Elevator waiting method, device, robot and storage medium for robot to take elevator

Abstract

The present invention provides a method for a robot to wait for an elevator, comprising the following steps: after the robot selects a target elevator of an elevator group, the robot is switched to a waiting state; the robot in the waiting state continuously detects the operating state of the target elevator; when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot, the robot is controlled to move to a preparatory elevator entry circle in front of the target elevator. The present invention also provides a robot waiting device, a robot and a computer storage medium. The method, device, robot and computer storage medium for a robot to wait for an elevator provided by the present invention ensure that the robot can enter the elevator smoothly, avoid crowding of the robot, reasonably match the robot and the elevator, save elevator resources, and improve delivery efficiency.

Description

[Technical field]

[0001] The present invention relates to the field of robot technology, and in particular to a method and device for a robot to wait for an elevator, a robot and a computer storage medium. [Background technology]

[0002] With the continuous development of robot technology, robots have been used in many buildings for tasks such as automatic delivery. When robots perform tasks across floors, they need to take the elevator to the destination. When the elevator group performing the task includes multiple elevators and multiple robots need to take the elevator, the robot needs to perform a series of actions such as selecting the elevator, waiting for the elevator, and calling the elevator. In this scenario, how to reasonably match robots and elevators and save elevator resources as much as possible to improve delivery efficiency is a problem that needs to be solved urgently.

[0003] In view of this, it is necessary to provide a new type of robot elevator waiting method, device, robot and computer storage medium to overcome the above-mentioned defects. [Summary of the invention]

[0004] The purpose of the present invention is to provide a method, device, robot and computer storage medium for a robot to wait for an elevator, which ensures that the robot can enter the elevator smoothly, avoids crowding of robots, reasonably matches the robot and the elevator, saves elevator resources, and improves delivery efficiency.

[0005] In order to achieve the above-mentioned purpose, in a first aspect, the present invention provides a method for a robot to wait for an elevator, comprising the following steps: after the robot selects a target elevator of an elevator group, the state of the robot is switched to a waiting state; the robot in the waiting state continuously detects the operating state of the target elevator; when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot, the robot is controlled to move to a preparatory elevator entry circle in front of the target elevator.

[0006] In a preferred embodiment, after the robot selects a target elevator of the elevator group, the step of switching the robot's state to a waiting elevator state includes: continuously calling the target elevator to the receiving floor where the robot is located; and controlling the robot to move to the elevator group waiting point located at the center of the elevator group to wait.

[0007] In a preferred embodiment, the step of the robot in the elevator-waiting state continuously detecting the operating status of the target elevator includes: detecting the current position of the target elevator; detecting the operating direction of the target elevator; and determining that the target elevator is about to arrive at the receiving floor when it is detected that the distance between the current position of the target elevator and the receiving floor is less than a preset distance and the operating direction of the target elevator points to the receiving floor.

[0008] In a preferred embodiment, the step of controlling the robot to move to the preparatory elevator entry circle in front of the target elevator when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot includes: locating the current position of the robot when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot; determining whether the current position of the robot is the waiting point of the elevator group; and when the current position is not the waiting point of the elevator group, controlling the robot to move from the current position to the preparatory elevator entry circle.

[0009] In a preferred embodiment, after the step of the robot in the elevator-waiting state continuously detecting the operating state of the target elevator, the method further comprises: when it is detected that the elevator is in an abnormal state, controlling the robot to cut the elevator.

[0010] In a preferred embodiment, the preparatory ladder circle is fan-shaped with a top angle of 90° and a radius of 50 cm.

[0011] In a preferred embodiment, the vertical distance between the vertex of the preparatory elevator circle and the target elevator is 70-80 cm.

[0012] In a second aspect, the present invention also provides a device for waiting for elevators for a robot, comprising: a state switching module, for switching the state of the robot to a waiting state after the robot selects a target elevator of the elevator group; a detection module, for enabling the robot in the waiting state to continuously detect the operating state of the target elevator; and a movement control module, for controlling the robot to move to a preparatory elevator circle in front of the target elevator when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot.

[0013] In the third aspect, the present invention also provides a robot, comprising: a memory and one or more processors; the memory is used to store one or more computer programs; when the one or more computer programs are executed by the one or more processors, the robot elevator waiting method described in any one of the above embodiments is implemented.

[0014] In a fourth aspect, the present invention further provides a computer storage medium, wherein a computer program is stored in the computer storage medium, and when the computer program is executed by a processor, the method for a robot to take an elevator and wait for an elevator as described above is implemented.

[0015] Compared with the prior art, the robot elevator waiting method, device, robot and computer storage medium provided by the present invention can switch the robot's state to the elevator waiting state after the robot selects the target elevator of the elevator group, and continuously detect the operating state of the target elevator. When it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list includes the robot's identity number, the robot is controlled to move to the preparatory elevator entry circle in front of the target elevator. The logic of the elevator waiting state between the robot's elevator selection and before entering the elevator is reasonably designed, which ensures that the robot can enter the elevator smoothly, avoids robot congestion, reasonably matches the robot and the elevator, saves elevator resources, and improves delivery efficiency.

[0016] In order to make the above-mentioned objects, features and advantages of the invention more obvious and easy to understand, the preferred embodiments of the present invention are specifically cited below and described in detail with reference to the attached drawings.

Brief Description of the Drawings

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0018] Figure 1 A principle block diagram of the elevator waiting device for a robot to take an elevator provided by the present invention;

[0019] Figure 2 A principle block diagram of a detection module of the elevator waiting device for a robot to take an elevator provided by the present invention;

[0020] Figure 3 A principle block diagram of a mobile control module of the elevator waiting device for a robot to take an elevator provided by the present invention;

[0021] Figure 4 A flow chart of a method for waiting for an elevator by a robot provided by the present invention;

[0022] Figure 5 This is a schematic diagram of the robot's motion route in the state of waiting for the ladder;

[0023] Figure 6 A sub-flow chart of step S20 of the elevator waiting method for a robot to take an elevator provided by the present invention;

[0024] Figure 7 A sub-flow chart of step S30 of the elevator waiting method for a robot to take an elevator provided by the present invention;

[0025] Figure 8 is another schematic diagram of a motion route of the robot in a state of waiting for an elevator;

[0026] Fig. 9 This is a principle block diagram of the robot provided by the present invention. [Specific implementation method]

[0027] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. The components of the embodiments of the present invention generally described and shown in the drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed invention, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present invention.

[0028] See also Figure 1 , which is a principle block diagram of the robot elevator waiting device 100 provided by the present invention. The robot elevator waiting device 100 provided by the present invention comprises a state switching module 10, a detection module 20 and a movement control module 30.

[0029] Specifically, the state switching module 10 is used to switch the state of the robot to the waiting state after the robot selects the target elevator of the elevator group; the detection module 20 is used to enable the robot in the waiting state to continuously detect the operating state of the target elevator; the movement control module 30 is used to control the robot to move to the preparatory entrance circle in front of the target elevator when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot.

[0030] In this embodiment, the preparatory ladder entry circle is a sector with a vertex angle of 90° and a radius of 50 cm. The vertical distance between the vertex of the preparatory ladder entry circle and the target elevator is 70-80 cm, and it is directly opposite to the center line of the elevator.

[0031] Furthermore, the state switching module 10 includes a calling unit and a first movement control unit.

[0032] Specifically, the calling unit is used to continuously call the target elevator to the receiving floor where the robot is located; the first mobile control unit is used to control the robot to move to the elevator group waiting point located in the center of the elevator group to wait.

[0033] See also Figure 2 The detection module 20 includes a first detection unit 21, a second detection unit 22 and a determination unit 23.

[0034] Specifically, the first detection unit 21 is used to detect the current position of the target elevator; the second detection unit 22 is used to detect the running direction of the target elevator; the determination unit 23 is used to determine that the target elevator is about to arrive at the receiving floor when it is detected that the distance between the current position of the target elevator and the receiving floor is less than a preset distance and the running direction of the target elevator points to the receiving floor.

[0035] See also Figure 3 The movement control module 30 includes a positioning unit 31 , a judgment unit 32 and a second movement control unit 33 .

[0036] Specifically, the positioning unit 31 is used to locate the current position of the robot when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the boarding list of the target elevator includes the identity number of the robot; the judgment unit 32 is used to judge whether the current position of the robot is the waiting point of the elevator group; the second movement control unit 33 is used to control the robot to move from the current position to the preparatory elevator circle when the current position is not the waiting point of the elevator group.

[0037] Furthermore, the elevator waiting device 100 for a robot to take an elevator provided by the present invention further includes an elevator cutting module, and the elevator cutting module is used to control the robot to cut the elevator when it is detected that the elevator is in an abnormal situation.

[0038] It is understandable that the above functional modules and units can be stored in the memory in the form of software programs and executed by the processor. In alternative embodiments, the above functional modules and units can also be hardware with specific functions, such as a chip with a specific software program burned in it.

[0039] Combine the following Figure 4-Figure 8 The above functional modules and units are introduced in detail.

[0040] like Figure 4 As shown, it is a flow chart of the elevator waiting method of the robot provided by the present invention. It should be noted that the execution subject of the method of the present invention is a robot, and the method of the present invention is not limited to the order of the following steps, and in other embodiments, the method of the present invention may only include part of the steps described below, or some of the steps may be deleted.

[0041] The robot elevator waiting method provided by the present invention comprises the following steps:

[0042] Step S10: After the robot selects the target elevator of the elevator group, the robot's state is switched to the elevator waiting state. Specifically, when the robot receives a cross-floor delivery task, the robot will first move to an elevator group on the current floor, and then select an elevator from the multiple elevators in the elevator group as the target elevator. After the elevator selection is completed, the state switching module 10 can switch the robot's state to the elevator waiting state. After entering the elevator waiting state, the robot continues to call the elevator and waits for the target elevator to arrive at the current floor.

[0043] Step S20: The robot in the elevator-waiting state continuously detects the operating state of the target elevator. Specifically, when the robot is in the elevator selection, elevator-waiting, etc. states, it will establish communication with the elevators of the elevator group, and the detection module 20 can detect the operating state of the target elevator, such as the current position and running direction of the target elevator.

[0044] Step S30: When it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot, the robot is controlled to move to the preparatory elevator entry circle in front of the target elevator. Specifically, when the target elevator is about to arrive at the receiving floor where the robot is located, the elevator side will select a robot whose target elevator points to itself, whose departure floor is the receiving floor to be arrived, and whose identity number is in the waiting elevator state and calling the elevator, and add it to the elevator list. Therefore, when the detection module 20 of the robot detects that the target elevator is about to arrive at the receiving floor and the elevator list of the target elevator includes the identity number of "me" (i.e., the robot in question), the mobile control module 30 controls the robot to move to the preparatory elevator entry circle in front of the target elevator, i.e., enter the preparatory elevator entry state, so as to achieve timely elevator entry when the target elevator arrives at the receiving floor. It can be understood that the identity number is the identity identification of the robot, and each robot has a unique identity number, which is used to distinguish different robots.

[0045] Therefore, the robot elevator waiting method provided by the present invention can switch the robot's state to the elevator waiting state after the robot selects the target elevator of the elevator group, and continuously detect the operating state of the target elevator. When it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list includes the robot's identity number, the robot is controlled to move to the preparatory elevator entry circle in front of the target elevator. The logic of the elevator waiting state between the robot's elevator selection and before entering the elevator is reasonably designed, which ensures that the robot can enter the elevator smoothly, avoids crowding of the robot, reasonably matches the robot and the elevator, saves elevator resources, and improves delivery efficiency.

[0046] Further, step S10 includes the following steps:

[0047] Continuously call the target elevator to the receiving floor where the robot is located. Specifically, after the robot enters the elevator selection state, the calling unit will continuously call the target elevator to make the target elevator move to the receiving floor where the robot is located.

[0048] The robot is controlled to move to the elevator group waiting point located at the center of the elevator group to wait. Specifically, while the robot calls the target elevator, the first mobile control unit controls the robot to move to the elevator group waiting point located at the center of the elevator group to wait for the target elevator to arrive.

[0049] like Figure 5 As shown, after the robot enters the elevator waiting state, the robot continues to call the elevator and moves to the elevator group waiting point, which is located in the center of the elevator group. When the target elevator arrives at the receiving floor, the robot moves from the elevator group waiting point to the preparatory elevator entry circle in front of the target elevator, taking the center of the elevator group as the starting point. This can reduce the robot's moving distance globally, thereby reducing the time used to move to the preparatory elevator entry circle, allowing the robot to enter the elevator smoothly and preventing elevator entry timeout.

[0050] In this embodiment, the preparatory ladder entry circle is a sector with a vertex angle of 90° and a radius of 50 cm. The vertical distance between the vertex of the preparatory ladder entry circle and the target elevator is 70-80 cm. The vertex of the preparatory ladder entry circle faces the center of the elevator. The vertex of the preparatory ladder entry circle is the entry point, that is, the position where the robot enters the elevator. With this design, an elevator group waiting point is set at the center of the elevator group, and a preparatory ladder entry circle is set in front of each elevator, which reasonably allocates the area near the elevator group and prevents multiple robots from crowding in the states of selecting elevators, waiting for elevators, and preparing to enter elevators.

[0051] See also Figure 6 , step S20, comprises the following steps:

[0052] Step S21: Detect the current position of the target elevator. Specifically, when the robot is in the elevator waiting state, in order to detect whether the target elevator is about to arrive at the receiving floor, the first detection unit 21 continuously detects the current position of the target elevator and calculates the distance between the current position of the target elevator and the receiving floor.

[0053] Step S22: Detecting the running direction of the target elevator. Specifically, while detecting the current position of the target elevator, the second detection unit 22 continuously detects the running direction of the target elevator and determines whether the running direction of the target elevator points to the receiving floor.

[0054] Step S23: When it is detected that the distance between the current position of the target elevator and the receiving floor is less than the preset distance and the running direction of the target elevator points to the receiving floor, it is determined that the target elevator is about to arrive at the receiving floor. Specifically, the determination unit 23 is used to determine whether the target elevator is about to arrive at the receiving floor. The preset distance can be, for example, the distance of one floor. When the determination unit 23 determines that the target elevator is running toward the receiving floor and the distance is less than the distance of one floor, the mobile control module 30 controls the robot to move to the preparatory elevator entry circle in front of the target elevator, that is, enter the preparatory elevator entry state, so as to achieve timely elevator entry when the target elevator arrives.

[0055] After step S20, the following steps are also included:

[0056] When it is detected that the elevator is in an abnormal situation, the robot is controlled to switch to another elevator. Specifically, switching to another elevator means that the robot abandons the originally selected target elevator and reselects another elevator. When the elevator times out, is blocked, robbed, or gives up the elevator, the elevator switching module controls the robot to switch to another elevator state to enter a new elevator waiting state.

[0057] See also Figure 7 , step S30, comprises the following steps:

[0058] Step S31: When it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list of the target elevator includes the identity number of the robot, the current position of the robot is located. Specifically, before the elevator is about to arrive at the receiving floor and the robot is ready to enter the elevator, the positioning unit 31 locates the current position of the robot. It can be understood that during the movement of the robot, the current position, elevator group waiting point, and ready elevator circle will be marked on the global map of the robot, and the positioning unit 31 can locate the robot in real time according to the global map.

[0059] Step S32: Determine whether the current position of the robot is the elevator group waiting point. Specifically, the determination unit 32 can determine whether the current position of the robot is the elevator group waiting point, that is, whether the current position is consistent with the elevator group waiting point on the robot's global map. If they are consistent, it means that the current position of the robot is the elevator group waiting point, that is, before the target elevator is about to arrive, the robot has moved to the elevator group waiting point and is ready to enter the elevator.

[0060] Step S33: When the current position is not the elevator group waiting point, control the robot to move from the current position to the preparatory elevator entry circle. Specifically, when the current position of the robot is not the elevator group waiting point, it means that when the target elevator is about to arrive, the robot has not yet moved to the elevator group waiting point. In this case, the second mobile control unit 33 controls the robot to move directly from the current position to the preparatory elevator entry circle, abandoning the original route to the elevator group waiting point, to ensure that after the target elevator arrives at the receiving floor, the robot enters the elevator as soon as possible to prevent the elevator from timeout.

[0061] like Figure 8 As shown, when the robot observes that the target elevator adds the identity number of "me" to the elevator robot list, and the pick-up distance of the target elevator is less than the distance of one floor, if the robot has not yet moved to the elevator group waiting point, the robot abandons the original route to the elevator group waiting point, and moves directly from the current position to the said preparatory elevator entry circle, avoiding the robot from taking unnecessary routes and ensuring that the robot enters the elevator as soon as possible.

[0062] It should be noted that all embodiments of the method for waiting for an elevator by a robot provided by the present invention are applicable to the device 100 for waiting for an elevator by a robot provided by the present invention, and can achieve the same or similar beneficial effects.

[0063] See also Fig. 9 The present invention also provides a robot 200, including: a memory 210 and one or more processors 220.

[0064] Specifically, the memory 210 is used to store one or more computer programs; when the one or more computer programs are executed by one or more processors 220, any one of the above-mentioned robot elevator waiting methods is implemented.

[0065] The memory 210 may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc. The memory 210 is used to store programs, and the processor 220 runs the program after receiving an execution instruction to implement any of the above-mentioned robot elevator waiting methods. It can be understood that the processor 220 and other possible components can access the memory 210 under the control of a storage controller.

[0066] The processor 220 may be an integrated circuit chip with signal processing capabilities. The processor 220 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc., and may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the disclosed methods, steps and logic block diagrams in the embodiments of the present invention.

[0067] The present invention also provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for a robot to take an elevator and wait for an elevator as described in any one of the aforementioned embodiments is implemented.

[0068] In summary, the present invention provides a robot elevator waiting method, device, robot and computer storage medium. When the robot selects a target elevator of the elevator group, the robot can switch the robot's state to the elevator waiting state, and continuously detect the operating state of the target elevator. When it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the elevator list includes the robot's identity number, the robot is controlled to move to the preparatory elevator entry circle in front of the target elevator. The logic of the elevator waiting state between the robot's elevator selection and before entering the elevator is reasonably designed, which ensures that the robot can enter the elevator smoothly, avoids robot congestion, reasonably matches the robot and the elevator, saves elevator resources, and improves delivery efficiency.

[0069] The above description is only an implementation mode of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A robot elevator waiting method, characterized in that: The steps include: When the robot selects a target elevator of the elevator group, the state of the robot is switched to a waiting state; The robot in the elevator-waiting state continuously detects the operating state of the target elevator; When it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the boarding list of the target elevator includes the identity number of the robot, the robot is controlled to move to the preparatory entrance circle in front of the target elevator; The step of switching the robot's state to the elevator waiting state after the robot selects the target elevator of the elevator group comprises: Continuously calling the target elevator to the pick-up floor where the robot is located; Controlling the robot to move to an elevator group waiting point located at the center of the elevator group to wait; The step of the robot in the elevator-waiting state continuously detecting the operating state of the target elevator comprises: Detecting the current position of the target elevator; Detecting the running direction of the target elevator; When it is detected that the distance between the current position of the target elevator and the receiving floor is less than a preset distance and the running direction of the target elevator points to the receiving floor, it is determined that the target elevator is about to arrive at the receiving floor; The step of controlling the robot to move to the preparatory elevator entry circle in front of the target elevator when it is detected that the target elevator is about to arrive at the receiving floor where the robot is located and the boarding list of the target elevator includes the identity number of the robot comprises: When it is detected that the target elevator is about to arrive at the pick-up floor where the robot is located and the boarding list of the target elevator includes the identity number of the robot, locating the current position of the robot; Determining whether the current position of the robot is the elevator group waiting point; When the current position is not the elevator group waiting point, controlling the robot to move from the current position to the elevator preparation circle; The preparatory ladder-entry circle is in the shape of a sector with a vertex angle of 90° and a radius of 50 cm; the vertical distance between the vertex of the preparatory ladder-entry circle and the target elevator is 70-80 cm.

2. The method for waiting for an elevator by a robot as claimed in claim 1, characterized in that: After the step of the robot in the elevator-waiting state continuously detecting the running state of the target elevator, the method further includes: When it is detected that the target elevator is in an abnormal condition, the robot is controlled to cut the elevator.

3. A robot elevator waiting device, characterized in that: include: A state switching module, used for switching the state of the robot to a waiting state after the robot selects a target elevator of the elevator group; A detection module, used to enable the robot in the elevator-waiting state to continuously detect the operating state of the target elevator; as well as A movement control module, configured to control the robot to move to a preparatory elevator entry circle in front of the target elevator when it is detected that the target elevator is about to arrive at the pickup floor where the robot is located and the boarding list of the target elevator includes the identity number of the robot; The state switching module includes a calling unit and a first movement control unit; the calling unit is used to continuously call the target elevator to the receiving floor where the robot is located; the first movement control unit is used to control the robot to move to the elevator group waiting point located in the center of the elevator group to wait; The detection module includes a first detection unit, a second detection unit and a determination unit; the first detection unit is used to detect the current position of the target elevator; the second detection unit is used to detect the running direction of the target elevator; the determination unit is used to determine that the target elevator is about to arrive at the receiving floor when it is detected that the distance between the current position of the target elevator and the receiving floor is less than a preset distance and the running direction of the target elevator points to the receiving floor; The mobile control module includes a positioning unit, a judgment unit and a second mobile control unit; The positioning unit is used to locate the current position of the robot when it is detected that the target elevator is about to arrive at the pick-up floor where the robot is located and the boarding list of the target elevator includes the identity number of the robot; the judgment unit is used to judge whether the current position of the robot is the waiting point of the elevator group; The second movement control unit is used for controlling the robot to move from the current position to the elevator preparation circle when the current position is not the elevator group waiting point; The preparatory ladder-entry circle is a sector with a vertex angle of 90° and a radius of 50 cm, and the vertical distance between the vertex of the preparatory ladder-entry circle and the target elevator is 70-80 cm.

4. A robot, characterized in that: include: memory and one or more processors; The memory is used to store one or more computer programs; When the one or more computer programs are executed by the one or more processors, the method for a robot to wait for an elevator as described in any one of claims 1 to 2 is implemented.

5. A computer storage medium, characterized in that: The computer storage medium stores a computer program, and when the computer program is executed by the processor, the method for a robot to wait for an elevator as described in any one of claims 1 to 2 is implemented.

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