Method, system, electronic device and storage medium for robot entering and exiting elevator

Abstract

Embodiments of the present invention relate to the field of robotics technology and disclose a method, system, electronic device, and storage medium for a robot to enter and exit an elevator. The method includes: acquiring inertial data of the robot after the robot arrives at an elevator waiting point on a departure floor; collecting environmental information within a preset range and constructing an environmental map for the robot based on the environmental information; performing path planning based on the inertial data and the environmental map, and acquiring a first path, wherein the first path is the path the robot takes from the elevator waiting point on the departure floor to the elevator. This allows the robot to enter the elevator accurately and without error.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of robotics technology, and in particular to a method, system, electronic device, and storage medium for a robot entering and exiting an elevator. Background Art

[0002] The rapid development of artificial intelligence and hardware has significantly accelerated the progress of industrialization and robotics. Currently, a variety of indoor mobile robots are available in various business scenarios across various industries, with some even capable of ascending and descending elevators and working across multiple floors.

[0003] However, when the robot works across floors, it needs to take the elevator. When entering and exiting the elevator, the robot may not be able to navigate normally due to factors such as network and environmental changes and other elevator passengers. Summary of the Invention

[0004] The purpose of the embodiments of the present invention is to provide a method, system, electronic device and storage medium for a robot to enter and exit an elevator, which can enable the robot to enter the elevator accurately and without error.

[0005] An embodiment of the present invention provides a method for a robot to enter and exit an elevator, the method comprising: obtaining inertial data of the robot after the robot arrives at an elevator waiting point on a departure floor; collecting environmental information within a preset range and constructing an environmental map of the robot based on the environmental information; performing path planning based on the inertial data and the environmental map, and obtaining a first path, wherein the first path is the path taken by the robot from the elevator waiting point on the departure floor to the elevator.

[0006] An embodiment of the present invention also provides a system for a robot to enter and exit an elevator, comprising: an acquisition module for acquiring inertial data of the robot after the robot arrives at the elevator waiting point on the departure floor; a map construction module for collecting environmental information within a preset range and constructing an environmental map of the robot based on the environmental information; a path planning module for performing path planning based on the inertial data and the environmental map, and acquiring a first path, wherein the first path is the path for the robot to move from the elevator waiting point on the departure floor to the elevator.

[0007] An embodiment of the present invention further provides an electronic device, including:

[0008] at least one processor; and,

[0009] a memory communicatively connected to the at least one processor; wherein,

[0010] The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the above-mentioned method for the robot to enter and exit the elevator.

[0011] An embodiment of the present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the above-mentioned method for a robot to enter and exit an elevator.

[0012] In an embodiment of the present invention, when a robot enters or exits an elevator, after reaching the elevator waiting point on the departure floor, the robot acquires inertial data; collects environmental information within a preset range, and constructs an environmental map of the robot based on this environmental information; and performs path planning based on the inertial data and environmental map, obtaining a first path, where the first path is the path the robot takes from the elevator waiting point on the departure floor to the elevator. This system uses the robot's own data and information about the environment surrounding the robot to plan its path for elevator entry, enabling the robot to enter the elevator accurately and without error. This resolves the existing technical issue of robots being unable to properly navigate in and out of elevators due to factors such as network and environmental changes and other factors. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplifications do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0014] Figure 1 is a flow chart of a method for a robot to enter and exit an elevator provided by an embodiment of the present invention;

[0015] Figure 2 is a flow chart of a method for a robot to enter and exit an elevator provided by an embodiment of the present invention;

[0016] Figure 3 is a flow chart of a method for a robot to enter and exit an elevator provided by an embodiment of the present invention;

[0017] Figure 4 is a flow chart of a method for a robot to enter and exit an elevator provided by an embodiment of the present invention;

[0018] Figure 5 is a flow chart of a method for a robot to enter and exit an elevator provided by an embodiment of the present invention;

[0019] Figure 6 2 is a schematic diagram of the structure of a system for a robot to enter and exit an elevator provided by an embodiment of the present invention;

[0020] Figure 7It is a structural diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, each embodiment of the present invention will be described in detail below with reference to the accompanying drawings. However, it will be understood by those skilled in the art that in each embodiment of the present invention, many technical details are provided to enable the reader to better understand the present invention. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present invention can be implemented. The division of the following embodiments is for convenience of description and should not constitute any limitation on the specific implementation of the present invention. The various embodiments can be combined with each other and referenced to each other under the premise that there is no contradiction.

[0022] The embodiment of the present invention relates to a method for a robot to enter and exit an elevator, such as Figure 1 As shown, specifically including:

[0023] Step 101: After the robot arrives at the elevator waiting point on the departure floor, obtain the robot's inertia data.

[0024] Specifically, when the robot starts to work across floors, it needs to take the elevator from the departure floor to the destination floor. There are elevator waiting points on both the departure floor and the destination floor. When the robot receives the cross-floor work instruction, it first needs to move from the robot's current position to the elevator waiting point on the departure floor. In the process of moving to the elevator waiting point on the departure floor or after arriving at the elevator waiting point on the departure floor, the robot communicates with the elevator control module and sends an elevator call instruction to the elevator control module. After receiving the elevator call instruction, the elevator control module assigns the elevator to the departure floor according to the destination floor information and departure floor information carried in the elevator call instruction and the working status of each elevator in the building. After the elevator arrives at the departure floor and the elevator door opens, the elevator control module sends an elevator arrival instruction to the robot. After receiving the elevator arrival instruction, the robot can start to go inside the elevator. At this time, the robot collects the robot's inertial data through the inertial sensor on the fuselage, where the collected inertial data includes acceleration, angular velocity and other data.

[0025] Step 102: Collect environmental information within a preset range and construct an environmental map of the robot based on the environmental information.

[0026] Specifically, the robot can collect the internal environmental information of the elevator at the elevator waiting point based on equipment such as laser sensors, cameras, and ultrasonic sensors. It can also collect environmental information within a preset range around the robot during walking. The environmental information includes walkable paths, physical boundaries, obstacle information, etc. The robot constructs an environmental map of the robot based on the collected environmental information. The constructed environmental map displays walkable paths, physical boundaries, obstacle information, etc.

[0027] Step 103 : Perform path planning based on the inertial data and the environment map, and obtain a first path, wherein the first path is a path for the robot to move from the elevator waiting point on the departure floor to the elevator.

[0028] Specifically, inertial data is collected in real time while the robot is walking. When the robot obtains the inertial data, the collection time of the inertial data must also be recorded. The inertial data is processed according to the preset inertial solution algorithm to obtain the distance and direction of the robot's walking. At the same time, the environmental map is also changing, but no matter how the environmental map changes, the robot's initial position in the environmental map is always known. Then, combined with the distance and direction of the robot's walking, the robot's current posture can be updated in real time in the environmental map. Path planning is performed based on the robot's real-time posture on the environmental map and the obstacle information on the environmental map (it can also be combined with the walkable path and physical boundaries) so that the robot reaches the inside of the elevator. When the robot exceeds the safety line inside the elevator, it means that the robot has completely entered the elevator and the robot can stop moving. In the process of moving from the elevator waiting point to the inside of the elevator, the robot also needs to record the path of the robot's walking, which is recorded as the first path.

[0029] In an embodiment of the present invention, when a robot enters or exits an elevator, after reaching the elevator waiting point on the departure floor, the robot acquires inertial data; collects environmental information within a preset range, and constructs an environmental map of the robot based on this environmental information; and performs path planning based on the inertial data and environmental map, obtaining a first path, where the first path is the path the robot takes from the elevator waiting point on the departure floor to the elevator. This system uses the robot's own data and information about the environment surrounding the robot to plan its path for elevator entry, enabling the robot to enter the elevator accurately and without error. This resolves the existing technical issue of robots being unable to properly navigate in and out of elevators due to factors such as network and environmental changes and other factors.

[0030] The embodiment of the present invention relates to a method for a robot to enter and exit an elevator, such as Figure 2 As shown, specifically including:

[0031] Step 201: Path planning is performed based on the departure floor map of the departure floor, the current position of the robot in the departure floor map, and the position of the elevator waiting point in the departure floor map, and a second path is obtained, wherein the second path is used to instruct the robot to move from the current position to the elevator waiting point on the departure floor.

[0032] Specifically, when the robot reaches the departure floor, it can pre-scan the scene on the departure floor to construct a departure floor map. This departure floor map contains environmental information: traversable paths (ground), physical boundaries (walls, doors, obstacles, etc.), virtual boundaries (high-risk areas, non-working areas, etc.), and points (locations the robot needs to reach, such as doorways and offices). Once the robot has completed the departure floor map, it stores a copy locally for path planning and matches it with the real-time environmental map constructed during movement. The map is also uploaded to a cloud service for operator management and monitoring, and serves as a data backup. When the robot receives a command to cross floors, it plans a path based on its current position in the departure floor map, the location of the elevator waiting point on the departure floor, and the departure floor map, resulting in a second path from its current position to the elevator waiting point on the departure floor.

[0033] Step 202: When the robot moves according to the second path, an environment map of the robot is constructed in real time.

[0034] Specifically, after obtaining the second path, the robot moves from its current position to the elevator waiting point on the departure floor according to the second path. During the movement, the robot collects environmental information within the preset range of the fuselage in real time, and constructs the robot's environmental map based on the environmental information. The constructed environmental map displays walkable paths, physical boundaries, and obstacle information, etc.

[0035] Step 203 : Match the environment map with the departure floor map, and add the obstacle information on the environment map to the location on the departure floor map that matches the obstacle information according to the matching result.

[0036] Specifically, the environment map is a map within a small range constructed by the robot during movement. The environment map can be matched with the departure floor map, and based on the matching results of the two maps, the obstacle information on the environment map (which may also include walkable paths, physical boundaries, etc.) is added to the location on the departure floor map that matches the obstacle information.

[0037] Step 204: Optimize the second path according to the departure floor map after adding the obstacle information, and reach the elevator waiting point on the departure floor according to the optimized second path.

[0038] Specifically, when it is detected that the obstacle information on the departure floor map is updated, the previously obtained second path is optimized according to the obstacle information on the updated departure floor map, and the robot then reaches the elevator waiting point on the departure floor according to the optimized second path.

[0039] Step 205: After the robot arrives at the elevator waiting point on the departure floor, obtain the inertia data of the robot.

[0040] Specifically, this step is roughly the same as step 101 in the embodiment of the present application and will not be described in detail here.

[0041] Step 206: Collect environmental information within a preset range and construct an environmental map of the robot based on the environmental information.

[0042] Specifically, this step is substantially the same as step 102 of the embodiment of the present application, and will not be described in detail here.

[0043] Step 207 : Perform path planning based on the inertial data and the environment map, and obtain a first path, where the first path is a path for the robot to move from the elevator waiting point on the departure floor to the elevator.

[0044] Specifically, this step is roughly the same as step 103 of the embodiment of the present application, and will not be described in detail here.

[0045] It should be noted here that when the robot moves from the elevator waiting point to the interior of the elevator, the robot's environmental map and departure floor map are not used for path planning. This is because the internal environments of the elevators on each floor are relatively similar, and there may be people and other obstacles at the elevator door and in the elevator car. This reduces the confidence level of the match between the environmental map and the departure floor map. At this time, the robot cannot navigate into the elevator by combining the environmental map and the departure floor map.

[0046] In addition to the beneficial effects brought about by other embodiments, the embodiment of the present invention can also plan the path for the robot to move to the elevator waiting point based on the environmental map within a small range constructed by the robot in real time and the pre-acquired departure floor map, so that the planned path is more reasonable and ensures that the robot can safely and quickly reach the elevator waiting point on the departure floor.

[0047] The embodiment of the present invention relates to a method for a robot to enter and exit an elevator, such as Figure 3 As shown, specifically including:

[0048] Step 301: After the robot arrives at the elevator waiting point on the departure floor, obtain the robot's inertia data.

[0049] Specifically, this step is roughly the same as step 101 in the embodiment of the present application and will not be described in detail here.

[0050] Step 302: Collect environmental information within a preset range and construct an environmental map of the robot based on the environmental information.

[0051] Specifically, this step is substantially the same as step 102 of the embodiment of the present application, and will not be described in detail here.

[0052] Step 303 : Path planning is performed based on the inertial data and the environment map, and a first path is obtained, where the first path is a path for the robot to move from the elevator waiting point on the departure floor to the elevator.

[0053] Specifically, this step is roughly the same as step 103 of the embodiment of the present application, and will not be described in detail here.

[0054] Step 304: After the robot enters the elevator, a first pose of the elevator coordinate system relative to the departure floor map coordinate system of the departure floor is obtained, and a second pose of the robot coordinate system relative to the departure floor map coordinate system is obtained.

[0055] Specifically, after the robot enters the elevator, since the elevator point of interest of the elevator has been indicated on the departure floor map, the first pose of the elevator coordinate system relative to the departure floor map coordinate system and the current position information and posture information of the robot in the departure floor map can be obtained, and the second pose of the robot coordinate system relative to the departure floor map coordinate system can be obtained.

[0056] In step 305 , the departure floor map coordinate system is used as an intermediate medium to obtain the first pose change amount according to the first pose and the second pose.

[0057] Specifically, when obtaining the relative posture of the robot coordinate system with respect to the elevator coordinate system, the departure floor map coordinate system is used as an intermediate medium. First, the first posture change amount must be obtained based on the first posture of the elevator coordinate system relative to the departure floor map coordinate system and the second posture of the robot coordinate system relative to the departure floor map coordinate system. The first posture change amount can be specific information that requires rotation, translation, etc. of the coordinate system.

[0058] Step 306 : Perform posture transformation on the first posture and the second posture according to the first transformation matrix generated by the first posture change amount to obtain a third posture of the robot coordinate system relative to the elevator coordinate system.

[0059] Specifically, after obtaining the first pose change using the departure floor map coordinate system as an intermediate medium, the pose can be rotated and / or translated as needed to obtain the corresponding transformation matrix, and the first pose and the second pose can be transformed to obtain the third pose of the robot coordinate system relative to the elevator coordinate system. There is no restriction on the style of the transformation matrix here.

[0060] In addition to the beneficial effects brought about by other embodiments, this embodiment of the present invention can also combine the posture of the elevator coordinate system relative to the departure floor map coordinate system and the posture of the robot coordinate system relative to the departure floor map coordinate system to obtain the posture of the robot coordinate system relative to the elevator coordinate system, so that the obtained posture of the robot coordinate system relative to the elevator coordinate system is more accurate.

[0061] The embodiment of the present invention relates to a method for a robot to enter and exit an elevator, which is applied in Figure 3 After the robot enters and exits the elevator, as shown Figure 4 As shown, specifically including:

[0062] Step 401: When the robot reaches the destination floor, path planning is performed according to the third posture and the first path to obtain a third path, wherein the third path is used to instruct the robot to move to the elevator waiting point on the destination floor.

[0063] Specifically, when the robot arrives at its destination floor in an elevator, the position of the robot's coordinate system relative to the elevator's coordinate system remains unchanged. The robot can plan a path based on the position of the robot's coordinate system relative to the elevator's coordinate system, acquired at the departure floor, and the path it took while in the elevator. This path allows the robot to exit the elevator and reach the elevator waiting point on the destination floor. Environmental information within a preset range of the robot can also be collected in real time, and an environmental map constructed. This map then combines the position of the robot's coordinate system relative to the elevator's coordinate system, the robot's inertial data, and the environmental map to plan the robot's path to the elevator waiting point on the destination floor.

[0064] Step 402: Move to the elevator waiting point on the destination floor according to the third path.

[0065] Specifically, the robot moves according to the path planned by the robot to the elevator waiting point on the destination floor.

[0066] In addition to the beneficial effects of other embodiments, the embodiment of the present invention can also plan the path of the robot when it exits the elevator based on the robot's posture and the path of the robot when it enters the elevator, thereby ensuring that the robot can safely reach the elevator waiting point on the destination floor.

[0067] The embodiment of the present invention relates to a method for a robot to enter and exit an elevator, such as Figure 5 As shown, specifically including:

[0068] Step 501: When the robot arrives at the destination floor, it obtains a destination floor map and a destination floor map coordinate system of the destination floor, and obtains a fourth posture of the elevator coordinate system relative to the destination floor map coordinate system.

[0069] Specifically, after the robot takes the elevator at the departure floor, the robot will send an elevator take-off instruction to the elevator control module. After receiving the elevator take-off instruction, the elevator control module will control the elevator to go to the destination floor information carried in the elevator take-off instruction. When the elevator arrives at the destination floor, the elevator control module will send an elevator arrival instruction to the robot. After receiving the destination floor arrival instruction, the robot will obtain the destination floor map and the destination floor map coordinate system from the database, and obtain the fourth pose of the elevator coordinate system relative to the destination floor map coordinate system based on the position of the elevator's elevator point of interest in the destination floor map.

[0070] Step 502: Using the elevator coordinate system as an intermediate medium, obtain the second posture change according to the third posture and the fourth posture.

[0071] Specifically, when obtaining the relative posture of the robot coordinate system relative to the destination floor map coordinate system, the elevator coordinate system is used as an intermediate medium. First, the second posture change amount must be obtained based on the third posture of the robot coordinate system relative to the elevator coordinate system and the fourth posture of the elevator coordinate system relative to the destination floor map coordinate system. The second posture change amount can be specific information that requires rotation, translation, etc. of the coordinate system.

[0072] Step 503: Perform posture transformation on the third posture and the fourth posture according to the second transformation matrix generated by the second posture change amount to obtain a fifth posture of the robot coordinate system relative to the destination floor map coordinate system.

[0073] Specifically, after obtaining the second posture change using the elevator coordinate system as an intermediate medium, the posture can be rotated and / or translated as needed to obtain the corresponding transformation matrix, and the third and fourth postures can be transformed to obtain the fifth posture of the robot coordinate system relative to the destination floor map coordinate system. There is no restriction on the style of the transformation matrix here.

[0074] Step 504 : Perform path planning based on the third posture and the first path to obtain a third path, wherein the third path is used to instruct the robot to move to the elevator waiting point on the destination floor.

[0075] Specifically, this step is substantially the same as step 401 of the embodiment of the present application, and will not be described in detail here.

[0076] Step 505: Move to the elevator waiting point on the destination floor according to the third path.

[0077] Specifically, this step is substantially the same as step 402 of the embodiment of the present application, and will not be described in detail here.

[0078] Step 506: Receive a task instruction to be executed, wherein the task instruction includes a target location in the destination floor map.

[0079] Specifically, after the robot moves to the elevator waiting point on the destination floor, it can receive a task instruction, which also carries the location for executing the task, that is, the target location in the destination floor map.

[0080] Step 507 : Perform path planning based on the fifth posture, the target position, and the destination floor map to obtain a fourth path, wherein the fourth path is used to instruct the robot to move from the elevator waiting point on the destination floor to the target position.

[0081] Specifically, path planning is performed based on the relative posture of the robot coordinate system relative to the destination floor map coordinate system, the position of the target position in the destination floor map, and the destination floor map, and the path for the robot to move from the elevator waiting point on the destination floor to the target position is obtained. In the process of walking according to the path, an environmental map can also be constructed in real time, and the environmental map can be matched with the destination floor map, and then the path optimization operation can be performed.

[0082] In addition to the beneficial effects brought about by other embodiments, the embodiment of the present invention can also obtain the position of the robot coordinate system relative to the destination floor map coordinate system and plan the path to reach the target position, so that the robot can be repositioned when switching floors and safely reach the target position.

[0083] The embodiment of the present invention relates to a system for a robot to enter and exit an elevator, such as Figure 6 As shown, specifically including:

[0084] An acquisition module 601 is used to acquire the inertial data of the robot after the robot arrives at the elevator waiting point on the departure floor;

[0085] A map construction module 602 is used to collect environmental information within a preset range and construct an environmental map of the robot based on the environmental information;

[0086] The path planning module 603 is used to perform path planning based on the inertial data and the environment map, and obtain a first path, wherein the first path is the path for the robot to move from the elevator waiting point on the departure floor to the elevator.

[0087] It is worth noting that all modules involved in the embodiments of this application are logical modules. In actual applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovative aspects of the present invention, units that are not closely related to solving the technical problems proposed by the present invention are not introduced in this embodiment. However, this does not mean that other units do not exist in this embodiment.

[0088] An embodiment of the present invention relates to an electronic device, such as Figure 7 Shown, including:

[0089] at least one processor 701; and,

[0090] A memory 702 in communication with the at least one processor 701; wherein,

[0091] The memory 702 stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor 701 to enable the at least one processor 701 to perform any of the above-mentioned crawling network training methods of the present invention.

[0092] The memory and processor are connected using a bus, which can include any number of interconnected buses and bridges. The bus connects various circuits of one or more processors and memories. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits. These are all well known in the art and are therefore not described further herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be a single component or multiple components, such as multiple receivers and transmitters, providing a unit for communicating with various other devices over a transmission medium. Data processed by the processor is transmitted over a wireless medium via an antenna. Furthermore, the antenna receives data and transmits it to the processor.

[0093] The processor is responsible for managing the bus and general processing, and can also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. Memory can be used to store data used by the processor when performing operations.

[0094] An embodiment of the present invention relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0095] That is, those skilled in the art will understand that all or part of the steps in the above-described method embodiments can be implemented by instructing related hardware through a program, which is stored in a storage medium and includes a number of instructions for causing a device (which may be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps in the method embodiments of the present invention. The aforementioned storage medium includes various media that can store program code, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0096] Those skilled in the art will appreciate that the above-mentioned embodiments are specific examples for implementing the present invention, and that in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present invention.

Claims

1. A method for a robot to enter and exit an elevator, characterized in that: The method comprises: After the robot arrives at the elevator waiting point on the departure floor, acquiring inertial data of the robot; Collecting environmental information within a preset range and constructing an environmental map of the robot based on the environmental information; Performing path planning based on the inertial data and the environment map, and acquiring a first path, wherein the first path is a path for the robot to move from an elevator waiting point on the departure floor to the elevator; When the robot enters the elevator, obtaining a first pose of the elevator coordinate system relative to the departure floor map coordinate system of the departure floor; Obtaining a second pose of the robot coordinate system relative to the departure floor map coordinate system; Using the departure floor map coordinate system as an intermediate medium, obtaining a first posture change amount according to the first posture and the second posture; Performing posture transformation on the first posture and the second posture according to a first transformation matrix generated by the first posture change amount to obtain a third posture of the robot coordinate system relative to the elevator coordinate system; When the robot reaches the destination floor, path planning is performed according to the third posture and the first path to obtain a third path, wherein the third path is used to instruct the robot to move to the elevator waiting point on the destination floor.

2. The method for a robot to enter and exit an elevator according to claim 1, characterized in that: The performing path planning according to the inertial data and the environment map to obtain and record the first path specifically includes: Processing the inertial data according to a preset inertial derivation algorithm, and obtaining the real-time position and posture of the robot on the environment map according to the processing result; Path planning is performed according to the real-time position and the obstacle information on the environment map to obtain the first path.

3. The method for a robot to enter and exit an elevator according to claim 1, characterized in that: The robot arrives at the elevator waiting point on the departure floor, specifically including: performing path planning according to the departure floor map of the departure floor, the current position of the robot in the departure floor map, and the position of the elevator waiting point in the departure floor map, and acquiring a second path, wherein the second path is used to instruct the robot to move from the current position to the elevator waiting point on the departure floor; When the robot moves according to the second path, constructing an environment map of the robot in real time; Matching the environment map with the departure floor map, and adding obstacle information on the environment map to a position on the departure floor map that matches the obstacle information according to a matching result; The second path is optimized according to the departure floor map after the obstacle information is added, and the elevator waiting point on the departure floor is reached according to the optimized second path.

4. The method for a robot to enter and exit an elevator according to claim 1, characterized in that: After obtaining the third path, the method further includes: Move to the elevator waiting point of the destination floor according to the third path.

5. The method for a robot to enter and exit an elevator according to claim 4, characterized in that: After the robot reaches the destination floor, the method further includes: Obtain a destination floor map and a destination floor map coordinate system of the destination floor; Acquire a fourth pose of the elevator coordinate system relative to the destination floor map coordinate system; Using the elevator coordinate system as an intermediate medium, obtaining a second posture change amount according to the third posture and the fourth posture; Perform posture transformation on the third posture and the fourth posture according to a second transformation matrix generated according to the second posture change amount to obtain a fifth posture of the robot coordinate system relative to the destination floor map coordinate system.

6. The method for a robot to enter and exit an elevator according to claim 5, characterized in that: After the elevator moves to the elevator waiting point of the destination floor according to the third path, the method further includes: receiving a task instruction to be executed, wherein the task instruction includes a target location in the destination floor map; Path planning is performed according to the fifth posture, the target position, and the destination floor map to obtain a fourth path, wherein the fourth path is used to instruct the robot to move from the elevator waiting point on the destination floor to the target position.

7. A system for robots to enter and exit an elevator, characterized in that: The system comprises: An acquisition module, configured to acquire inertial data of the robot after the robot arrives at the elevator waiting point on the departure floor; A map construction module, configured to collect environmental information within a preset range and construct an environmental map of the robot based on the environmental information; A path planning module is used to perform path planning based on the inertial data and the environmental map, and obtain a first path, wherein the first path is the path for the robot to move from the elevator waiting point on the departure floor to the elevator; when the robot enters the elevator, obtain the first pose of the elevator coordinate system relative to the departure floor map coordinate system of the departure floor; obtain the second pose of the robot coordinate system relative to the departure floor map coordinate system; using the departure floor map coordinate system as an intermediate medium, obtain the first pose change according to the first pose and the second pose; perform pose transformation on the first pose and the second pose according to a first transformation matrix generated according to the first pose change, and obtain a third pose of the robot coordinate system relative to the elevator coordinate system; when the robot reaches the destination floor, perform path planning based on the third pose and the first path, and obtain a third path, wherein the third path is used to instruct the robot to move to the elevator waiting point on the destination floor.

8. An electronic device, characterized in that: include: at least one processor; as well as, A memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so as to enable the at least one processor to execute the method for a robot to enter and exit an elevator as described in any one of claims 1 to 6.

9. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method for a robot to enter and exit an elevator according to any one of claims 1 to 6 is implemented.

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