The invention relates to a moving tool and an elevator entering and exiting method, device and equipment thereof and a medium, and the method comprises the steps that a first target point is determined according to elevator parameters of an elevator, and a first path starting point is determined according to the position of the moving tool; generating a first path by using the first path starting point and the first target point, and controlling the moving tool to move according to the first path; when the moving tool moves to the position of the entrance and exit of the elevator, multiple second target points are determined according to the current speed of the moving tool; and the current position of the moving tool is obtained, a second path is determined according to the multiple second target points and the current position of the moving tool, and the elevator enters and exits in a collision-free mode according to the second path. Path planning is carried out in a segmented mode according to the real-time position of the moving tool and the staged path end point, and the problem that an accurate collision-free path cannot be generated for a large robot temporarily is solved.

    本申请涉及一种移动工具及其进出电梯的方法、装置、设备及介质,其中,方法包括:根据电梯的电梯参数确定第一目标点,以及根据移动工具所在的位置确定第一路径起点;利用第一路径起点以及第一目标点生成第一路径,并控制移动工具按照第一路径移动;在移动工具移动至电梯的进出口的位置时,根据移动工具的当前速度确定多个第二目标点;获取移动工具的当前位置,并根据多个第二目标点以及移动工具的当前位置确定第二路径,以按照第二路径无碰撞地进出电梯。通过根据移动工具的实时位置以及阶段性的路径终点来分段进行路径规划,解决了暂无为大型机器人生成精准无碰撞的路径的问题。


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    Title :

    Moving tool, method, device and equipment for moving tool to go in and out of elevator and medium


    Additional title:

    移动工具及其进出电梯的方法、装置、设备及介质


    Contributors:
    WANG QIANQIAN (author) / ZENG ZICHENG (author) / JIANG WEINAN (author) / YANG CUNBIAO (author) / FENG SONG (author)

    Publication date :

    2024-11-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66B Aufzüge , ELEVATORS