Method, device and product for planning parking positions in robot elevators

Abstract

The present invention provides a method, device, and product for planning a robot's stopping position within an elevator. The method comprises the following steps: in an elevator scenario, obtaining robot status information and switching the robot's built-in map to a scoring map; obtaining obstacle information within the elevator; and planning the robot's stopping position within the elevator based on the scoring map and obstacle information. This invention enables the robot to autonomously plan its stopping position within the elevator based on the scoring map and obstacle information during the elevator ride. The selected stopping position facilitates the passage of the robot and pedestrians, allowing the robot to flexibly adjust its position within the elevator, thereby improving elevator efficiency and the passenger experience.

Description

Technical field

[0001] The present invention relates to the field of robotics technology, and in particular to a method, device and product for planning a parking position in a robot elevator. [Background Technology]

[0002] To expand their service areas, some service robots are now capable of autonomously riding building elevators. In elevator scenarios, robots must ride in elevators with either a human, a human, or a robot. When sharing an elevator with a human, the robot's behavior and stop locations directly impact the elevator's overall efficiency and the passenger experience.

[0003] Currently, service robots capable of riding elevators typically stop at the center of the elevator and do not actively adjust their position during the ride. This approach significantly impacts the efficiency of pedestrians in crowded elevators with many intermediate stops, resulting in a poor riding experience.

[0004] In view of this, it is necessary to provide a new method, device and product for planning the parking position in a robot elevator to overcome the above-mentioned defects. [Summary of the invention]

[0005] The purpose of the present invention is to provide a method, device and product for planning the parking position of a robot in an elevator, which can flexibly adjust the robot's position in the elevator, thereby improving the elevator's traffic efficiency and the pedestrian elevator experience.

[0006] In order to achieve the above-mentioned objectives, in a first aspect, the present invention provides a method for planning a robot's stopping position in an elevator, comprising the following steps: in an elevator scenario, obtaining the robot's status information and switching the robot's built-in map to a scoring map; obtaining obstacle information in the elevator; and planning the robot's stopping position in the elevator based on the scoring map and the obstacle information.

[0007] In a preferred embodiment, the scoring map includes multiple types of scoring maps corresponding to the status information of the robot, and priority docking areas, i.e., areas with high scores, are drawn in the scoring map. The priority docking areas are the robot's priority docking locations; the step of planning the robot's docking position in the elevator based on the scoring map and the obstacle information includes: controlling the robot to move in the elevator; and selecting the robot's priority docking location in the scoring map based on one type of scoring map corresponding to the status information and the obstacle information to dock.

[0008] In a preferred embodiment, the scoring map also includes areas not recommended for docking, that is, areas with low scores. The robot is not recommended to dock in the areas with low scores.

[0009] In a preferred embodiment, the robot's status information includes an elevator entry status, an elevator riding status, and a pre-elevation elevator exit status, and the scoring map includes a Class A scoring map, a Class B scoring map, and a Class C scoring map corresponding to the elevator entry status, the elevator riding status, and the pre-elevation elevator exit status, respectively.

[0010] In a preferred embodiment, the step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the status information and the obstacle information includes: when the status information of the robot is an elevator entry state, controlling the robot to move to the priority docking position of the robot in the Class A scoring map; during the movement, judging whether there is a position with a higher score and that can be reached in combination with the obtained obstacle information; if there is no higher score and that can be reached, controlling the robot to stop moving.

[0011] In a preferred embodiment, the step of selecting a priority docking location for the robot in one of the scoring maps corresponding to the status information and the obstacle information includes: when the status information of the robot is an elevator state, obtaining the driving information of the elevator and the target floor information of the robot taking the elevator, the driving information including the direction of movement of the elevator and the floor at which it stops; adjusting the map parameters of the Class B scoring map according to the driving information and the target floor information; judging whether there is a location with a higher score and accessible in the Class B scoring map of the current map parameters in combination with the obtained obstacle information; if there is a location with a higher score and accessible, controlling the robot to move to the location with a higher score in the Class B scoring map.

[0012] In a preferred embodiment, the step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the status information and the obstacle information includes: when the status information of the robot is a pre-elevator exit state, controlling the robot to move to the priority docking position for the robot in the Class C scoring map; during the movement, determining whether the robot is blocked according to the obstacle information; if the robot is blocked, issuing an interactive reminder so that the robot can dock at the highest-scoring position in the elevator.

[0013] In a preferred embodiment, the step of planning the robot's parking position in the elevator based on the scoring map and the obstacle information includes: controlling the robot to move to the position with the highest score in the elevator; determining whether the robot is blocked according to the obstacle information during the movement; and if the robot is blocked, controlling the robot to autonomously avoid the obstacle.

[0014] In a second aspect, the present invention provides a device for planning a robot's stopping position in an elevator, comprising: a first acquisition module for acquiring, in an elevator scenario, the robot's status information and switching the robot's built-in map to a scoring map; a second acquisition module for acquiring obstacle information in the elevator; and a position planning module for planning the robot's stopping position in the elevator based on the scoring map and the obstacle information.

[0015] When implementing the device for planning the stopping position of a robot in an elevator provided by the second aspect of the present invention, the method for planning the stopping position of a robot in an elevator described in any embodiment of the first aspect of the present invention can be used to achieve the stopping position of the robot.

[0016] In a third aspect, the present invention further provides a robot comprising: a memory and one or more processors; the memory is used to store one or more computer programs; when the one or more computer programs are executed by the one or more processors, the method for planning a stopping position in a robot elevator as described in any embodiment of the first aspect of the present invention is implemented.

[0017] In a fourth aspect, the present invention further provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for planning a stopping position in a robot elevator as described in any embodiment of the first aspect of the present invention is implemented.

[0018] In a fifth aspect, the present invention further provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the method for planning a stopping position in a robot elevator as described in any embodiment of the first aspect of the present invention.

[0019] Compared with the existing technology, the method, device and product for planning the robot's stopping position in an elevator provided by the present invention can obtain the robot's status information in the elevator scenario and switch the robot's built-in map to a scoring map, and obtain obstacle information in the elevator. Finally, based on the scoring map and obstacle information, the robot plans the stopping position in the elevator. During the elevator ride, the robot autonomously plans the stopping position in the elevator based on the scoring map and obstacle information. The selected stopping position is conducive to the passage of the robot and pedestrians. The robot can flexibly adjust its position in the elevator, thereby improving the elevator's passage efficiency and the pedestrian elevator riding experience.

Brief Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 This is a functional block diagram of the device for planning the parking position of a robot elevator provided by the present invention;

[0022] Figure 2 A flow chart of a method for planning a parking position in a robot elevator provided by the present invention;

[0023] Figure 3 This is a schematic diagram of the Class A scoring map in the present invention;

[0024] Figure 4 This is a schematic diagram of the Class B scoring map in the present invention;

[0025] Figure 5 This is a schematic diagram of the Category C scoring map in the present invention;

[0026] Figure 6 This is a principle block diagram of the robot provided by the present invention. [Specific implementation method]

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

[0028] See also Figure 1 , which is a principle block diagram of the device for planning the parking position of a robot elevator provided by the present invention. The device for planning the parking position of a robot elevator provided by the present invention 100 includes a first acquisition module 10, a second acquisition module 20 and a position planning module 30.

[0029] Specifically, the first acquisition module 10 is used to obtain the robot's status information in the elevator scenario and switch the robot's built-in map to a scoring map; the second acquisition module 20 is used to obtain obstacle information in the elevator; and the position planning module 30 is used to plan the robot's parking position in the elevator based on the scoring map and the obstacle information.

[0030] Furthermore, the scoring map includes multiple scoring maps corresponding to the robot's status information. Priority docking areas, i.e., areas with high scores, are mapped on the scoring map. These priority docking areas are recommended as the robot's preferred docking locations. The position planning module 30 includes a movement control unit and a docking location selection unit. Specifically, the movement control unit is configured to control the robot's movement within the elevator; the docking location selection unit is configured to select a priority docking location in one of the scoring maps corresponding to the status information and the obstacle information.

[0031] Furthermore, the robot's status information includes an elevator entry status, an elevator riding status, and a pre-elevation elevator exit status, and the scoring map includes a Class A scoring map, a Class B scoring map, and a Class C scoring map corresponding to the elevator entry status, elevator riding status, and pre-elevation elevator exit status, respectively.

[0032] Furthermore, when the state information of the robot is an elevator entry state, the robot is controlled to move to a robot priority docking position in the category A scoring map;

[0033] During the movement, determining whether there is a location with a higher score and accessible by combining the obtained obstacle information;

[0034] If there is no higher-scoring location that can be reached, the robot is controlled to stop moving or to stop moving and turn around. In addition, the robot switches from the elevator entry state to the elevator boarding state.

[0035] Furthermore, when the robot's status information is an elevator state, the elevator's travel information and the robot's target floor information for taking the elevator are obtained;

[0036] Adjusting map parameters of the Class B scoring map according to the driving information and the target floor information, and switching different Class B scoring maps according to different map parameters, wherein the driving information includes the direction of elevator movement and the floor at which the elevator stops;

[0037] Determine, based on the obtained obstacle information, whether there is a higher-scoring and accessible location in the Category B scoring map of the current map parameters;

[0038] If there is a location with a higher score and that can be reached, the robot is controlled to move to the location with the higher score in the category B scoring map.

[0039] Furthermore, when the status information of the robot is a pre-elevation state, the robot is controlled to move to a robot priority docking position in the category C scoring map;

[0040] During the movement, determining whether the robot is blocked according to the obstacle information;

[0041] If the robot is blocked, an interactive reminder is issued to enable the robot to stop at the highest-scoring position in the elevator.

[0042] In a preferred embodiment, the position planning module 30 further includes an obstruction determination unit and an autonomous obstacle avoidance unit. Specifically, the movement control unit is further configured to control the robot to move to a location within the elevator with a higher score. In some embodiments, the robot may preferentially move to the location with the highest score within the elevator. The obstruction determination unit is configured to determine whether the robot is obstructed based on the obstacle information during movement. The autonomous obstacle avoidance unit is configured to control the robot to autonomously avoid the obstacle if it is obstructed.

[0043] In a preferred embodiment, when searching for a docking location, the robot gives priority to docking at the location with the highest score. If the location with the highest score is blocked, the robot will then search for areas with lower scores to dock. Of course, the robot may also first search for an area with a high score to dock. If there is a location with a higher score, the robot will go to the location with the higher score to dock, otherwise it will dock at the current location.

[0044] It is understandable that the above functional modules and units can be stored in the memory in the form of software programs and executed by the processor. In alternative embodiments, the above functional modules and units can also be hardware with specific functions, such as a chip with a specific software program burned in it.

[0045] The following combination Figure 2 A detailed introduction is given to the above functional modules and units.

[0046] like Figure 2 , which is a flow chart of the method for planning a docking position within a robot elevator provided by the present invention. It should be noted that the method of the present invention is not limited to the order of the following steps, and in other embodiments, the method of the present invention may include only a portion of the steps described below, or some of the steps may be deleted. In practice, the method for planning a docking position within a robot elevator can be implemented using the aforementioned device for planning a docking position within a robot elevator. The device employs the planning method described in this embodiment to implement docking position planning within a robot elevator.

[0047] The method for planning the parking position of a robot in an elevator provided by the present invention comprises the following steps:

[0048] Step S10: In an elevator scenario, the robot's status information is obtained and the robot's built-in map is switched to a scoring map. Specifically, the elevator scenario refers to a scenario in which the robot is riding an elevator. The robot's specific status information includes process states such as entering, riding, and pre-exiting the elevator. The robot can autonomously ride the elevator, including calling the elevator and autonomously selecting its starting and arrival floors. The first acquisition module 10 is capable of obtaining a scoring map pre-stored within the robot in the elevator scenario. The scoring map is pre-stored within the robot and can be pre-converted using image scanning software and generated using a preset formula. The robot can switch the built-in map to a different scoring map based on the robot's status information. The scoring map corresponds to the elevator scenario and is used to evaluate the docking locations within the elevator. Specifically, the docking locations are scored based on typical standing positions within the elevator or standing positions that are more conducive to improving the robot's elevator riding efficiency and the passenger's elevator riding experience. A location with a higher score is a better location for the robot to dock. In short, areas with higher scores are priority docking areas for the robot, and the robot may prioritize docking at locations within the priority docking areas.

[0049] Step S20: Obtaining obstacle information in the elevator. Specifically, the second acquisition module 20 can obtain obstacle information in the elevator, such as the position information of pedestrians. The robot has the capabilities of spatial positioning, autonomous movement, and dynamic obstacle avoidance. When selecting a parking position in the elevator, the robot needs to consider obstacles such as pedestrians.

[0050] Step S30: Planning the robot's docking position within the elevator based on the scoring map and the obstacle information. Specifically, the position planning module 30 combines the scoring map and the obstacle information to plan the robot's docking position within the elevator. For example, it selects the highest-scoring, unobstructed location for docking. This improves the robot's elevator efficiency and the passenger experience.

[0051] Therefore, the method for planning the robot's stopping position in an elevator provided by the present invention can obtain the robot's status information in the elevator scenario and switch the robot's built-in map to a scoring map, and obtain obstacle information in the elevator. Finally, based on the scoring map and obstacle information, the robot's stopping position in the elevator is planned. During the elevator ride, the robot autonomously plans the elevator's stopping position based on the scoring map and obstacle information. The selected stopping position is conducive to the passage of the robot and pedestrians. The robot can flexibly adjust its position in the elevator, thereby improving the elevator's passage efficiency and the pedestrian elevator riding experience.

[0052] Furthermore, the scoring map includes multiple types of scoring maps corresponding to the status information of the robot, and priority docking areas are drawn in the scoring map, and the priority docking areas are the positions where the robot has priority to dock.

[0053] Step S30 includes the following steps:

[0054] Control the robot to move in the elevator;

[0055] Based on one of the scoring maps corresponding to the state information and the obstacle information, a priority docking position of the robot in the scoring map is selected for docking.

[0056] As an example, the robot may directly select the location with the highest score to dock at. If the location is occupied, the robot may sequentially search for a location with the next highest score to dock at.

[0057] As an embodiment, the position with a high score is the robot's priority docking position. During the robot's docking process, if there is a position with a higher score and the robot can reach it, the robot is controlled to dock there.

[0058] It can be understood that the process of a robot taking an elevator usually includes multiple states, such as entering the elevator state, riding the elevator state, and pre-exiting the elevator state. Considering that the optimal standing position corresponding to the robot in different states is different, the scoring map is divided into multiple categories of scoring maps corresponding to the robot's state information. Each state of the robot corresponds to a category of scoring map, and the scoring criteria of different categories of scoring maps are different to adapt to dynamic scene changes.

[0059] In this embodiment, the robot's state information includes elevator entry, elevator boarding, and pre-exit states. The scoring maps include a Category A scoring map, a Category B scoring map, and a Category C scoring map corresponding to these states, respectively. Specifically, the three types of maps are executed when certain conditions are met, corresponding to elevator entry, elevator boarding, and pre-exit states. These maps are pre-stored within the robot and can be converted and generated by image scanning software, triggering the switching of different scoring maps based on the robot's different states.

[0060] Furthermore, the step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the state information and the obstacle information comprises the following steps:

[0061] When the status information of the robot is an elevator entry state, controlling the robot to move to a priority docking position of the robot in the category A scoring map;

[0062] During the movement, determining whether there is a location with a higher score and accessible by combining the obtained obstacle information;

[0063] If there is no location with a higher score to which the robot can go, the robot is controlled to stop moving or to stop moving and turn around.

[0064] See also Figure 3 This is a diagram of a Class A scoring map. Darker areas in the map indicate less recommended docking locations, while lighter areas indicate more recommended docking locations (i.e., the robot's preferred docking areas). Specifically, in the Class A scoring map, areas near the center of the elevator door and the corners of the elevator receive the lowest scores. This design minimizes the robot's docking position from blocking passengers behind it from entering the elevator, thus preventing the robot from blocking the elevator entrance route.

[0065] It can be understood that the robot moves to the position with the highest score in the Class A scoring map, and during the movement, it combines the obtained obstacle information to determine whether there is a position with a higher score that can be reached. Specifically, if there is an obstacle at the position with the highest score, then the position cannot be reached, and the robot will continue to choose the position with the highest score and can be reached among the remaining positions to dock. If there is no position with a higher score and can be reached, the robot is controlled to stop and turn around, that is, the robot in the elevator entering state has completed docking, and the robot has switched from the elevator entering state to the elevator riding state.

[0066] Furthermore, the step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the state information and the obstacle information comprises the following steps:

[0067] When the robot's status information is an elevator state, obtaining the elevator's travel information and the robot's target floor information, wherein the travel information includes the elevator's moving direction and the floor at which it stops;

[0068] adjusting the map parameters of the category B scoring map according to the driving information and the target floor information;

[0069] Determine, based on the obtained obstacle information, whether there is a higher-scoring and accessible location in the Category B scoring map of the current map parameters;

[0070] If there is a location with a higher score and that can be reached, the robot is controlled to move to the location with the higher score in the category B scoring map.

[0071] See also Figure 4, which is a schematic diagram of the Class B scoring map. In the figure, the darker the part, the less recommended the docking location, and the lighter the part, the more recommended the docking location (i.e., the robot's preferred docking area). In this embodiment, the Class B scoring map can affect the shape of the scoring area through the map parameter f. As the robot gets closer to the target floor, the robot tends to dock closer to the elevator door, i.e. Figure 4 In the example, f=4 is adjusted to f=3, but it still cannot be too close to the elevator door to affect the entry and exit of pedestrians at the elevator entrance. The f value can be adjusted according to the elevator's travel information and target floor information. For example, the f value can be adjusted based on the elevator's current floor and travel direction, and the estimated number of floors that may be stopped in the middle. That is, the size of the f value is not fixed, and it can be adjusted as the robot's distance from the target floor increases. This design allows the robot to avoid obstructing the movement of people during the stop process when it is far away from the target floor and the elevator may stop in the middle. As the robot gets closer to the target floor, it tends to stop near the elevator door to improve the elevator's traffic efficiency and the elevator experience of pedestrians.

[0072] Specifically, the robot can obtain the elevator's current floor height and direction of movement in real time by communicating with the elevator or the cloud, or by estimating using its own inertial sensors. As can be understood, if there is no higher-scoring, accessible location, the robot determines whether the next floor is the robot's target floor. If the next floor is the robot's target floor for exiting, the robot transitions from the elevator-riding state to the pre-exiting state.

[0073] Furthermore, the step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the state information and the obstacle information comprises the following steps:

[0074] When the status information of the robot is a pre-elevation state, controlling the robot to move to a priority docking position of the robot in the category C scoring map;

[0075] During the movement, determining whether the robot is blocked according to the obstacle information;

[0076] If the robot is blocked, an interactive reminder is issued to enable the robot to stop at the highest-scoring position in the elevator.

[0077] See also Figure 5This is a schematic diagram of the Class C scoring map. Darker areas in the map indicate less recommended docking locations, while lighter areas indicate more recommended docking locations (i.e., the robot's preferred docking area). In the Class C scoring map, the elevator door entrance has the highest score. This means that when the robot is in the pre-elevating state, it will prioritize docking at the elevator door entrance to facilitate rapid exit upon reaching the target floor. If the robot is blocked during movement, it will issue an interactive reminder, alerting pedestrians through appropriate interactions that the robot is about to exit the elevator on the next floor, facilitating rapid exit.

[0078] It can be understood that when the robot is in the pre-exit state, it will continue to determine whether it is at the position with the highest score, and continue to move towards the position with a higher score, so that the robot can stop at the position with the highest score in the elevator, which is convenient for the robot to quickly exit the elevator. When the robot is about to reach the exit floor, it should try to occupy the center position close to the elevator door, which is convenient for smooth exit and improves the robot's travel efficiency.

[0079] In this embodiment, step S30 includes the following steps:

[0080] Controlling the robot to move to the position with the highest score in the elevator;

[0081] During the movement, determining whether the robot is blocked according to the obstacle information;

[0082] If the robot is blocked, control the robot to avoid the obstacle autonomously.

[0083] It can be understood that the robot has the ability to locate in space, move autonomously, and avoid obstacles dynamically. When the robot moves forward according to each map, it will automatically find a way if it encounters an obstacle and stop at a high-scoring location. The scoring standards for the three types of maps are different. For example, the area near the center of the elevator door and the corner of the elevator is scored the lowest in type A maps, while the area near the elevator door is scored the lowest in type B maps (but not too close to the elevator door). The area at the front of the elevator door is scored the highest in type C maps. Figure 1 The robot can determine the stopping position by itself, solving the problem that the robot will not change its position in the elevator and will not adjust its standing position autonomously. During the elevator ride, the robot can autonomously plan its stopping position in the elevator, which can enable the robot to flexibly adjust its standing position in the elevator to adapt to dynamic scene changes, optimize traffic efficiency and pedestrian elevator riding experience.

[0084] See also Figure 6 The present invention also provides a robot, including: a memory 210 and one or more processors 220.

[0085] Specifically, the memory 210 is used to store one or more computer programs; when the one or more computer programs are executed by one or more processors 220, the method for planning a parking position in a robot elevator described in any one of the above embodiments is implemented.

[0086] The memory 210 may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc. The memory 210 is used to store programs, and the processor 220 executes the programs upon receiving execution instructions to implement the method for planning a stop position in a robotic elevator as described in another embodiment. It is understood that access to the memory 210 by the processor 220 and other possible components may be controlled by a storage controller.

[0087] The processor 220 may be an integrated circuit chip with signal processing capabilities. The processor 220 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc., and may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, capable of implementing or executing the methods and steps disclosed in any embodiment of the present invention.

[0088] The present invention also provides a computer storage medium, in which a computer program is stored. When the computer program is executed by a processor, the method for planning a parking position in a robot elevator described in any of the aforementioned embodiments is implemented.

[0089] The present invention also provides a computer program product, comprising a computer program or instructions, which, when executed by a processor, implements the method for planning a stopping position in a robot elevator as described in any of the aforementioned embodiments.

[0090] It should be noted that all embodiments of the method for planning a stopping position in a robot elevator provided by the present invention are applicable to the device 100 for planning a stopping position in a robot elevator, the robot and the computer storage medium, and the computer program product provided by the present invention, and can achieve the same or similar beneficial effects.

[0091] In summary, the method, device, robot, computer storage medium, and computer program product for planning the robot's stopping position in an elevator provided by the present invention can obtain the robot's status information in an elevator scenario and switch the robot's built-in map to a scoring map, and obtain obstacle information in the elevator. Finally, based on the scoring map and obstacle information, the robot's stopping position in the elevator is planned. During the elevator ride, the robot autonomously plans the elevator's stopping position based on the scoring map and obstacle information. The selected stopping position is conducive to the passage of the robot and pedestrians. The robot can flexibly adjust its position in the elevator, thereby improving the elevator's passage efficiency and the pedestrian elevator riding experience.

[0092] The above description is only an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for planning a parking position in a robot elevator, characterized in that: The steps include: In the elevator scenario, obtaining the robot's status information and switching the robot's built-in map to a scoring map; Obtaining obstacle information in the elevator; Planning the robot's docking position in the elevator based on the scoring map and the obstacle information, the scoring map including multiple scoring maps corresponding to the robot's status information, the scoring map having priority docking areas drawn therein, the priority docking areas being priority docking positions for the robot; and planning the robot's docking position in the elevator based on the scoring map and the obstacle information, comprising: Control the robot to move in the elevator; The step of selecting a priority docking position for the robot in the scoring map based on one of the scoring maps corresponding to the status information and the obstacle information, wherein the status information of the robot includes an elevator entry state, an elevator riding state, and a pre-elevation elevator state, and the scoring map includes a category A scoring map, a category B scoring map, and a category C scoring map corresponding to the elevator entry state, the elevator riding state, and the pre-elevation elevator state, respectively, and selecting a priority docking position for the robot in the scoring map based on one of the scoring maps corresponding to the status information and the obstacle information, comprising: When the robot's status information is an elevator state, obtaining the elevator's travel information and the robot's target floor information, wherein the travel information includes the elevator's moving direction and the floor at which it stops; As the robot gets closer to the target floor, it tends to stop closer to the elevator door; adjusting the map parameters of the category B scoring map according to the driving information and the target floor information; Determine, based on the obtained obstacle information, whether there is a higher-scoring and accessible location in the Category B scoring map of the current map parameters; If there is a location with a higher score and that can be reached, the robot is controlled to move to the location with the higher score in the category B scoring map.

2. The method for planning a parking position in a robot elevator according to claim 1, wherein: The step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the state information and the obstacle information comprises: When the status information of the robot is an elevator entry state, controlling the robot to move to a priority docking position of the robot in the category A scoring map; During the movement, determining whether there is a location with a higher score and accessible by combining the obtained obstacle information; If there is no location with a higher score and to which one can go, the robot is controlled to stop moving.

3. The method for planning a parking position in a robot elevator according to claim 1, wherein: The step of selecting a priority docking position for the robot in one of the scoring maps corresponding to the state information and the obstacle information comprises: When the status information of the robot is a pre-elevation state, controlling the robot to move to a priority docking position of the robot in the category C scoring map; During the movement, determining whether the robot is blocked according to the obstacle information; If the robot is blocked, an interactive reminder is issued to enable the robot to stop at the highest-scoring position in the elevator.

4. The method for planning a parking position in a robot elevator according to claim 1, wherein: The step of planning the robot's parking position in the elevator based on the scoring map and the obstacle information includes: Controlling the robot to move to the position with the highest score in the elevator; During the movement, determining whether the robot is blocked according to the obstacle information; If the robot is blocked, control the robot to avoid the obstacle autonomously.

5. A robot planning device for implementing the elevator parking position planning method according to any one of claims 1 to 4, characterized in that: include: A first acquisition module is used to obtain the status information of the robot and switch the built-in map of the robot to a scoring map in an elevator scenario; A second acquisition module is used to obtain obstacle information in the elevator; as well as A position planning module is used to plan the robot's parking position in the elevator based on the scoring map and the obstacle information.

6. A robot comprising: A memory and one or more processors, wherein the memory is used to store one or more computer programs; characterized in that when the one or more computer programs are executed by the one or more processors, the method for planning a stopping position in a robot elevator according to any one of claims 1 to 4 is implemented.

7. A computer storage medium, characterized in that A computer program is stored in the computer storage medium, and when the computer program is executed by the processor, the method for planning the parking position in the robot elevator according to any one of claims 1 to 4 is implemented.

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