A robotic elevator boarding method and system

Abstract

The application relates to a robot elevator-riding method and an elevator-riding system. The robot is provided with an RFID radio frequency card, the elevator comprises a plurality of RFID card readers, and the RFID card reader is arranged at each floor. The robot elevator-riding method comprises the following steps: writing riding information into the RFID radio frequency card, wherein the riding information comprises a current floor where the robot is located, a target floor where the robot needs to arrive and riding requirements; adjusting the pose of the robot to make the RFID radio frequency card close to the RFID card reader, so that the RFID card reader receives the riding information and transmits the riding information to the elevator; the elevator responds to the riding information, controls the elevator car to arrive at the current floor where the robot is located according to the riding information; and the running state of the elevator car is controlled according to the riding requirements, so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor. The robot realizes elevator riding through a convenient communication mode, improves the riding success rate, and reduces the hardware cost of realizing the interaction between the robot and the elevator.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot elevator riding method and an elevator riding system. Background Art

[0002] Currently, existing robots can autonomously take elevators to deliver items across floors. Existing technology relies on the Internet of Things to enable communication between robots and elevators. However, certain international elevator regulations restrict this interoperability. To address this, some existing robots utilize robotic arms to enable elevator use, but these are relatively expensive. Summary of the Invention

[0003] The embodiments of the present application provide a robot elevator riding method and an elevator riding system, which are used to improve the success rate of riding, while also reducing the hardware cost of realizing the interaction between the robot and the elevator.

[0004] The embodiments of this application provide the following technical solutions:

[0005] In a first aspect, an embodiment of the present application provides a method for a robot to take an elevator. The robot is provided with an RFID radio frequency card. The elevator includes multiple RFID readers, and each floor is provided with an RFID reader. The robot taking the elevator method includes:

[0006] Write the boarding information into the RFID card. The boarding information includes the robot's current floor, the target floor the robot needs to reach, and the boarding requirements.

[0007] Adjust the robot's posture so that the RFID card is close to the RFID reader, so that the RFID reader receives the boarding information and transmits the boarding information to the elevator;

[0008] The elevator responds to the boarding information and controls the elevator car to reach the robot's current floor based on the boarding information;

[0009] The running state of the elevator car is controlled according to the riding requirements so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor.

[0010] In some embodiments, writing boarding information into an RFID card includes:

[0011] The robot receives the task requirements, and when it determines that it needs to take the elevator according to the task requirements, it writes the boarding information into the RFID radio frequency card.

[0012] In some embodiments, the RFID radio frequency card is provided on one side of the body of the robot;

[0013] Adjust the robot's posture so that the RFID card is close to the RFID reader, including:

[0014] Control the robot to reach the preset card swiping position on the current floor;

[0015] Adjust the robot's orientation so that the outer side of the RFID card faces the swipe side of the RFID reader;

[0016] The robot is controlled to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader.

[0017] In some embodiments, the RFID radio frequency card is flexibly connected to the robot body;

[0018] Controlling the robot to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader, including:

[0019] The robot is controlled to move in a straight line toward the card swiping side of the RFID reader at a speed less than a preset speed until the RFID radio frequency card contacts the card swiping side of the RFID reader, and the pressure value between the RFID radio frequency card and the robot body is a preset pressure value.

[0020] In some embodiments, a first guide unit is further provided at the installation position of the RFID card reader, and the robot is further provided with a second guide unit that cooperates with the first guide unit;

[0021] Controlling the robot to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader, including:

[0022] The robot is controlled to move toward the RFID card reader, and the first guide unit is used to cooperate with the second guide unit to move the robot toward the card swiping side of the RFID card reader;

[0023] When the second guide unit is located at a preset arrival position relative to the first guide unit, the RFID radio frequency card is close to the RFID card reader.

[0024] In some embodiments, the boarding request includes a first priority and a second priority, the first priority being greater than the second priority, and the boarding information further includes a first door opening time and a second door opening time;

[0025] Control the elevator car's operating state based on the boarding request, so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor, including:

[0026] If the boarding request is the first priority, the elevator door will be controlled to open continuously at the robot's current floor until the robot is detected to have successfully entered the elevator car;

[0027] Run the elevator car to the target floor in one go;

[0028] Control the elevator door to keep opening at the target floor until the robot is detected to have successfully left the elevator car;

[0029] If the boarding request is the second priority, the elevator door is controlled to open for the first door opening time at the robot's current floor;

[0030] Run the elevator car to the target floor, where the car can stop at any floor between the robot's current floor and the target floor as needed.

[0031] Controls the second door opening time of the elevator door at the target floor.

[0032] In some embodiments, writing boarding information into an RFID card includes:

[0033] The robot receives the task requirements, and when it determines that it needs to take the elevator according to the task requirements, the boarding information is written into the RFID radio frequency card;

[0034] When the robot reaches the preset card swiping position on the current floor, the number of passengers waiting for the elevator around the robot is obtained;

[0035] The first door opening time is determined according to the number of passengers waiting to take the elevator, and the first door opening time is written into the boarding information.

[0036] In some embodiments, the method further comprises:

[0037] If the robot fails to enter the elevator car within the first door opening time, the elevator will give up responding to the current boarding information.

[0038] Re-adjust the robot's posture so that the RFID card is close to the RFID reader so that the robot can swipe the card again to take the elevator.

[0039] In some embodiments, re-adjusting the robot's posture so that the RFID card is close to the RFID card reader so that the robot can swipe the card again to take the elevator includes:

[0040] The elevator obtains the number of times the robot swipes the card to take the elevator within the preset ride time based on the ride information;

[0041] If the cumulative number of elevator rides using the card within the preset ride duration is an even number, the ride request will be updated to the first priority;

[0042] If the cumulative number of times the card is swiped to take the elevator within the preset riding time is an odd number greater than 1, it is determined that the robot has given up taking the elevator.

[0043] In a second aspect, an embodiment of the present application provides an elevator riding system, which is applied to the robot elevator riding method as in the first aspect, and the elevator riding system includes:

[0044] The robot is provided with an RFID radio frequency card;

[0045] The elevator includes multiple RFID readers, and an RFID reader is set up on each floor.

[0046] Different from the related art, the present invention provides a robot elevator riding method and system. The robot is provided with an RFID radio frequency card, and the elevator includes multiple RFID card readers, one for each floor. The robot elevator riding method includes: writing boarding information into the RFID radio frequency card, the boarding information including the robot's current floor, the target floor to which the robot needs to reach, and the boarding requirements; adjusting the robot's posture so that the RFID radio frequency card is close to the RFID card reader, so that the RFID card reader receives the boarding information and transmits the boarding information to the elevator; the elevator responds to the boarding information and controls the elevator car to reach the robot's current floor based on the boarding information; and controlling the operating state of the elevator car based on the boarding requirements so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor. By bringing the RFID radio frequency card provided on the robot and the RFID card reader provided on the elevator into close proximity, the robot and the elevator interact. Each time the robot needs to board the elevator, the robot promptly sends the boarding information to the elevator through RFID technology, so that the elevator recognizes the boarding information and performs corresponding operations. This application can improve the boarding success rate and also reduce the hardware cost of realizing the interaction between the robot and the elevator. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] One or more embodiments are exemplarily illustrated by corresponding drawings, which do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, and unless otherwise stated, the figures in the drawings do not constitute proportional limitations.

[0048] Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0049] Figure 2 This is a flow chart of a robot elevator riding method provided in an embodiment of the present application;

[0050] Figure 3 yes Figure 2 A detailed flow chart of step S201 in FIG.

[0051] Figure 4 yes Figure 2 Detailed flow chart of step S202 in FIG.

[0052] Figure 5 Schematic diagram of various stages of a robot posture adjustment process provided by an embodiment of the present application;

[0053] Figure 5 a is a schematic diagram of a robot provided in an embodiment of the present application heading to a preset card swiping position on the current floor;

[0054] Figure 5 b is a schematic diagram of a robot provided by an embodiment of the present application reaching a preset card swiping position on the current floor;

[0055] Figure 5 c is a schematic diagram of a robot provided by an embodiment of the present application, with the outer side of the RFID radio frequency card facing the card swiping side of the RFID card reader;

[0056] Figure 5 d is a schematic diagram of an RFID card of a robot provided in an embodiment of the present application being close to an RFID card reader;

[0057] Figure 6 yes Figure 4 A detailed flow chart of step S223 in FIG.

[0058] Figure 7 yes Figure 4 Another detailed flowchart of step S223 in FIG.

[0059] Figure 8 yes Figure 2 A detailed flow chart of step S204 in FIG.

[0060] Figure 9 yes Figure 2 Another detailed flowchart of step S201 in FIG.

[0061] Figure 10 This is a schematic diagram of a process of re-swiping a card to take an elevator provided in an embodiment of the present application;

[0062] Figure 11 yes Figure 10 A detailed flowchart of step S102 in FIG.

[0063] Figure 12 This is a schematic structural diagram of a robot provided in an embodiment of the present application;

[0064] Figure 13 This is a structural diagram of an elevator provided in an embodiment of the present application;

[0065] Figure 14 It is a structural diagram of an elevator system provided in an embodiment of the present application.

[0066] Description of Figure Numbers:

[0067] Label name Label name 10 robot 11 RFID radio frequency card 20 elevator 21 RFID card reader 22 RFID card reader 51 First guide unit 52 Second guide unit 100 Application Environment 120 robot 121 RFID radio frequency card 122 processor 123 Memory 130 elevator 131 RFID card reader 132 RFID card reader 133 processor 134 Memory 140 Elevator system DETAILED DESCRIPTION

[0068] In order to make the purpose, technical solutions and advantages of this application more clearly understood, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0069] It should be noted that, if there is no conflict, the various features in the embodiments of the present application can be combined with each other and are all within the scope of protection of the present application. In addition, although the functional modules are divided in the device schematics and the logical order is shown in the flow charts, in some cases, the steps shown or described can be performed in a different order than the module division in the device schematics or the order in the flow charts.

[0070] Unless otherwise defined, all technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art to which this application belongs. The terms used in this specification are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0071] See also Figure 1 , Figure 1 is a schematic diagram of an application environment provided by an embodiment of the present application;

[0072] like Figure 1 As shown, the application environment 100 includes: a terminal (not shown), a robot 10 and an elevator 20, wherein the robot 10 includes an RFID radio frequency card 11, and the elevator 20 includes at least two RFID readers. Figure 1 In the example, two RFID readers, namely RFID reader 21 and RFID reader 22, are used. The terminal and the robot 10 are connected via a network communication. In the embodiment of the present application, the robot 10 and the elevator 20 are connected via radio frequency identification technology.

[0073] In an embodiment of the present application, the terminal is communicatively connected to the robot 10 and is used to send task requirements to the robot 10, or receive path information sent by the robot 10, and display the path information and related images of the robot 10 on the terminal screen to monitor the robot's movement process. The terminal is installed with an application program (APP), through which a user can send control commands to the robot 10 to control the robot 10 to perform corresponding tasks. The terminal includes, but is not limited to, a mobile communication device, a mobile personal computer device, a portable entertainment device, or other electronic device with video playback and Internet access functions.

[0074] In the embodiment of the present application, the robot 10 includes a mobile robot, such as a delivery robot, a guide service robot, a cleaning robot, a pet robot, a transport robot, a care robot, a remote monitoring robot, a sweeping robot, etc. Among them, the cleaning robot includes but is not limited to a sweeping robot, a vacuuming robot, a mopping robot, or a floor washing robot.

[0075] The robot comprises a main body, a drive wheel assembly, a camera unit, a laser radar, a radio frequency unit, and a controller. The main body may be generally elliptical, triangular, D-shaped, or other shapes. The controller is mounted on the main body, and the drive wheel assembly is installed on the main body to drive the robot. If the robot is a cleaning robot, the drive wheel assembly drives the robot to move across the surface to be cleaned, which may be a relatively smooth floor surface, a carpeted surface, or other surface requiring cleaning.

[0076] In this embodiment of the present application, the drive wheel assembly includes a left drive wheel, a right drive wheel, and an omnidirectional wheel. The left and right drive wheels are mounted on opposite sides of the main body. The omnidirectional wheel is mounted at the front of the bottom of the main body. The omnidirectional wheel is a movable caster that can rotate 360 ​​degrees horizontally, allowing the robot to steer flexibly. The left drive wheel, right drive wheel, and omnidirectional wheel are installed in a triangle to improve the robot's walking stability.

[0077] In an embodiment of the present application, a camera unit is provided on the body of the robot and is used to acquire image data and / or video data. The camera unit is communicatively connected to a controller and is used to acquire image data and / or video data within the coverage area of ​​the camera unit, for example, acquiring image data and / or video data within a confined space, or acquiring image data and / or video data within an open space, and sending the acquired image data and / or video data to the controller. In an embodiment of the present application, the camera unit includes, but is not limited to, an infrared camera, a night vision camera, a webcam, a digital camera, a high-definition camera, a 4K camera, an 8K high-definition camera, and other camera devices.

[0078] In an embodiment of the present application, a laser radar is communicatively connected to a controller. The laser radar is mounted on the robot's body, for example, on the front side of the robot's body. The multi-line laser radar is used to acquire laser point cloud data. Specifically, the laser radar is used to acquire laser point cloud data within a monitoring range. The robot's body is equipped with a communication module, and the laser point cloud data acquired by the laser radar is transmitted to the controller via the communication module.

[0079] In this embodiment of the present application, a radio frequency unit is provided on the robot's body and is used to transmit boarding information. The radio frequency unit is communicatively connected to a controller and is used to transmit boarding information to an RFID (Radio Frequency Identification) card reader on each floor's elevator, enabling the robot to board the elevator. The boarding information includes the robot's current floor, the target floor the robot needs to reach, and boarding requirements. In this embodiment of the present application, the radio frequency unit includes an RFID (Radio Frequency Identification) card 11, which is flexibly connected to the robot's body.

[0080] In an embodiment of the present application, a controller is disposed inside the main body, and the controller is electrically connected to the left drive wheel, the right drive wheel, and the omnidirectional wheel, respectively. The controller serves as the control core of the robot and is used to control the robot's forward and backward movement and some business logic processing. For example, the controller is used to receive task requirements, write boarding information into the RFID radio frequency card, or adjust the robot's posture so that the RFID radio frequency card is close to the RFID card reader of the elevator on each floor, or control the robot's movement. Among them, the controller uses the simultaneous positioning and mapping technology (SLAM), that is, the laser SLAM algorithm to construct a corresponding navigation map for the application scenario, and is used to control the robot's travel.

[0081] In an embodiment of the present application, the controller may be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISC Machine) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination of these components. The controller may also be any conventional processor, controller, microcontroller, or state machine. The controller may also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in combination with a DSP and / or any other such configuration, or a combination of one or more of a microcontroller unit (MCU), a field programmable gate array (FPGA), and a system on chip (SoC).

[0082] It is understood that the robot 10 in the embodiments of the present application further includes a storage module, which includes, but is not limited to, high-speed random access memory and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory may optionally include a memory remote from the processor, which may be connected to the robot via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0083] In the embodiment of the present application, the elevator 20 includes an electrically driven car elevator, such as a passenger elevator, a freight elevator, a service elevator, etc.

[0084] In the embodiment of the present application, the elevator 20 stops at at least two floors so that the robot can take it to different floors. The elevator 20 includes at least two RFID readers, such as Figure 1 RFID readers 21 and 22 are shown, each in communication with elevator 20. Specifically, RFID readers are located on the walls adjacent to the elevator doors on each floor, with at least one RFID reader located on the walls adjacent to the elevator doors on each floor. The RFID readers are configured to receive boarding information sent by robot 10 and transmit this information to elevator 20, enabling elevator 20 to respond to the boarding information and control the operation of the elevator car based on the boarding information, enabling the robot to enter the elevator car at its current floor and exit the elevator car at its target floor.

[0085] See also Figure 2 , Figure 2 This is a flow chart of a robot elevator riding method provided in an embodiment of the present application;

[0086] Among them, the robot elevator riding method is applied to an elevator riding system, wherein the elevator riding system includes a robot and an elevator, the robot is provided with an RFID radio frequency card, the elevator includes multiple RFID readers, the RFID readers are arranged on the side walls of the elevator doors of each floor that the elevator can reach, and the side walls of the elevator doors of each floor that the elevator can reach are provided with at least one RFID reader.

[0087] like Figure 2 As shown, the robot elevator riding method includes:

[0088] Step S201: Writing boarding information into the RFID card. The boarding information includes the current floor of the robot, the target floor to which the robot needs to reach, and boarding requirements.

[0089] Specifically, the robot's controller writes boarding information into an RFID radio frequency card arranged on the robot's body, wherein the boarding information includes the robot's current floor, the target floor the robot needs to reach, and boarding requirements.

[0090] For details, please refer to Figure 3 , Figure 3 yes Figure 2 A detailed flow chart of step S201 in FIG.

[0091] like Figure 3 As shown, step S201: writing boarding information into the RFID card. The boarding information includes the current floor of the robot, the target floor to which the robot needs to reach, and boarding requirements, including:

[0092] Step S2011: The robot receives the task requirement, and when it is determined that it needs to take the elevator according to the task requirement, it writes the boarding information into the RFID radio frequency card.

[0093] Specifically, the robot receives a task request sent by a terminal and determines whether the task request includes boarding information. If the task request includes boarding information, i.e., if it determines that an elevator ride is required, the robot's controller writes the boarding information to an RFID card mounted on the robot's body. The task request includes both task information and boarding information. The task information includes the task the robot needs to perform, such as purchasing goods from a vending machine and delivering them to a customer, or picking up a package from a courier and delivering it to a customer. The boarding information includes the robot's current floor, the desired destination floor, and boarding requirements, which include express boarding and normal boarding. In this embodiment, a user can send a task request to the robot via the terminal, instructing the robot to perform a cross-floor task between the current floor and the desired destination floor. The user can also instruct the robot to board the elevator quickly or normally. It is understood that if the robot's current floor and the desired destination floor are the same floor, there is no need to write the boarding information to the RFID card mounted on the robot's body.

[0094] In other embodiments, the robot receives a task requirement. If the robot's current floor and the target floor required by the task requirement are not the same floor, that is, the robot needs to perform the task across floors, the boarding information is written into the RFID radio frequency card provided on the robot body, wherein the boarding requirement defaults to normal boarding.

[0095] Step S202: Adjust the robot's posture so that the RFID card is close to the RFID reader, so that the RFID reader receives the boarding information and transmits the boarding information to the elevator;

[0096] Specifically, after receiving the task requirements sent by the terminal, the robot's controller plans a global path from the robot's current position to the elevator entrance on the robot's floor based on the task information and boarding information in the task requirements, as well as the robot's current position, and controls the robot to move along the path to the elevator entrance.

[0097] Furthermore, after the robot reaches the elevator entrance of its floor and the robot's controller writes the boarding information into the RFID card installed on the robot's body, the robot's controller adjusts the robot's posture so that the RFID card installed on the robot's body is close to the RFID reader on the side of the elevator door, so that the RFID reader receives the boarding information sent by the robot's RFID card and transmits the boarding information to the elevator.

[0098] For details, please refer to Figure 4 , Figure 4 yes Figure 2 Detailed flow chart of step S202 in FIG.

[0099] In an embodiment of the present application, the RFID radio frequency card is arranged on one side of the robot's body, for example, the RFID radio frequency card is arranged on the front side of the robot's body, or on the left or right side of the robot's body.

[0100] like Figure 4 As shown, step S202: adjusting the posture of the robot so that the RFID card is close to the RFID card reader, so that the RFID card reader receives the boarding information and transmits the boarding information to the elevator, including:

[0101] Step S221: Control the robot to reach the preset card swiping position on the current floor;

[0102] Specifically, the preset card swiping position is a pre-set area, and there is a preset card swiping position in front of the RFID card reader on each floor. For example, the preset card swiping position on each floor can be a circular area with a radius of 0.5 meters on the ground directly in front of the RFID card reader on each floor. Those skilled in the art can set the specific position and area of ​​the preset card swiping position on the ground according to actual needs, or the preset card swiping position is pre-marked in the robot's navigation map, and the robot can autonomously locate and navigate to the preset card swiping position.

[0103] Optionally, after determining the preset card swiping position, the robot's controller performs path planning based on the robot's current position and the preset card swiping position and controls the robot to travel along the path to the preset card swiping position.

[0104] Step S222: Adjust the orientation of the robot so that the outer side of the RFID card faces the card swiping side of the RFID reader;

[0105] Specifically, the RFID reader's swipe side can be positioned on a wall outside the elevator. For example, the swipe area of ​​the RFID reader's swipe side can be positioned parallel to the elevator's wall, and the robot's RFID card's outer side can be positioned parallel to the swipe area of ​​the RFID reader's swipe side. The robot's controller adjusts the robot's orientation based on the elevator's wall and the position of the RFID reader so that the outer side of the RFID card faces the swipe side of the RFID reader.

[0106] In other embodiments, the elevator further comprises a first guide unit, which is a V-shaped groove, and the RFID card reader is embedded in the V-shaped groove; the robot further comprises a second guide unit, which is a protrusion adapted to the V-shaped groove of the first guide unit, and the RFID radio frequency card is arranged on the protrusion.

[0107] Specifically, the RFID card can be shaped like a bank card or bus pass, and the swipe side of the RFID reader can be a smooth surface. This allows the RFID card to transmit boarding information to the RFID reader by placing it close to or covering the RFID reader. The RFID reader can be embedded in one side of the V-shaped groove, for example, the left inclined surface of the V-shaped groove. The RFID card can be placed on one side of a protrusion that aligns with the V-shaped groove, for example, the left inclined surface of the protrusion.

[0108] Furthermore, the robot scans the position of the first guide unit of the elevator, namely the V-shaped groove, through a laser radar installed on the robot body, and determines the card swiping side of the RFID reader based on the position of the V-shaped groove formed by the scanned point cloud data. Then the robot controller controls the robot to rotate to adjust the orientation of the robot so that the outer side of the RFID radio frequency card installed on the robot body faces the card swiping side of the RFID reader.

[0109] In some embodiments, the RFID card reader may further include a card slot. For example, the card slot is arranged at the sharp corner of the V-shaped groove, and the RFID radio frequency card is arranged at the tip of the protrusion. The RFID radio frequency card can be inserted into the card slot of the RFID card reader during the straight movement of the robot to send the boarding information to the RFID card reader.

[0110] Step S223: Control the robot to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader.

[0111] Specifically, after the outer side of the robot's RFID card is facing the card swiping side of the RFID reader, the robot's controller controls the robot to move in a straight line toward the outer side of the RFID card so that the RFID card is close to the RFID reader, that is, the RFID card parallel to the card swiping area on the card swiping side of the RFID reader gradually approaches the card swiping side of the RFID reader until the two contact each other.

[0112] In other embodiments, after the outer side of the robot's RFID card is facing the card swiping side of the RFID reader, the robot's controller controls the robot to move in a straight line toward the V-shaped groove so that the RFID card is close to the RFID reader, that is, the protrusion of the second guide unit where the robot's RFID card is located is inserted into the V-shaped groove of the first guide unit of the elevator.

[0113] In an embodiment of the present application, by controlling the robot to reach the preset card swiping position on the current floor, adjusting the orientation of the robot so that the outer side of the RFID radio frequency card faces the card swiping side of the RFID card reader, and controlling the robot to move in a straight line toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader, the present application can control the robot to accurately achieve the robot's RFID radio frequency card close to the RFID card reader.

[0114] Please refer to Figure 5 , Figure 5 Schematic diagram of various stages of a robot posture adjustment process provided by an embodiment of the present application;

[0115] Figure 5 The robot 10 includes a first guide unit 51, a second guide unit 52 and a preset card swiping position.

[0116] Among them, the first guide unit 51 is a V-shaped groove, which is set on the side wall of the elevator door, and the RFID card reader is embedded in the V-shaped groove; the second guide unit 52 is a protrusion adapted to the V-shaped groove of the first guide unit, which is set on the front side of the body of the robot 10, and the RFID radio frequency card is set at the protrusion.

[0117] Figure 5 a is a schematic diagram of a robot provided in an embodiment of the present application heading to a preset card swiping position on the current floor;

[0118] Figure 5 b is a schematic diagram of a robot provided by an embodiment of the present application reaching a preset card swiping position on the current floor;

[0119] Figure 5 c is a schematic diagram of a robot provided by an embodiment of the present application, with the outer side of the RFID radio frequency card facing the card swiping side of the RFID card reader;

[0120] Figure 5 d is a schematic diagram of an RFID card of a robot provided in an embodiment of the present application being close to an RFID card reader.

[0121] Specifically, such as Figure 5 As shown in Figure 5a, when the robot 10 needs to take the elevator, the robot 10 determines the preset card swiping position of the current floor and moves to the preset card swiping position. As shown in Figure 5b, the robot 10 has reached the preset card swiping position of the current floor. Figure 5As shown in Figure c, after the robot 10 reaches the preset card swiping position on the current floor, the controller of the robot 10 scans the environmental information through the laser radar and identifies the first guide unit 51 in the environmental information, wherein the card swiping side of the RFID card reader is set on the side wall of the first guide unit 51. Then the controller of the robot 10 controls the robot 10 to rotate on the spot to adjust the direction of the robot so that the protrusion of the second guide unit 52 set on the robot body is aligned with the V-shaped groove of the first guide unit 51 of the elevator, thereby making the direction of the RFID radio frequency card of the second guide unit parallel to the direction of the card swiping side of the RFID card reader. Figure 5 As shown in Figure d, after the direction of the RFID card of the robot 10 is parallel to the direction of the card swiping side of the RFID reader, the controller of the robot 10 controls the robot 10 to move in a straight line along the current direction until the protrusion of the second guide unit 52 of the robot 10 is inserted into the V-shaped groove of the first guide unit 51, so that the RFID card of the robot is close to or even contacts the RFID reader.

[0122] See also Figure 6 , Figure 6 yes Figure 4 A detailed flow chart of step S223 in FIG.

[0123] In an embodiment of the present application, the RFID radio frequency card is flexibly connected to the robot body. Specifically, the flexible connection can be a connection using materials such as rubber or springs.

[0124] like Figure 6 As shown, step S223: controlling the robot to move closer to the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader, including:

[0125] Step S2231: Control the robot to move in a straight line toward the card swiping side of the RFID reader at a speed less than a preset speed until the RFID card contacts the card swiping side of the RFID reader, and the pressure value between the RFID card and the robot body is a preset pressure value.

[0126] Specifically, the robot's controller controls the robot to move in a straight line toward the card swiping side of the RFID reader at a speed less than a preset speed until the robot's RFID radio frequency card contacts the card swiping side of the RFID reader and the pressure value between the RFID radio frequency card and the robot body is a preset pressure value.

[0127] Among them, the preset speed and preset pressure values ​​can be pre-stored in the robot. The preset speed and preset pressure values ​​can be the maximum speed and maximum pressure values ​​that will not damage the robot, RFID card and RFID reader, which are obtained by conducting multiple experiments in which the robot drives in a straight line toward the swiping side of the RFID reader until the RFID radio frequency card contacts the swiping side of the RFID reader. For example: the preset speed can be set to 0.1m / s, and the preset pressure value can be set to 0.3N.

[0128] In the embodiment of the present application, by limiting the robot's travel speed and the pressure value between the RFID radio frequency card and the robot body, the robot's movement can be constrained to avoid damaging the robot and the RFID radio frequency card set on the robot body.

[0129] Please also refer to Figure 5 and Figure 7 , Figure 7 yes Figure 4 Another detailed flowchart of step S223 in FIG.

[0130] In the embodiment of the present application, a first guide unit 51 is further provided at the installation position of the RFID card reader, and the robot is further provided with a second guide unit 52 that cooperates with the first guide unit 51;

[0131] like Figure 7 As shown, step S223: controlling the robot to move closer to the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader, further includes:

[0132] Step S2232: Control the robot to move toward the RFID card reader, and the first guide unit is used to cooperate with the second guide unit to move the robot toward the card swiping side of the RFID card reader;

[0133] Specifically, the first guide unit is a V-shaped groove, the RFID card reader is embedded in the V-shaped groove, and the second guide unit is a protrusion adapted to the V-shaped groove of the first guide unit, and the RFID radio frequency card is arranged on the protrusion.

[0134] Specifically, the first guide unit can be used as a reference for the robot to move in a straight line toward the swiping side of the RFID reader. After the robot obtains the characteristics and position of the first guide unit and the direction of the swiping side of the RFID reader through the laser radar, it adjusts the posture of the robot so that the second guide unit faces the first guide unit, and then the robot's controller controls the robot to move in a straight line in the current direction.

[0135] Step S2233: When the second guide unit is located at a preset arrival position relative to the first guide unit, the RFID radio frequency card is close to the RFID card reader.

[0136] Specifically, the second guide unit is located at the preset arrival position relative to the first guide unit, which means that the protrusion of the second guide unit of the robot is completely fitted with the V-shaped groove of the first guide unit. At this time, the RFID radio frequency card is close to the RFID card reader.

[0137] In the present application, the first guide unit (V-shaped groove) is not only used by the robot to obtain point cloud data through laser radar scanning, but also to determine the position and orientation of the first guide unit based on the point cloud data, thereby adjusting the orientation of the robot relative to the first guide unit. At the same time, the first guide unit is also used to adapt to the second guide unit installed on the robot body, which not only avoids collision with the robot body, but also plays a role in precise positioning, so that the RFID radio frequency card is accurately close to the RFID card reader. It can be understood that the RFID radio frequency card and the RFID card reader can only transmit information when they are close to each other. Therefore, the mutual adaptation setting of the first guide unit and the second guide unit in the present application ensures the success rate of the RFID radio frequency card in transmitting information to the RFID card reader.

[0138] Step S203: The elevator responds to the boarding information and controls the elevator car to reach the robot's current floor according to the boarding information;

[0139] Specifically, the elevator also includes a processor and a memory. After receiving the boarding information sent by the robot's RFID radio frequency card, the RFID card reader transmits the boarding information to the elevator's processor. After receiving the boarding information, the elevator processor controls the elevator car to reach the robot's current floor based on the robot's current floor in the boarding information. The boarding information includes the robot's current floor, the target floor the robot needs to reach, and the boarding requirements.

[0140] Step S204: Control the running state of the elevator car according to the boarding requirement so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor.

[0141] Specifically, the elevator processor controls the operating state of the elevator car according to the boarding requirements in the received boarding information, so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor.

[0142] For details, please refer to Figure 8 , Figure 8 yes Figure 2 A detailed flow chart of step S204 in FIG.

[0143] In the embodiment of the present application, the boarding request includes a first priority and a second priority, wherein the first priority is greater than the second priority, and the boarding information also includes a first door opening time and a second door opening time;

[0144] like Figure 8 As shown, step S204: controlling the operating state of the elevator car according to the boarding request so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor, including:

[0145] Step S2041: If the boarding request is the first priority, the elevator door is controlled to continue opening at the floor where the robot is currently located until the robot is detected to have successfully entered the elevator car;

[0146] Specifically, ride requirements include fast rides and normal rides, with fast rides being the first priority and normal rides being the second. It's understandable that different users have different requirements for the time it takes for robots to complete tasks. For time-sensitive tasks, the robot needs to ride the elevator quickly to save time, meaning it takes the elevator directly to the target floor without stopping. For tasks with ample time, the robot can simply ride the elevator normally, meeting the needs of other passengers, with the elevator stopping at any floor between the robot's current floor and the target floor.

[0147] Furthermore, if the robot's boarding request is the first priority, after the elevator processor controls the elevator car to reach the floor where the robot is located and controls the elevator door to continue opening, the robot controller controls the robot to enter the elevator car.

[0148] Specifically, the RFID radio frequency card installed on the robot body is close to the RFID card reader. After sending the boarding information to the robot's RFID card reader, the robot's controller controls the robot to leave the RFID card reader and move to the front of the elevator door. The robot uses the laser radar installed on the front side of the body to scan the position of the elevator door in real time. When the robot's controller detects a change in the scanning result, it determines that the elevator door is open, and the robot's controller controls the robot to move forward and enter the elevator car.

[0149] In other embodiments, an RFID card reader may also be provided inside the elevator car. The distance between the RFID card reader and the bottom of the elevator car is the same as the distance between the robot's RFID radio frequency card and the bottom of the elevator car. The RFID card reader is used to confirm whether the robot has successfully entered the elevator car.

[0150] Specifically, after the robot enters the elevator car, the robot's controller adjusts the robot's posture so that the RFID radio frequency card is close to the RFID card reader inside the elevator car, so that the RFID card reader receives the information of successful entry into the elevator car and transmits the information of successful entry into the elevator car to the elevator, so that the elevator closes the elevator door, wherein the information of successful entry into the elevator car is pre-stored in the robot's memory.

[0151] Of course, it is also possible to determine whether the robot has successfully entered or left the elevator through images captured by the camera, or to determine whether the robot has successfully entered or left the elevator through the weight added or subtracted by the elevator car at one time.

[0152] Step S2042: Run the elevator car to the target floor in one go;

[0153] Specifically, when the boarding request is the first priority and the robot successfully enters the elevator car, the elevator processor controls the elevator car to run to the target floor that the robot needs to reach in one go.

[0154] Step S2043: Control the elevator door to continue opening at the target floor until it is detected that the robot has successfully left the elevator car;

[0155] Specifically, the robot determines the current floor by floor judgment, thereby determining whether the robot has reached the target floor. After the robot reaches the target floor and the elevator door continues to open, the robot's controller controls the robot to leave the elevator car.

[0156] Furthermore, in other embodiments, the robot moves to a preset card swiping position in front of an RFID card reader on the side of the elevator door, and adjusts the robot's posture so that the RFID radio frequency card is close to the RFID card reader inside the elevator car, so that the RFID card reader receives the information of successfully leaving the elevator car and transmits the information of successfully leaving the elevator car to the elevator, so that the elevator closes the elevator door, wherein the information of successfully leaving the elevator car is pre-stored in the robot's memory.

[0157] It is understandable that the elevator processor controls the elevator to continue opening the elevator door after reaching the target floor. After the elevator processor receives the successful exit information sent by the RFID card reader, it determines that the robot has successfully left the elevator car and controls the elevator door to close.

[0158] Step S2044: If the boarding request is the second priority, the elevator door is controlled to open for the first door opening time at the floor where the robot is currently located;

[0159] Specifically, the riding requirements include normal riding, which is the second priority, that is, the robot has sufficient time to perform the task and can meet the needs of other passengers to take the elevator. The elevator can stop at any floor between the robot's current floor and the target floor.

[0160] It is understandable that there are other passengers waiting to take the elevator on the same floor. When the robot reaches the preset card swiping position on the current floor, the robot obtains the number of passengers waiting to take the elevator around the robot through the camera device or laser radar installed on the body, and determines the first door opening time according to the number of passengers waiting to take the elevator, and writes the first door opening time into the riding information, and then adjusts the robot's posture to make the RFID radio frequency card close to the RFID card reader, so that the RFID card reader receives the riding information and transmits the riding information to the elevator processor.

[0161] Furthermore, the elevator processor receives the boarding information and controls the elevator door of the robot's current floor to maintain an open state for the first door opening time according to the first door opening time and the boarding requirements in the boarding information, wherein the first door opening time is positively correlated with the number of passengers waiting to board the elevator around the robot, for example: if the number of passengers is 5, the first door opening time is 30 seconds, or if the number of passengers is 10, the first door opening time is 1 minute. The first door opening time can be set by those skilled in the art according to actual conditions.

[0162] Step S2045: The elevator car is driven to the target floor. During the operation to the target floor, the elevator car may stop at any floor between the robot's current floor and the target floor as required.

[0163] It is understandable that when a robot takes the elevator to reach the target floor that the robot needs to reach, there are other passengers or robots pressing the elevator button or sending boarding information through RFID radio frequency cards on any floor between the current floor of the robot and the target floor that the robot needs to reach.

[0164] Furthermore, when controlling the elevator car to run to the target floor, the elevator processor can respond to elevator button calls pressed by other passengers or boarding information sent by other robots through RFID radio frequency cards, and stop at any floor between the robot's current floor and the target floor.

[0165] Step S2046: Control the elevator door to open for a second door opening time at the target floor.

[0166] It is understandable that when there are a large number of passengers or robots in the elevator, it takes a long time for the robot to leave the elevator. The elevator processor is required to control the elevator door to maintain the open state for the second door opening time after the robot reaches the target floor that the robot needs to reach, wherein the second door opening time is pre-stored in the elevator processor. The second door opening time is calculated from the time the elevator car reaches the target floor that the robot needs to reach and the elevator door is opened. The second time can be set to 60 seconds. Those skilled in the art can set the second door opening time according to actual needs.

[0167] Furthermore, after the robot reaches the target floor and the elevator door opens, the robot controller controls the robot to leave the elevator car within the second door opening time.

[0168] Furthermore, in other embodiments, the robot moves to a preset card swiping position in front of an RFID card reader on the side of the elevator door, and adjusts the robot's posture so that the RFID radio frequency card is close to the RFID card reader inside the elevator car, so that the RFID card reader receives the information of successfully leaving the elevator car and transmits the information of successfully leaving the elevator car to the elevator, so that the elevator closes the elevator door, wherein the information of successfully leaving the elevator car is pre-stored in the robot's memory.

[0169] In an embodiment of the present application, by setting a first priority and a second priority for the boarding requirement, when the boarding requirement is the first priority, the robot can take the elevator car to reach the target floor that the robot needs to reach in one go; when the boarding requirement is the second priority, when the robot takes the elevator, the elevator car can stop at any floor between the robot's current floor and the target floor that the robot needs to reach according to the needs of other passengers. This application can meet the needs of other passengers or robots to take the elevator while ensuring that the robot can smoothly take the elevator to perform its tasks.

[0170] Please refer to Figure 9 , Figure 9 yes Figure 2 Another detailed flowchart of step S201 in FIG.

[0171] like Figure 9 As shown, step S201: writing the boarding information into the RFID radio frequency card also includes:

[0172] Step S2012: The robot receives the task requirement, and when it determines that it needs to take the elevator according to the task requirement, it writes the boarding information into the RFID card;

[0173] Specifically, this step is the same as the specific implementation method of step S2011, and will not be repeated here.

[0174] Step S2013: When the robot reaches the preset card swiping position on the current floor, the number of passengers waiting for the elevator around the robot is obtained;

[0175] Specifically, when the robot reaches the preset card swiping position on the current floor, the robot obtains the number of passengers waiting for the elevator around the robot through the camera device or laser radar installed on the body.

[0176] Step S2014: Determine the first door opening time according to the number of passengers waiting to take the elevator, and write the first door opening time into the boarding information.

[0177] Specifically, the robot's controller determines the first door opening time according to the number of passengers waiting to take the elevator, and writes the first door opening time into the boarding information, wherein the first door opening time is positively correlated with the number of passengers waiting to take the elevator around the robot. For example: if the number of passengers is 5, the first door opening time is 30 seconds, or if the number of passengers is 10, the first door opening time is 1 minute. The first door opening time can be set by technical personnel in this field according to actual conditions.

[0178] In an embodiment of the present application, by determining the first door opening time according to the number of passengers waiting to take the elevator and writing the first door opening time into the boarding information, the present application can avoid the situation where the robot is clamped by the elevator door due to the short door opening time when there are a large number of passengers waiting to take the elevator, or is unable to enter the elevator because the elevator door is closed.

[0179] See also Figure 10 , Figure 10 This is a schematic diagram of a process of re-swiping a card to take an elevator provided in an embodiment of the present application;

[0180] like Figure 10 As shown in the figure, the process of re-swiping the card to take the elevator includes:

[0181] Step S101: If it is detected that the robot fails to enter the elevator car within the first door opening time, the elevator will give up responding to the current boarding information;

[0182] For example, an RFID card reader is installed inside the elevator car. The distance between the RFID card reader and the bottom of the elevator car is the same as the distance between the robot's RFID radio frequency card and the bottom of the elevator car. The RFID card reader is used to confirm whether the robot has successfully entered the elevator car.

[0183] Specifically, after the robot enters the elevator car, the robot's controller adjusts the robot's posture so that the RFID radio frequency card is close to the RFID card reader inside the elevator car, so that the RFID card reader receives the information of successful entry into the elevator car and transmits the information of successful entry into the elevator car to the elevator, so that the elevator closes the elevator door, wherein the information of successful entry into the elevator car is pre-stored in the robot's memory.

[0184] It is understandable that if the elevator processor does not receive the successful entry information of the elevator car transmitted by the RFID card reader installed inside the elevator car within the first door opening time, indicating that the robot has not successfully entered the elevator car, the elevator will give up responding to the boarding information sent by the robot's RFID radio frequency card to the RFID card reader next to the elevator door.

[0185] Step S102: Re-adjust the robot's posture so that the RFID card is close to the RFID card reader so that the robot can swipe the card again to take the elevator.

[0186] Specifically, after adjusting the robot's posture to bring the RFID card into close proximity with the RFID reader, the robot uses a lidar or camera to detect in real time whether the robot has entered the elevator car during the first door-opening period. If the robot fails to successfully enter the elevator car within the first door-opening period, the robot's controller readjusts the robot's posture to bring the RFID card into close proximity with the RFID reader, allowing the robot to swipe and board the elevator again. The specific implementation method for adjusting the robot's posture to bring the RFID card into close proximity with the RFID reader is similar to that of step S202 and will not be further described here.

[0187] See also Figure 11 , Figure 11 yes Figure 10 A detailed flowchart of step S102 in FIG.

[0188] like Figure 11 As shown, step S102: readjusting the robot's posture so that the RFID card is close to the RFID card reader so that the robot can swipe the card again to take the elevator, including:

[0189] Step S1021: The elevator obtains the number of times the robot swipes the card to take the elevator within the preset ride time based on the ride information;

[0190] Specifically, the ride information also includes a preset ride duration, which is used to represent the longest time the robot may take the elevator, and can be set by those skilled in the art according to specific circumstances.

[0191] It can be understood that the robot's controller controls the RFID radio frequency card set on the body to be close to the RFID card reader, so that the RFID card reader receives the boarding information, that is, the robot performs an operation of swiping the card to take the elevator.

[0192] Furthermore, the robot's controller controls the RFID radio frequency card set on the body to be close to the RFID card reader within the preset riding time, so that the RFID card reader receives the riding information and transmits it to the elevator's processor, thereby enabling the elevator's processor to determine the number of times the robot swipes the card to ride the elevator within the preset riding time by receiving the riding information transmitted by the RFID card reader. It can be understood that the number of times the elevator's processor receives the riding information transmitted by the RFID card reader is the same as the number of times the robot swipes the card to ride.

[0193] Step S1022: If the cumulative number of elevator rides using the card within the preset ride duration is an even number, then the ride request is updated to the first priority;

[0194] It is understandable that since the robot failed to successfully enter the elevator car within the first door opening time, the time for the robot to complete this task is reduced, and the robot needs to take the elevator quickly. At this time, the priority of the ride request needs to be adjusted and the ride request is updated to the first priority, that is, quick ride.

[0195] Specifically, when the robot fails to successfully enter the elevator car within the first door opening time, the robot's controller controls the robot to adjust its posture within the preset riding time so that the RFID radio frequency card set on the robot body is close to the RFID card reader a cumulative number of times an even number of times, that is, the robot swipes the card to take the elevator a cumulative number of times an even number of times within the preset riding time, so that the elevator processor transmits the riding information through the received RFID card reader an even number of times within the preset riding time, and determines that the robot swipes the card to take the elevator an even number of times within the preset riding time, and then the elevator processor updates the riding requirement to the first priority and controls the elevator car to run to the target floor that the robot needs to reach at one time.

[0196] Alternatively, when the robot fails to successfully enter the elevator car within the first door opening time, the robot's controller updates the boarding information written in the RFID radio frequency card. Specifically, the boarding requirement is updated to the first priority, and the robot is controlled to adjust its posture within the preset boarding time so that the RFID radio frequency card set on the robot body is close to the RFID card reader, so that the RFID card reader receives the updated boarding information and transmits it to the elevator's processor, so that the elevator's processor receives the updated boarding information and controls the elevator car to run to the target floor that the robot needs to reach in one go according to the boarding requirement updated to the first priority.

[0197] Step S1023: If the cumulative number of times the card is swiped to take the elevator within the preset riding time is an odd number greater than 1, it is determined that the robot has given up taking the elevator.

[0198] It is understood that in a building with multiple elevators, each elevator on each floor is equipped with an RFID reader in communication with it. If the robot fails to successfully enter the elevator car of one of the elevators within the first door opening time, and the robot has swiped the RFID reader corresponding to the elevator an even number of times within the preset ride time, then while the robot is waiting, the elevator car of another elevator may arrive at the robot's current floor before the elevator car of the robot. In this case, the robot can give up boarding the elevator car of the elevator that has already arrived and board the elevator car of another elevator that has already arrived.

[0199] Specifically, the robot's controller receives the reminder ring tone issued after the elevator car arrives at the current floor where the robot is located, and determines whether the reminder ring tone is issued by the elevator that the robot is waiting for. If so, the robot rides the elevator normally. If not, the robot's controller determines to give up riding the elevator and controls the robot to adjust its posture so that the RFID radio frequency card set on the robot body is close to the RFID card reader corresponding to the elevator a cumulative number of times greater than 1, that is, the robot has swiped the card to ride the elevator a cumulative number of times greater than 1 within the preset riding time, so that the elevator processor transmits the riding information through the RFID card reader corresponding to the elevator a cumulative number of times greater than 1 within the preset riding time, and determines that the robot has swiped the card to ride the elevator a cumulative number of times greater than 1 within the preset riding time, thereby determining that the robot has swiped the card to ride the elevator a cumulative number of times greater than 1.

[0200] In an embodiment of the present application, a robot elevator riding method is provided, wherein the robot is provided with an RFID radio frequency card, and the elevator includes multiple RFID card readers, one of which is provided on each floor. The robot elevator riding method includes: writing boarding information into the RFID radio frequency card, the boarding information including the robot's current floor, the target floor to which the robot needs to reach, and the boarding requirements; adjusting the robot's posture so that the RFID radio frequency card is close to the RFID card reader, so that the RFID card reader receives the boarding information and transmits the boarding information to the elevator; the elevator responds to the boarding information and controls the elevator car to reach the robot's current floor based on the boarding information; and controlling the operating state of the elevator car based on the boarding requirements so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor. By bringing the RFID radio frequency card provided on the robot and the RFID card reader provided on the elevator into close proximity, the robot and the elevator interact. Each time the robot needs to board the elevator, the robot promptly transmits the boarding information to the elevator through RFID technology, so that the elevator recognizes the boarding information and performs corresponding operations. This application can improve the boarding success rate while also reducing the hardware cost of implementing the interaction between the robot and the elevator.

[0201] Please refer to Figure 12 , Figure 12 This is a schematic structural diagram of a robot provided in an embodiment of the present application;

[0202] like Figure 12 As shown, the robot 120 includes an RFID radio frequency card 121, one or more processors 122 and a memory 123. Figure 12 A processor 122 is taken as an example.

[0203] The RFID radio frequency card 121 is in communication with the processor 122, and the processor 122 and the memory 123 can be connected via a bus or other means. Figure 12 The bus connection is taken as an example.

[0204] The RFID radio frequency card 121 is used to receive the boarding information written by the processor 122 and send the boarding information to the RFID card reader of the elevator, wherein the boarding information includes the current floor of the robot, the target floor that the robot needs to reach, and the boarding requirements.

[0205] The processor 122 is used to provide computing and control capabilities to control the robot 120 to perform corresponding tasks. For example, the method that the robot 120 needs to perform in the above-mentioned robot elevator riding method includes: writing riding information into the RFID radio frequency card, the riding information including the robot's current floor, the target floor to which the robot needs to reach, and the riding requirements; adjusting the robot's posture so that the RFID radio frequency card is close to the RFID card reader, so that the RFID card reader receives the riding information and transmits the riding information to the elevator.

[0206] The processor 122 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or any combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0207] The memory 123 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs and modules, such as the program instructions / modules corresponding to the robot elevator riding method in the embodiment of the present application. The processor 122 can implement the method that the robot 120 needs to execute in the above-mentioned robot elevator riding method by running the non-transitory software programs, instructions and modules stored in the memory 123. Specifically, the memory 123 may include a volatile memory (VM), such as a random access memory (RAM); the memory 123 may also include a non-volatile memory (NVM), such as a read-only memory (ROM), a flash memory, a hard disk drive (HDD) or a solid-state drive (SSD) or other non-transitory solid-state storage device; the memory 123 may also include a combination of the above-mentioned types of memory.

[0208] The memory 123 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 123 may optionally include a memory remotely located relative to the processor 122, and such remote memory may be connected to the processor 122 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0209] One or more modules are stored in the memory 123. When executed by one or more processors 122, the methods that the robot 120 needs to execute in the above-mentioned robot elevator riding method are executed. In the embodiment of the present application, the robot 120 may also have components such as a wired or wireless network interface, a keyboard, and an input and output interface for input and output. The robot 120 may also include other components for realizing the functions of the device, which will not be repeated here.

[0210] The robots of the embodiments of the present application exist in various forms, including but not limited to: delivery robots, cleaning robots, service robots, remote monitoring robots, sweeping robots and other robots when executing the methods that the robot 120 needs to execute in the robot elevator riding method described above.

[0211] Please refer to Figure 13 , Figure 13 This is a structural diagram of an elevator provided in an embodiment of the present application;

[0212] like Figure 13 As shown, the elevator 130 includes at least two RFID readers, one or more processors 133 and a memory 134. Figure 13 In the figure, two RFID readers, namely, RFID reader 131 and RFID reader 132, and one processor 133 are taken as an example.

[0213] The RFID card reader 131 and the RFID card reader 132 are respectively connected to the processor 132 for communication. The processor 132 and the memory 133 can be connected via a bus or other means. Figure 13 The bus connection is taken as an example.

[0214] The RFID card reader 131 is used to receive the boarding information sent by the RFID radio frequency card set on the robot body and send the boarding information to the processor 133, wherein the boarding information includes the current floor of the robot, the target floor that the robot needs to reach and the boarding requirements.

[0215] The RFID card reader 132 has the same function as the RFID card reader 131 and will not be described in detail here.

[0216] The processor 133 is used to provide computing and control capabilities to control the elevator 130 to perform corresponding tasks. For example, it controls the elevator 130 to execute the method that the elevator 130 needs to execute in the above-mentioned robot elevator riding method, including: the elevator responds to the riding information, and controls the elevator car to reach the robot's current floor according to the riding information; controls the operating state of the elevator car according to the riding requirements, so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor.

[0217] The processor 133 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), a hardware chip, or any combination thereof; it may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or any combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.

[0218] The memory 134 is a non-transitory computer-readable storage medium that can be used to store non-transitory software programs, non-transitory computer executable programs, and modules, such as the program instructions / modules corresponding to the method that the elevator 130 needs to execute in the robot elevator riding method in the embodiment of the present application. The processor 133 can implement the method that the elevator 130 needs to execute in the above-mentioned robot elevator riding method by running the non-transitory software programs, instructions, and modules stored in the memory 134. Specifically, the memory 134 may include volatile memory (VM), such as random access memory (RAM); the memory 134 may also include non-volatile memory (NVM), such as read-only memory (ROM), flash memory, hard disk drive (HDD) or solid-state drive (SSD) or other non-transitory solid-state storage devices; the memory 134 may also include a combination of the above-mentioned types of memory.

[0219] The memory 134 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some embodiments, the memory 134 may optionally include a memory remotely located relative to the processor 133, and such remote memory may be connected to the processor 133 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0220] One or more modules are stored in the memory 134. When executed by one or more processors 133, the method that the elevator 130 needs to execute in the above-mentioned robot elevator riding method is executed. In the embodiment of the present application, the elevator 130 may also include other components for realizing the functions of the device, which will not be repeated here.

[0221] The elevators of the embodiments of the present application exist in various forms, including but not limited to passenger elevators, freight elevators, service elevators and other elevators with electrically driven cars when executing the method that the elevator 130 needs to execute in the robot elevator riding method described above.

[0222] Please refer to Figure 14 , Figure 14 This is a structural diagram of an elevator system provided in an embodiment of the present application;

[0223] Among them, the elevator riding system applies the robot elevator riding method in any of the above embodiments.

[0224] like Figure 14 As shown, the elevator system 140 includes:

[0225] The robot 120 is provided with an RFID radio frequency card 121;

[0226] Elevator 130 includes multiple RFID readers. Each floor is equipped with an RFID reader. Specifically, at least one RFID reader is installed at the elevator entrance of each floor. Figure 14 In the figure, two RFID readers, namely RFID reader 131 and RFID reader 132, are taken as an example.

[0227] The robot 120 and the elevator 130 are connected to each other via wireless communication technology. RFID readers 131 and 132 are both connected to the elevator 130 via wireless communication technology. Wireless communication technologies include radio frequency identification technology, wireless fidelity (WiFi), Bluetooth technology, and near-field communication (NFC). Preferably, in the embodiment of the present application, the robot 120 and the elevator 130 are connected to each other via radio frequency identification technology.

[0228] The robot 120 is used to execute the methods that the robot 120 needs to execute in the above-mentioned robot elevator riding method, for example: writing riding information into the RFID radio frequency card, the riding information including the robot's current floor, the target floor the robot needs to reach, and the riding requirements; adjusting the robot's posture so that the RFID radio frequency card is close to the RFID card reader, so that the RFID card reader receives the riding information and transmits the riding information to the elevator.

[0229] Elevator 130 is used to execute the methods that the elevator 130 needs to execute in the above-mentioned robot elevator riding method, for example: the elevator responds to the riding information, controls the elevator car to reach the robot's current floor according to the riding information; controls the operating state of the elevator car according to the riding requirements, so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor.

[0230] In an embodiment of the present application, an elevator system is provided, comprising: a robot equipped with an RFID card; and an elevator equipped with multiple RFID readers, one for each floor. The robot and the elevator interact by bringing the RFID card on the robot into close proximity with the RFID reader on the elevator. Each time the robot needs to board the elevator, it promptly transmits boarding information to the elevator via RFID technology, allowing the elevator to recognize the information and respond accordingly. This improves boarding success rates while also reducing the hardware cost of enabling interaction between the robot and the elevator.

[0231] The present application also provides a computer-readable storage medium, such as a memory including program code, which can be executed by a processor to implement the robot elevator riding method in the above embodiment. For example, the computer-readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CDROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0232] The present application also provides a computer program product including one or more program codes stored in a computer-readable storage medium. A processor of an electronic device reads the program code from the computer-readable storage medium and executes the program code to perform the steps of the robot elevator riding method provided in the above embodiment.

[0233] Those skilled in the art will understand that all or part of the steps of implementing the above embodiments can be completed by hardware, or by hardware related to program code, and the program can be stored in a computer-readable storage medium. The above-mentioned storage medium can be a read-only memory, a disk or an optical disk, etc.

[0234] Through the description of the above embodiments, it can be clearly understood by those skilled in the art that each embodiment can be implemented by means of software plus a general hardware platform, or of course by hardware. It can be understood by those skilled in the art that all or part of the processes in the above embodiment methods can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0235] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Based on the idea of ​​the present application, the technical features in the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations in different aspects of the present application as mentioned above. For the sake of simplicity, they are not provided in detail. Although the present application has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A robot elevator method, wherein the robot is provided with an RFID radio frequency card, and the elevator includes multiple RFID readers, each floor is provided with the RFID reader, characterized in that: The method comprises: Writing boarding information into the RFID card, the boarding information including the current floor of the robot, the target floor to which the robot needs to reach, and boarding requirements; Adjusting the posture of the robot so that the RFID radio frequency card is close to the RFID card reader, so that the RFID card reader receives the boarding information and transmits the boarding information to the elevator; The elevator responds to the boarding information and controls the elevator car to reach the floor where the robot is currently located according to the boarding information; controlling the operating state of the elevator car according to the boarding request so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor; The boarding requirement includes a first priority and a second priority, the first priority is greater than the second priority, and the boarding information also includes a first door opening time and a second door opening time; Controlling the operating state of the elevator car according to the boarding request so that the robot enters the elevator car at the current floor and leaves the elevator car at the target floor, comprising: If the boarding request is of the first priority, the elevator door is controlled to be continuously opened at the floor where the robot is currently located until it is detected that the robot has successfully entered the elevator car; Running the elevator car to the target floor in one go; Controlling the elevator door to continue opening at the target floor until detecting that the robot successfully leaves the elevator car; If the boarding request is of the second priority, controlling the elevator door to open for a first door opening time at the floor where the robot is currently located; Running the elevator car to the target floor, wherein, during the running to the target floor, the elevator car may stop at any floor between the current floor of the robot and the target floor as required; Controlling the elevator door to open for a second door opening time at the target floor; Writing boarding information into the RFID radio frequency card includes: the robot receiving a task requirement, and when determining that an elevator ride is required according to the task requirement, writing the boarding information into the RFID radio frequency card; when the robot arrives at a preset card swiping position on the current floor, obtaining the number of passengers waiting for the elevator around the robot; determining a first door opening time according to the number of passengers waiting for the elevator, and writing the first door opening time into the boarding information.

2. The robot elevator riding method according to claim 1, characterized in that: Writing boarding information into the RFID radio frequency card includes: The robot receives the task requirement, and when it is determined that it needs to take the elevator according to the task requirement, writes the boarding information into the RFID radio frequency card.

3. The robot elevator riding method according to claim 1, characterized in that: The RFID radio frequency card is arranged on one side of the body of the robot; The adjusting the posture of the robot so that the RFID radio frequency card is close to the RFID card reader includes: Controlling the robot to reach a preset card swiping position on the current floor; Adjusting the orientation of the robot so that the outer side of the RFID radio frequency card faces the card swiping side of the RFID card reader; The robot is controlled to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader.

4. The robot elevator riding method according to claim 3, characterized in that: The RFID radio frequency card is flexibly connected to the robot body; Controlling the robot to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader includes: The robot is controlled to move in a straight line toward the card swiping side of the RFID card reader at a speed less than a preset speed until the RFID radio frequency card contacts the card swiping side of the RFID card reader, and the pressure value between the RFID radio frequency card and the robot body is a preset pressure value.

5. The robot elevator riding method according to claim 3, wherein the installation position of the RFID card reader is further provided with a first guide unit, and the robot is further provided with a second guide unit cooperating with the first guide unit; Controlling the robot to move toward the card swiping side of the RFID card reader so that the RFID radio frequency card is close to the RFID card reader further includes: Controlling the robot to move toward the RFID card reader, wherein the first guide unit is used to cooperate with the second guide unit to move the robot toward the card swiping side of the RFID card reader; When the second guide unit is located at a preset arrival position relative to the first guide unit, the RFID radio frequency card is close to the RFID card reader.

6. The robot elevator riding method according to claim 1, characterized in that: The method further comprises: If, within the first door opening time, it is detected that the robot fails to successfully enter the elevator car, the elevator gives up responding to the current boarding information; The robot's posture is readjusted so that the RFID radio frequency card is close to the RFID card reader so that the robot can swipe the card again to take the elevator.

7. The robot elevator riding method according to claim 6, characterized in that: The robot's posture is readjusted to bring the RFID card close to the RFID card reader so that the robot can swipe the card again to take the elevator, including: The elevator obtains the number of times the robot swipes the card to take the elevator within a preset riding time based on the riding information; If the cumulative number of times the card is swiped to take the elevator within the preset riding time is an even number, determining to update the riding request to the first priority; If the cumulative number of times the card is swiped to take the elevator within the preset riding time is an odd number greater than 1, it is determined that the robot has given up taking the elevator.

8. An elevator riding system, applied to the robot elevator riding method according to any one of claims 1 to 7, characterized in that: The system comprises: The robot is provided with an RFID radio frequency card; The elevator comprises a plurality of RFID card readers, wherein each floor is provided with the RFID card reader.

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