Robot elevator riding method, robot and storage medium

Abstract

Embodiments of the present invention disclose a method for a robot to take an elevator, a robot, and a storage medium. The method includes: when the elevator car is parked at the current floor and the elevator door is open, controlling a robotic arm to extend outside the elevator car to capture a target image of a QR code set at a preset position using a camera; parsing the QR code in the target image to obtain the floor number of the current floor; and if the floor number of the current floor is the same as the floor number of the target floor to which the robot is heading, controlling the robot to exit the elevator car at the current floor. The present invention not only ensures that the robot does not arrive at the wrong floor but also improves its operating efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a method for a robot to take an elevator, a robot and a storage medium. Background Art

[0002] With the widespread use of service robots in hotels, office buildings, and other environments, the use of robots in elevators is inevitable. However, due to the complex elevator environment, robots can easily miss their target floor during elevator use, leading to mission errors. Summary of the Invention

[0003] The embodiments of the present invention aim to provide a method for a robot to take an elevator, a robot, and a storage medium, so as to solve the problem in the prior art that the robot fails to reach the right target floor, resulting in abnormal robot tasks.

[0004] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0005] According to one aspect of the present invention, a method for a robot to take an elevator is provided, wherein the robot is equipped with a robotic arm, and the robotic arm is equipped with a camera device, and the method comprises:

[0006] When the elevator car stops at the current floor and the elevator door is in an open state, the robotic arm is controlled to extend outside the elevator car so as to capture a target image of a QR code set at a preset position through the camera device;

[0007] Parse the QR code in the target image to obtain the floor number of the current floor;

[0008] If the floor number of the current floor is the same as the floor number of the target floor to which the robot is heading, the robot is controlled to leave the elevator car at the current floor.

[0009] Optionally, the preset position is located in the middle of the beam of the elevator door frame;

[0010] The step of controlling the robotic arm to extend outside the elevator car so as to capture a target image of a QR code set at a preset position through the camera device includes:

[0011] The robotic arm is controlled to extend from inside the elevator car to outside the elevator car, so as to obtain a target image of a QR code located in the middle of the elevator door frame beam through the camera device.

[0012] Optionally, the step of controlling the robot to leave the elevator car at the current floor includes:

[0013] Obtaining the calibration position coordinates of the robot according to the position coordinates of the QR code in the target image;

[0014] The robot is controlled to pass through the elevator door according to the calibrated position coordinates so that the robot leaves the elevator car along the middle path of the elevator door.

[0015] Optionally, the step of obtaining the calibration position coordinates of the robot according to the position coordinates of the QR code in the target image includes:

[0016] Determining a first relative position of the QR code in the target image relative to the camera device;

[0017] determining a second relative position of the camera device relative to the robot;

[0018] The calibration position coordinates of the robot are determined according to the first relative posture, the second relative posture and the position coordinates of the two-dimensional code.

[0019] Optionally, the step of controlling the robot to pass through the elevator door according to the calibration position coordinates so that the robot leaves the elevator car along a middle path of the elevator door includes:

[0020] When the difference between the position coordinates in the robot's SLAM positioning result and the calibration position coordinates is greater than a preset value, the SLAM positioning result is corrected according to the calibration position coordinates;

[0021] According to the corrected SLAM positioning results, the robot is controlled to pass through the elevator door so that the robot leaves the elevator car along the middle path of the elevator door.

[0022] Optionally, the method further includes:

[0023] Load the environment map corresponding to the floor number of the current floor;

[0024] After the robot leaves the elevator car, the robot is controlled to perform positioning and navigation on the current floor based on the environment map.

[0025] Optionally, the step of controlling the robot to leave the elevator car at the current floor includes:

[0026] Get the direction the robot is traveling when it leaves the elevator car;

[0027] According to the moving direction, the robotic arm is controlled to simulate the moving direction of the robot to prompt avoidance.

[0028] Optionally, the robotic arm is further provided with a light emitting device;

[0029] The steps to control the robot to leave the elevator car at the current floor include:

[0030] Get the direction the robot is traveling when it leaves the elevator car;

[0031] According to the travel direction, the light emitting device located at the robotic arm is controlled to simulate the travel direction of the robot to prompt avoidance.

[0032] According to another aspect of the present invention, a robot is provided, comprising a memory, a processor, and a computer program stored and running on the memory, wherein when the processor executes the program, the steps of any one of the above-mentioned methods for taking an elevator by a robot are implemented.

[0033] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of any one of the above-mentioned methods for a robot taking an elevator.

[0034] The beneficial effects of the embodiments of the present invention are as follows: Unlike the prior art, in the embodiments of the present invention, a robot is equipped with a robotic arm equipped with a camera. When the elevator car is parked at the current floor and the elevator door is open, the robotic arm is controlled to extend outside the elevator car to capture a target image of a QR code located at a preset position using the camera. The robot then interprets the QR code in the target image to obtain the floor number of the current floor. If the floor number of the current floor is the same as the floor number of the target floor to which the robot is heading, the robot is controlled to exit the elevator car at the current floor. Using the present invention, the robot detects that the floor number of the current floor is the same as the floor number of the target floor before exiting the elevator car, and only then controls the robot to exit the elevator car at the current floor, ensuring that the robot does not miss the wrong floor. Furthermore, the robot checks whether the floor number of the current floor is the same as the floor number of the target floor inside the elevator car, rather than outside the elevator car. This allows the robot to promptly call the floor number of the target floor in the current elevator if it detects that the floor number of the current floor is different from the floor number of the target floor, rather than calling a new elevator after exiting the elevator car, thereby improving the robot's operating efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] 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.

[0036] Figure 1 This is a flow chart of an optional method for a robot to take an elevator provided in the first embodiment of the present invention;

[0037] Figure 2 This is a schematic diagram of a robot in an elevator car collecting a target image of a QR code set outside the elevator, provided by the first embodiment of the present invention;

[0038] Figure 3 This is a schematic structural diagram of an optional robot provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0039] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0040] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0041] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0042] It will also be understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0043] As used in this specification and the appended claims, the term "if" can be interpreted as "when" or "upon" or "in response to determining" or "in response to detecting," depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "upon determination" or "in response to determining" or "upon detection of [described condition or event]" or "in response to detecting [described condition or event]," depending on the context.

[0044] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0045] References to "one embodiment" or "some embodiments" in this specification mean that a particular feature, structure, or characteristic described in conjunction with that embodiment is included in one or more embodiments of the present application. Thus, phrases such as "in one embodiment," "in some embodiments," "in other embodiments," and "in other embodiments" appearing in various places in this specification do not necessarily refer to the same embodiment, but rather mean "one or more but not all embodiments," unless otherwise specifically emphasized. The terms "including," "comprising," "having," and variations thereof all mean "including but not limited to," unless otherwise specifically emphasized.

[0046] In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0047] Example 1

[0048] According to an embodiment of the present invention, a method for a robot to take an elevator is provided. It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system, such as a set of computer-executable instructions, and that although a logical sequence is shown in the flowcharts, in some cases, the steps shown or described may be executed in a different order than shown.

[0049] See also Figure 1 , Figure 1 FIG2 is a flowchart of an optional method for a robot to take an elevator provided in a first embodiment of the present invention. The method can be applied to various mobile service robots. The robot is equipped with a robotic arm equipped with a camera. The specific steps include:

[0050] Step S101: When the elevator car stops at the current floor and the elevator door is in an open state, the robotic arm is controlled to extend outside the elevator car to capture a target image of a QR code set at a preset position through a camera device.

[0051] The robot is equipped with a robotic arm, which can be a multi-axis robotic arm capable of moving freely within multiple degrees of freedom. The camera device, which can be a depth camera, is used to capture images containing QR codes. When the robot receives a cross-floor task, it determines its initial floor and its target floor, then proceeds to a predetermined location to request an elevator ride, allowing it to travel from the initial floor to the target floor. For example, after successfully requesting an elevator ride, the robot continuously queries the elevator control system for its status and waits for the elevator to arrive. When the elevator arrives, the robot sends a door-opening command to the elevator control system, which controls the elevator to open the door. Subsequently, the robot's host computer sends an elevator entry command to the robot's navigation module, controlling the robot's entry into the elevator. After entering the elevator, the robot requests a stop at the target floor from the elevator control system and continuously queries the elevator status.

[0052] In one embodiment, after the robot detects that the elevator has arrived and is parked at the current floor, it further detects the elevator status. If the elevator door is open, the robot controls the robot to extend its arm outside the elevator car. Preferably, after the robot detects that the elevator has reached the target floor, it sends a door-opening command to the elevator control system, which controls the elevator to open the door. In other embodiments, the elevator has not yet reached the target floor, but due to a malfunction or other reasons, the elevator sends an erroneous arrival signal to the robot. After receiving the erroneous arrival signal from the elevator, the robot controls the robot to extend its arm outside the elevator car when the elevator car is parked at the current floor and the elevator door is open. In other embodiments, the elevator control system sends information to the robot that the elevator has arrived and parked at the floor. However, due to a malfunction of the elevator control system or other reasons, the robot receives erroneous feedback, which can easily cause the robot to exit the elevator at the wrong floor, resulting in mission failure.

[0053] It is understandable that if the robot exits the elevator at the wrong floor, the robot will load an environment map that does not correspond to the current floor, and the robot will not be able to successfully achieve positioning and navigation.

[0054] Preferably, the preset position is selected in an area that is convenient for shooting and not easily damaged. Figure 2 As shown, the preset position is located in the middle of the crossbeam at the top of the elevator door frame. The robot arm is controlled to extend outside the elevator car so that the camera device can capture a target image of the QR code set at the preset position. Specifically, the robot arm is controlled to extend from inside the elevator car to outside the elevator car so that the camera device can capture a target image of the QR code located in the middle of the crossbeam of the elevator door frame. To reduce computation and improve the robot's operating efficiency, the QR codes for different floors are preset in the same position relative to the elevator door frame. This ensures that even if the robot reaches the wrong floor, it can still accurately capture the target image of the QR code for the wrong floor. The target image is an image containing the QR code.

[0055] In one embodiment, the robot controls the mechanical arm to extend to a target extension position outside the elevator car, wherein the target extension position is specifically the position of the camera device outside the elevator car, which can be determined based on a preset position of the QR code. Figure 2 As shown, the QR code is set horizontally relative to the ground in the middle of the top beam of the elevator door frame. When the line connecting the center of the lens of the camera device and the center of the QR code is basically perpendicular to the horizontal plane, the target image of the QR code obtained is better, and the position of the camera device at this time is the target extension position.

[0056] To simplify the control program and reduce computational complexity, controlling the robotic arm to extend to a target extended position outside the elevator car also includes controlling the robot to travel to a target exit position inside the elevator car before exiting the elevator car. Preferably, the target exit position is located on the centerline of the elevator door and at a preset distance (e.g., 1 meter) from the elevator door. The selection of this preset distance is related to the length of the robotic arm and the installation location of the camera. To facilitate the robot's smooth extension of the robotic arm outside the elevator car without disturbing others, this preset distance can be set as small as possible.

[0057] After determining the target extended position, the control instructions required to extend the robotic arm from a preset state to the target extended position outside the elevator car can be further calculated and stored. The preset state includes an initial state (e.g., an initial state in which the robotic arm is retracted) and a posture state used to demonstrate driving intention (described in detail in step S103). When the robot is used to detect whether the current floor is the target floor to which the robot is heading, it first controls the robot to move to the target exit position inside the elevator car and controls the robotic arm to adjust to the preset state. Then, the pre-stored control instructions are retrieved and executed, thereby controlling the robotic arm to extend to the target extended position outside the elevator car.

[0058] In some embodiments, the robot controls the mechanical arm to extend to any position outside the elevator car, activates the scanning function of the camera device, and stops scanning when it scans the target image of the QR code set at a preset position. This scanning function can be achieved by adjusting the position of the mechanical arm or controlling the rotation of the camera device.

[0059] Optionally, the QR code may be placed at other places outside the elevator car, such as on the two side walls of the elevator door frame, or on the ceiling of the elevator room where passengers wait to board the elevator, or at a nearby place.

[0060] Step S102: Parse the QR code in the target image to obtain the floor number of the current floor.

[0061] The QR code includes at least the floor number of the current floor, and may also include the building area code and the location coordinates of the QR code, etc. The location coordinates of the QR code are the coordinates of the center point of the QR code set at a preset position on the current floor.

[0062] Step S103: If the floor number of the current floor is the same as the floor number of the target floor to which the robot is to go, the robot is controlled to leave the elevator car at the current floor.

[0063] The QR code in the target image is parsed to obtain the current floor number. Once the current floor number is confirmed to be the same as the floor number of the robot's target floor, the robot is controlled to exit the elevator car at the current floor. Before the robot leaves the elevator car, it checks inside the elevator car to see if the current floor is the target floor, ensuring that the robot does not miss the floor.

[0064] Furthermore, in order to ensure that the robot exits the elevator smoothly, the step of controlling the robot to leave the elevator car at the current floor includes: obtaining the calibration position coordinates of the robot according to the position coordinates of the QR code in the target image; and controlling the robot to pass through the elevator door according to the calibration position coordinates so that the robot leaves the elevator car along the middle path of the elevator door.

[0065] Parse the QR code in the target image to obtain the position coordinates of the QR code.

[0066] Obtaining the robot's calibration position coordinates based on the position coordinates of the QR code in the target image includes: determining a first relative pose of the QR code in the target image relative to a camera device; determining a second relative pose of the camera device relative to the robot; and determining the robot's calibration position coordinates based on the first relative pose, the second relative pose, and the position coordinates of the preset QR code. Specifically, after the camera device mounted on the robotic arm captures the target image of the QR code, a built-in algorithm can be used to calculate the first relative pose of the QR code relative to the camera device. During image processing, the first relative pose of the QR code relative to the camera device is calculated by converting the pixel coordinate system into a world coordinate system. The second relative pose of the camera device and the robot can be determined based on the camera device's mounting position and the amount of movement of the robotic arm. For example, if the camera device is mounted at the end of the robotic arm, the second relative pose of the camera device and the robot is the sum of the third relative pose of the robotic arm's end relative to the robotic arm's mounting end and the fourth relative pose of the robotic arm's mounting end relative to the robot's center. The pose of the QR code relative to the robot can be determined based on the first and second relative poses, and the robot's calibration position coordinates can then be determined based on the QR code's position coordinates.

[0067] The robot implements map construction and positioning navigation based on Simultaneous Localization and Mapping (SLAM) technology. The robot is controlled to pass through the elevator door based on calibrated position coordinates, so that the robot leaves the elevator car along a path midway between the elevator door and the elevator car. The steps include: when the difference between the position coordinates in the robot's SLAM positioning result and the calibrated position coordinates is greater than a preset value, correcting the SLAM positioning result based on the calibrated position coordinates; and, based on the corrected SLAM positioning result, controlling the robot to pass through the elevator door so that the robot leaves the elevator car along a path midway between the elevator door and the elevator car.

[0068] During the operation of the robot, it is inevitable that the pose estimation deviates from the actual position, resulting in inaccurate positioning. Inaccurate positioning may have very serious consequences for the robot, especially when the robot is exiting the elevator car. For example, when the robot is in the elevator car and preparing to exit, a slight positioning deviation may cause the robot to collide with the elevator door or fail to exit. Optionally, the robot can be at the center line of the elevator car door before exiting. Due to the positioning deviation, the actual position of the robot is on the left side of the elevator car door. If the robot still exits the elevator in a straight line, it may hit the elevator door frame and fall. After calibrating the robot's SLAM positioning results using the position coordinates in the QR code, it can avoid the situation where the robot hits the side edge of the elevator door due to inaccurate positioning results when exiting the elevator, thereby ensuring the robot's smooth exit.

[0069] Obtain the SLAM positioning result of the robot in the elevator car. When the difference between the position coordinates in the SLAM positioning result of the robot and the calibration position coordinates is greater than a preset value (for example, 20 cm), correct the SLAM positioning result according to the calibration position coordinates. Optionally, update the position coordinates in the SLAM positioning result with the calibration position coordinates, and obtain the repositioning result of the robot at the next moment based on the updated SLAM positioning result.

[0070] When the difference between the position coordinates in the SLAM positioning result of the robot and the calibration position coordinates is less than or equal to the preset value, the SLAM positioning result can still be used for navigation.

[0071] It can be understood that during the process of the robot exiting the elevator car, the robot obtains the robot's SLAM positioning results and calibration position coordinates in real time, and compares them to determine whether the difference between the position coordinates of the robot's SLAM positioning results and the calibration position coordinates during the process of the robot exiting the elevator car is greater than the preset value, so as to determine whether the robot's SLAM positioning results need to be corrected.

[0072] When operating, the robot shares the same environment with humans. To avoid interfering with humans, the robot's moving arm can proactively display its intended movement, allowing pedestrians to move out of the way and allow the robot to proceed or stop. For example, if the robot deviates to the left, the arm extends to simulate the robot's likely direction of travel, allowing pedestrians to move out of the way.

[0073] The present invention provides two implementation methods to realize the function of displaying driving intention based on a robotic arm.

[0074] The first method is to obtain the robot's direction of travel, and control the robotic arm to simulate the robot's direction of travel according to the direction of travel to prompt avoidance.

[0075] The second type: The robot's robotic arm is also equipped with a light-emitting device to obtain the robot's direction of travel. The light-emitting device located on the robotic arm is controlled according to the direction of travel to simulate the robot's direction of travel to prompt avoidance.

[0076] Both of the above-mentioned embodiments can be applied to various driving operations of the robot, including the operation of exiting the elevator, the operation of entering the elevator, and the operation of driving according to the planned path. When applied to the operation of exiting the elevator, the above-mentioned two embodiments are specifically as follows: (1) The direction of movement of the robot when leaving the elevator car is obtained, and the robot arm is controlled to simulate the direction of movement of the robot according to the direction of movement to prompt avoidance. (2) The robot's robot arm is also provided with a light-emitting device (for example, the light-emitting device is an LED light), which obtains the direction of movement of the robot when leaving the elevator car, and controls the light-emitting device located on the robot arm to simulate the direction of movement of the robot according to the direction of movement to prompt avoidance.

[0077] In one embodiment, after obtaining the floor number of the current floor, the robot loads the environmental map corresponding to the floor number of the current floor, so that after the robot leaves the elevator car, it is controlled to perform positioning and navigation on the current floor based on the environmental map. The environmental map of the current floor may include environmental information of the entire floor, room location information, and elevator entrance location, etc. For example, the environmental map is a raster map, a semantic map, etc. During the driving process, the robot can capture images of the surrounding space and match the captured images with the environmental map to achieve positioning and navigation. Optionally, after leaving the elevator car, the robot is also used to determine the location of the elevator in the building area corresponding to the building area code carried in the QR code in the environmental map of the current floor, and perform path planning or navigation based on the location of the elevator.

[0078] If the floor number of the current floor differs from the floor number of the target floor, the robot arm is retracted and the floor number of the target floor is called again based on the floor number of the current floor. Since the robot determines whether the floor number of the current floor and the floor number of the target floor are the same within the elevator car, when it determines that the floor number of the current floor and the floor number of the target floor are different, the robot can call the floor number of the target floor based on the current floor within the current elevator car instead of leaving the elevator car and calling a new elevator, which improves the robot's work efficiency.

[0079] Preferably, after the robot arm is retracted, a command to close the elevator door is sent to the elevator control system. Upon receiving the command and determining that no one has exited the elevator, the elevator control system controls the elevator to close the door. After the door is closed, the robot calls the target floor number based on the current floor number within the current elevator car.

[0080] In one embodiment, in order to avoid the robot frequently calling the elevator after reaching the wrong floor and affecting others taking the elevator, the robot waits for a preset time and then calls the floor number of the target floor again based on the floor number of the current floor in the current elevator car.

[0081] An embodiment of the present invention provides a robot elevator riding method. The robot is equipped with a robotic arm equipped with a camera. When the elevator car is parked at the current floor and the elevator door is open, the robotic arm is controlled to extend outside the elevator car to capture a target image of a QR code located at a preset position using the camera. The robot then interprets the QR code in the target image to obtain the floor number of the current floor. If the floor number of the current floor matches the floor number of the target floor to which the robot is traveling, the robot is controlled to exit the elevator car at the current floor. Using this method, the robot detects that the floor number of the current floor matches the floor number of the target floor before exiting the elevator car, and only then exits the elevator car at the current floor, ensuring that the robot does not miss the wrong floor. Furthermore, the robot checks whether the floor number of the current floor matches the floor number of the target floor inside the elevator car, rather than outside the elevator car. This allows the robot to promptly call the target floor number within the current elevator if the floor number of the current floor differs from the target floor number, rather than calling a new elevator after exiting the elevator car. This improves the robot's operating efficiency.

[0082] Example 2

[0083] According to an embodiment of the present invention, a robot is provided, such as Figure 3FIG. 3 is a schematic diagram of the structure of an optional robot provided in the second embodiment of the present invention. The robot may include a processor 301, a communication interface 302, a memory 303, and a communication bus 304, wherein the processor 301, the communication interface 302, and the memory 303 communicate with each other via the communication bus 304. The processor 301 may call the logic instructions in the memory 303 to execute a method for the robot to take an elevator. The method includes: when the elevator car is parked at the current floor and the elevator door is in an open state, controlling the robotic arm to extend outside the elevator car to capture a target image of a QR code set at a preset position through the camera device; parsing the QR code in the target image to obtain the floor number of the current floor; and if the floor number of the current floor is the same as the floor number of the target floor to which the robot is heading, controlling the robot to leave the elevator car at the current floor.

[0084] In addition, the logic instructions in the above-mentioned memory 303 can be implemented in the form of a software functional unit and can be stored in several computer-readable storage media when sold or used as an independent product. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in Example 1 of the present invention. The aforementioned storage medium includes: various media that can store program codes, 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.

[0085] The above-mentioned robot can execute any of the robot elevator riding methods described in Example 1, and has the corresponding functional modules and beneficial effects of the method. For technical details not described in detail in this embodiment, please refer to the robot elevator riding method provided in Example 1 of the present invention.

[0086] It can be understood that the above-mentioned robot is also equipped with at least a robotic arm, on which a camera device is installed. The robotic arm and the camera device installed on the robotic arm are used to detect in the elevator car whether the floor number of the current floor is the same as the floor number of the target floor to which the robot is going. If the floor number of the current floor is the same as the floor number of the target floor to which the robot is going, the robot is controlled to leave the elevator car at the current floor to ensure that the robot will not go to the wrong floor.

[0087] Example 3

[0088] According to an embodiment of the present invention, a computer-readable storage medium is provided, the type of which is as described in Example 2, and the computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the robot elevator riding method described in Example 1.

[0089] The above-mentioned product can execute any of the robot elevator riding methods described in Example 1, and has the corresponding functional modules and beneficial effects of the method. For technical details not fully described in this embodiment, please refer to the robot elevator riding method provided in Example 1 of the present invention.

[0090] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, or of course, by hardware. Based on this understanding, the above technical solution, in essence, or the part that contributes to the relevant technology, can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or certain parts of the embodiment.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Under the idea of ​​the present invention, 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 of different aspects of the present invention as described above. For the sake of simplicity, they are not provided in detail. Although the present invention has been described in detail with reference to the above embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions described in the above 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 this application.

Claims

1. A method for a robot to take an elevator, characterized in that: The robot is equipped with a mechanical arm, and the mechanical arm is equipped with a camera device. The method includes: When the elevator car stops at the current floor and the elevator door is in an open state, the robotic arm is controlled to extend outside the elevator car so as to capture a target image of a QR code set at a preset position through the camera device; Parse the QR code in the target image to obtain the floor number of the current floor; If the floor number of the current floor is the same as the floor number of the target floor to which the robot is heading, the robot is controlled to leave the elevator car at the current floor, including: obtaining the direction of travel of the robot when leaving the elevator car; and controlling the robotic arm to simulate the direction of travel of the robot according to the direction of travel to prompt avoidance.

2. The method according to claim 1, characterized in that The preset position is located in the middle of the beam of the elevator door frame; The step of controlling the robotic arm to extend outside the elevator car so as to capture a target image of a QR code set at a preset position through the camera device includes: The robotic arm is controlled to extend from inside the elevator car to outside the elevator car, so as to obtain a target image of a QR code located in the middle of the elevator door frame beam through the camera device.

3. The method according to claim 1, characterized in that The steps to control the robot to leave the elevator car at the current floor include: Obtaining the calibration position coordinates of the robot according to the position coordinates of the QR code in the target image; The robot is controlled to pass through the elevator door according to the calibrated position coordinates so that the robot leaves the elevator car along the middle path of the elevator door.

4. The method according to claim 3, characterized in that The step of obtaining the calibration position coordinates of the robot according to the position coordinates of the QR code in the target image comprises: Determining a first relative position of the QR code in the target image relative to the camera device; determining a second relative position of the camera device relative to the robot; The calibration position coordinates of the robot are determined according to the first relative posture, the second relative posture and the position coordinates of the two-dimensional code.

5. The method according to claim 3, characterized in that The steps of controlling the robot to pass through the elevator door according to the calibrated position coordinates so that the robot leaves the elevator car along the middle path of the elevator door include: When the difference between the position coordinates in the robot's SLAM positioning result and the calibration position coordinates is greater than a preset value, the SLAM positioning result is corrected according to the calibration position coordinates; According to the corrected SLAM positioning results, the robot is controlled to pass through the elevator door so that the robot leaves the elevator car along the middle path of the elevator door.

6. The method according to claim 1, characterized in that The method further comprises: Load the environment map corresponding to the floor number of the current floor; After the robot leaves the elevator car, the robot is controlled to perform positioning and navigation on the current floor based on the environment map.

7. The method according to claim 1, characterized in that The robotic arm is also provided with a light emitting device; The steps to control the robot to leave the elevator car at the current floor include: Get the direction the robot is traveling when it leaves the elevator car; According to the travel direction, the light emitting device located at the robotic arm is controlled to simulate the travel direction of the robot to prompt avoidance.

8. A robot comprising a memory, a processor, and a computer program stored and running on the memory, characterized in that: When the processor executes the program, the steps of the robot elevator riding method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program. When the computer program is executed by a processor, the processor executes the steps of the robot elevator riding method according to any one of claims 1 to 7.

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