A method, device, electronic device and storage medium for a robot to take an elevator

Abstract

The present invention discloses a method, device, electronic device and storage medium for a robot to take an elevator. The method includes: if it is determined that the condition for entering the elevator is met, perform the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device; if it is determined that the condition for exiting the elevator is met, perform the backward operation of the robot, and perform a second obstacle avoidance detection operation corresponding to the backward operation, so that the robot exits the target elevator. By running the technical solution provided by the embodiments of the present invention, the problem that installing high-precision radars with the same level front and back in a scenario with low requirements for two-way operation of the robot, realizing the two-way operation of the robot entering and exiting the elevator, resulting in an increase in the cost of the robot, can be solved, and the beneficial effect of reducing the cost of the robot to complete the elevator-taking behavior is achieved.

Description

Technical Field

[0001] The present invention relates to robot technology, and particularly to a method, device, electronic device and storage medium for a robot to take an elevator. Background Art

[0002] With the popularization of intelligent robots, intelligent robots are increasingly widely used in the service industry, not only reducing labor costs but also improving service efficiency. Sometimes, during the task execution process, a robot needs to change the task execution location by taking an elevator.

[0003] Currently, for a robot to take an elevator, high-precision radars are usually installed equally in the front and back of the robot to meet obstacle avoidance without dead angles and precise positioning around the robot, so as to realize the two-way operation of the robot entering and exiting the elevator. However, in scenarios with lower requirements for two-way operation, installing high-precision radars equally in the front and back results in an increase in the cost of the robot. Summary of the Invention

[0004] The present invention provides a method, device, electronic device and storage medium for a robot to take an elevator, so as to reduce the cost of the robot to complete the behavior of taking an elevator.

[0005] According to one aspect of the present invention, there is provided a method for a robot to take an elevator, the method including:

[0006] If it is determined that the entry condition of the target elevator on the target entry floor is met, perform the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device;

[0007] If it is determined that the exit condition of the target elevator on the target exit floor is met, perform the backward operation of the robot, and perform a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator.

[0008] According to another aspect of the present invention, there is provided a device for a robot to take an elevator, characterized by including:

[0009] A first obstacle avoidance detection operation execution module, configured to, if it is determined that the entry condition of the target elevator on the target entry floor is met, perform the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device;

[0010] The second obstacle avoidance detection operation execution module is configured to, if it is determined that the exit condition of the target elevator on the target exit floor is met, perform the backward operation of the robot, and perform a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator.

[0011] According to another aspect of the present invention, there is provided an electronic device, the electronic device includes:

[0012] At least one processor; and

[0013] A memory communicatively connected to the at least one processor; wherein,

[0014] 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, so that the at least one processor can execute the robot boarding method according to any embodiment of the present invention.

[0015] According to another aspect of the present invention, there is provided a computer-readable storage medium, the computer-readable storage medium stores computer instructions, and the computer instructions are used to implement the robot boarding method according to any embodiment of the present invention when executed by a processor.

[0016] The technical solution of the embodiment of the present invention is as follows: if it is determined that the entry condition of the target elevator on the target entry floor is met, the forward operation of the robot is performed, and a first obstacle avoidance detection operation corresponding to the forward operation is performed through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device; if it is determined that the exit condition of the target elevator on the target exit floor is met, the backward operation of the robot is performed, and a second obstacle avoidance detection operation corresponding to the backward operation is performed through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator. This solves the problem that in scenarios with low two-way operation requirements for the robot, high-precision radars are installed equally in the front and back to achieve two-way operation of the robot entering and exiting the elevator, resulting in an increase in the cost of the robot, and achieves the beneficial effect of reducing the cost of the robot to complete the boarding behavior.

[0017] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present invention, nor is it used to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. Description of the Drawings

[0018] Figure 1 It is a flowchart of a robot boarding method provided in Embodiment 1 of the present invention;

[0019] Figure 2 Schematic diagram of the radar device layout of a robot provided in the first embodiment of the present invention;

[0020] Figure 3 Flowchart of a robot elevator riding method provided in the second embodiment of the present invention;

[0021] Figure 4 Schematic diagram of the structure of a robot elevator riding device provided in the third embodiment of the present invention;

[0022] Figure 5 Schematic diagram of the structure of an electronic device for implementing the embodiments of the present invention. Detailed implementation manners

[0023] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0024] It should be noted that the terms "first", "second", "target", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0025] Embodiment 1

[0026] Figure 1 Flowchart of a robot elevator riding method provided in the first embodiment of the present invention. This embodiment is applicable to the situation where a robot autonomously rides an elevator. This method can be executed by the robot elevator riding device provided in the embodiments of the present invention, and the device can be implemented in a software and / or hardware manner. Refer to Figure 1 , the robot elevator riding method provided in this embodiment includes:

[0027] Step 110: If it is determined that the boarding condition of the target elevator on the target boarding floor is met, perform the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device.

[0028] The target elevator is the elevator that the robot needs to take, and can be an elevator that opens the elevator door on the target boarding floor in response to the robot's call request for the elevator control module in the elevator; the target boarding floor is the floor where the robot enters the target elevator, and can be the floor where the robot is currently located; the boarding condition is the condition for the robot to enter the target elevator, for example, the front radar device of the robot detects that the elevator door of the target elevator is opened, or after the elevator control module notifies the robot that the target elevator arrives at the target boarding floor, a preset time interval passes, and the robot is located at the elevator door of the target elevator, etc.

[0029] If it is determined that the boarding condition is met, perform the forward operation of the robot, that is, the robot moves forward facing the inside of the target elevator. Perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, that is, perform an obstacle avoidance operation during the forward operation through at least one of the front radar device and the rear radar device of the robot. For example, detect obstacles through the front radar device, so that the robot performs operations such as bypassing the detected obstacles, so that the robot enters the target elevator.

[0030] A radar device of a robot is installed at the front and rear of the robot respectively. The radar device can be used not only to implement the obstacle detection function, but also to implement the positioning function through map feature comparison. Optionally, the front and rear radar devices can be arranged in a diagonal layout to meet the obstacle avoidance without dead angles around the robot. Figure 2 It is a schematic diagram of the layout of the radar device of a robot provided in Embodiment 1 of the present invention. As Figure 2 shown, a front radar device 22 is provided on the right front of the robot 21, and a rear radar device 23 is provided on the left rear of the robot.

[0031] The radar accuracy of the front radar device is greater than that of the rear radar device. It can be that the front radar device is a high-precision radar, and the rear radar device is a conventional lidar with lower accuracy.

[0032] In this embodiment, optionally, before performing the forward operation of the robot, it further includes:

[0033] Send an elevator scheduling request to the elevator control module according to the target boarding floor and the target alighting floor of the robot, so that the elevator control module generates an elevator scheduling instruction;

[0034] Obtain the elevator dispatching instruction, and determine the target elevator from the candidate elevators on the target entry floor according to the elevator dispatching instruction;

[0035] Determine the waiting position of the target elevator according to the front radar device, so that the robot travels from the first current position to the waiting position.

[0036] Among them, the elevator control module communicates with the robot, is used to receive the information sent by the robot to dispatch the elevator, and returns the elevator-related information to the robot.

[0037] Send an elevator dispatching request to the elevator control module according to the target entry floor and the target exit floor of the robot, so that the elevator control module generates an elevator dispatching instruction, and dispatch an elevator that can carry the robot from the target entry floor to the target exit floor from the candidate elevators according to the elevator dispatching instruction, and determine this elevator as the target elevator. Among them, the candidate elevators can be all the elevators controlled by the elevator control module, and this embodiment does not limit this. There is no need for manual assistance for the robot to call the elevator, and the elevator riding efficiency of the robot is improved through the automatic elevator calling method.

[0038] Determine the waiting position of the target elevator according to the positioning function of the front radar device, so that the robot can travel from the first current position where the robot is located to the waiting position during the period when the target elevator runs to the target entry floor or the elevator door opens, which is convenient for the robot to directly enter the target elevator from the waiting position when the elevator door of the target elevator opens at the target entry floor, and improves the elevator riding efficiency of the robot.

[0039] Step 120: If it is determined that the exit condition of the target elevator on the target exit floor is met, perform the backward operation of the robot, and perform a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator.

[0040] The target exit floor is the floor where the robot leaves the target elevator, and can be the floor corresponding to the current task executed by the robot. The exit condition is the condition for the robot to leave the target elevator. For example, after the elevator reaches the exit floor, a preset time interval has passed, and the robot is located on the target exit floor.

[0041] If it is determined that the exit condition is met, perform the backward operation of the robot, that is, the robot travels backward outside the target elevator. Perform a second obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, that is, perform an obstacle avoidance operation during the backward operation through at least one of the front radar device and the rear radar device of the robot.

[0042] After entering the elevator, the robot can maintain its forward-facing orientation towards the interior of the target elevator without the need to turn. When it needs to exit the elevator, it uses the rear radar device to detect obstacles, enabling the robot to perform operations such as bypassing the detected obstacles, so that the robot can exit the target elevator while maintaining its rear-facing orientation towards the elevator door, avoiding the problem that it is difficult for the robot to adjust its orientation due to overcrowding inside the elevator, thereby improving the success rate of the robot's elevator-riding operation.

[0043] It should be noted that since the normal traveling direction of the robot is facing forward, the front radar device with higher accuracy can be used for obstacle avoidance and other operations under normal circumstances, and the rear radar device is used for auxiliary detection; in scenarios where the accuracy requirements for the radar are not high, such as when exiting the elevator, the rear radar device with lower accuracy is mainly used for obstacle avoidance and other operations.

[0044] In this embodiment, optionally, determining that the target elevator meets the exit conditions on the target exit floor includes:

[0045] Using the rear radar device to detect obstacles on the elevator door of the target elevator to determine whether the elevator door is in the open state;

[0046] Using the rear radar device to detect the position of the target elevator to determine whether the target elevator is on the target exit floor;

[0047] If both are satisfied, it is determined that the exit conditions are met.

[0048] Using the obstacle detection function of the rear radar device to detect obstacles on the elevator door of the target elevator to determine whether the elevator door is in the open state, and using the positioning function of the rear radar device to detect the position of the target elevator to determine whether the target elevator is on the target exit floor. If it is determined that the elevator door is open and the target elevator is located at, it is determined that the exit conditions are met.

[0049] Avoiding incorrect information transmission by the elevator control module, notifying the robot to exit the elevator when the elevator door is not open or the elevator stops at a non-target exit floor, resulting in incorrect robot exit, and improving the accuracy of the robot's exit operation.

[0050] The technical solution provided in this embodiment performs a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; performs a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator front radar device, and the accuracy of the front radar device is greater than that of the rear radar device. Through the differential lidar solution, the problem that in scenarios with relatively low two-way operation requirements, such as the elevator riding scenario with relatively low requirements for obstacle recognition, installing high-precision radars of the same level in the front and rear of the robot increases the cost of the robot is solved, and the effect that the robot can still complete the operation of entering and exiting the elevator while reducing the radar cost is achieved.

[0051] Embodiment 2

[0052] Figure 3 The flowchart of a robot elevator riding method provided in Embodiment 2 of the present invention. This technical solution is a supplementary description of the process after the robot exits the target elevator. Compared with the above solution, this solution is specifically optimized as follows: after the robot exits the target elevator, it further includes:

[0053] Obtain the target orientation of the robot, and perform an orientation adjustment operation for the robot to rotate from the current orientation to the target orientation;

[0054] Perform a third obstacle avoidance detection operation corresponding to the orientation adjustment operation through at least one of the front radar device and the rear radar device. Specifically, the flowchart of the robot elevator riding method is as Figure 3 shown:

[0055] Step 310: If it is determined that the elevator entry condition of the target elevator on the target entry floor is met, perform the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device.

[0056] Step 320: If it is determined that the elevator exit condition of the target elevator on the target exit floor is met, perform the backward operation of the robot, and perform a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator.

[0057] In this embodiment, optionally, the method further includes:

[0058] During the process of performing the backward operation of the robot, judge whether the front end of the robot leaves the elevator door of the target elevator through the front radar device;

[0059] If so, stop the backward operation.

[0060] During the backward operation of the robot, the robot faces the inside of the target elevator. Whether the front end of the robot leaves the elevator door of the target elevator can be judged by the positioning function of the front radar device to determine whether the robot moves outside the target elevator, or whether the front end of the robot leaves the elevator sill of the target elevator can be detected by the obstacle detection function of the front radar device. This embodiment does not limit this.

[0061] If it is judged that the elevator door of the target elevator is left, stop the backward operation to avoid the robot retreating too much during the backward operation or stopping the backward operation when the robot has not left the elevator, and improve the accuracy of the backward operation.

[0062] In this embodiment, optionally, the method further includes:

[0063] During the forward operation or the backward operation, judge whether there is a target obstacle within a preset range of the target elevator through at least one of the front radar device and the rear radar device; wherein, the target obstacle is an obstacle that hinders the forward operation or the backward operation.

[0064] If so, judge whether the target obstacle exists after a preset time interval.

[0065] If not, perform the forward operation or the backward operation.

[0066] During the forward operation or the backward operation, judge whether there is a target obstacle that hinders the forward operation or the backward operation and cannot be bypassed within a preset range of the target elevator through at least one of the front radar device and the rear radar device. Exemplarily, when performing the forward operation, judge whether there is an obstacle inside the elevator that prevents the robot from entering the elevator, such as a person standing at the elevator door of the target elevator or an item placed at the elevator door; when performing the backward operation, judge whether there is an obstacle inside or outside the elevator that prevents the robot from exiting the elevator, such as a person standing at the elevator door inside or outside the target elevator.

[0067] Judge whether the target obstacle exists after a preset time interval. For example, after 5 seconds, judge again whether the target obstacle still exists. If not, the target obstacle may disappear due to moving its position by itself or being cleared, etc. At this time, continue to perform the forward operation or the backward operation. Optionally, if the target obstacle still exists after the preset time interval, corresponding voice prompts can be used to make the target obstacle move its position by itself or make the object hearing the prompt help move the target obstacle, etc.

[0068] After a preset time interval, it is determined whether a target obstacle exists, and based on the determination result, it is determined whether to perform a forward operation or a backward operation. When an obstacle that hinders the forward operation or the backward operation appears, the forward operation or the backward operation is stopped, thereby improving the efficiency of the robot taking the elevator.

[0069] Step 330: Obtain the target orientation of the robot and perform an orientation adjustment operation for the robot to rotate from the current orientation to the target orientation.

[0070] Among them, the target orientation is the orientation that the robot needs to turn to. For example, the robot rotates 90 degrees or 180 degrees after getting out of the elevator. Perform an orientation adjustment operation for the robot to rotate from the current orientation to the target orientation. For example, when the robot exits the elevator backward, perform an orientation adjustment operation for the robot to turn from the direction facing the elevator door to the orientation with its back to the elevator door.

[0071] In this embodiment, optionally, obtaining the target orientation of the robot includes

[0072] If the robot has a task to be executed, obtain the target movement position corresponding to the task to be executed;

[0073] According to the target movement position of the robot and the second current position of the robot, determine the path to be moved by the robot;

[0074] According to the path to be moved, obtain the target orientation.

[0075] The task to be executed is the task that the robot currently needs to execute, such as transporting items to a target location, etc. This embodiment does not limit this. If there is a task to be executed, obtain the target movement position corresponding to the task to be executed. Among them, the target movement position is the position required to execute this task. For example, in a hotel scenario, if the task to be executed is to transport items to Room 501, the target movement position can be the preset waiting position corresponding to Room 501.

[0076] According to the target movement position of the robot and the second current position of the robot, plan the path to be moved by the robot; among them, the second current position can be the position where the robot is after getting out of the elevator.

[0077] According to the path to be moved, obtaining the target orientation can be taking the direction of the movement path as the target orientation. Exemplarily, if the path to be moved is to move north from the second current position, the target orientation can be determined to be north.

[0078] It is avoided that the robot has to adjust its orientation to a preset orientation every time after getting out of the elevator before performing subsequent tasks, and the robot can directly move from the second current position to the target movement position in the direction of the target orientation, improving the efficiency of the robot performing subsequent tasks.

[0079] Step 340: Perform a third obstacle avoidance detection operation corresponding to the orientation adjustment operation through at least one of the front radar device and the rear radar device.

[0080] Performing a third obstacle avoidance detection operation corresponding to the orientation adjustment operation through at least one of the front radar device and the rear radar device, that is, performing an obstacle avoidance operation during the orientation adjustment operation through at least one of the front radar device and the rear radar device of the robot.

[0081] In the embodiment of the present invention, after the robot exits the target elevator, the original ground orientation is adjusted to the target orientation, and obstacle avoidance detection is continuously performed during the orientation adjustment process to ensure the success of the orientation adjustment, facilitate the subsequent movement of the robot directly from the current position towards the target orientation, and improve the subsequent movement efficiency.

[0082] Embodiment III

[0083] Figure 4 It is a schematic structural diagram of a robot elevator riding device provided in Embodiment III of the present invention. This device can be implemented in a hardware and / or software manner, can execute a robot elevator riding method provided in any embodiment of the present invention, and has corresponding functional modules and beneficial effects for executing the method. As Figure 4 shown, the device includes:

[0084] A first obstacle avoidance detection operation execution module 410, configured to, if it is determined that the entry condition of the target elevator on the target entry floor is met, execute the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device;

[0085] A second obstacle avoidance detection operation execution module 420, configured to, if it is determined that the exit condition of the target elevator on the target exit floor is met, execute the backward operation of the robot, and perform a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the robot exits the target elevator.

[0086] On the basis of the above technical solutions, optionally, the second obstacle avoidance detection operation execution module includes:

[0087] An on - state determination unit, configured to detect obstacles on the elevator door of the target elevator through the rear radar device, and determine whether the elevator door is in an open state;

[0088] A floor determination unit for detecting the position of the target elevator through the rear radar device to determine whether the target elevator is at the target exit floor;

[0089] A condition satisfaction determination unit for determining that the exit condition is satisfied if both the opening state determination unit and the floor determination unit are satisfied.

[0090] Based on the above technical solutions, optionally, the device further includes:

[0091] An elevator scheduling request sending module for, before the first obstacle detection operation execution module performs the forward operation of the robot, sending an elevator scheduling request to the elevator control module according to the target entry floor and the target exit floor of the robot, so that the elevator control module generates an elevator scheduling instruction;

[0092] A target elevator determination module for obtaining the elevator scheduling instruction and determining the target elevator from the candidate elevators at the target entry floor according to the elevator scheduling instruction;

[0093] A waiting position determination module for determining the waiting position of the target elevator according to the front radar device, so that the robot moves from the first current position to the waiting position.

[0094] Based on the above technical solutions, optionally, the device further includes:

[0095] A front-end leaving judgment module for, during the execution of the backward operation of the robot, judging whether the front end of the robot leaves the elevator door of the target elevator through the front radar device;

[0096] A backward operation stop module for stopping the backward operation if the front-end leaving judgment module judges yes.

[0097] Based on the above technical solutions, optionally, the device further includes:

[0098] A first obstacle presence judgment module for, during the execution of the forward operation or the backward operation, judging whether there is a target obstacle within a preset range of the target elevator through at least one of the front radar device and the rear radar device; wherein, the target obstacle is an obstacle that hinders the forward operation or the backward operation;

[0099] A second obstacle presence judgment module for, if the first obstacle presence judgment module judges yes, judging whether the target obstacle exists after a preset time interval;

[0100] An operation execution module, configured to execute the forward operation or the backward operation if the second obstacle presence determination module determines that the second obstacle does not exist.

[0101] Based on the above technical solutions, optionally, the device further includes:

[0102] An orientation adjustment operation execution module, configured to, after the robot exits the target elevator, obtain the target orientation of the robot and execute an orientation adjustment operation for the robot to rotate from the current orientation to the target orientation;

[0103] An obstacle avoidance detection operation execution module, configured to perform a third obstacle avoidance detection operation corresponding to the orientation adjustment operation through at least one of the front radar device and the rear radar device.

[0104] Based on the above technical solutions, optionally, the orientation adjustment operation execution module includes: if there is a task to be executed by the robot, obtaining a target movement position corresponding to the task to be executed;

[0105] A to-be-moved path determination unit, configured to determine a to-be-moved path of the robot according to the target movement position of the robot and the second current position of the robot;

[0106] A target orientation obtaining unit, configured to obtain the target orientation according to the to-be-moved path.

[0107] Embodiment 4

[0108] Figure 5 FIG. shows a schematic structural diagram of an electronic device 10 that can be used to implement the embodiments of the present invention. The electronic device is intended to represent various forms of digital computers, such as, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as, a personal digital processor, a cellular phone, a smart phone, a wearable device (such as a helmet, glasses, a watch, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or claimed herein.

[0109] As Figure 5As shown, the electronic device 10 includes at least one processor 11 and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. 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 electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0110] Multiple components in the electronic device 10 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 disk, an optical disc, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0111] 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 dedicated 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 executes the various methods and processes described above, such as the robot elevator method.

[0112] In some embodiments, the robot elevator method 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 and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot elevator method described above can be executed. Alternatively, in other embodiments, the processor 11 can be configured to execute the robot elevator method by any other appropriate means (e.g., by means of firmware).

[0113] The various embodiments of the systems and techniques described above in this specification can be implemented in digital electronic circuitry, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include: being implemented 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 a special-purpose or general-purpose programmable processor that receives data and instructions from, and transmits data and instructions to, a storage system, at least one input device, and at least one output device.

[0114] The computer program for implementing the methods of the present invention 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, such that the computer programs, when executed by the processor, cause the functions / operations specified in the flowchart and / or block diagram to be implemented. The computer program can be executed entirely on the machine, partly on the machine, as a stand-alone software package partly on the machine and partly on a remote machine or entirely on the remote machine or server.

[0115] In the context of the present invention, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, 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.

[0116] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device 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) through which the user can provide input to the electronic device. Other kinds of devices can also be used to provide interaction with the user; for example, the 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 input, voice input, or tactile input).

[0117] The systems and techniques described herein can be implemented in a computing system including backend components (e.g., as a data server), or a computing system including middleware components (e.g., an application server), or a computing system including frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system including any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected to each other by digital data communication in any form or medium (e.g., a communication network). Examples of communication networks include: local area network (LAN), wide area network (WAN), blockchain network, and the Internet.

[0118] The computing system can include a client and a server. The client and the server are generally far from each other and typically interact through a communication network. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system and solves the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0119] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps recited in the present invention can be executed in parallel, sequentially, or in a different order, as long as the desired results of the technical solution of the present invention can be achieved, and no limitation is imposed herein.

[0120] The above specific embodiments do not constitute a limitation on the protection scope of the present invention. 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 substitutions, and improvements made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A method for a robot to take an elevator, characterized in that, Including: If it is determined that the boarding condition of the target elevator on the target boarding floor is met, perform the forward operation of the robot, and perform a first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator and keeps the front of the robot facing the inside of the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device, and the front radar device and the rear radar device are arranged in a diagonal layout; the forward direction of the robot is facing forward; If it is determined that the alighting condition of the target elevator on the target alighting floor is met, perform the backward operation of the robot without turning, and perform a second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the front of the robot faces the inside of the target elevator and the robot backs to the outside of the target elevator, and exit the target elevator while keeping the rear of the robot facing the direction of the elevator door; wherein, during the backward operation of the robot, detect obstacles behind through the rear radar device, and judge whether the front end of the robot leaves the elevator door of the target elevator through the front radar device; if so, stop the backward operation; Obtain the target orientation of the robot, and perform an orientation adjustment operation for the robot to rotate from the current orientation to the target orientation; the target orientation is the orientation that the robot needs to turn to; perform a third obstacle avoidance detection operation corresponding to the orientation adjustment operation through at least one of the front radar device and the rear radar device; Wherein, during the forward operation or the backward operation, judge whether there is a target obstacle within the preset range of the target elevator through at least one of the front radar device and the rear radar device; wherein, the target obstacle is an obstacle that hinders the forward operation or the backward operation; if so, judge whether the target obstacle exists after a preset time interval; if not, perform the forward operation or the backward operation; if it exists, through voice prompt, make the target obstacle move its position by itself or make the object who hears the prompt help move the target obstacle.

2. The method according to claim 1, characterized in that, Determining that the alighting condition of the target elevator on the target alighting floor is met includes: Detect obstacles on the elevator door of the target elevator through the rear radar device to determine whether the elevator door is in an open state; Detect the position of the target elevator through the rear radar device to determine whether the target elevator is on the target alighting floor; If both are met, it is determined that the alighting condition is met.

3. The method according to claim 1, characterized in that, Before performing the forward operation of the robot, it further includes: Send an elevator scheduling request to the elevator control module according to the target boarding floor and the target alighting floor of the robot, so that the elevator control module generates an elevator scheduling instruction; Obtain the elevator scheduling instruction, and determine the target elevator from the candidate elevators on the target boarding floor according to the elevator scheduling instruction; Determine the waiting position of the target elevator according to the front radar device, so that the robot moves from the first current position to the waiting position.

4. The method according to claim 1, characterized in that, Obtain the target orientation of the robot, including If the robot has a task to be executed, obtain the target moving position corresponding to the task to be executed; Determine the path to be moved of the robot according to the target moving position of the robot and the second current position of the robot; Obtain the target orientation according to the path to be moved.

5. A robot elevator riding device, characterized in that, Including: The first obstacle avoidance detection operation execution module is used to, if it is determined that the entry condition of the target elevator on the target entry floor is met, execute the forward operation of the robot, and perform the first obstacle avoidance detection operation corresponding to the forward operation through at least one of the front radar device and the rear radar device of the robot, so that the robot enters the target elevator and keeps the front of the robot facing the inside of the target elevator; wherein, the radar accuracy of the front radar device is greater than that of the rear radar device, and the front radar device and the rear radar device are arranged in a diagonal layout; the forward direction of the robot is facing forward; The second obstacle avoidance detection operation execution module is used to, if it is determined that the exit condition of the target elevator on the target exit floor is met, execute the backward operation without turning the robot, and perform the second obstacle avoidance detection operation corresponding to the backward operation through at least one of the front radar device and the rear radar device, so that the front of the robot faces the inside of the target elevator and the robot backs to the outside of the target elevator, and the robot exits the target elevator while keeping the rear of the robot facing the elevator door direction; The front end departure judgment module is used to, during the execution of the backward operation of the robot, detect obstacles behind through the rear radar device, and judge whether the front end of the robot leaves the elevator door of the target elevator through the front radar device; The backward operation stop module is used to, if so, stop the backward operation; The orientation adjustment operation execution module is used to obtain the target orientation of the robot and execute the orientation adjustment operation of rotating the robot from the current orientation to the target orientation; the target orientation is the orientation that the robot needs to turn to; The obstacle avoidance detection operation execution module is used to perform the third obstacle avoidance detection operation corresponding to the orientation adjustment operation through at least one of the front radar device and the rear radar device; The first obstacle existence judgment module is used to, during the execution of the forward operation or the backward operation, judge whether there is a target obstacle within the preset range of the target elevator through at least one of the front radar device and the rear radar device; wherein, the target obstacle is an obstacle that hinders the forward operation or the backward operation; The second obstacle existence judgment module is used to, if so, judge whether the target obstacle exists after a preset time interval; The operation execution module is used to, if not, execute the forward operation or the backward operation; if it exists, through voice prompts, make the target obstacle move its position by itself or make the object who hears the prompt help move the target obstacle.

6. A robot, characterized in that, The robot includes: at least one processor; and a memory communicatively connected to 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 execute the robot elevator riding method according to any one of claims 1-4.

7. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for implementing the robot elevator riding method according to any one of claims 1-4 when executed by a processor.

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