CN114148836A - Robot autonomous ladder taking method and device - Google Patents
Robot autonomous ladder taking method and device Download PDFInfo
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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
- B66B1/3492—Position or motion detectors or driving means for the detector
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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
- B66B1/46—Adaptations of switches or switchgear
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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
- B66B1/46—Adaptations of switches or switchgear
- B66B1/468—Call registering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66B—ELEVATORS; ESCALATORS OR MOVING WALKWAYS
- B66B2201/00—Aspects of control systems of elevators
- B66B2201/40—Details of the change of control mode
- B66B2201/404—Details of the change of control mode by cost function evaluation
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Abstract
The invention provides a robot autonomous ladder taking method, a device, equipment, a medium and a product, wherein the method comprises the following steps: sending first elevator taking information to an external auxiliary key mechanism; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing an uplink key or a downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is an expected floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism. It is possible to ensure that the robot reaches the designated floor.
Description
Technical Field
The invention relates to the technical field of mobile robot control, in particular to a method, a device, equipment, a medium and a product for autonomous ladder taking of a robot.
Background
Under the driving action of sensing technology and control technology, mobile robots for indoor navigation are in endless numbers. However, most indoor mobile robots can only perform navigation and related tasks in a single-layer range, and it is difficult to use a large office building having a multi-layer structure. Heretofore, indoor mobile robots that can perform a cross-floor movement have generally adopted two ways:
1. legged mobile robot with upstairs and downstairs capability
The robot is a sunward industry started recently, integrates multiple sensors such as a multi-line laser radar, a vision camera and an attitude sensor, and realizes stair walking action through accurate robust control of legs, thereby realizing a cross-floor motion process. However, such robots are expensive and reliability needs further verification.
2. Wheeled mobile robot with up-down elevator capacity
Wheeled mobile robots are common. To date, service robots capable of achieving an autonomous elevator riding function have appeared in large companies such as the Alibba company, and the adopted mode basically needs to modify an elevator controller, and then completes the control processes of opening the door, reaching the designated floor and closing the door through communication with the elevator controller. However, elevator manufacturers are often not allowed to modify elevator controllers for safety reasons and do not open control protocols. The reason is that: in this case, if a large accident is caused, the accident division is difficult, and it is often difficult to attribute the responsibility to the failure of the controller of the elevator or the external disorder control. Meanwhile, the mode has certain potential safety hazard.
Disclosure of Invention
The invention provides a method, a device, equipment, a medium and a product for automatically taking a ladder by a robot, which can ensure that the robot reaches a designated floor.
In a first aspect, the present invention provides an autonomous ladder riding method for a robot, applied to a wheeled robot, including: sending first elevator taking information to an external auxiliary key mechanism, and enabling the external auxiliary key mechanism to press an ascending key or a descending key to open an elevator door according to the first elevator taking information and a first preset frequency; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism to enable the external auxiliary key mechanism to stop pressing the uplink key or the downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is the expected floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing keys of the corresponding expected floor.
Further, the detecting whether the elevator door is opened includes: detecting the state of the elevator door according to a second preset frequency; and judging whether the elevator door is opened or not according to the state of the elevator door.
Further, the detecting the state of the elevator door includes: detecting the elevator door through a single-line laser radar to obtain first laser point cloud data; determining at least one distance between the wheeled robot and the elevator door according to the first laser point cloud data; and comparing the at least one distance with a first preset distance respectively to determine the state of the elevator door.
Further, the comparing the at least one distance with a first preset distance respectively to determine the state of the elevator door includes: counting the number of the at least one distance greater than the preset distance to obtain first data; counting the number of the at least one distance smaller than the preset distance to obtain second data; if the first data is less than or equal to 3, the elevator door is in a closed state; if the second data is less than or equal to 3, the elevator door is in an open state; otherwise, the state of the elevator door is continuously detected.
Further, before the sending the successful entry information to the external auxiliary key mechanism and/or the sending the successful exit information to the internal auxiliary key mechanism, the method further includes: collecting images of QR codes above an elevator and/or above a ceiling, and carrying out image recognition; determining whether a desired position is reached according to the result of the image recognition; and/or detecting the elevator door through the single-line laser radar to obtain second laser point cloud data; determining the distance between the wheeled robot and the elevator door according to the second laser point cloud data; and comparing the distance between the wheeled robot and the elevator door with a second preset distance to determine whether the wheeled robot reaches the expected position.
Further, after sending the successful exit information to the internal auxiliary key mechanism, the method further includes: collecting an image of the QR code above the ceiling, and carrying out image recognition; judging whether the current floor is the expected floor or not according to the result of image identification; if yes, loading the global map of the current floor; and otherwise, sending the first elevator taking information to the external auxiliary key mechanism.
In a second aspect, the present invention further provides an autonomous ladder riding device for a robot, which is applied to a wheeled robot, and includes: the elevator control system comprises a first processing module, a second processing module and a control module, wherein the first processing module is used for sending first elevator taking information to an external auxiliary key mechanism so that the external auxiliary key mechanism presses an upper going key or a lower going key to open an elevator door according to the first elevator taking information and a first preset frequency; the second processing module is used for detecting whether the elevator door is opened or not, entering the elevator if the state of the elevator door is opened, and sending successful entering information to the external auxiliary key mechanism to enable the external auxiliary key mechanism to stop pressing the uplink key or the downlink key according to the successful entering information; the third processing module is used for sending second elevator taking information to the internal auxiliary key mechanism, and the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency; and the fourth processing module is used for acquiring a current air pressure measured value, determining whether a current floor is the expected floor or not through the current air pressure measured value, detecting whether the elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to the internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing the key corresponding to the expected floor.
In a third aspect, the present invention further provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the robot autonomous elevator-taking method according to any one of the above aspects.
In a fourth aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the robot autonomous boarding method as described in any one of the above.
In a fifth aspect, the present invention further provides a computer program product comprising a computer program, wherein the computer program is configured to, when executed by a processor, implement the steps of the autonomous ladder-taking method for a robot as described in any one of the above.
According to the method, the device, the equipment, the medium and the product for the robot to take the elevator autonomously, the first elevator taking information is sent to the external auxiliary key mechanism, so that the external auxiliary key mechanism presses an upper traveling key or a lower traveling key to open the elevator door according to the first elevator taking information and a first preset frequency; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism to enable the external auxiliary key mechanism to stop pressing the uplink key or the downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is the expected floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing keys of the corresponding expected floor. It can be seen that the elevator door is controlled through the internal/external auxiliary key mechanism, the problem that the elevator door can be controlled without modifying an elevator controller is solved, elevator taking is safer, whether the current floor is the expected floor or not is determined through the air pressure measured value, and the robot can successfully reach the expected floor.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic flow diagram of some embodiments of a robotic autonomous ladder-boarding method provided in accordance with the present invention;
FIG. 2 is a schematic flow diagram of another embodiment of a method for autonomous ladder riding by a robot according to the present invention;
FIG. 3-1 is a functional block diagram of a multifunctional acquisition card;
FIG. 3-2 is a schematic view of the overall elevator riding process;
3-3 are robot diagrams and coordinate systems;
fig. 3-4 are schematic structural diagrams of an external auxiliary key mechanism of the autonomous ladder-taking method of the robot according to the present invention;
3-5 are schematic structural diagrams of the internal auxiliary key mechanism of the autonomous ladder-taking method of the robot provided by the invention;
FIGS. 3-6 are functional block diagrams of control circuitry for the external/internal auxiliary key mechanism;
3-7 are schematic views of the external/internal auxiliary key mechanism interacting with a wheeled robot;
fig. 3-8 are elevator door open and close determination processes;
3-9 are schematic diagrams of laser data ranges used in a single determination of elevator door status;
fig. 4 is a schematic structural view of some embodiments of the autonomous ladder riding arrangement of the robot provided in accordance with the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided in accordance with the present invention.
FIGS. 3-4 and 3-5 are numbered as follows:
1: a control circuit; 2: a wifi server; 3: a battery; 4: a steering engine; 5: a connecting rod; 6: an adjusting lever; 7: glue the first screw.
Figures 3-3 are numbered as follows:
8: a differential drive wheel; 9: a follower wheel; 10: a planar laser radar; 11: robot plane profile.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present invention are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in the present invention are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that reference to "one or more" unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present invention are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1, fig. 1 is a schematic flow chart of some embodiments of an autonomous ladder-taking method of a robot according to the present invention. As shown in fig. 1, the method comprises the steps of:
In some embodiments, the external auxiliary key mechanism may be a device mounted outside the elevator door for opening the elevator door. The first boarding information may include a current floor, a desired floor, a current boarding status, and the like. For example, the first elevator taking information may be the current floor 1, the expected floor 3 and the state expected to enter the elevator, the external auxiliary key mechanism receives the first elevator taking information, obtains the content of the first elevator taking information after analysis, and judges that the current floor 1 is smaller than the expected floor 3, and the external auxiliary key mechanism may press an up key of the elevator according to a first preset frequency to open the elevator door. If the desired floor is the same as the current floor, the external auxiliary key mechanism may not respond, or may transmit error information to a wheeled robot (or a legged mobile robot, hereinafter referred to as a "robot").
And 102, detecting whether the elevator door is opened, if the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing an upper row key or a lower row key according to the successful entering information.
In some embodiments, the robot may detect whether the elevator door is opened through a camera or a laser radar technology, such as taking a picture of the elevator door through the camera, and determining whether the elevator door is opened through a neural network or other algorithms. When the elevator door is detected to be opened, the elevator enters, and after the elevator enters successfully, the external auxiliary key mechanism needs to send successful entering information to the external auxiliary key mechanism.
And 103, sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press the key corresponding to the expected floor according to the first preset frequency.
In some embodiments, the second elevator taking information may include a current floor, a desired floor, and a current elevator taking state, and still taking the above as an example, after receiving the second elevator taking information, the internal auxiliary key mechanism analyzes the second elevator taking information to obtain the content of the second elevator taking information, that is, the current floor 1, the desired floor 3, and the state of the elevator desired to enter, presses a key corresponding to the desired floor 3 at the first preset frequency, and after the robot enters the elevator, may also press a key for closing the elevator.
And 104, acquiring a current air pressure measurement value, determining whether the current floor is a desired floor or not according to the current air pressure measurement value, detecting whether the elevator door is opened or not if the current floor is the desired floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to the internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing the key corresponding to the desired floor.
In some embodiments, during the ascending or descending process of the elevator, the current floor can be calculated by detecting the current height of the robot according to the current air pressure measurement value, and can also be calculated by a specific device and method, such as laser radar. If the state of the elevator door is open, the information for opening the elevator door can be sent to the internal auxiliary key mechanism, the internal auxiliary key mechanism presses the key for opening the elevator door according to the information at a certain frequency, and after the robot exits from the elevator, the internal auxiliary key mechanism sends successful exiting information to the internal auxiliary key mechanism so as to stop the key pressing of the internal auxiliary key mechanism.
Under the influence of various factors, it may happen that the robot leaves the elevator at an undesired floor. Under the circumstance, a certain mechanism is required to be adopted for ensuring, for example, a joint measurement mode based on the barometer measurement value and the elevator door state is adopted, namely, the acquisition work of the barometer part is realized based on a multifunctional acquisition card, the reading of the barometer on each floor is calibrated in advance, and the current floor information can be acquired by comparing the reading of the current barometer with the calibration data of the barometer on one floor. The functional structure diagram of the multifunctional acquisition card can be as shown in fig. 3-1, the circuit board in fig. 3-1 acquires an air pressure sensor signal, an ultrasonic signal and a laser signal, the air pressure sensor signal, the ultrasonic signal and the laser signal pass through the a/D conversion circuit, the air pressure value digital quantity and the ultrasonic digital quantity can be obtained under the processing action of the core operation unit, an external query command is received through the RS232, and the feedback can be carried out through the RS 232. The MS5611 sensor can be used for acquiring the air pressure value and the current temperature value, and the current height can be calculated according to a hypomorphic formula, wherein the calculation formula is as follows:
a＝[(P0/P)^(1/5.257)-1]*(T+273.15) (1)
wherein h is a/0.0065;
a: is an intermediate variable;
p0: is a standard atmospheric pressure;
p: is the measured air pressure value;
t: is the measured temperature value.
Assuming that the floors are n floors, the air pressure value of each floor is a1,a2,...,anIf the currently measured air Pressure value is Pressure, the floor is determined to be the ith (1 < i < n) floor under the following conditions:
the conditions for determining that the current floor is the 1 st floor are as follows:
the conditions for determining that the current floor is the nth floor are as follows:
based on the mode, the current floor can be accurately obtained.
The overall elevator taking flow chart can refer to fig. 3-2.
According to the robot autonomous elevator taking method disclosed by some embodiments of the invention, the external auxiliary key mechanism presses the upper row key or the lower row key to open the elevator door according to the first elevator taking information and a first preset frequency by sending the first elevator taking information to the external auxiliary key mechanism; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing an uplink key or a downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is an expected floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to press a key for closing the elevator. It can be seen that the elevator door is controlled through the internal/external auxiliary key mechanism, the problem that the elevator door can be controlled without modifying an elevator controller is solved, the elevator is safer to take, whether the current floor is the expected floor or not is determined through the air pressure measured value, and the robot can successfully reach the expected floor.
Referring to fig. 2, fig. 2 is a flowchart illustrating an autonomous boarding method for a robot according to another embodiment of the present invention. As shown in fig. 2, the method comprises the steps of:
In some embodiments, the specific implementation of step 201 and the technical effect thereof may refer to step 101 in the embodiment corresponding to fig. 1, and are not described herein again.
And step 203, sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press the key corresponding to the expected floor according to the first preset frequency.
And 204, acquiring a current air pressure measurement value, determining whether the current floor is a desired floor or not according to the current air pressure measurement value, detecting whether the elevator door is opened or not if the current floor is the desired floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to the internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing the key corresponding to the desired floor.
For step 202, step 203 and step 204, in some embodiments, detection may be based on a single line lidar mounted on the robot body for elevator door status. As shown in fig. 3-3, the robot (cart) coordinate system coincides with the lidar coordinate system: the x axis is forward, the y axis is leftward (looking from the tail part of the trolley to the head part of the trolley), the z axis is vertical to the ground and faces upwards, and the projection of the origin of the coordinate system on the xoy plane is superposed with the projection of the midpoint of the central connecting line of the driving wheels on the xoy plane. The robot adopts a reverse mode in the process of entering the elevator; the robot adopts a forward mode in the process of going out of the elevator.
In some embodiments, the robot may communicate messages with the external auxiliary key mechanism and the internal auxiliary key mechanism by way of wifi connections.
In some embodiments, the auxiliary key mechanisms are divided into two sets according to the difference between the inside and the outside of the elevator, and the two sets are respectively used for the outside of the elevator and the inside of the elevator. No matter the elevator internal auxiliary key mechanism or the elevator external auxiliary key mechanism, the elevator external auxiliary key mechanism comprises a power supply system, a control circuit, a steering engine, a wifi communicator and a push rod mechanical structure, as shown in fig. 3-4 and fig. 3-5. The control circuit receives external elevator loading and unloading requests through the wifi server, analyzes the current floor and the target floor (or the expected floor) coded in the information, and on the basis of controlling the steering engine, ensures that the rubber head screw presses the corresponding elevator key through the transmission effect of the connecting rod and the adjusting rod. As shown in fig. 3-6, is a functional block diagram of the control circuitry for the external/internal auxiliary key mechanism. A single control circuit can complete the control of four steering engines, and the cascade connection of a plurality of control circuits can be completed through a 485 serial port, so that a plurality of steering engines can be controlled, and the requirement of auxiliary keys is completely met.
As an example, the interaction of the external/internal auxiliary key mechanism with the robot may be as shown in fig. 3-7. The robot body and the external/internal auxiliary key mechanisms are all provided with wifi devices, the robot body belongs to a client side, and the external/internal auxiliary key mechanisms all belong to a server side.
When the robot body is expected to take the ladder and is already at the expected position, the following steps of ladder entering operation can be referred to:
step 1-1, the robot is used as a client to be connected with an external auxiliary key mechanism firstly, and sends a boarding request (including information of a current floor, expected floor information and information of whether operation is successful) to the external auxiliary key mechanism;
step 1-2, the external auxiliary key mechanism controller receives the sent request through the wifi server, and the external auxiliary key mechanism controller is analyzed and operated under the following two conditions:
(1) and displaying that the operation is successful in the elevator taking request obtained by analysis
And controlling an external auxiliary key mechanism to stop pressing and loosening operation, resetting and stopping entering an elevator process.
(2) And displaying that the operation has not been successful in the elevator taking request obtained by the analysis
In this case, for the elevator external auxiliary key mechanism: and if the target floor is higher than the current floor, periodically pressing and releasing the uplink button, and otherwise, periodically pressing and releasing the downlink button.
Step 1-3, the robot body detects whether the door is opened, and if the door is not opened, the step 1-1 is returned to execute; if the door is detected to be opened, the self-control enters the interior of the elevator, and the information that the operation is successful is set, and the step 1-1 is returned to execute.
For the elevator exit process, the following communication architecture is adopted for the elevator exit operation:
step 2-1, the robot is used as a client to be connected with an internal auxiliary key mechanism firstly, and sends a boarding request (including information of a current floor, expected floor information and information of whether operation is successful) to the internal auxiliary key mechanism;
step 2-2, the internal auxiliary key mechanism controller receives the sent request through the wifi server, and the internal auxiliary key mechanism controller is analyzed and operated under the following two conditions:
(1) and displaying that the operation is successful in the elevator taking request obtained by analysis
And controlling the internal auxiliary key mechanism to stop pressing and loosening, resetting and terminating the elevator exit flow.
(2) And displaying that the operation has not been successful in the elevator taking request obtained by the analysis
The button corresponding to the desired floor is periodically pressed and released.
Step 2-3, the robot body detects whether the door is opened or not, and if not, the step 2-1 is returned to execute; and if the door is detected to be opened, the robot body automatically controls the elevator exit operation, sets information that the operation is successful, and returns to the step 2-1 to execute.
And step 205, acquiring an image of the QR code above the ceiling, and performing image recognition.
With respect to steps 205 and 206, in some embodiments, under the combined effect of various factors, it may happen that the trolley (or wheeled robot) goes out of the elevator from the abnormal floor. Therefore, the QR codes can be pasted on the outer surface of each layer of elevator, the trolley identifies the QR codes pasted on the ceiling in real time based on the upward-looking camera, and the code words in the QR codes are identified. The code word of the QR code has a correspondence with the floor, and thus the current floor can be determined from the identified code word. When the floor is consistent with the expected floor, the elevator is lifted, and the trolley can continue the subsequent normal operation flow; otherwise, processing may be based on:
the method comprises the following steps of firstly, controlling the trolley to stop suddenly, determining the pose of the trolley in a new floor based on a QR code on a ceiling, and loading a map corresponding to the new floor;
step two, controlling the trolley and navigating to a position right in front of the elevator door of the new floor by a certain distance;
and step three, controlling the trolley to carry out elevator based on a standard elevator entering mode, and re-executing the elevator taking process.
As can be seen from fig. 2, the robot takes the elevator by means of the internal/external auxiliary key mechanism without modifying the elevator controller and also without communicating with the elevator controller. Furthermore, the inside/outside auxiliary key mechanism only needs to be stuck above the elevator keys. The robot body can be based on the designed communication protocol and is communicated with the auxiliary button mechanism through wifi, so that the inner/outer auxiliary button mechanism is controlled to complete pressing and loosening operations of corresponding buttons, and the processes of opening and closing doors and reaching appointed floors are achieved. Meanwhile, a series of rules for reliably determining the opening and closing state of the door and whether the robot reaches an ideal position in the elevator is formulated when detecting the state of the elevator door. In order to prevent the elevator from being interrupted by the outside in the elevator taking process and ensure that the robot can reach the appointed floor, the judgment of the floor after the unexpected floor goes out of the elevator and the control of the elevator taking again are considered. In addition, in order to ensure that a person uses the elevator during non-robot elevator riding, the inner/outer auxiliary key mechanism is designed to be in a release and outward orientation state when the connecting rod 5 and/or the adjusting rod 6 are in an idle state, so that normal use of other users can be ensured.
Based on the above, the device and the control method designed by the patent can ensure that the wheeled mobile robot can reliably realize the movement across floors.
In some alternative implementations, detecting whether the elevator door is open includes: detecting the state of the elevator door according to a second preset frequency; and judging whether the elevator door is opened or not according to the state of the elevator door.
As an example, for robot safety considerations, it is desirable to stably determine the state of the elevator doors. Detecting the state of the elevator door according to a second preset frequency, namely detecting the state of the elevator door for many times (namely judging the elevator door for many times) according to the second preset frequency to obtain a plurality of state results, and finally determining whether the elevator door is opened or not by adopting a bivariate statistical mode based on the plurality of state results, wherein the bivariate statistical mode is used for determining the opening and closing state of the elevator door based on two variables as shown in figures 3-8: when the elevator door is judged to be in an open state for a single time, OpenCnt automatically increases; when the single judgment gate is in a closed state, CloseCnt increments; otherwise, OpenCnt and CloseCnt do not change. And finally determining the opening and closing state of the elevator door by comparing the sizes of the OpenCnt and the CloseCnt. If OpenCnt > CloseCnt, the elevator door is set to be in an open state, and CloseCnt is reset to be 0; if CloseCnt > OpenCnt, the elevator door is set to be in an unclosed state, and OpenCnt is set to be 0. After the door is judged to be opened or closed, the corresponding variable is set to be 2, and the other variable is cleared, so that the condition that the judged state is changed after the opening and closing state of the door is finally determined is more strict. Based on this, the robustness of the elevator door state determination process can be ensured.
In some alternative implementations, detecting the state of the elevator door includes: detecting the elevator door through a single-line laser radar to obtain first laser point cloud data; determining at least one distance between the wheeled robot and an elevator door according to the first laser point cloud data; and comparing at least one distance with the first preset distance respectively to determine the state of the elevator door.
As an example, the robot can use laser data within a certain range to make a single decision on the opening and closing state of the elevator door, i.e. detect the elevator door by a single line laser radar. As shown in fig. 3-9. Fig. 3-9 show the laser data ranges used when determining elevator door status at a single time: because the robot adopts a backward mode in the process of entering the elevator, the robot adopts a forward mode in the process of exiting the elevator, and the dashed line in the outer head direction of the outline of the trolley is a laser data range used when the state of the elevator door is judged once when the elevator exits; the long-distance scribing on the outer tail part direction of the outline of the trolley is a laser data range used when the state of the elevator door is judged once when the elevator enters. And (3) calculating the distance to the car edge (the car edge is the car head edge when the car leaves the elevator, and the car edge is the car tail edge when the car enters the elevator) according to the first laser point cloud data.
In some optional implementations, comparing the at least one distance with a first preset distance, respectively, to determine the state of the elevator door includes: counting the number of at least one distance greater than a preset distance to obtain first data; counting the number of at least one distance smaller than a preset distance to obtain second data; if the first data is less than or equal to 3, the elevator door is in a closed state; if the second data is less than or equal to 3, the elevator door is in an open state; otherwise, the state of the elevator door is continuously detected.
As an example, a first preset distance may be set as a distance from the corresponding direction edge to the elevator door plus 30cm), counting the number of points at least one distance of which is below the first preset distance and above a threshold, where the minimum and maximum numbers may be respectively denoted as LowerDataCnt and UpperDataCnt, and if LowerDataCnt < ═ 3, directly determining that the elevator door is in an open state; if the UpperDataCnt is less than 3, directly judging that the elevator door is in a closed state; otherwise, the state is an uncertain state, and the judgment needs to be carried out again in the next control period. The value compared with LowerDataCnt and UpperDataCnt is 3, so as to cancel the influence of noise and reliably judge the single opening and closing state of the elevator door.
In some optional implementations, before sending the successful entry information to the external auxiliary key mechanism and/or sending the successful exit information to the internal auxiliary key mechanism, the method further includes: collecting images of QR codes above an elevator and/or above a ceiling, and carrying out image recognition; determining whether a desired position is reached according to the result of the image recognition; and/or detecting the elevator door through a single-line laser radar to obtain second laser point cloud data; determining the distance between the wheeled robot and the elevator door according to the second laser point cloud data; and comparing the distance between the wheeled robot and the elevator door with a second preset distance to determine whether the wheeled robot reaches the expected position.
As an example, in practical use, it is necessary to judge whether the car is completely entered into and exited from the elevator: in the elevator, the judgment can control the trolley to stop moving in time and the follow-up process to be continuously executed; during the elevator leaving, the judgment is beneficial to the continuous execution of the subsequent operation.
Upon entering the elevator, it can be used on the basis of double measures to decide whether the car has successfully entered the elevator.
1. And pasting a QR code at the center of the top in the elevator, and determining whether the elevator is successfully entered according to the relative position relationship between the QR code and the trolley. And (3) constructing a coordinate system in the center of the QR, wherein the xoy plane is the plane where the QR is positioned, and the z axis is vertical to the paper surface and faces downwards. The code value can be analyzed through the QR code, because the QR code has a special structure, four points with known actual sizes can be selected, the representation of the QR code coordinate system in the camera coordinate system is directly determined under the help of OpenCV through the correspondence with the pixel position, and the value is set as
Let the representation of the camera coordinate system in the trolley coordinate system be
So that the representation of the QR coordinate system in the trolley coordinate system can be obtained, which is set as
Is determined by the following formula:
will be provided with
Is represented as follows:
calculating the distance from the point projected from the origin of the trolley coordinate system to the Xoy plane of the QR coordinate system to the origin of the QR coordinate system based on the following formula:
dis in the above formula can effectively represent the shape of whether the robot is in the center of the elevator
State. Determining that the car is in the desired position within the elevator when the following equation is satisfied:
Dis＜Threshto_center (8)
Threshto_centerthe threshold for the distance to the center may be set at 40 cm.
In an extreme case, there may be a case where the QR code identification fails. In order to ensure safety, it is possible to simultaneously detect the distance of the tail of the robot from the inside of the elevator and determine the status of whether it is in a desired position in the elevator based on a comparison of this distance with a set threshold.
In the process of going out of the elevator, whether the elevator is successfully gone out is determined based on the QR code pasted on the ceiling outside the elevator.
Referring to fig. 4, fig. 4 is a schematic structural diagram of some embodiments of the autonomous robot ladder transportation device according to the present invention, and as an implementation of the methods shown in the above figures, the present invention further provides some embodiments of an autonomous robot ladder transportation device, which correspond to the embodiments of the methods shown in fig. 1, and which can be applied to various electronic devices.
As shown in fig. 4, the robot autonomous boarding apparatus 400 of some embodiments includes a first processing module 401, a second processing module 402, a third processing module 403, and a fourth processing module 403: the first processing module 401 is configured to send first elevator taking information to the external auxiliary key mechanism, so that the external auxiliary key mechanism presses an up key or a down key to open the elevator door according to the first elevator taking information and according to a first preset frequency; the second processing module 402 is configured to detect whether the elevator door is opened, enter the elevator if the elevator door is opened, and send successful entry information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing the uplink key or the downlink key according to the successful entry information; a third processing module 403, configured to send second elevator taking information to the internal auxiliary key mechanism, where the second elevator taking information is used to control the internal auxiliary key mechanism to press a key corresponding to the desired floor according to the first preset frequency; the fourth processing module 404 is configured to obtain a current air pressure measurement value, determine whether a current floor is a desired floor according to the current air pressure measurement value, detect whether an elevator door is opened if the current floor is the desired floor, exit the elevator if the elevator door is opened, and send successful exit information to the internal auxiliary key mechanism, where the successful exit information is used to control the internal auxiliary key mechanism to stop pressing the key corresponding to the desired floor.
In an optional implementation manner of some embodiments, the second processing module 402 and the fourth processing module 404 include: the first processing unit is used for detecting the state of the elevator door according to a second preset frequency; and the second processing unit is used for judging whether the elevator door is opened or not according to the state of the elevator door.
In an optional implementation manner of some embodiments, the first processing unit is further configured to detect the elevator door through a single-line laser radar to obtain first laser point cloud data; determining at least one distance between the wheeled robot and an elevator door according to the first laser point cloud data; and comparing at least one distance with the first preset distance respectively to determine the state of the elevator door.
In an optional implementation manner of some embodiments, the first processing unit is further configured to count a number of at least one distance greater than a preset distance to obtain first data; counting the number of at least one distance smaller than a preset distance to obtain second data; if the first data is less than or equal to 3, the elevator door is in a closed state; if the second data is less than or equal to 3, the elevator door is in an open state; otherwise, the state of the elevator door is continuously detected.
In an optional implementation of some embodiments, the apparatus 400 further includes a fifth processing module for acquiring an image of the QR code above the elevator and/or above the ceiling for image recognition; determining whether a desired position is reached according to the result of the image recognition; and/or detecting the elevator door through a single-line laser radar to obtain second laser point cloud data; determining the distance between the wheeled robot and the elevator door according to the second laser point cloud data; and comparing the distance between the wheeled robot and the elevator door with a second preset distance to determine whether the wheeled robot reaches the expected position.
In an optional implementation manner of some embodiments, the apparatus 400 further includes a sixth processing module, configured to acquire an image of the QR code above the ceiling for image recognition; judging whether the current floor is a desired floor or not according to the image identification result; if yes, loading a global map of the current floor; otherwise, the first elevator taking information is sent to the external auxiliary key mechanism.
It is understood that the modules recited in the apparatus 400 correspond to the steps in the method described with reference to fig. 1. Thus, the operations, features and advantages of the method described above are also applicable to the apparatus 400 and the modules and units included therein, and are not described herein again.
Fig. 5 illustrates a physical structure diagram of an electronic device, which may include, as shown in fig. 5: a processor (processor)510, a communication Interface (Communications Interface)520, a memory (memory)530 and a communication bus 540, wherein the processor 510, the communication Interface 520 and the memory 530 communicate with each other via the communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a robotic autonomous ladder riding method for a wheeled robot, the method comprising: sending first elevator taking information to the external auxiliary key mechanism, and enabling the external auxiliary key mechanism to press an upper row key or a lower row key according to the first elevator taking information and a first preset frequency to open an elevator door; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing an uplink key or a downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is a desired floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the desired floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing keys corresponding to the desired floor.
Furthermore, the logic instructions in the memory 530 may be implemented in the form of software functional units and stored in a computer readable storage medium when the software functional units are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, the present invention also provides a computer program product, the computer program product including a computer program stored on a non-transitory computer-readable storage medium, the computer program including program instructions, when executed by a computer, the computer being capable of executing the autonomous robot ladder riding method provided by the above methods, applied to a wheeled robot, the method including: sending first elevator taking information to the external auxiliary key mechanism, and enabling the external auxiliary key mechanism to press an upper row key or a lower row key according to the first elevator taking information and a first preset frequency to open an elevator door; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing an uplink key or a downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is a desired floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the desired floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing keys corresponding to the desired floor.
In yet another aspect, the present invention also provides a non-transitory computer-readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the above-mentioned autonomous robot ladder-taking method, applied to a wheeled robot, the method including: sending first elevator taking information to the external auxiliary key mechanism, and enabling the external auxiliary key mechanism to press an upper row key or a lower row key according to the first elevator taking information and a first preset frequency to open an elevator door; detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism, so that the external auxiliary key mechanism stops pressing an uplink key or a downlink key according to the successful entering information; sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency; the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is a desired floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the desired floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing keys corresponding to the desired floor.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the various embodiments or some parts of the above-described methods of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A robot autonomous ladder-taking method is applied to a wheeled robot and comprises the following steps:
sending first elevator taking information to an external auxiliary key mechanism, and enabling the external auxiliary key mechanism to press an ascending key or a descending key to open an elevator door according to the first elevator taking information and a first preset frequency;
detecting whether the elevator door is opened, if the state of the elevator door is opened, entering the elevator, and sending successful entering information to the external auxiliary key mechanism to enable the external auxiliary key mechanism to stop pressing the uplink key or the downlink key according to the successful entering information;
sending second elevator taking information to the internal auxiliary key mechanism, wherein the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency;
the method comprises the steps of obtaining a current air pressure measured value, determining whether a current floor is the expected floor or not through the current air pressure measured value, detecting whether an elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to an internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing keys of the corresponding expected floor.
2. The method of claim 1, wherein the detecting whether the elevator door is open comprises:
detecting the state of the elevator door according to a second preset frequency;
and judging whether the elevator door is opened or not according to the state of the elevator door.
3. The method of claim 2, wherein the detecting the state of the elevator door comprises:
detecting the elevator door through a single-line laser radar to obtain first laser point cloud data;
determining at least one distance between the wheeled robot and the elevator door according to the first laser point cloud data;
and comparing the at least one distance with a first preset distance respectively to determine the state of the elevator door.
4. The robot autonomous boarding method of claim 3, wherein the comparing the at least one distance with a first preset distance, respectively, to determine the state of the elevator door comprises:
counting the number of the at least one distance greater than the preset distance to obtain first data;
counting the number of the at least one distance smaller than the preset distance to obtain second data;
if the first data is less than or equal to 3, the elevator door is in a closed state;
if the second data is less than or equal to 3, the elevator door is in an open state; otherwise, the state of the elevator door is continuously detected.
5. The robot autonomous boarding method of any of claims 1 to 3, further comprising, before the sending of the successful entry information to the external auxiliary key mechanism and/or the sending of the successful exit information to the internal auxiliary key mechanism:
collecting images of QR codes above an elevator and/or above a ceiling, and carrying out image recognition;
determining whether a desired position is reached according to the result of the image recognition; and/or the presence of a gas in the gas,
detecting the elevator door through the single-line laser radar to obtain second laser point cloud data;
determining the distance between the wheeled robot and the elevator door according to the second laser point cloud data;
and comparing the distance between the wheeled robot and the elevator door with a second preset distance to determine whether the wheeled robot reaches the expected position.
6. The method as claimed in any one of claims 1 to 3, further comprising, after sending the successful exit information to the internal auxiliary key mechanism:
collecting an image of the QR code above the ceiling, and carrying out image recognition;
judging whether the current floor is the expected floor or not according to the result of image identification;
if yes, loading the global map of the current floor; and otherwise, sending the first elevator taking information to the external auxiliary key mechanism.
7. A robot autonomous ladder-riding device is characterized by comprising:
the elevator control system comprises a first processing module, a second processing module and a control module, wherein the first processing module is used for sending first elevator taking information to an external auxiliary key mechanism so that the external auxiliary key mechanism presses an upper going key or a lower going key to open an elevator door according to the first elevator taking information and a first preset frequency;
the second processing module is used for detecting whether the elevator door is opened or not, entering the elevator if the state of the elevator door is opened, and sending successful entering information to the external auxiliary key mechanism to enable the external auxiliary key mechanism to stop pressing the uplink key or the downlink key according to the successful entering information;
the third processing module is used for sending second elevator taking information to the internal auxiliary key mechanism, and the second elevator taking information is used for controlling the internal auxiliary key mechanism to press keys corresponding to the expected floors according to the first preset frequency;
and the fourth processing module is used for acquiring a current air pressure measured value, determining whether a current floor is the expected floor or not through the current air pressure measured value, detecting whether the elevator door is opened or not if the current floor is the expected floor, exiting the elevator if the elevator door is opened, and sending successful exiting information to the internal auxiliary key mechanism, wherein the successful exiting information is used for controlling the internal auxiliary key mechanism to stop pressing the key corresponding to the expected floor.
8. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the steps of the autonomous ladder-boarding method for robots according to any one of claims 1 to 6.
9. A non-transitory computer-readable storage medium having stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the robotic autonomous ladder-boarding method of any of claims 1-6.
10. A computer program product comprising a computer program, wherein the computer program, when executed by a processor, performs the steps of the robotic autonomous ladder-boarding method according to any of claims 1 to 6.
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