working region of ground map combining intelligent apparatus, precision with higher.There is preset spatial position coordinate system in working map,
For the intelligent apparatus with locomotive function, can be moved in working region according to working map.
In S201, purpose floor is the floor that intelligent apparatus needs to reach.For be located at elevator outside intelligent apparatus,
Need to enter elevator, controller can first determine floor where intelligent apparatus, later, according to floor where intelligent apparatus and purpose
Upper and lower relation between floor determines one in both direction key for target key.For example, if where intelligent apparatus
Floor is 3 layers, and purpose floor is 8 layers, then controller determines that target key is " upward " key.And the intelligence for being located in elevator
Energy device needs to control elevator and reaches purpose floor, and target key is the corresponding floor key of purpose floor, i.e. precedent at this time
In " 8 ".
In S202, relative position coordinates of the operational order according to target key relative to intelligent apparatus are generated, can be with
It is pre-stored operational order, is also possible to the controller operational order of Coordinate generation depending on the relative position immediately.Specific
In implementation process, which can be the position coordinates in intelligent apparatus mechanical arm coordinate system.Mechanical arm coordinate system
Using interconnecting piece of the mechanical arm on intelligent apparatus as origin, controller can be improved to the control precision of mechanical arm.
In S204, after mechanical arm receives operational order, target key is pressed according to the operational order.Optionally, intelligence
Energy device further includes acquisition unit, includes camera in acquisition unit, can acquire image information.Operation has been executed in mechanical arm
After instruction, camera shooting elevator push button disk image is sent to controller.Controller judges target by technologies such as image recognitions
Whether key is successfully selected, if not selected successfully, controller, which sends aforesaid operations instruction to mechanical arm again, makes machinery
Arm executes the operation for pressing target key again, so as in the non-depresses button of mechanical arm or in the case where pushed the wrong key,
Can find to lay equal stress in time by.Optionally, controller can control camera and shoot before mechanical arm key respectively and electricity after key
Ladder presses keyboard image, is compared by front and back image and determines whether target key is pressed.For most of elevators, key is pressed
When can be lit, the controller of intelligent apparatus can detecte the situation of change of pixel in elevator push button disk image with judge target by
Whether key is lit, and then can judge whether target key is pressed.
In embodiments of the present invention, operational order is raw relative to the relative position coordinates of intelligent apparatus according to target key
At, therefore mechanical arm can be controlled according to operational order and press target key, during entirely taking elevator, intelligent apparatus
There is no information exchange, mode of the whole operation process more similar to people's routine use elevator occur between elevator.
It therefore, can be without changing to elevator using the method and intelligent apparatus for taking elevator provided by the embodiment of the present invention
Achievements are able to achieve intelligent apparatus and take elevator automatically.Simultaneously as loading very little needed for button press, and relative to existing machine
For tool arm precision, elevator button size is sufficiently large, therefore requirement of the embodiment of the present invention to mechanical arm is very low, well below
The requirement of industrial machinery arm can be applicable in both economical mechanical arm and realize, on the other hand, even if intelligence in the embodiment of the present invention
Device has pushed the wrong button, will not bring any safety problem to the passenger of elevator.Compared with prior art, the embodiment of the present invention
Due to without being transformed to elevator, so as to avoid Retrofit of Elevator bring complexity examination and approval procedures, great number improvement expenses, longer
The transformation period and Retrofit of Elevator after by intelligent apparatus control and to take elevator people's bring risk hidden danger the problems such as.
In S202, controller can obtain operational order according to target key.Optionally, as shown in figure 3, it is real for the present invention
A kind of feasible intelligent apparatus structural schematic diagram for applying example offer, in Fig. 3, intelligent apparatus further includes that mobile unit 4 and acquisition are single
Member 3, wherein mobile unit 4 and acquisition unit 3 are electrically connected with controller 1 respectively.Based on intelligent apparatus shown in Fig. 3, controller
1 is specifically used in S202: determining position coordinates of the intelligent apparatus in set spatial position coordinate system by acquisition unit 3；
According to the position coordinates of the position coordinates of intelligent apparatus and predetermined registration operation point, generates move and be sent to mobile unit 4；It moves
Moving cell 4 is used to be moved to predetermined registration operation point according to move；Controller 1 be also used to call predetermined registration operation point correspond to target by
The operational order of key, and send to mechanical arm 2.It implements in structure, predetermined registration operation point and operational order can be initial
The change stage is pre-set, can also be and gradually adds during the work time, and the position that controller 1 is stored with predetermined registration operation point is sat
Mark operational order corresponding with key each under the predetermined registration operation point.Specifically, an operating point can correspond to an elevator
Keyboard is pressed, will include multiple elevator push buttons in elevator push button disk, each elevator push button is corresponding with fixation under the operating point
Operational order.Optionally, there may be multiple elevators in the working region of intelligent apparatus, each elevator is preset with multiple default behaviour
Make a little, controller 1 can first determine a preferably electricity after determining the position coordinates of intelligent apparatus from multiple elevators
Ladder determines a mobile past in multiple predetermined registration operation points from this elevator.Generally, controller 1 can choose from intelligence
The closer elevator of device, and it is mobile to the predetermined registration operation of this elevator point.In specific implementation process, it is possible that predetermined registration operation
The case where point is occupied, controller 1 can replace predetermined registration operation point and redefine operational order at this time.Pass through predetermined registration operation
Point, controller 1 can call directly preset operational order, reduce the operating pressure of controller 1, improve intelligent apparatus
Response speed.
In above-mentioned implementation, controller is used to determine intelligent apparatus in set spatial position coordinate by acquisition unit
Position coordinates in system.Optionally, acquisition unit 3 shown in Fig. 3 can measure distance of the intelligent apparatus apart from surrounding objects,
It can be and start to measure after the distance measuring instruction for receiving the transmission of controller 1, can also be measured with preset frequency periodicity, this
Inventive embodiments do not limit this.Distance of the intelligent apparatus apart from surrounding objects can be and receive processor transmission
Distance measuring instruction after start to measure, can also be measured with preset frequency periodicity, the embodiment of the present invention does not limit this.Place
Manage device controller 1 obtain intelligent apparatus apart from surrounding objects apart from when, can determine intelligence in conjunction with preset working map
It can position coordinates of the device in pre-set space coordinate system.It can be divided into elevator during taking elevator due to intelligent apparatus
With two states outside elevator, and the ambient enviroment in elevator and outside elevator has apparent difference, therefore optionally, controller
1 can determine the mode of acquisition unit measurement distance according to the relative position state of intelligent apparatus and elevator, be surveyed with realizing to be promoted
The purpose of efficiency of precision or raising ranging away from result.
Optionally, in S202, when determining target key according to purpose floor, the embodiment of the present invention provides another controller
A kind of controller, controller 1 is specifically used in Fig. 3: determining target key relative to the opposite of intelligent apparatus by acquisition unit 3
Position coordinates；Coordinate generation operational order depending on the relative position.In specific implementation process, not according to 3 type of acquisition unit
Together, the acquisition modes of relative position coordinates are not also identical.For example, when acquisition unit 3 includes laser radar sensor, controller
1 can determine the position of intelligent apparatus and target key in set spatial position coordinate system by laser radar sensor respectively
Coordinate, and further obtain relative position coordinates of the target key relative to intelligent apparatus；In another example including in acquisition unit 3
When depth camera, controller directly can measure relative position of the target key relative to intelligent apparatus by depth camera
Coordinate.
When exceeding the maximum opereating specification of mechanical arm 2 at a distance from intelligent apparatus is between target key, controller 1 may
Operational order can not be generated, that is, allows to generate operational order, mechanical arm 2 can not also execute.In order to avoid above situation occurs,
Optionally, controller 1 by acquisition unit 3 after determining target key relative to the relative position coordinates of intelligent apparatus, control
Coordinate judges whether the distance between intelligent apparatus and target key exceed the maximum of mechanical arm 2 to device 1 processed depending on the relative position
Opereating specification；If it is not, the then Coordinate generation operational order depending on the relative position of controller 1, and send to mechanical arm 2；If so,
After the control of controller 1 mobile unit 4 is moved within the maximum opereating specification of mechanical arm 2, controller 1 is again by acquisition unit
3 obtain relative position coordinates of the target key relative to intelligent apparatus, and generate behaviour according to the relative position coordinates obtained again
It instructs, and sends to mechanical arm 2.Obtain target key position coordinates after, controller 1 first judge target key whether position
In the maximum opereating specification of motion arm 2, only be located at motion arm 2 maximum opereating specification within when, could successfully calculate
Operational order.Controller 1 can be pressed after determining that target key is located at the maximum opereating specification of motion arm 2 according to target
Key calculates operational order relative to the relative position coordinates of intelligent apparatus.It should be understood that two kinds of controls provided in an embodiment of the present invention
The feasible implementation of device 1 processed both can be used alone, and can also be combined with each other, to adapt to intelligent apparatus complexity
Changeable working environment.
After intelligent apparatus presses target key, it is also possible to the time that one section of waiting elevator can be undergone to run.Optionally, base
In intelligent apparatus shown in Fig. 3, controller 1 is also used to after control mechanical arm 2 presses target key: obtaining acquisition unit 3
The current floor information image of the elevator of shooting；According to current floor information image, determine that elevator is currently located for the purpose of floor
Mobile unit 4 is controlled when floor makes intelligent apparatus move out elevator, or, determining that elevator is currently located floor is intelligent apparatus place
Mobile unit 4 is controlled when floor makes intelligent apparatus enter elevator.In specific implementation process, the packet of acquisition unit 3 such as camera is schemed
As acquisition functional component.Divide for situation, when intelligent apparatus is located in elevator, needs to detect whether elevator reaches purpose
Floor, controller 1 are shot the current floor information image of the floor displays acquisition elevator in elevator by acquisition unit 3 and led to
The technologies such as the number identification crossed in image procossing determine that elevator is currently located floor, and being currently located floor in elevator is purpose floor
When, illustrate that elevator reaches purpose floor, controller 1, which just controls the movement of mobile unit 4, makes intelligent apparatus move out elevator.In intelligence
Can device when being located at outside elevator, need to detect whether elevator reaches floor where intelligent apparatus, controller 1 passes through acquisition
The floor displays that unit 3 shoots lift port obtain the current floor information image of elevator and determine that elevator is currently located floor,
When it is floor where intelligent apparatus that elevator, which is currently located floor, the floor where elevator reaches intelligent apparatus is determined, control
Device 1, which just controls the movement of mobile unit 4, makes intelligent apparatus enter elevator.Optionally, when intelligent apparatus is located at outside elevator, controller
1 can also identify the direction of motion of elevator by elevator current floor information image simultaneously, be towards mesh in elevator motion direction
Floor and elevator be currently located floor be intelligent apparatus where floor when, controller 1 control again mobile unit 4 movement make intelligence
Device enters elevator.
For most of elevators, can postpone to open the door again for a period of time after stop.Intelligent apparatus and elevator in order to prevent
Door knob is hit, for also with the intelligent apparatus of range finder, optionally, acquisition unit further includes such as laser radar sensor or depth
The distance measurement function component of camera etc.In above process, controller is specifically used for: obtaining acquisition unit and monitors intelligent apparatus
The distance between the elevator door of elevator information；Being currently located floor in elevator is purpose floor, and intelligent apparatus and elevator
When the distance between elevator door information change, control mobile unit makes intelligent apparatus move out elevator；Or, being currently located in elevator
When floor is the distance between floor and the elevator door of intelligent apparatus and elevator information change where intelligent apparatus, control mobile single
Member makes intelligent apparatus enter elevator.No matter intelligent apparatus will enter elevator or move out elevator, controller all can first judge electricity
Whether terraced door is opened, determine elevator door open after, controller control again mobile unit movement can to avoid intelligent apparatus with
Elevator door collision.Optionally, controller 1 can judge in the following ways whether elevator door is opened: controller is single by acquisition
Member monitoring the distance between intelligent apparatus and elevator door information, in running process of elevator, for the intelligent apparatus that position is fixed
The distance between itself and elevator door are almost unchanged, and when elevator door is opened, elevator door disappears on acquisition unit monitoring direction
It loses, what is monitored is actually the distance between elevator door other side object and intelligent apparatus, that is, controller is by adopting at this time
The distance between the intelligent apparatus that collection unit monitors and elevator door become larger suddenly, and controller can determine that elevator door is opened.
Divide for situation, for the intelligent apparatus in elevator, current floor of the controller where determining elevator door unlatching and elevator is
When purpose floor, controller control mobile unit movement makes intelligent apparatus move out elevator；Intelligent apparatus outside for elevator, control
For device processed when the current floor where determining elevator door unlatching and elevator is floor where intelligent apparatus, controller control is mobile single
Member movement makes intelligent apparatus enter elevator.
In embodiments of the present invention, controller is used to determine intelligent apparatus in set spatial position coordinate by acquisition unit
Position coordinates in system, optionally, controller determine the intelligent apparatus pre- in the range information acquired by acquisition unit
If being specifically used for when position coordinates in the coordinate system of spatial position: obtaining the intelligent apparatus of acquisition unit measurement in elevator
The range information that 1 points of wall；In these points, at least there are two adjacent walls that two points are distributed in elevator inner wall；
Determine intelligent apparatus pre- apart from 1 points of elevator inner wall of range information according to preset working map and intelligent apparatus
If the position coordinates in the coordinate system of spatial position.Fig. 4 is that a kind of position provided in an embodiment of the present invention positions schematic diagram, for electricity
The top view of ladder, as shown in figure 4, intelligent apparatus A is located in elevator, controller measures a, b, c tri- in elevator by acquisition unit
A point, wherein a and c is located at two adjacent walls of elevator inner wall, can obtain intelligent apparatus A in electricity by triangulation location
Relative position coordinates in ladder.And the position coordinates that record has elevator fixed in preset working map, in conjunction with preset work
The position coordinates of elevator can determine the position coordinates of intelligent apparatus A in map.And it is located at the intelligent apparatus in elevator in height
Degree is relatively stationary on direction with elevator, and the particular content of the coordinate pair operational order in short transverse has no influence, because
This, the position coordinates of the intelligent apparatus obtained at this time planar can be equivalent to intelligent apparatus in three-dimensional space
Three-dimensional location coordinates.It is noted that the multiple elevators fixed for model, each floor button of elevator is in elevator
Position be it is fixed, in this case, when controller will determine relative position coordinates of the target key relative to intelligent apparatus A
When, target key can be directly determined after relative position coordinates of the intelligent apparatus A in elevator have been determined for intelligent dress
The relative position coordinates for setting A do not need to compare the position coordinates that working map determines intelligent apparatus A again.
It should be understood that the method is equally applicable to cylindrical elevator, because controller can equally obtain on elevator side wall
Three points of triangle relation be may be constructed to the distance of intelligent apparatus, these three points it is also assumed that not in same side wall, because
This, should be again included in the embodiment of the present invention.
Optionally, the embodiment of the present invention also provides the implementation of another feasible controller.Controller exists
When determining the implementation of position coordinates of the intelligent apparatus in set spatial position coordinate system by range finder, it is specifically used for:
Controller generates local map according to the scanning information that acquisition unit is sent；Scanning information is that acquisition unit scanning ambient enviroment obtains
It arrives；Controller determines the position coordinates of intelligent apparatus according to the matching relationship between local map and preset working map.
Controller generates local map after obtaining the scanning information that acquisition unit is sent, according to scanning information, when it is implemented, it is given birth to
It can be varied according to acquisition unit type difference at mode.After generating local map, controller by local map with
Working map matches, and the position for capableing of successful match is position where intelligent apparatus, to obtain the position of intelligent apparatus
Set coordinate.Which is particularly suitable for situation about being located at outside elevator, because the environment outside elevator is increasingly complex, can be used for
The feature matched is just more.
Optionally, when intelligent apparatus is located at outside elevator, controller determines intelligent apparatus in default sky by acquisition unit
Between after position coordinates in the coordinate system of position, be also used to: the distance between the position coordinates for judging position coordinates and elevator are
No is more than pre-determined distance；If so, navigated within pre-determined distance according to working map by mobile unit, and again by adopting
Collection unit determines the position coordinates of intelligent apparatus.Controller is generating local map by scanning and is matching it with working map
Before, can first judge whether the distance between position coordinates and elevator position coordinate of intelligent apparatus are more than pre-determined distance.When super
When crossing pre-determined distance, illustrate intelligent apparatus not near elevator, controller first can pass through movement according to working map at this time
Unit control intelligent apparatus navigates within pre-determined distance, that is, navigates near elevator, and determine intelligence again by acquisition unit
The position coordinates of energy device.
Optionally, Fig. 5 is a kind of feasible intelligent apparatus structural schematic diagram provided in an embodiment of the present invention.Such as Fig. 5
Shown, acquisition unit includes camera 31 and range finder 32.Camera 31 is for obtaining image information, and range finder 32 is for obtaining
Range information.Wherein, range finder 3 includes laser radar sensor and/or depth camera.Laser radar sensor and depth are taken the photograph
As head all has a distance measurement function, the type for the range information that both difference, which is, is directly obtained is different, and controller 1 need to be using not
With algorithm information of adjusting the distance handled.Generally, in the case where for requiring control cost, can be made using depth camera
Laser radar sensor can be used in the case where requiring treatment effeciency for range finder.It is laser radar biography in range finder
When sensor, range finder be can be set in the lower part of intelligent apparatus, and when range finder is depth camera, range finder be can be set
Upper part with intelligent apparatus is to increase the visual field.In Fig. 4, camera 31 is set to the top of intelligent apparatus, can be camera
One preferable acquisition visual angle is provided.Optionally, the acquisition visual angle of camera is debugged in initial phase, to ensure to image
Image needed for head can collect controller.Optionally, when range finder 32 is depth camera, due to depth camera sheet
Body just has image collecting function, therefore in the case where being equipped with depth camera for intelligent apparatus, depth can also be taken the photograph
As being used while head is as range finder 31 as the camera 32 in the embodiment of the present invention.
Optionally, mobile unit 4 is in embodiments of the present invention for intelligent apparatus mobile under the control of controller 1.Tool
In body implementation process, there are many move modes of mobile unit 4, for example, crawler type, roller type, slidingtype etc., it all can basis
Practical service environment targetedly designs.
Optionally, as shown in figure 5, intelligent apparatus further includes storage unit 5.Existing intelligent apparatus is commonly used for transporting goods
Object, such as with the meal delivery robot of very big application prospect, it is empty that setting storage unit 5 can provide a fixed storage for cargo
Between, the cargo transport function of intelligent apparatus may be implemented.
It should be understood that intelligent apparatus can be divided into elevator during taking elevator and elevator outside two states, although
The embodiment of the present invention describes intelligent apparatus with two states simultaneously and takes the process of elevator, but is only located in elevator or is only located at electricity
The embodiment of intelligent apparatus control elevator outside ladder should be also contained in the embodiment of the present invention, only be used for example, being fixed in elevator
In pressing the intelligent apparatus of floor key, it is only used for pressing the intelligent apparatus of elevator direction key or, being fixed on outside lift port, this
A little embodiments can all be realized without involving an inventive effort on the basis of the above embodiments, should all be contained in the present invention
In embodiment, the embodiment of the present invention no longer repeats its specific implementation one by one.
In order to more specifically illustrate intelligent apparatus provided by the embodiment of the present invention, the embodiment of the present invention also provides following
Four kinds of possible implementations.It should be understood that the possible implementation of following four is not only for for example, represent the present invention
Embodiment is only used for or only comprising following four situation.
One of possible implementation
In this implementation, intelligent apparatus is distributed robot.As shown in fig. 6, Fig. 6 is provided in an embodiment of the present invention
A kind of feasible robot external structure schematic diagram does not show that in figure since controller multidigit is inside intelligent apparatus.
Wherein, mobile unit 4 is wheel undercarriage vehicle, is indicated in this implementation with wheel undercarriage vehicle 4, acquisition unit is laser radar
Sensor and camera are set on chassis vehicle 4, with 31 table of laser radar sensor 32 and camera in this implementation
Show.
After robot is connected to delivery task and independently makes the decision for taking elevator, according to the place of working stored in controller
Figure navigates near target elevator.Controller compares working map by the environment around the measurement of laser radar sensor 32,
The position coordinates of robot at this time are calculated, compared with the position coordinates of operating point outside elevator, the margin of error is calculated, feeds back to wheeled
Chassis vehicle 4 adjusts robot self-position, and robot is finally made relatively accurately to navigate to the outer operating point of preset elevator.In electricity
The outer operating point of ladder, mechanical arm 2 operate lift button movement be it is fixed, these corresponding operational orders of movement are pre-
It deposits in the controller, controller sends corresponding operational order to mechanical arm 2 according to mission requirements, and mechanical arm 2 can be made to press
The key upstairs of elevator or downstairs key call elevator.Later, camera 31 shoots the elevator photo of button upstairs and downstairs,
Controller determines whether target key is lit by image recognition technology.If target key is non-lit up, operation is controlled
Arm 2 is again again by once, if all unsuccessful in triplicate, controller reports request for repairment to management system sending.
After the according to target key success of mechanical arm 2, the floor indicator panel of the operating point shooting elevator outside elevator of camera 31, control
Device processed extracts number shown by elevator indicator panel by the digital identification techniques in image procossing, obtains the building where elevator
Layer information.Laser radar sensor 32 monitors the switch state of elevator door simultaneously, and after door-opened elevator, controller controls wheeled bottom
The movement of jiggering 4 makes robot enter elevator.
After robot enters elevator, controller is by the environment around the measurement of laser radar sensor 32 to calculate machine
The position coordinates of device people at this time, and compared with the position coordinates of operating point in elevator, obtain move and be sent to wheeled
Chassis vehicle 4 makes wheel undercarriage vehicle 4 adjust robot self-position according to move, finally makes robot relatively accurately fixed
Position is to operating point in elevator.The operating point in this elevator, the movement that robot arm 2 operates each floor button of elevator is fixed
, these act corresponding operational order and have prestored in the controller, and controller determines corresponding operation according to purpose floor
It instructs and sends to mechanical arm 2, mechanical arm 2 can be made to press key corresponding with purpose floor in elevator according to operational order,
Notice elevator runs to purpose floor.Camera 31 shoots the floor key disk image of elevator, and controller passes through image recognition skill
Art determines whether target key is lit.If target key is non-lit up, then controller control mechanical arm 2 is repeated by one
Secondary, if unsuccessful in triplicate, controller reports request for repairment to management system sending.
After the according to target key success of mechanical arm 2, the floor indicator panel of the operating point shooting elevator in elevator of camera 31, control
Device processed extracts number shown by elevator indicator panel by the digital identification techniques in image procossing, obtains the building where elevator
Layer information.Laser radar sensor 32 monitors the switch state of elevator door simultaneously, after elevator reaches purpose floor and opens the door, control
Device processed, which controls the wheeled movement of chassis vehicle 4, makes robot leave elevator.
In one of above-mentioned possible implementation, operation in elevator is preset in the controller of robot shown in fig. 6
Point and the outer operating point of elevator.In the specific implementation process, it also will appear not set operating point, or, predetermined registration operation point can not reach
The case where.Based on robot shown in fig. 6, the embodiment of the invention also provides the two of possible implementation.
The two of possible implementation
Robot is connected to delivery task, after independently making the decision for taking elevator, according to the place of working stored in controller
Figure navigates to target elevator mouth.Controller calculates robot at this time by the environment around the measurement of laser radar sensor 32
Position coordinates, determine target key further according to mission requirements, later, sensor according to working map calculate target key by
Position coordinates of the button in set spatial position coordinate system, and further obtain relative position of the target key relative to robot
Coordinate.Controller coordinate depending on the relative position calculates the operational order that mechanical arm 2 operates target key.If controller energy
The operational order for smoothly solving mechanical arm 2, then be sent to mechanical arm 2 for operational order, mechanical arm 2 can be made to press elevator
Target key calls elevator.If can not solve, controller adjusts robot location and appearance by wheel undercarriage vehicle 4 at random
It is recalculated after state.Generally, it can not but be reached if there is operating point, then controller can be by wheel undercarriage vehicle 4 to operate
Point be target adjust at random robot position and itself.If controller still can not solve operation and refer to after adjustment is multiple repeatedly
It enables, then controller reports request for repairment to management system sending.
After according to target key (the upstairs or downstairs key) success of mechanical arm 2, camera 31 shoots elevator upstairs and downstairs
The photo of case, controller determine whether target key is lit by image recognition technology.If be not lit, control
Device control mechanical arm 2 is repeated by primary, if continuous unsuccessful three times, controller reports request for repairment to management system sending.
After successfully pressing target key, camera 31 shoots the floor indicator panel of elevator, and controller passes through image procossing
In digital identification techniques extract number shown by elevator indicator panel, obtain the floor information where elevator.Meanwhile laser
Radar sensor 32 monitors the switch state of elevator door, and after door-opened elevator, controller, which controls the wheeled movement of chassis vehicle 4, makes machine
People enters elevator.
After robot enters elevator, controller calculates machine by the environment around the measurement of laser radar sensor 32
The position of people at this time calculates relative position of the corresponding target key of purpose floor relative to robot further according to working map
Coordinate.Coordinate depending on the relative position calculates the operational order that mechanical arm 2 operates target key.If can smoothly solve
Operational order is then sent to mechanical arm 2 by the operational order of mechanical arm 2, and mechanical arm 2 can be made by moving-target key, notice electricity
Ladder runs to purpose floor.If can not solve, controller adjusts robot location and posture by wheel undercarriage vehicle 4 at random
After recalculate.If controller still can not solve operational order after adjustment repeatedly repeatedly, controller is sent out to management system
Report request for repairment out.
After mechanical arm 2 executes operational order, camera 31 shoots the photo of elevator floor key disk, and controller passes through
Image recognition technology determines whether target key is lit.If non-lit up, controller control motion arm 2 is repeated by one
Secondary, if continuous unsuccessful three times, controller reports request for repairment to management system sending.
After mechanical arm 2 is by elevator button success, camera 31 shoots the floor indicator panel of elevator, and controller passes through at image
Digital identification techniques in reason extract number shown by elevator indicator panel, obtain the floor information where elevator.Meanwhile swashing
Optical radar sensor 32 monitors the switch state of elevator door, after elevator reaches purpose floor and elevator door is opened, controller control
The movement of ratch formula chassis vehicle 4 makes robot leave elevator.
One of above-mentioned possible implementation is all based on robot as shown in FIG. 6 with the two of possible implementation.This
Invention also provides robot as shown in Figure 7, and following possible implementation three may be implemented.
The three of possible implementation
Fig. 7 is the feasible robot external structure schematic diagram of another kind provided in an embodiment of the present invention, similar with Fig. 6,
Difference is in Fig. 7 that acquisition unit is depth camera and camera, is known as depth camera 32 and is taken the photograph in this implementation
As head 31.Since the camera that it is special that depth camera 32 is substantially one kind is optionally disposed at robot and integrally leans on
On position facilitate expand depth camera 32 visual angle.
In robot shown in Fig. 7, other than the specific implementation of acquisition unit is different, the realization side of other components
Formula is all more similar, therefore, the seating elevator in the case where being preset with operating point, based on the robot shown in Fig. 7
Method is similar with one of possible implementation, and the embodiment of the present invention repeats no more this.
The four of possible implementation
In the case where Non-precondition operating point, the method for the seating elevator based on robot shown in Fig. 7 with can
The two of the implementation of energy are similar, and difference is, the controller of robot shown in Fig. 7 can be measured by depth camera 32
The environment of surrounding simultaneously compares elevator threedimensional model, determines position of the robot relative to elevator, and then it is opposite to obtain target key
In the relative position coordinates of robot.Remaining step can refer to the two of possible implementation, the embodiment of the present invention to this no longer
It repeats.
In conclusion the embodiment of the invention provides a kind of intelligent apparatus, which includes controller and mechanical arm,
Controller and mechanical arm electrical connection；Controller is used for: determining target key according to purpose floor；It is obtained and is operated according to target key
Instruction；Operational order is sent to mechanical arm；Relative position coordinates of the operational order according to target key relative to intelligent apparatus
It generates；Mechanical arm is used to press target key according to operational order.Operational order is according to target key relative to intelligent apparatus
Relative position coordinates generate, therefore can control mechanical arm according to operational order and press target key, are entirely taking elevator
In the process, for intelligent apparatus there is no information exchange occurs between elevator, whole operation process is daily more similar to people
Use the mode of elevator.It therefore, can nothing using the method and intelligent apparatus for taking elevator provided by the embodiment of the present invention
Need to be transformed to elevator can be achieved with intelligent apparatus and takes elevator automatically.
The present invention be referring to according to the method for the embodiment of the present invention, the process of equipment (system) and computer program product
Figure and/or block diagram describe.It should be understood that every one stream in flowchart and/or the block diagram can be realized by computer program instructions
The combination of process and/or box in journey and/or box and flowchart and/or the block diagram.It can provide these computer programs
Instruct the processor of general purpose computer, special purpose computer, Embedded Processor or other programmable data processing devices to produce
A raw machine, so that being generated by the instruction that computer or the processor of other programmable data processing devices execute for real
The device for the function of being specified in present one or more flows of the flowchart and/or one or more blocks of the block diagram.
These computer program instructions, which may also be stored in, is able to guide computer or other programmable data processing devices with spy
Determine in the computer-readable memory that mode works, so that it includes referring to that instruction stored in the computer readable memory, which generates,
Enable the manufacture of device, the command device realize in one box of one or more flows of the flowchart and/or block diagram or
The function of being specified in multiple boxes.
These computer program instructions also can be loaded onto a computer or other programmable data processing device, so that counting
Series of operation steps are executed on calculation machine or other programmable devices to generate computer implemented processing, thus in computer or
The instruction executed on other programmable devices is provided for realizing in one or more flows of the flowchart and/or block diagram one
The step of function of being specified in a box or multiple boxes.
Although preferred embodiments of the present invention have been described, it is created once a person skilled in the art knows basic
Property concept, then additional changes and modifications may be made to these embodiments.So it includes excellent that the following claims are intended to be interpreted as
It selects embodiment and falls into all change and modification of the scope of the invention.
Obviously, various changes and modifications can be made to the invention without departing from essence of the invention by those skilled in the art
Mind and range.In this way, if these modifications and changes of the present invention belongs to the range of the claims in the present invention and its equivalent technologies
Within, then the present invention is also intended to include these modifications and variations.
Claims (10)
1. a kind of intelligent apparatus characterized by comprising controller and mechanical arm；
The controller and mechanical arm electrical connection；
The controller is used for:
Target key is determined according to purpose floor；Operational order is obtained according to the target key；The operational order is sent
To the mechanical arm；The operational order is raw relative to the relative position coordinates of the intelligent apparatus according to the target key
At；
The mechanical arm is used to press the target key according to the operational order.
2. intelligent apparatus as described in claim 1, which is characterized in that the intelligent apparatus further includes that mobile unit and acquisition are single
Member；The mobile unit and the acquisition unit are electrically connected with the controller respectively；
The controller is specifically used for when determining target key according to purpose floor:
Position of the intelligent apparatus in set spatial position coordinate system is determined by the range information that the acquisition unit acquires
Set coordinate；
According to the position coordinates of the position coordinates of the intelligent apparatus and predetermined registration operation point, generates move and be sent to described
Mobile unit；
The mobile unit, for being moved to the predetermined registration operation point according to the move；
The controller is also used to:
It calls the predetermined registration operation point to correspond to the operational order of the target key and is sent to the mechanical arm.
3. intelligent apparatus as described in claim 1, which is characterized in that the intelligent apparatus further includes that mobile unit and acquisition are single
Member；The mobile unit and the acquisition unit are electrically connected with the controller respectively；
The controller is specifically used for when determining target key according to purpose floor:
Relative position coordinates of the target key relative to the intelligent apparatus are determined by the acquisition unit；
Whether coordinate judges the distance between the intelligent apparatus and the target key beyond described depending on that relative position
The maximum opereating specification of mechanical arm；
If it is not, then Coordinate generation operational order depending on that relative position；
If so, controlling after the mobile unit is moved within the maximum opereating specification of the mechanical arm, the controller is again
It is secondary that relative position coordinates of the target key relative to the intelligent apparatus are obtained by the acquisition unit, and according to again
The relative position coordinates obtained generate operational order.
4. intelligent apparatus as described in claim 1, which is characterized in that the intelligent apparatus further includes acquisition unit and mobile list
Member；The mobile unit and the acquisition unit are electrically connected with the controller respectively；
The controller is also used to:
Obtain the current floor information image of the elevator of the acquisition unit shooting；
According to the current floor information image, determine that the elevator is currently located when floor is the purpose floor described in control
Mobile unit makes the intelligent apparatus move out the elevator, or, determining that the elevator is currently located floor is the intelligence dress
Controlling the mobile unit where setting when floor makes the intelligent apparatus enter the elevator.
5. intelligent apparatus as claimed in claim 4, which is characterized in that the controller is according to the current floor hum pattern
Picture determines that the elevator is currently located floor to control the mobile unit when purpose floor and keeping the intelligent apparatus mobile
The elevator out, or, determining that the elevator is currently located when floor is floor where the intelligent apparatus controls the mobile list
When member makes the intelligent apparatus enter the elevator, it is specifically used for:
It obtains the acquisition unit and monitors the distance between the elevator door of the intelligent apparatus and elevator information；
Being currently located floor in the elevator is the purpose floor, and between the intelligent apparatus and the elevator door of the elevator
Range information variation when, controlling the mobile unit makes the intelligent apparatus move out the elevator；
Or, the controller the elevator be currently located floor be floor where the intelligent apparatus and the intelligent apparatus with
When the distance between the elevator door of elevator information change, controlling the mobile unit makes the intelligent apparatus enter the electricity
Ladder.
6. intelligent apparatus as claimed in claim 2, which is characterized in that the controller is being acquired by the acquisition unit
When range information determines position coordinates of the intelligent apparatus in set spatial position coordinate system, it is specifically used for:
The intelligent apparatus of acquisition unit measurement is obtained apart from 1 points of elevator inner wall of range information；It is described extremely
At least there are two adjacent walls that two points are distributed in the elevator inner wall in few three points；
According to the range information determination of preset working map and the intelligent apparatus apart from 1 points of elevator inner wall
Position coordinates of the intelligent apparatus in the set spatial position coordinate system.
7. intelligent apparatus as claimed in claim 2, which is characterized in that the controller is being acquired by the acquisition unit
When range information determines position coordinates of the intelligent apparatus in set spatial position coordinate system, it is specifically used for:
Local map is generated according to the scanning information that the acquisition unit is sent；The scanning information is the acquisition unit scanning
What ambient enviroment obtained；
The position coordinates of the intelligent apparatus are determined according to the matching relationship between the local map and preset working map.
8. intelligent apparatus as claimed in claim 7, which is characterized in that the controller is also used to:
Judge whether the distance between position coordinates of the position coordinates and the elevator are more than pre-determined distance；
If so, the controller is navigated within the pre-determined distance according to the working map by the mobile unit,
And the position coordinates of the intelligent apparatus are determined again by the acquisition unit.
9. intelligent apparatus as described in claim 1, which is characterized in that further include the storage unit for bearing goods.
10. intelligent apparatus as described in any one of claim 1 to 9, which is characterized in that the acquisition unit includes camera,
And laser radar sensor and/or depth camera.
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| CN201711310710.4A CN109895105A (en) | 2017-12-11 | 2017-12-11 | Intelligent device |
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|---|---|---|---|
| CN201711310710.4A CN109895105A (en) | 2017-12-11 | 2017-12-11 | Intelligent device |
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| CN110340892A (en) * | 2019-07-11 | 2019-10-18 | 拉扎斯网络科技（上海）有限公司 | Movement control method and device, electronic equipment and computer readable storage medium |
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