The invention relates to the field of building unmanned delivery robots. In order to solve the problem that a traditional unmanned delivery robot cannot work normally due to positioning loss and business chaos caused by abnormal movement in the elevator taking process, the embodiment of the invention provides a method for detecting abnormal movement of a robot, and the method comprises the following steps: acquiring observation data of an elevator in real time; calculating the relative displacement of the robot at the current position relative to the reference position according to the currently acquired observation data; wherein the static position of the robot after entering the elevator is a reference position; the position of the robot in the elevator area is updated according to the relative displacement and the pose of the robot at the reference position, and the updated position of the robot is obtained; according to the updated position of the robot, whether the robot is in a designated area of the elevator or not is judged through a ray guiding method; if yes, it is judged that the robot does not move abnormally, and if not, it is judged that the robot moves abnormally.

    本发明涉及楼宇无人递送机器人领域。为解决传统的无人递送机器人在乘坐电梯过程中发生异常移动导致无人递送机器人定位丢失、业务混乱而无法正常工作的问题,本发明实施例提供一种用于检测机器人异常移动的方法,包括:实时获取电梯的观测数据;根据当前获取的所述观测数据,计算当前位置的机器人相对于基准位置的相对位移;其中,机器人进入电梯后的静止位置为基准位置;根据所述相对位移和基准位置时机器人的位姿更新所述机器人在电梯区域中的位置,得到更新后的机器人位置;根据所述更新后的机器人位置,通过引射线法判断机器人是否在电梯的指定区域内;若是,则判定机器人未发生异常移动,若否,则判定机器人发生异常移动。


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    Title :

    Method for detecting abnormal movement of robot


    Additional title:

    一种用于检测机器人异常移动的方法


    Contributors:
    HUANG SHAN (author) / ZENG QI (author) / HUANG FAZHAN (author)

    Publication date :

    2024-01-09


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66B Aufzüge , ELEVATORS / G01S RADIO DIRECTION-FINDING , Funkpeilung / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung