CN113879921B - Control method and device for robot to enter elevator - Google Patents
Control method and device for robot to enter elevator Download PDFInfo
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- CN113879921B CN113879921B CN202111192846.6A CN202111192846A CN113879921B CN 113879921 B CN113879921 B CN 113879921B CN 202111192846 A CN202111192846 A CN 202111192846A CN 113879921 B CN113879921 B CN 113879921B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/02—Control systems without regulation, i.e. without retroactive action
- B66B1/06—Control systems without regulation, i.e. without retroactive action electric
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B1/00—Control systems of elevators in general
- B66B1/34—Details, e.g. call counting devices, data transmission from car to control system, devices giving information to the control system
- B66B1/3415—Control system configuration and the data transmission or communication within the control system
- B66B1/3423—Control system configuration, i.e. lay-out
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0012—Devices monitoring the users of the elevator system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B5/00—Applications of checking, fault-correcting, or safety devices in elevators
- B66B5/0006—Monitoring devices or performance analysers
- B66B5/0018—Devices monitoring the operating condition of the elevator system
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses a control method and a device for a robot to enter an elevator. The control method for the robot to enter the elevator comprises the following steps: controlling an image acquisition device to acquire image information of an elevator in real time; after receiving a request instruction sent by the robot, determining an elevator meeting preset conditions according to the image information, and controlling the robot to enter the elevator. The invention achieves the effects of reducing the time for the robot to enter the elevator and improving the efficiency of the robot entering the elevator.
Description
Technical Field
The embodiment of the invention relates to the technical field of control, in particular to a control method and a device for a robot to enter an elevator.
Background
With the gradual development of artificial intelligence, more and more work can be done by robots. The delivery robot is a transport vehicle capable of autonomous navigational movement and needs to ride on an elevator when multi-floor movement is involved. When the robot is entering the elevator, it is necessary to determine whether the remaining space in the elevator can accommodate the robot.
At present, when an elevator door is opened, an image in an elevator is acquired, whether the robot can enter the elevator or not is judged according to the image, more time is needed, and whether elevators on other floors are available or not cannot be judged, so that the efficiency of the robot entering the elevator is lower.
Disclosure of Invention
The invention provides a control method and a device for a robot to enter an elevator, which are used for reducing the time for the robot to enter the elevator and improving the efficiency of the robot to enter the elevator.
In a first aspect, an embodiment of the present invention provides a method for controlling a robot entering an elevator, where the method for controlling a robot entering an elevator includes:
controlling an image acquisition device to acquire image information of an elevator in real time;
after receiving a request instruction sent by a robot, determining an elevator meeting preset conditions according to the image information, and controlling the robot to enter the elevator.
Optionally, determining an elevator meeting a preset condition according to the image information, and controlling the robot to enter the elevator, including:
determining elevator numbers corresponding to the elevators meeting the preset conditions according to the image information;
and sending the elevator number to the robot, and controlling the robot to enter an elevator corresponding to the elevator number.
Optionally, determining an elevator meeting a preset condition according to the image information, and controlling the robot to enter the elevator, including:
determining residual image information corresponding to the residual space in the elevator in the image information;
determining the regional score of each elevator according to the residual image information;
and determining the elevator with the highest regional score as the elevator meeting the preset condition, and controlling the robot to enter the elevator.
Optionally, determining the area score of each elevator according to the residual image information comprises:
determining a size parameter of a preset image space corresponding to a space required by the robot to enter the elevator;
dividing the residual image information into at least one first image area, and determining a size parameter of the first image area;
determining a second image area which is larger than or equal to the size parameter of the preset image space in the first image area according to the size parameter of the first image area;
and determining the position information of the second image area, and determining the area score of each elevator according to the position information and the area of the second image area.
Optionally, determining the location information of the second image area, determining the area score of each elevator according to the location information and the area of the second image area, including:
determining a distance between the second image area and an elevator door;
determining an angle between the second image area and a direction of the robot entering the elevator;
and determining the area score of each elevator according to the distance, the angle and the area of the second image area.
Optionally, the control method for the robot to enter the elevator further comprises:
and determining the position of each elevator, and determining the area score of each elevator according to the position of each elevator, the position information of the second image area corresponding to each elevator and the area of the second image area.
Optionally, determining the size parameter of the preset image space corresponding to the space required by the robot to enter the elevator includes:
placing at least three calibration objects at an elevator corner;
measuring the actual distance between the centers of every two calibration objects;
acquiring images of the calibration objects, and determining the pixel distance between the centers of every two calibration objects according to the images;
determining the actual contrast relation with the image according to the actual distance and the pixel distance;
and determining the size parameter of the preset image space corresponding to the space required by the robot to enter the elevator according to the comparison relation.
Optionally, before dividing the residual image information into at least one first image area and determining the size parameter of the first image area, the method further includes:
and performing image processing on the image information.
In a second aspect, an embodiment of the present invention further provides a control device for a robot entering an elevator, where the control device for a robot entering an elevator includes: a controller and an image acquisition device;
the controller is connected with the output end of the image acquisition equipment and is used for controlling the image acquisition equipment to acquire the image information of the elevator in real time;
the controller is connected with the robot, and is further used for determining an elevator meeting preset conditions according to the image information after receiving a request instruction sent by the robot and controlling the robot to enter the elevator.
Optionally, the controller is specifically configured to determine, according to the image information, an elevator number corresponding to an elevator that meets a preset condition; and sending the elevator number to the robot, and controlling the robot to enter an elevator corresponding to the elevator number.
According to the invention, the image information of the elevators is acquired in real time by controlling the image acquisition equipment, after a request instruction sent by the robot is received, the space in the elevators is judged according to the image information of each elevator, so that the elevators meeting the preset conditions are determined, namely, the elevators with available space are determined, the robot can be controlled to enter the available elevators, the inconvenience brought to users by the robot taking the elevators when the number of people is large is avoided, and the service efficiency of the elevators is improved. The invention solves the problem of lower efficiency of the robot entering the elevator, and achieves the effects of reducing the time of the robot entering the elevator and improving the efficiency of the robot entering the elevator.
Drawings
Fig. 1 is a flowchart of a control method for a robot to enter an elevator according to an embodiment of the present invention;
fig. 2 is a flowchart of still another control method for a robot to enter an elevator according to an embodiment of the present invention;
fig. 3 is a flowchart of still another control method for a robot to enter an elevator according to an embodiment of the present invention;
fig. 4 is a flowchart of still another control method for a robot to enter an elevator according to an embodiment of the present invention;
fig. 5 is a flowchart of still another control method for a robot to enter an elevator according to an embodiment of the present invention;
fig. 6 is a schematic structural view of a control device for a robot to enter an elevator according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a flowchart of a control method for a robot to enter an elevator according to an embodiment of the present invention, where the control method for the robot to enter the elevator includes:
s110, controlling the image acquisition equipment to acquire the image information of the elevator in real time.
Specifically, an image acquisition device is installed in each elevator, the image acquisition device comprises a camera, for example, the controller can control all the image acquisition devices to acquire image information in the corresponding elevators in real time, and the image acquisition devices can send the acquired image information of the elevators to the controller.
S120, after receiving a request instruction sent by the robot, determining an elevator meeting preset conditions according to the image information, and controlling the robot to enter the elevator.
Specifically, after the controller receives a request instruction of taking the elevator sent by the robot, the controller can judge the space in the elevator according to the image information of each elevator, so that the elevator meeting the preset condition is determined, namely, the elevator with available space is determined, the robot can be controlled to enter the available elevator, inconvenience brought to a user by taking the elevator when the robot takes more people is avoided, and the service efficiency of the elevator is improved.
In addition, the image acquisition equipment is used for acquiring the image information of the elevator in real time and sending the image information to the controller, and when the controller receives a request of the robot to take the elevator, the controller can immediately judge the elevator, so that the elevator which can be taken is quickly determined.
According to the technical scheme, the image information of the elevators is collected in real time through the control image collecting equipment, after a request instruction sent by the robot is received, the space in the elevators is judged according to the image information of each elevator, so that the elevators meeting preset conditions are determined, namely, the elevators with available space are determined, the robot can be controlled to enter the available elevators, inconvenience brought to users by taking the elevators when the robot is more in number is avoided, and the service efficiency of the elevators is improved. The technical scheme of the embodiment solves the problem that the efficiency of the robot entering the elevator is low, and achieves the effects of reducing the time of the robot entering the elevator and improving the efficiency of the robot entering the elevator.
On the basis of the above technical solution, optionally, determining, in S120, an elevator meeting a preset condition according to the image information, and controlling the robot to enter the elevator, including:
and a step a, determining elevator numbers corresponding to the elevators meeting the preset conditions according to the image information.
Specifically, after the controller receives a request instruction of taking an elevator sent by the robot, the controller judges the space in the elevator according to the image information of each elevator, so as to determine the elevator number corresponding to the elevator meeting the preset condition. The elevator numbers can be obtained by numbering all elevators in advance and storing the elevator positions corresponding to all elevator numbers into the robot, so that the robot can accurately reach the position of the elevator according to the elevator numbers.
And b, sending the elevator number to the robot, and controlling the robot to enter an elevator corresponding to the elevator number.
Specifically, the controller sends the elevator numbers corresponding to the elevators meeting the preset conditions to the robot, and as the elevator positions corresponding to the elevator numbers are stored in the robot, the robot can quickly find the corresponding elevator positions according to the elevator numbers, thereby reaching the elevator position which can be taken, and further reducing the time for the robot to enter the elevator.
On the basis of the above embodiment, this embodiment is a further refinement of S120 in the above embodiment, and fig. 2 is a flowchart of yet another control method for entering an elevator by a robot provided in an embodiment of the present invention, optionally, referring to fig. 2, the control method for entering an elevator by a robot includes:
s210, controlling an image acquisition device to acquire image information of the elevator in real time.
S220, after receiving a request instruction sent by the robot, determining residual image information corresponding to the residual space in the elevator in the image information.
Specifically, after receiving a request instruction sent by the robot, the controller analyzes the image information, determines residual image information corresponding to the residual space in the elevator, and conveniently judges whether the residual space in the elevator can be taken by the robot or not according to the residual image information, so that a number of the elevator which can be taken by the robot is provided for the robot.
And S230, determining the regional score of each elevator according to the residual image information.
Specifically, each elevator may be divided into at least one area, or image information corresponding to the elevator may be divided into at least one area, and a score of each area may be determined according to the remaining image information, for example, the larger the remaining space in the area is, the higher the area score is, and the area score may be determined according to other parameters, which is not limited herein.
S240, determining the elevator with the highest regional score as the elevator meeting the preset condition, and controlling the robot to enter the elevator.
Specifically, all the area scores are compared, the elevator corresponding to the highest area score is an elevator which can accommodate the robot and can be quickly accessed by the robot, and the elevator corresponding to the highest area score is an elevator which can be accessed by the robot, so that the elevator corresponding to the highest area score is determined to be an elevator meeting the preset condition, and the controller can send the elevator number meeting the preset condition to the robot, so that the robot can quickly access the elevator which can be accessed by the robot.
On the basis of the above embodiment, this embodiment is a further refinement of S230 in the above embodiment, and fig. 3 is a flowchart of yet another control method for entering an elevator by a robot according to an embodiment of the present invention, optionally, referring to fig. 3, the control method for entering an elevator by a robot includes:
s310, controlling the image acquisition equipment to acquire the image information of the elevator in real time.
S320, after receiving a request instruction sent by the robot, determining residual image information corresponding to the residual space in the elevator in the image information.
S330, determining the size parameter of a preset image space corresponding to the space required by the robot to enter the elevator.
Specifically, parameters such as the volume, the floor area, the maximum size and the shape of the robot are determined first, so that a space required by the robot to enter the elevator is determined, and when the robot sends a request for taking the elevator, the request information can include the model or the number of the robot, parameters such as the volume, the floor area, the maximum size and the shape of the robot corresponding to the model or the number of the robot can be stored in the controller in advance, the controller can determine the parameters such as the volume, the floor area, the maximum size and the shape of the robot according to the model or the number of the robot, so that the controller can acquire the space required by the robot to enter the elevator, and the controller can determine the size parameters of a preset image space corresponding to the space required by the robot to enter the elevator.
S340, dividing the residual image information into at least one first image area, and determining the size parameter of the first image area.
Specifically, the remaining image information corresponding to the remaining space in the elevator is divided into at least one first image area, for example, the remaining image information may be divided according to a diagonal line of the elevator, or the remaining image information may be divided in other manners, which is not limited herein. After determining the at least one first image area, a size parameter of each first image area is determined, for example, an area of the first image area, a shape of the first image area and a minimum size of the first image area are determined.
S350, determining a second image area which is larger than or equal to the size parameter of the preset image space in the first image area according to the size parameter of the first image area.
Specifically, the size parameter of the first image area is compared with the size parameter of the preset image space, for example, the area of the first image area is compared with the area of the preset image space, the minimum size of the first image area is compared with the maximum size of the preset image space, and the second image area, of which the area is larger than or equal to the area of the preset image space and the minimum size of which is larger than or equal to the maximum size of the preset image space, is found out, so that the area of the second image area is larger than or equal to the area of the preset image space and the minimum size of the second image area is larger than or equal to the maximum size of the preset image space, and therefore, the second image area corresponds to the area capable of accommodating the robot in the residual elevator space. In addition, the shape of the first image area can be compared with the shape of the preset image space, so that a second image area meeting the shape of the preset image space in the first image area is obtained, and the second image area can meet the space required by the robot.
When comparing the size parameter of the first image area with the size parameter of the preset image space, firstly comparing the size parameter of the first image area at the elevator door with the size parameter of the preset image space, if the size parameter of the first image area at the elevator door is smaller than the size parameter of the preset image space, the robot cannot enter, the size parameters of other first image areas in the current elevator are not judged, and the judgment of the size parameter of the first image area in the next elevator is directly started; when the size parameter of the first image area at the elevator door is larger than or equal to the size parameter of the preset image space, the size parameters of other first image areas in the elevator are judged, so that the problem that the space at the elevator door is smaller and the robot is clamped at the elevator door can be avoided, and the efficiency of the robot entering the elevator is improved.
S360, determining the position information of the second image area, and determining the area score of each elevator according to the position information and the area of the second image area.
In particular, the position information of the second image area is determined, which comprises, for example, the distance between the second image area and the elevator door, which position information may also comprise other parameters, which are not limited herein. The area score of each elevator can be determined according to the area of the position information and the second image area, and the area score is, for example, the sum of the position information score and the area score, and the smaller the distance between the second image area and the elevator door is, the more the time for entering the robot can be reduced, so that the smaller the distance is, the higher the position information score is; the larger the area of the second image area is, the larger the area is, the higher the area score is, and the area score is, so that the area score of each elevator can be determined according to the position information and the area of the second image area, and the elevator which can be used for the robot to ride can be determined according to the area score.
And S370, determining the elevator with the highest regional score as the elevator meeting the preset condition, and controlling the robot to enter the elevator.
On the basis of the above technical solution, optionally, before S340, dividing the remaining image information into at least one first image area and determining a size parameter of the first image area, the method further includes:
and performing image processing on the residual image information.
Specifically, the image processing may be performed on the residual image information, for example, converting a color image of the residual image information into a gray image, and then performing binarization processing on the gray image, so that the gray image may be converted into a binary image, thereby facilitating segmentation of the residual image information, and facilitating obtaining a region set of an elevator space, and thereby facilitating analysis of all regions in the elevator.
On the basis of the above embodiment, this embodiment is a further refinement of S360 in the above embodiment, and fig. 4 is a flowchart of yet another control method for entering an elevator by a robot according to an embodiment of the present invention, optionally, referring to fig. 4, the control method for entering an elevator by a robot includes:
s410, controlling the image acquisition equipment to acquire the image information of the elevator in real time.
S420, after receiving a request instruction sent by the robot, determining residual image information corresponding to the residual space in the elevator in the image information.
S430, determining the size parameter of the preset image space corresponding to the space required by the robot to enter the elevator.
S440, dividing the residual image information into at least one first image area, and determining the size parameter of the first image area.
S450, determining a second image area which is larger than or equal to the size parameter of the preset image space in the first image area according to the size parameter of the first image area.
S460, determining the distance between the second image area and the elevator door.
Specifically, the distance between each second image area and the elevator door in the elevator image information is determined, for example, the distance between the center of the second image area and the elevator door, or the distance between one side of the second image area and the elevator door, specifically, the distance may be determined according to the actual situation, and the distance is not limited herein.
And S470, determining an angle between the second image area and the direction of the robot entering the elevator.
Specifically, the direction of the robot entering the elevator is determined first, then the angle between the second image area and the direction of the robot entering the elevator is determined, the smaller the angle is, the smaller the angle representing the required torsion when the robot enters the elevator is, and the easier the robot enters the second image area.
And S480, determining the area score of each elevator according to the distance, the angle and the area of the second image area.
Specifically, the smaller the distance between the second image area and the elevator door, the smaller the distance, the higher the distance score, and the higher the area score for the robot entering the second image area; the smaller the angle between the second image area and the direction of the robot entering the elevator is, the smaller the angle which indicates that the robot needs to twist, the easier the robot enters the second image area, the smaller the angle is, the higher the angle score is, and the higher the area score is; the larger the area of the second image area is, the larger the area is, the higher the area score is, and the higher the area score is, so that the area score is, for example, the sum of the distance score, the angle score and the area score, and the area score of each second image area in each elevator can be obtained, and the elevator which is most suitable for the robot to take can be determined according to the area score, so that the efficiency of the robot entering the elevator is improved.
For example, the distance, angle, and area may be ranked, and the score may be determined according to the ranking, for example, when the angle is equal to 0 °, the angle score is 10 points; when the angle is more than 0 DEG and less than or equal to 10 DEG, the angle score is 9 minutes; when the angle is more than 10 degrees and less than or equal to 20 degrees, the angle score is 8 minutes; when the angle is more than 20 degrees and less than or equal to 30 degrees, the angle score is 7 minutes; when the angle is more than 30 degrees and less than or equal to 40 degrees, the angle score is 6 minutes; when the angle is more than 40 degrees and less than or equal to 50 degrees, the angle score is 5 minutes; when the angle is more than 50 degrees and less than or equal to 60 degrees, the angle score is 4 minutes; when the angle is more than 60 degrees and less than or equal to 70 degrees, the angle score is 3 minutes; when the angle is more than 70 degrees and less than or equal to 80 degrees, the angle score is 2 minutes; when the angle is greater than 80 ° and equal to or less than 90 °, the angle score is 1 minute, thereby obtaining the angle score. Illustratively, to reduce the time for the robot to enter the elevator, the robot rotation angle will not be greater than 90 °, for example when the robot needs to rotate 100 ° clockwise, the robot will choose to rotate 80 ° counter-clockwise. The distance score, angle score, and area score may also be determined in other ways, and are not limited herein.
Optionally, a distance score between the second image area and the elevator door, a weighting coefficient of an angle score between the second image area and the direction of the robot entering the elevator and an area score of the second image area are set, and the area score is determined according to the distance score, the angle score and the weighting coefficient corresponding to each score.
Illustratively, the distance score is S1, and the weighting coefficient of the distance score is a; the angle score is S2, and the weighting coefficient of the angle score is b; the area score is S3, and the weighting coefficient of the area score is c, and the area score sc=a×s1+b×s2+c×s3. The weighting coefficient of each parameter score is determined according to the importance degree of each parameter, so that a more accurate and more fitting actual region score can be obtained, and the specific value of the weighting coefficient can be determined according to the actual situation, for example, according to the importance degree of each parameter.
S490, determining the elevator with the highest regional score as the elevator meeting the preset condition, and controlling the robot to enter the elevator.
On the basis of the above technical solution, optionally, the control method for the robot to enter the elevator further includes:
and determining the position of each elevator, and determining the area score of each elevator according to the position of each elevator, the position information of the second image area corresponding to each elevator and the area of the second image area.
Specifically, the position of the elevator includes a floor where the elevator is located and a direction in which the elevator runs, and the position score of the elevator can be determined according to the position of the elevator, so that the area score of each elevator can be determined according to the position of the elevator, the position information of the second image area corresponding to each elevator and the area of the second image area, and the area score is, for example, the sum of the position score of the elevator, the position information score of the second image area corresponding to each elevator and the area score of the second image area. For example, when the floor of the elevator is closer to the floor where the robot is located, the time for the robot to enter the elevator is smaller, the position score of the elevator is higher, when the running direction of the elevator coincides with the direction of the destination floor of the robot, the position score of the elevator is higher, and when the running direction of the elevator is opposite to the direction of the destination floor of the robot, the position score of the elevator is lower. For example, the robot is going from the third floor to the tenth floor, at which time the elevator No. 1 is on the second floor and the elevator No. 1 is running upwards; the number 2 elevator is five floors, and the number 2 elevator is running upwards, the position score of the number 1 elevator is higher than the position score of the number 2 elevator, and the position score of a specific elevator can be determined according to actual conditions, so that the position score of each elevator can be determined according to the position of each elevator. According to the position of the elevators, the position information of the second image area corresponding to each elevator and the area of the second image area, the area score of each elevator can be determined more accurately, so that the elevator which is more suitable for the robot to take is determined, and the efficiency of the robot to take the elevator is greatly improved.
Optionally, a weighting coefficient of the position of the elevator is set, and the area score is determined according to the distance score, the angle score, the area score, and the weighting coefficient corresponding to each score of the position score of the elevator.
Specifically, the distance score is S1, and the weighting coefficient of the distance score is a; the angle score is S2, and the weighting coefficient of the angle score is b; the area score is S3, the weight coefficient of the area score is c, the weight coefficient of the elevator position is d, and the elevator position score is S4, and the area score is sc=a×s1+b×s2+c×s3+d×s4.
On the basis of the above embodiment, this embodiment is a further refinement of S330 in the above embodiment, and fig. 5 is a flowchart of yet another control method for entering an elevator by a robot according to an embodiment of the present invention, optionally, referring to fig. 5, the control method for entering an elevator by a robot includes:
s501, controlling an image acquisition device to acquire image information of the elevator in real time.
S502, after receiving a request instruction sent by the robot, determining residual image information corresponding to the residual space in the elevator in the image information.
S503, placing at least three calibration objects at the elevator angle.
Specifically, three calibration objects are placed at three corners of the elevator, or four calibration objects are placed at four corners of the elevator, the size of the calibration objects is not limited, but the calibration objects are not too small, if the calibration objects are too small, the measurement accuracy of the calibration objects can be affected, and the image acquisition equipment is not beneficial to acquiring images of the calibration objects.
S504, measuring the actual distance between the centers of every two calibration objects.
Specifically, by measuring the actual distance between every two centers of the calibrations, a plurality of actual distance values can be obtained, and when at least three calibrations are placed at three corners of the elevator, the actual distance between every two centers of the calibrations is measured, and the length, width and diagonal actual length of the elevator can be obtained. Preferably, only the actual distance between the centers of every two adjacent calibrations can be measured, only the actual length of the length and width of the elevator needs to be obtained.
S505, acquiring images of the calibration objects, and determining the pixel distance between the centers of every two calibration objects according to the images.
Specifically, the image acquisition equipment is controlled to acquire an image of the calibration object, the pixel distance between the centers of every two calibration objects in the image is measured, and when at least three calibration objects are placed at three corners of the elevator, the pixel distance between the centers of every two calibration objects in the image is measured, so that the length, the width and the pixel length corresponding to the diagonal line of the elevator can be obtained. Preferably, only the pixel distance between every two adjacent calibration object centers in the image can be measured, and only the pixel length corresponding to the length and the width of the elevator can be obtained.
S506, determining the actual and image comparison relation according to the actual distance and the pixel distance.
Specifically, according to the ratio of the actual distance between the centers of two calibration objects on the long side of the elevator (the long side of the bottom surface of the elevator) to the pixel distance between the centers of two calibration objects on the long side of the elevator in the image, a first comparison relation between the actual distance and the image can be obtained; the second contrast relationship between the actual and the image can be obtained from the ratio of the actual distance between the centers of the two calibrations of the short side of the elevator (the width of the bottom surface of the elevator) to the pixel distance between the centers of the two calibrations of the short side of the elevator in the image.
S507, determining the size parameter of the preset image space corresponding to the space required by the robot to enter the elevator according to the comparison relation.
Specifically, according to the first contrast relation of the length of the elevator bottom surface and the second contrast relation of the width of the elevator bottom surface, the contrast relation of the length of the space in the elevator and the length in the image can be obtained, and the contrast relation of the area of the space in the elevator and the area of the space in the image can be obtained, so that the size parameter of the preset image space can be determined according to the size parameter and the contrast relation of the actual space required by the robot entering the elevator, the size parameter of the preset image space required by the elevator entering the elevator can be obtained, and whether the residual image information corresponding to the residual space in the elevator meets the riding requirement of the robot can be judged according to the size parameter of the preset image space.
S508, dividing the residual image information into at least one first image area, and determining the size parameter of the first image area.
S509, determining a second image area which is larger than or equal to the size parameter of the preset image space in the first image area according to the size parameter of the first image area.
S510, determining the position information of the second image area, and determining the area score of each elevator according to the position information and the area of the second image area.
S511, determining the elevator with the highest regional score as the elevator meeting the preset condition, and controlling the robot to enter the elevator.
The embodiment also provides a control device for the robot to enter the elevator, fig. 6 is a schematic structural diagram of the control device for the robot to enter the elevator provided by the embodiment of the invention, referring to fig. 6, the control device for the robot to enter the elevator includes: a controller 610 and an image acquisition device 620; the controller 610 is connected to the output end of the image acquisition device 620, and the controller 610 is used for controlling the image acquisition device 620 to acquire the image information of the elevator in real time; the controller 610 is connected to the robot, and the controller 610 is further configured to determine, after receiving a request instruction sent by the robot, an elevator meeting a preset condition according to the image information, and control the robot to enter the elevator.
Specifically, each elevator is installed with an image capturing device 620, the image capturing devices 620 include, for example, a camera, the controller 610 may control all the image capturing devices 620 to capture image information of the interior of the corresponding elevator in real time, that is, one controller 610 is communicatively connected to an output end of at least one image capturing device 620, only a case where one controller 610 is connected to one image capturing device 620 is shown in fig. 6, but not limited thereto, and the image capturing device 620 may transmit the captured image information of the elevator to the controller 610. After the controller 610 receives the request instruction of taking the elevator sent by the robot, the controller 610 can judge the space in the elevator according to the image information of each elevator, thereby determining the elevator meeting the preset condition, namely determining the elevator with available space, thereby controlling the robot to enter the available elevator, avoiding inconvenience brought to the user by taking the elevator when the robot is more, and improving the service efficiency of the elevator.
Optionally, the controller 610 is specifically configured to determine, according to the image information, an elevator number corresponding to an elevator that meets a preset condition; and sending the elevator number to the robot, and controlling the robot to enter an elevator corresponding to the elevator number.
Specifically, when the controller 610 receives a request instruction sent by the robot to pick up an elevator, the controller 610 determines an elevator number corresponding to an elevator meeting a preset condition by determining an elevator inner space according to image information of each elevator. The elevator numbers can be obtained by numbering all elevators in advance and storing the elevator positions corresponding to all elevator numbers into the robot, so that the robot can accurately reach the position of the elevator according to the elevator numbers. The controller 610 transmits the elevator numbers corresponding to the elevators satisfying the preset conditions to the robot, and since the elevator positions corresponding to the elevator numbers are stored in the robot, the robot can quickly find the corresponding elevator positions according to the elevator numbers, thereby reaching the elevator which can be taken, and thus reducing the time for the robot to enter the elevator.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (8)
1. A method of controlling a robot entering an elevator, comprising:
controlling an image acquisition device to acquire image information of an elevator in real time;
after receiving a request instruction sent by a robot, determining an elevator meeting a preset condition according to the image information, and controlling the robot to enter the elevator;
determining an elevator meeting preset conditions according to the image information, and controlling the robot to enter the elevator, wherein the elevator comprises:
determining residual image information corresponding to the residual space in the elevator in the image information;
determining the regional score of each elevator according to the residual image information;
determining an elevator with the highest regional score as an elevator meeting preset conditions, and controlling the robot to enter the elevator;
determining a zone score for each elevator based on the remaining image information, comprising:
determining a size parameter of a preset image space corresponding to a space required by the robot to enter the elevator;
dividing the residual image information into at least one first image area, and determining a size parameter of the first image area;
determining a second image area which is larger than or equal to the size parameter of the preset image space in the first image area according to the size parameter of the first image area;
determining a second image area of the first image area which is larger than or equal to the size parameter of the preset image space according to the size parameter of the first image area comprises:
comparing the size parameter of the first image area with the size parameter of a preset image space;
comparing the minimum size of the first image area with the maximum size of the preset image space, and finding out a second image area of which the area in the first image area is larger than or equal to the area of the preset image space and the minimum size in the first image area is larger than or equal to the maximum size of the preset image space;
when comparing the size parameter of the first image area with the size parameter of the preset image space, firstly comparing the size parameter of the first image area at the elevator door with the size parameter of the preset image space, if the size parameter of the first image area at the elevator door is smaller than the size parameter of the preset image space, judging the size parameters of other first image areas in the current elevator can not be carried out, and judging the size parameters of the first image area in the next elevator can be directly started; when the size parameter of the first image area at the elevator door is larger than or equal to the size parameter of the preset image space, judging the size parameters of other first image areas in the current elevator;
and determining the position information of the second image area, and determining the area score of each elevator according to the position information and the area of the second image area.
2. The method for controlling a robot to enter an elevator according to claim 1, wherein an elevator satisfying a preset condition is determined based on the image information, and the robot is controlled to enter the elevator, further comprising:
determining elevator numbers corresponding to the elevators meeting the preset conditions according to the image information;
and sending the elevator number to the robot, and controlling the robot to enter an elevator corresponding to the elevator number.
3. The method of controlling a robot to enter an elevator according to claim 1, wherein determining the position information of the second image area, determining the area score of each elevator based on the position information and the area of the second image area, comprises:
determining a distance between the second image area and an elevator door;
determining an angle between the second image area and a direction of the robot entering the elevator;
and determining the area score of each elevator according to the distance, the angle and the area of the second image area.
4. The method of controlling a robot to enter an elevator according to claim 1, further comprising:
and determining the position of each elevator, and determining the area score of each elevator according to the position of each elevator, the position information of the second image area corresponding to each elevator and the area of the second image area.
5. The method for controlling the robot to enter the elevator according to claim 1, wherein determining the size parameter of the preset image space corresponding to the space required for the robot to enter the elevator comprises:
placing at least three calibration objects at an elevator corner;
measuring the actual distance between the centers of every two calibration objects;
acquiring images of the calibration objects, and determining the pixel distance between the centers of every two calibration objects according to the images;
determining the actual contrast relation with the image according to the actual distance and the pixel distance;
and determining the size parameter of the preset image space corresponding to the space required by the robot to enter the elevator according to the comparison relation.
6. The method of controlling a robot to enter an elevator according to claim 2, characterized in that before dividing the remaining image information into at least one first image area and determining the size parameter of the first image area, further comprising:
and performing image processing on the residual image information.
7. A control device for a robot to enter an elevator, comprising: a controller and an image acquisition device;
the controller is connected with the output end of the image acquisition equipment and is used for controlling the image acquisition equipment to acquire the image information of the elevator in real time;
the controller is connected with the robot, and is further used for determining an elevator meeting preset conditions according to the image information after receiving a request instruction sent by the robot and controlling the robot to enter the elevator; the controller is specifically used for determining residual image information corresponding to the residual space in the elevator in the image information; determining the regional score of each elevator according to the residual image information; determining an elevator with the highest regional score as an elevator meeting preset conditions, and controlling the robot to enter the elevator; the controller is particularly used for determining the size parameter of a preset image space corresponding to the space required by the robot to enter the elevator; dividing the residual image information into at least one first image area, and determining a size parameter of the first image area; determining a second image area which is larger than or equal to the size parameter of the preset image space in the first image area according to the size parameter of the first image area; determining the position information of the second image area, and determining the area score of each elevator according to the position information and the area of the second image area; the controller is specifically configured to compare a size parameter of the first image area with a size parameter of a preset image space; comparing the minimum size of the first image area with the maximum size of the preset image space, and finding out a second image area of which the area in the first image area is larger than or equal to the area of the preset image space and the minimum size in the first image area is larger than or equal to the maximum size of the preset image space; when comparing the size parameter of the first image area with the size parameter of the preset image space, firstly comparing the size parameter of the first image area at the elevator door with the size parameter of the preset image space, if the size parameter of the first image area at the elevator door is smaller than the size parameter of the preset image space, judging the size parameters of other first image areas in the current elevator can not be carried out, and judging the size parameters of the first image area in the next elevator can be directly started; and when the size parameter of the first image area at the elevator door is larger than or equal to the size parameter of the preset image space, judging the size parameters of other first image areas in the current elevator.
8. The control device for the robot to enter the elevator according to claim 7, wherein the controller is specifically configured to determine an elevator number corresponding to an elevator satisfying a preset condition according to the image information;
and sending the elevator number to the robot, and controlling the robot to enter an elevator corresponding to the elevator number.
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