The invention aims to provide a set of method which is low in cost, simple, reliable and easy to implement to solve the problem of how to reliably reach the target floor in the elevator taking process of the mobile robot. According to the method, an IMU sensor carried by a robot is used, the displacement of the elevator is speculated through an improved integral distance measurement model, meanwhile, the precision of the integral distance measurement model is considered, target floors are divided into directly reachable floors and non-directly reachable floors, and when the target floors are located on the non-directly reachable floors, the robot is driven to move; the robot can reliably arrive at the target floor through a strategy given by the floor distribution module, and when the floor position is lost due to abnormal elevator taking, the floor repositioning module gives a strategy to enable the robot to find the correct floor position again.
本发明旨在给出一套低成本,简单,可靠,且易于实现的方法来解决移动机器人乘梯过程中如何可靠到达目标楼层这一问题。本发明使用机器人自身携带的IMU传感器,通过改进的积分测距模型来推测电梯的位移,同时考虑到积分测距模型的精度,将目标楼层分为直接可达楼层与不直接可达楼层,当目标楼层位于不直接可达楼层时,通过楼层分配模块给出的策略可以可靠的到达目标楼层,当出现乘梯异常导致的楼层位置丢失时,楼层重定位模块会给出一种策略让机器人重新找回正确的楼层位置。
Robot elevator taking floor calculation method based on IMU (Inertial Measurement Unit)
一种基于IMU的机器人乘梯楼层计算方法
2022-06-24
Patent
Electronic Resource
Chinese
IPC: | B66B Aufzüge , ELEVATORS |
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