A robot and a method, device and medium for controlling access to an elevator

Abstract

The application discloses a robot and a control method, device and medium for the robot to enter and exit an elevator, wherein in the control method, after the robot enters the elevator, a light source power-off instruction is sent to a laser radar installed on the robot to turn off the laser emission function of the laser radar, and working data sent by the laser radar is received, so that the outgoing laser of the laser radar carried by the robot does not affect the normal closing of the elevator door, and the normal operation of the elevator is ensured; meanwhile, other modules of the laser radar continue to work, and the whole machine does not need to be restarted subsequently, and the efficiency of the light source power-on of the laser radar can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot and a control method and device for the robot to enter and exit an elevator and a medium. BACKGROUND

[0002] Modern service robots are increasingly widely used in various fields, such as disinfection robots, unmanned cars, low-speed unmanned cars, meal delivery robots, takeout robots, and mobile sales robots. These robots are used for maintenance, repair, transportation, cleaning, security, rescue, and monitoring. Laser radar is an important sensor for mapping and obstacle avoidance of service robots, which enables service robots to enter and exit elevators and shuttle between floors.

[0003] When a robot equipped with a laser radar enters an elevator, the robot is usually turned to face the elevator door to prepare to exit the elevator at the target floor. At this time, the laser radar rotates and scans towards the side of the elevator door. The laser beam emitted by the laser radar may be received by the elevator grating receiving end, or the laser beam may be reflected after being emitted to the surface of a mirror object within a certain range of the elevator, which may also be received by the elevator grating receiving end, resulting in the elevator door being unable to open and close normally. SUMMARY

[0004] The present application provides a robot and a control method and device for the robot to enter and exit an elevator and a medium to solve the problem that the laser emitted by the laser radar on the robot affects the opening and closing of the elevator door, enabling the robot to normally enter and exit the elevator and the elevator door to open and close normally.

[0005] The first aspect of the present application provides a control method for a robot to enter and exit an elevator, comprising the following steps:

[0006] After the robot enters the elevator, a light source power-off command is sent to the laser radar installed on the robot to turn off the laser emission function of the laser radar;

[0007] The working data sent by the laser radar is received.

[0008] According to an embodiment of the present application, before the light source power-off command is sent to the laser radar installed on the robot after the robot enters the elevator, the method further comprises:

[0009] A take elevator command is sent to the elevator, the take elevator command comprising current floor information and target floor information;

[0010] Response information returned by the elevator in response to the take elevator command is received;

[0011] When the response information indicates that the elevator has arrived at the current floor and the elevator is in an open door state, the robot is controlled to enter the elevator.

[0012] According to one embodiment of the present application, the control of the robot entering the elevator comprises:

[0013] Obtaining point cloud data obtained by the laser radar scanning the elevator;

[0014] According to the point cloud data, the robot is controlled to move to a target position in the elevator;

[0015] The robot is controlled to turn to face one side of the elevator door of the elevator.

[0016] According to one embodiment of the present application, after the robot is controlled to turn to face one side of the elevator door of the elevator, the method further comprises:

[0017] Sending a closing instruction to the elevator to make the elevator close the elevator door according to the closing instruction.

[0018] According to one embodiment of the present application, before sending the elevator call instruction to the elevator, the method further comprises:

[0019] Receiving task information;

[0020] Analyzing the task information to generate the elevator call instruction.

[0021] According to one embodiment of the present application, the method further comprises:

[0022] When the response information is that the elevator reaches the target floor and the elevator is in the open door state, the robot is controlled to move out of the elevator;

[0023] Sending a light source power-on instruction to the laser radar to re-enable the laser emission function of the laser radar.

[0024] According to one embodiment of the present application, after re-enabling the laser emission function of the laser radar, the method further comprises:

[0025] Based on the working data, the speed of the motor of the laser radar is determined;

[0026] The speed is set to a preset motor speed.

[0027] A second aspect of the present application proposes a robot control device for entering and exiting an elevator, comprising:

[0028] The sending module is configured to send a light source power-off instruction to the laser radar installed on the robot after the robot enters the elevator, to close the laser emission function of the laser radar;

[0029] A receiving module is configured to receive working data sent by the laser radar.

[0030] A third aspect of the present application provides a robot, comprising: a controller;

[0031] A laser radar, which is in communication connection with the controller;

[0032] A wireless communication module, which is configured to communicate with the controller and the elevator, wherein the controller comprises: at least one processor; and

[0033] A memory in communication connection with the at least one processor; wherein,

[0034] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the robot elevator control method proposed in any embodiment of the present application.

[0035] A fourth aspect of the present application provides a computer readable storage medium, which stores computer instructions for enabling a processor to implement the robot elevator control method proposed in any embodiment of the present application when executed.

[0036] The embodiments of the present application disclose a robot and a control method, device and medium for the robot to enter and exit an elevator, which sends a light source power-off instruction to a laser radar installed on the robot to turn off the laser emission function of the laser radar after the robot enters the elevator, receives working data sent by the laser radar, avoids the outgoing laser of the laser radar carried by the robot from affecting the normal closing of the elevator door, and thus ensures the normal operation of the elevator; meanwhile, other modules of the laser radar continue to work, and the laser radar does not need to be restarted as a whole in the future, which can improve the efficiency of the laser radar light source power-on.

[0037] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0039] Figure 1 is a structural schematic diagram of an elevator in the prior art;

[0040] Figure 2 is a structural schematic diagram of another elevator in the prior art;

[0041] Figure 3 is a structural schematic diagram of another elevator in the prior art;

[0042] Figure 4 is a signal transmission path diagram between a grating transmitter and a grating receiver on an elevator;

[0043] Figure 5 is a flow chart of a control method for a robot to enter and exit an elevator according to an embodiment of the present application;

[0044] Figure 6 is a flow chart of a control method for a robot to enter and exit an elevator according to an embodiment of the present application;

[0045] Figure 7 is a flow chart of a control method for a robot to enter and exit an elevator according to an embodiment of the present application;

[0046] Figure 8 is a block schematic diagram of a control device for a robot to enter and exit an elevator according to an embodiment of the present application;

[0047] Figure 9 is a block schematic diagram of a robot according to an embodiment of the present application;

[0048] Figure 10 is a structural schematic diagram of a controller in a robot according to an embodiment of the present application. DETAILED DESCRIPTION

[0049] In order to make personnel in the art better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work should belong to the scope of protection of the present application.

[0050] It is to be understood that the terms "first", "second", and the like, used in the description and the claims of the application, as well as the above-described drawings, are used to distinguish between similar objects and not necessarily describe a particular sequential or chronological order. It is to be understood that the use of data so designated is not meant to limit the scope of the embodiments of the application described herein, which are capable of practicing in other sequences, unless expressly claimed. In addition, the terms "comprises", "comprising", and any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product, or apparatus that comprises a list of steps or units not necessarily limited to those specifically listed, but can include other steps or units not expressly listed or inherent to such process, method, product, or apparatus.

[0051] Figures 1 to 3 is a schematic diagram of the structure of an elevator in the prior art. Figure 1 is a schematic diagram of the structure of the installation of an elevator grating, wherein, Figure 1 In the figure, different grating transmitters (1, 2) are arranged at the intersection of the first elevator door 3 and the car, and the corresponding grating receivers are arranged at the intersection of the second elevator door 4 and the car, which are not shown in the figure. Figure 2 The grating transmitter 21 in is installed on the first elevator door 23, and the grating receiver 22 is installed on the second elevator door 24. Figure 3 The grating transmitter 31 in is installed at the lower part of the gap between the elevator car and the elevator door (such as Figure 3 The position of reference number 31 in the figure), and in addition, the grating receiver is installed at the lower part of the gap between the corresponding car door and the elevator door on the other side, which is not shown in the figure. Figure 4 is a schematic diagram of the signal transmission path between the grating transmitter and the grating receiver on the elevator.

[0052] In combination with Figure 1 , Figure 3 , Figure 4Generally, the light source emitting group and receiving group are distributed on the left and right sides of the elevator door. When the elevator door is normally opened and closed, the emitting group emits a beam of infrared light, which successfully reaches a receiving tube. As the receiving tube is an infrared light-sensitive element, it will generate a specific intensity signal output, and the controller will determine that it is a normal situation. If the beam of infrared light is blocked by an object, the corresponding receiving tube will have no signal output or although there is output, it does not reach the required intensity, indicating that someone or something is entering the elevator. If there is a strong interference light source or the signal is too strong, the controller will determine that it is an abnormal situation. In the prior art, when the robot enters or exits the elevator, the laser scanning of the laser radar affects the light-sensitive reception of the elevator, so that the elevator cannot be normally opened and closed. For example, after the robot enters the elevator, the elevator should normally close the door according to the normal logic process, but due to the scanning of the laser radar of the robot, the light-sensitive element located on the two sides of the elevator door receives laser, so that the light-sensitive element is disturbed by the laser, thereby the elevator cannot be normally closed. For another example, when the robot moves out of the elevator, the elevator should normally open the door according to the normal logic process, but due to the scanning of the laser radar of the robot, the light-sensitive element located on the two sides of the elevator door receives laser, so that the light-sensitive element is disturbed by the laser, thereby the elevator cannot be normally opened. Instead, it may cause abnormal alarm of the elevator and the like.

[0053] To solve the above problems, the embodiment of the present application proposes a robot elevator control method, device and medium, wherein in the control method, after the robot enters the elevator, a light source power-down instruction is sent to the laser radar installed on the robot to turn off the laser emission function of the laser radar; and the working data sent by the laser radar is received. That is, after the elevator opens the elevator door and the robot enters the elevator, the robot sends a light source power-down instruction to the laser radar, so that the light source of the laser radar is powered down, and then after the robot enters the elevator, the light source of the laser radar is in a closed state and no longer emits laser outward, so that the infrared light barrier for managing the normal opening and closing of the elevator door is no longer affected by the outgoing laser of the laser radar, avoiding the influence of the outgoing laser of the laser radar carried by the robot on the normal closing of the elevator door, thereby ensuring the normal operation of the elevator. At the same time, other modules of the laser radar continue to work, and subsequent whole machine restart is not required, which can improve the efficiency of the laser radar light source power-on.

[0054] The robot elevator control method, device and medium proposed by the embodiment of the present application will be described in detail below.

[0055] Embodiment one

[0056] Figure 5 is a flowchart of the robot elevator control method proposed by the embodiment of the present application. As shown in Figure 5 , the method comprises the following steps:

[0057] S101, after the robot enters the elevator, sending a light source power-off instruction to the laser radar installed on the robot to turn off the laser emission function of the laser radar.

[0058] Wherein, the point cloud data obtained by laser radar scanning is used to detect whether the robot enters the elevator space, if yes, it is determined that the robot enters the elevator, and the elevator space is the internal space formed by the elevator box and the elevator door. In some embodiments, image data collected by an image sensor installed on the elevator space or the robot can also be used to detect whether the robot enters the elevator space, and the detection result is sent to the robot.

[0059] As one of the embodiments, after the robot enters the elevator and is located at the target position (wherein the target position can be preset and planned in advance, and whether the target position is reached can be judged according to the data collected by the laser radar), the robot sends a light source power-off instruction to the laser radar installed thereon to turn off the laser emission function of the laser radar, so as to avoid the light source of the laser radar affecting the closing of the elevator door.

[0060] S102, receiving the working data sent by the laser radar.

[0061] It should be explained that the working data includes: laser radar itself state, light source state, temperature, humidity, laser radar IP address, laser radar serial number, motor speed.

[0062] That is, after the robot controls the laser radar light source installed thereon to be turned off, the working data of the laser radar itself can also be received in real time to monitor the working state of the laser radar in real time, which is beneficial to timely processing when the working state of the laser radar appears abnormal.

[0063] Optionally, as shown in Figure 6 Before step S101, that is, before sending the light source power-off instruction to the laser radar installed on the robot after the robot enters the elevator, the method further comprises:

[0064] S001, sending a ride instruction to the elevator, the ride instruction including current floor information and target floor information.

[0065] It should be understood that the robot can reach the elevator doorway of an elevator according to the path planning, and after the robot is located at the elevator doorway, a ride instruction is sent to the elevator, and the ride instruction includes current floor information and target floor information. For example, the robot is a food delivery robot, and after being located at the doorway of a certain elevator on the first floor of a hotel according to the path planning, a ride instruction is sent to the elevator, and the current floor information included in the ride instruction is the first floor of a certain elevator (the first floor of a certain elevator can be obtained by comparing the data detected by the laser radar with the data pre-stored in the controller, or directly captured by a camera). And also includes target floor information, such as needs to go up to the fifth floor, and the target floor information is the fifth floor.

[0066] It should be noted that before sending the ride instruction to the elevator, the method further includes: receiving task information; analyzing the task information to generate the ride instruction.

[0067] Still taking the above example, the current floor information and the target floor information in the ride instruction sent by the food delivery robot to the elevator are both derived from the received task issued by the user. For example, the task issued by the user is to deliver a meal from the dining hall on the first floor (current position) to the guest of a certain room number on the fifth floor (target position). Then the robot will analyze the current floor information to be the first floor and the target floor information to be the fifth floor after analyzing the task.

[0068] S002, receiving response information returned by the elevator in response to the ride instruction.

[0069] That is, after receiving the ride instruction of the robot, the elevator will respond to the instruction, that is, after the robot is located at the doorway of the elevator and sends the ride instruction, the response information of the elevator will be received in real time. Among them, the response information includes state information and data information in the running process of the elevator, the elevator state information includes uplink, downlink, door opening, door closing and current floor state information, and the data information includes various types of instructions, elevator model, elevator parameters, elevator code, software version, etc.

[0070] S003, when the response information is that the elevator arrives at the current floor and the elevator is in the open door state, controlling the robot to enter the elevator.

[0071] When the response information received by the robot is that the elevator has arrived at a floor and is in an open door state, an instruction to enter the elevator is generated, and the robot enters the elevator based on the instruction. In some embodiments, when the response information received by the robot is that the elevator has arrived at a floor and is in an open door state, point cloud data of the elevator in front of the robot and obstacles (such as passengers, other robots, luggage, carts, etc.) is obtained, and a path from the current position of the robot to a candidate target position (an idle position, a fixed position, or a preset position) in the elevator is planned according to the point cloud data, so that the robot enters the elevator according to the path corresponding to the target position (selected from the candidate target position).

[0072] It should be noted that the step of controlling the robot to enter the elevator includes:

[0073] Obtaining point cloud data obtained by scanning the elevator by the laser radar; controlling the robot to move to a target position in the elevator according to the point cloud data; and controlling the robot to turn to a side of the elevator door facing the elevator.

[0074] Specifically, the point cloud data of the elevator is formed by scanning the elevator by the laser radar, and the path for entering the elevator is planned according to the presented point cloud data of the elevator, and the robot is moved to a target position in the elevator, such as a middle position in the elevator (which can be determined according to whether the coordinates meet the requirements). After reaching the position, the controller controls the robot to turn to a side of the elevator door facing the elevator, and at the same time, step S101 is performed to power down the light source module of the laser radar to avoid affecting the closing of the elevator door.

[0075] In some embodiments, the step of controlling the robot to turn to a side of the elevator door facing the elevator can be omitted during the process of the robot entering the elevator, that is, after the robot moves to the target position in the elevator, step S101 is performed.

[0076] Optionally, after controlling the robot to turn to a side of the elevator door facing the elevator, the method further includes:

[0077] Sending a closing instruction to the elevator to make the elevator close the elevator door according to the closing instruction.

[0078] As described above, during the process of the robot entering the elevator, the robot continuously receives the response information sent by the elevator.

[0079] In some embodiments, after controlling the robot to turn to a side of the elevator door facing the elevator, the robot detects the opening and closing state of the elevator according to the response information, and if the elevator is in an open door state, it is determined whether the elevator has received a closing instruction within a time period corresponding to the open door state according to the response information, and if not, a closing instruction is sent to the elevator. After the elevator closes the elevator door according to the closing instruction, the elevator operates to the target floor according to the boarding instruction.

[0080] Optionally, when the response information is that the elevator reaches the target floor and the elevator is in the open door state, the robot is controlled to move out of the elevator;

[0081] Still taking the above food delivery robot as an example, when the robot receives the response information of the elevator that the elevator reaches the target floor five and the elevator is in the open door state, the robot is controlled to move out of the elevator, wherein when moving out of the elevator, the moving out route of the robot can be planned according to the target position of the robot entering the elevator and being in the elevator. For example, the robot is located at the center of the elevator, and then the path of the robot can be planned according to the position coordinates of the center, for example, the robot is 50 cm away from the door of the elevator, and then the robot can directly move straight for 80 cm (wherein the straight distance is greater than the sum of the distance between the door of the elevator and the robot and the length of the robot), and move out of the elevator. For another example, the robot can move out of the elevator to the corresponding position waiting to enter the elevator according to the entering path.

[0082] After moving the robot out of the elevator, the method further comprises: sending a light source power-on instruction to the laser radar to re-start the laser emission function of the laser radar.

[0083] Since the light source of the laser radar is turned off after the robot enters the elevator, after the robot moves out of the elevator, the light source of the laser radar needs to be turned on again to restore the function of the laser radar. At this time, since the robot has moved out of the elevator, turning on the light source of the laser radar again has no effect on the opening and closing of the door of the elevator.

[0084] According to an embodiment of the present application, after re-starting the laser emission function of the laser radar, the method further comprises:

[0085] determining the rotation speed of the motor of the laser radar based on the working data;

[0086] setting the rotation speed as a preset motor rotation speed.

[0087] Wherein, during the process of the robot entering and exiting the elevator, the motor of the laser radar is in a working state, after the light source of the laser radar is re-powered, the rotation speed of the motor of the laser radar is obtained, and the rotation speed of the motor is set to a preset motor rotation speed to avoid the problem of frequency reduction of the laser radar. Before setting the rotation speed of the motor to the preset motor rotation speed, the rotation speed of the motor can be compared with the preset motor rotation speed, if they are equal, no setting is performed, and if they are not equal, the rotation speed of the motor is set to the preset motor rotation speed.

[0088] Optionally, in a specific embodiment, as Figure 7As shown, the communication protocol between the robot and the laser radar can be a UDP communication protocol. The robot enters the waiting area of the elevator doorway in the working process and waits for the elevator to open the door. When the elevator opens the door, the robot enters the elevator and moves to the target position. After the robot turns to face the elevator door, the robot sends a power-off instruction (light source off instruction) to the laser radar in the form of a UDP packet through the UDP protocol. After receiving the UDP packet, the laser radar analyzes it. After analyzing the power-off instruction, the laser radar controls the signal board of the laser radar to only turn off the light source. By turning off the light source, the light emitted by the laser radar is avoided to interfere with the elevator grating. At this time, although the light source of the laser radar is turned off, the radar can still send device packets to the robot through UDP to normally record radar working data. After that, the robot is always in the elevator. Before the robot moves out of the elevator, the laser radar always keeps the light source off. When the elevator reaches the corresponding floor, the elevator opens the door, and after the robot moves out of the elevator, the robot sends a power-on instruction (light source on instruction) to the laser radar in the form of a UDP packet through a system command. After receiving the UDP packet, the laser radar analyzes it. After analyzing the power-on instruction, the laser radar controls the signal board to turn on the light source, and simultaneously adjusts the motor speed according to the working data, so that the laser radar resumes normal operation.

[0089] In summary, the power-off process of the laser radar is as follows: After the robot enters the target position of the elevator, the robot sends a UDP packet carrying a power-off instruction to the radar. After receiving the UDP packet, the laser radar analyzes the power-off instruction. The laser radar controls the signal board emission group (light source) to turn off the power successfully. The power-on process of the laser radar is as follows: After the robot moves out of the elevator, the robot sends a UDP packet carrying a power-on instruction to the laser radar. After receiving the UDP packet, the laser radar analyzes the power-on instruction. The laser radar controls the signal board emission group (light source) to turn on the power successfully.

[0090] It should be noted that the above robot can also be a delivery robot and other robots well known in the art, and the present application does not make specific limitations thereto.

[0091] In summary, according to the embodiments of the present invention, a robot and a control method, device, and medium for entering and exiting an elevator thereof are proposed. In the control method, after the robot enters the elevator, a light source power-off command is sent to the laser radar installed on the robot to disable the laser radar's laser emission function; and working data sent by the laser radar is received. That is, after the elevator door opens and the robot enters the elevator and is located at the corresponding position, the robot sends a light source power-off command to the laser radar, causing the laser radar's light source to be powered off. Furthermore, after the robot enters the elevator, the laser radar's light source is in a turned-off state and no longer emits laser light. The infrared grating that manages the normal opening and closing of the elevator door is no longer affected by the laser emitted by the laser radar, thereby preventing the laser emitted by the robot-mounted laser radar from affecting the normal closing of the elevator door, thereby ensuring the normal operation of the elevator. At the same time, the other modules of the laser radar continue to operate, and there is no need to restart the entire machine later, which can improve the efficiency of re-powering the laser radar light source.

[0092] Example 2

[0093] Based on the same inventive concept, the second embodiment of the present invention proposes a control device for a robot entering and exiting an elevator, such as Figure 8 As shown, the control device includes:

[0094] The sending module 101 is used to send a light source power-off instruction to the laser radar installed on the robot after the robot enters the elevator, so as to turn off the laser emission function of the laser radar.

[0095] The receiving module 102 is used to receive the working data sent by the laser radar.

[0096] According to an embodiment of the present invention, the control device further includes a second sending module, a second receiving module and a first control module.

[0097] The second sending module is used to send an elevator boarding instruction to the elevator, where the elevator boarding instruction includes current floor information and target floor information.

[0098] The second receiving module is used to receive the response information returned by the elevator in response to the elevator riding instruction.

[0099] The first control module is used to control the robot to enter the elevator when the response information indicates that the elevator has arrived at the current floor and the elevator is in an open door state.

[0100] Furthermore, the first control module includes:

[0101] The point cloud acquisition unit is used to obtain point cloud data obtained by the laser radar scanning the elevator.

[0102] The first control unit is used to control the robot to move to a target position in the elevator according to the point cloud data.

[0103] The second control unit controls the robot to turn to face the side of the elevator door of the elevator.

[0104] According to an embodiment of the present application, the control device further comprises a third sending module, which sends a closing instruction to the elevator to make the elevator close the elevator door according to the closing instruction after controlling the robot to turn to face the side of the elevator door of the elevator.

[0105] According to an embodiment of the present application, the control device further comprises:

[0106] The third receiving module is configured to receive task information.

[0107] The parsing module is configured to parse the task information to generate an elevator-riding instruction.

[0108] According to an embodiment of the present application, the control device further comprises:

[0109] The second control module is configured to control the robot to move out of the elevator when the response information indicates that the elevator has arrived at the target floor and the elevator is in an open door state.

[0110] The third sending module is configured to send a light source power-on instruction to the laser radar to re-enable the laser emission function of the laser radar.

[0111] According to an embodiment of the present application, the control device further comprises:

[0112] The determining module is configured to determine the rotation speed of the motor of the laser radar based on the working data.

[0113] The configuration module is configured to set the rotation speed as a preset motor rotation speed.

[0114] The control device for the robot to enter and exit the elevator provided in the embodiments of the present application can execute the control method for the robot to enter and exit the elevator provided in any embodiment of the present application, and has the corresponding function modules and beneficial effects of the execution method. The related content has been described in the method embodiments, and will not be described here.

[0115] Embodiment three

[0116] Figure 9 is a block diagram of the robot provided in the embodiments of the present application. The robot 200 comprises a controller 201, a laser radar 202, and a wireless communication module 203. The laser radar 202 is in communication connection with the controller 201, and the wireless communication module 203 is configured to communicate with the controller 201 and the elevator 300.

[0117] In the embodiments of the present application, the controller 201 comprises at least one processor and a memory connected to the at least one processor in communication, wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the robot elevator access control method proposed in any of the embodiments of the present application.

[0118] Figure 10 A structural schematic diagram of the controller 201 that can be used to implement the embodiments of the present application is shown.

[0119] As shown in Figure 10 , the controller 201 comprises at least one processor 11 and a memory connected to the at least one processor 11 in communication, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program executable by the at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the controller 201 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0120] A plurality of components in the controller 201 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the controller 201 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunications networks.

[0121] The processor 11 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the robot elevator access control method.

[0122] In some embodiments, the method of controlling a robot to access an elevator can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded onto and / or installed on the controller 201 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the method of controlling a robot to access an elevator described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the method of controlling a robot to access an elevator by any other suitable means, for example by means of firmware.

[0123] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (PLD), a computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0124] Computer programs used to implement the processes of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as a stand-alone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0125] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0126] To provide for interaction with a user, the systems and techniques described here can be implemented on a robot having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the controller. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0127] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0128] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0129] The application further provides a computer readable storage medium, which stores computer instructions, and the computer instructions are used to make a processor execute the control method of the robot entering and exiting the elevator.

[0130] It should be understood that the steps shown above can be reordered, added, or deleted using various forms of flow. For example, the steps described in the application can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions of the application can be achieved, and this is not limited herein.

[0131] The above detailed description does not constitute a limitation on the protection scope of the application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application shall be included in the protection scope of the application.

Claims

1. A control method for a robot to enter and exit an elevator, characterized by, The method comprises: sending a boarding instruction to an elevator, the boarding instruction comprising current floor information and target floor information; receiving response information returned by the elevator in response to the boarding instruction; controlling the robot to enter the elevator when the response information indicates that the elevator has arrived at the current floor and is in a door-open state; the control of the robot to enter the elevator comprises: obtaining point cloud data obtained by a laser radar mounted on the robot when the laser radar scans the elevator; controlling the robot to move to a target position in the elevator according to the point cloud data; controlling the robot to turn to face one side of a door of the elevator; after the robot enters the elevator, sending a light source power-off instruction to the laser radar mounted on the robot to turn off the laser emission function of the laser radar; receiving working data sent by the laser radar.

2. The control method of claim 1, wherein, After the robot is controlled to turn to face one side of the door of the elevator, the method further comprises: sending a closing instruction to the elevator to make the elevator close the door according to the closing instruction.

3. The control method of claim 1, wherein, Before sending the boarding instruction to the elevator, the method further comprises: receiving task information; parsing the task information to generate the boarding instruction.

4. The control method of claim 1, wherein The method further comprises: controlling the robot to move out of the elevator when the response information indicates that the elevator has arrived at the target floor and is in the door-open state; sending a light source power-on instruction to the laser radar to re-enable the laser emission function of the laser radar.

5. The control method of claim 4, wherein, After the laser emission function of the laser radar is re-enabled, the method further comprises: determining the rotation speed of the motor of the laser radar based on the working data; setting the rotation speed to a preset motor rotation speed.

6. A control device for a robot to enter and exit an elevator, characterized by The method comprises: a sending module configured to send a light source power-off instruction to a laser radar mounted on the robot to turn off the laser emission function of the laser radar after the robot enters the elevator; a receiving module configured to receive working data sent by the laser radar; the control device further comprises a second sending module, a second receiving module and a first control module; the second sending module is configured to send a boarding instruction to an elevator, the boarding instruction comprising current floor information and target floor information; the second receiving module is configured to receive response information returned by the elevator in response to the boarding instruction; the first control module is configured to control the robot to enter the elevator when the response information indicates that the elevator has arrived at the current floor and is in a door-open state; the first control module comprises: a point cloud obtaining unit configured to obtain point cloud data obtained by a laser radar mounted on the robot when the laser radar scans the elevator; a first control unit configured to control the robot to move to a target position in the elevator according to the point cloud data; a second control unit configured to control the robot to turn to face one side of a door of the elevator.

7. A robot, characterized in that The method comprises: a controller; a laser radar in communication connection with the controller; a wireless communication module configured to communicate with the controller and the elevator, wherein the controller comprises: at least one processor; and a memory in communication connection with the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the control method of the robot entering and exiting the elevator according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to implement the control method of the robot entering and exiting the elevator according to any one of claims 1-5 when executed.

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