The invention relates to the field of robots, in particular to a method for a robot to enter an elevator, which comprises the following steps: detecting the elevator to obtain the point cloud data of the elevator, traversing and calculating the distance between a point in the point cloud data and the robot, and combining with a preset safety distance to obtain a passable sector; carrying out downsampling and clustering on the point cloud data to obtain point cloud data clusters, finding two point cloud data clusters corresponding to two sides of a door, and calculating a pair of points with the shortest distance as two end points of a door line; calculating a pose relationship between the robot and the door line according to the positions of the two end points of the door line, and calculating a travel route according to the pose relationship; according to the distance between the robot and the door line, the advancing speed of the robot according to the advancing route is controlled, and when the robot reaches the preset distance of the other side of the door line, advancing is stopped; the robot can adaptively and accurately enter the elevator in front of any elevator.
本发明涉及机器人领域,尤其涉及机器人进入电梯方法,包括:对电梯进行探测获取电梯的点云数据,遍历计算所述点云数据中的点与机器人的距离,再结合预定安全距离得到可通行扇区;将所述点云数据进行降采样、聚类得到点云数据簇,找到门两侧对应的两簇点云数据簇,计算出距离最短的一对的点作为门线的两个端点;根据所述门线的两个端点的位置计算出机器人与所述门线的位姿关系,根据所述位姿关系计算出行进路线;根据机器人与所述门线的距离控制机器人按照所述行进路线的行进速度,当机器人到达所述门线的另一侧的预定距离,停止行进;实现了机器人在任何电梯前自适应地精确地进入电梯。
Method for robot to enter elevator
机器人进入电梯方法
12.07.2024
Patent
Elektronische Ressource
Chinesisch
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