Robot elevator riding method, robot, elevator riding system and storage medium

Abstract

The present invention relates to the field of robotics, and more particularly to a robot elevator riding method, an elevator riding system, and a robot storage medium. The method is applied to a robot, the robot including an inertial sensor, and the method comprises: calling an elevator at an initial floor; after the elevator car reaches the initial floor, performing an elevator entry operation, and determining whether the elevator car has been successfully entered based on acceleration information of the robot along the direction of travel of the elevator car obtained by the inertial sensor; after successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information; and after reaching the target floor, performing an elevator exit operation to leave the elevator car. The method uses an inertial sensor to sense the acceleration information of the elevator car, and promptly confirms that the robot has entered the elevator car and reached the target floor, thereby ensuring that the robot completes its work tasks smoothly and efficiently.

Description

Technical Field

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

[0002] With the continuous advancement of technology, robots have gradually been applied in buildings, hotels, shopping malls, banks, and other places, providing users with services such as item delivery, guest consultation, navigation and guidance, collaborative work, and merchandise sales. Currently, multi-story buildings have become the living and working space of the vast majority of urban residents. When robots perform tasks that cross floors, they need to navigate the building. The most critical part of this cross-floor navigation process is the robot's elevator ride.

[0003] In existing technology, robots that use elevators to cross floors need to connect to the elevator control system and use interfaces provided by the elevator control system to coordinate control and perform other elevator operations, such as calling and boarding the elevator. However, due to obstacles preventing timely entry, the robot fails to enter the elevator car and is unable to complete its mission in a timely manner. Once inside, the robot cannot determine the elevator's current arrival floor, which may lead to the robot exiting the elevator at the wrong floor, preventing it from successfully completing its mission. Summary of the Invention

[0004] An embodiment of the present invention provides a robot elevator riding method, a robot, an elevator riding system, and a storage medium. The method can promptly confirm that the robot has entered an elevator car and reached a target floor, ensuring that the robot completes its work tasks smoothly and efficiently.

[0005] To solve the above technical problems, in a first aspect, an embodiment of the present invention provides a method for a robot to take an elevator, which is applied to a robot including an inertial sensor, and the method includes:

[0006] Call the elevator on the initial floor;

[0007] After the elevator car reaches the initial floor, the robot enters the elevator and determines whether it has successfully entered the elevator car based on the acceleration information of the robot along the direction of travel of the elevator car obtained by the inertial sensor.

[0008] After successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information;

[0009] After reaching the target floor, perform the exit operation to leave the elevator car.

[0010] In some embodiments, determining whether the robot has successfully entered the elevator car based on acceleration information of the robot along the direction of travel of the elevator car obtained by the inertial sensor includes:

[0011] When the elevator car is running in a vertical direction, acquiring acceleration information of the robot in the vertical direction based on the inertial sensor;

[0012] If the acceleration information changes from a zero value to a non-zero value, it is determined that the robot has successfully entered the elevator car and is riding the elevator;

[0013] If the acceleration information is always at zero, it is determined that the robot has not successfully taken the elevator.

[0014] In some embodiments, if the acceleration information is always at zero, determining that the robot has not successfully boarded the elevator includes:

[0015] If the acceleration information is always at zero value and the duration of the elevator entry operation is greater than a preset duration, then obtaining the surrounding environment data of the robot;

[0016] If the robot's surrounding environment data does not match the environment data inside the elevator car, it is determined that the robot has not entered the elevator car and the robot has not successfully taken the elevator;

[0017] If the surrounding environment data of the robot matches the environment data in the elevator car, it is determined that the robot has entered the elevator car and the robot has not successfully taken the elevator.

[0018] In some embodiments, after determining that the robot has entered the elevator car and the robot has not successfully boarded the elevator, the method further includes:

[0019] After exiting the elevator, call the elevator again at the initial floor.

[0020] In some embodiments, after successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information includes:

[0021] After successfully entering the elevator car, determining a first operating height of the elevator car from start to stop based on the acceleration information;

[0022] If the first height difference between the initial floor and the target floor matches the first operating height, it is determined that the elevator car has reached the target floor;

[0023] If the first height difference does not match the first operating height, determining a second height difference between the current stop floor and the target floor of the elevator car, and determining a second operating height of the elevator car during the next start-to-stop process based on the acceleration information;

[0024] If the second height difference does not match the second operating height, re-performing the steps of: determining a second height difference between the current stop floor and the target floor of the elevator car, and determining a second operating height of the elevator car during the next start-to-stop process based on the acceleration information, until the second height difference matches the second operating height;

[0025] If the second height difference matches the second operating height, it is determined that the elevator car has reached the target floor.

[0026] In some embodiments, after reaching the target floor, performing an exit operation to leave the elevator car includes:

[0027] After the elevator car reaches the target floor, the robot performs the elevator exit operation;

[0028] If the robot passes through the elevator car door and the acceleration information of the robot along the elevator car running direction obtained by the inertial sensor is always zero, it is determined that the robot has successfully performed the elevator exit operation;

[0029] If the robot fails to pass through the elevator car door, and / or the acceleration information of the robot along the elevator car running direction obtained based on the inertial sensor changes from zero to a non-zero value, it is determined that the robot fails to successfully execute the elevator exit operation.

[0030] In some embodiments, after determining that the robot fails to successfully perform the ladder exit operation, the method further includes:

[0031] According to the stopping floor and the target floor of the elevator car, the elevator is called to the target floor again, and whether the target floor is reached is determined based on the acceleration information.

[0032] To solve the above technical problems, in the second aspect, an embodiment of the present invention provides a robot, comprising a processor and a memory that are communicatively connected, wherein the memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes any one of the robot elevator riding methods proposed in the first aspect of the present application, or steps in any possible implementation of any one of the robot elevator riding methods proposed in the first aspect of the present application.

[0033] To solve the above technical problems, in a third aspect, an embodiment of the present invention provides a robot elevator system, comprising: an elevator and the robot provided in the second aspect of this application, wherein the robot is used to take the elevator car of the elevator to the target floor.

[0034] To solve the above technical problems, in the fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions are stored, and a processor runs the computer program instructions to execute any one of the robot elevator riding methods proposed in the first aspect of the present application, or steps in any possible implementation scheme of any one of the robot elevator riding methods proposed in the first aspect of the present application.

[0035] Beneficial effects of embodiments of the present invention: Different from the prior art, the robot elevator riding method provided by embodiments of the present invention is applied to a robot including an inertial sensor. The method comprises: calling an elevator at an initial floor; after the elevator car reaches the initial floor, performing an elevator entry operation, and determining whether the elevator car has been successfully entered based on the acceleration information of the robot along the direction of movement of the elevator car obtained by the inertial sensor; after successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information; and after reaching the target floor, performing an elevator exit operation to leave the elevator car. This method uses an inertial sensor to sense the acceleration information of the elevator car, and promptly confirms that the robot has entered the elevator car and reached the target floor, thereby ensuring that the robot completes its work tasks smoothly and efficiently. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope of protection. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0037] Figure 1 Schematic diagram of an application scenario of the robot elevator riding method provided by some embodiments of the present invention;

[0038] Figure 2 is a schematic structural diagram of a robot provided by some embodiments of the present invention;

[0039] Figure 3 is a schematic flow chart of a robot elevator riding method provided by some embodiments of the present invention;

[0040] Figure 4 yes Figure 3 A schematic diagram of a sub-process of step S200 in the robot elevator riding method shown in the embodiment;

[0041] Figure 5 yes Figure 3 A schematic diagram of a sub-process of step S300 in the robot elevator riding method shown in the embodiment;

[0042] Figure 6 yes Figure 3 A schematic diagram of a sub-flow chart of step S400 in the robot elevator riding method shown in the embodiment. DETAILED DESCRIPTION

[0043] In order to make the purposes and advantages of the embodiments of the present invention easier to understand, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The detailed description of the embodiments of the present invention in the drawings below does not limit the scope of protection claimed by the present invention, but only represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] It should be noted that, if no conflict is constituted, the various technical features involved in the embodiments of the present invention described below can be combined with each other and are all within the scope of protection of this application. In addition, although the functional modules are divided in the device or structural diagram and the logical order is shown in the flow chart, in some cases, the steps shown or described can be performed in a different module division than in the device or in an order different from that in the flow chart. In addition, the "first", "second", "third" and other similar expressions used herein do not limit the data and execution order, but are only for the purpose of convenience of explanation and to distinguish between the same items or similar items with basically the same functions and effects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features.

[0045] Unless otherwise defined, the technical and scientific terms used in this specification have the same meanings as those commonly understood by those skilled in the art within the technical field of the present invention. The terms used in this specification are intended solely to describe specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" as used in this specification includes any and all combinations of one or more of the relevant listed items.

[0046] See also Figure 1 , Figure 1 The following is a schematic diagram of an application scenario of the robot elevator riding method provided in some embodiments of the present invention, wherein the application scenario includes a robot elevator riding system 100. The robot elevator riding system 100 includes an elevator 110 and a robot 120. The robot 120 can send an elevator call command to the elevator 110 and take the elevator car of the elevator 110. When the elevator 110 receives the elevator call command sent by the robot 120 and controls the elevator car to run to the initial floor where the robot 120 is located, the robot 120 takes the elevator car of the elevator 110 to run to the target floor. It can be understood that in Figure 1The application scenario shown in the embodiment only schematically shows one robot 120, which does not impose any limitation on the number, structure or type of robots 120 in other application scenarios.

[0047] In some embodiments, the robot is equipped with an inertial sensor, which is used to obtain acceleration information along the direction of the elevator car's travel. Based on the acceleration information obtained by the inertial sensor, the robot can determine whether it has successfully boarded the elevator and, if so, whether the elevator car has reached the target floor. After determining that the elevator car has reached the target floor, the robot performs an exit operation to exit the elevator car and continue to perform subsequent work tasks.

[0048] See Figure 2 As shown, Figure 2 Schematic diagram of the structure of the robot 120 provided in some embodiments of the present invention. The robot 120 includes at least one processor 121 and a memory 122 ( Figure 2 In the example of a bus system connection and a processor, the various components in the robot 120 are coupled together through the bus system 123, which is used to realize the connection and communication between these components. It is easy to understand that the bus system 123 includes not only the data bus, but also the power bus, control bus, and status signal bus. However, for the sake of clarity and brevity, the following are omitted. Figure 2 In FIG, various buses are labeled as bus system 123. It can be understood that Figure 2 The structure shown is only for illustration and does not limit the structure of the robot 120. For example, the robot 120 may also include Figure 2 More or fewer components than shown, or with Figure 2 Different configurations shown.

[0049] Specifically, the processor 121 is used to provide computing and control capabilities to control the robot 120 to perform corresponding tasks. For example, the robot 120 is controlled to perform any one of the robot elevator riding methods provided in the embodiments of the present invention, or any one of the steps in any possible implementation of any one of the robot elevator riding methods provided in the embodiments of the present invention. Those skilled in the art will understand that the processor 121 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0050] The memory 122 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 climbing method in the embodiment of the present invention. The processor 121 executes the various functional applications and data processing of the robot 120 by running the non-transitory software programs, instructions, and modules stored in the memory 122, thereby implementing any of the robot elevator climbing methods provided in the embodiments of the present invention, or the steps of any possible implementation of any of the robot elevator climbing methods provided in the embodiments of the present invention. The memory 122 may include high-speed random access memory and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, the memory 122 may also include a memory remotely located relative to the processor 121, and these remote memories may be connected to the processor 121 via a communication network. It is understood that examples of the above-mentioned communication network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0051] As can be understood from the foregoing, the robot elevator riding method provided in the embodiments of the present invention can be implemented by various suitable types of robots with certain computing and control capabilities, such as the robots described above. The following describes the robot elevator riding method provided in the embodiments of the present invention, using exemplary applications and implementations of the robots provided in the embodiments of the present invention.

[0052] See Figure 3 As shown, Figure 3This is a flowchart of a robot elevator method provided in some embodiments of the present invention. The robot elevator method of the present invention can be applied to the above-mentioned robot. Specifically, the execution subject is the processor of the above-mentioned robot. The robot elevator method includes but is not limited to the following steps S100-S400:

[0053] S100: Calling an elevator at the initial floor.

[0054] S200: After the elevator car reaches the initial floor, the elevator entry operation is performed, and based on the acceleration information of the robot along the running direction of the elevator car obtained by the inertial sensor, it is determined whether the robot has successfully entered the elevator car.

[0055] A robot is an automated device or system used to perform tasks or work, typically with a certain degree of autonomy. It can perform various tasks in various environments according to predetermined programs, instructions, or sensor inputs, thereby reducing labor costs, improving work efficiency, and providing efficient, reliable, and user-friendly services. Examples include delivery robots that deliver items to users and welcoming robots that provide navigation and guidance.

[0056] Specifically, when a robot needs to perform tasks across multiple floors of a multi-story building, taking an elevator is essential. When performing tasks across multiple floors, the robot sends an elevator call from its initial floor. Upon receiving the call, the elevator interprets it to determine the robot's initial floor and the desired floor.

[0057] After issuing an elevator call, the robot can set a timer to wait for the elevator car to reach the initial floor. If the elevator car has not arrived after the timer expires, the robot can resend the elevator call to re-call the elevator car. It is understood that after the robot has re-called the elevator car a preset number of times (such as three, five, or other times), the elevator management system and relevant personnel should be notified.

[0058] Typically, after a robot sends an elevator call, it must travel to a pre-planned waiting area or location to await the arrival of the elevator car. While waiting for the elevator car in the waiting area or location, the robot can utilize its various sensing technologies (e.g., cameras, lidar, and infrared sensors) to identify in real time whether the elevator door is open and, therefore, whether the elevator car has reached the initial floor. The robot in this embodiment of the present invention also includes an inertial sensor, which is used to obtain acceleration information along the direction of travel of the elevator car.

[0059] After determining that the elevator car has reached the initial floor, the robot executes the elevator entry procedure according to a pre-set entry procedure. Specifically, the robot adjusts its direction of travel and advances at a preset speed. Using various sensing technologies, it detects obstacles or pedestrians ahead, avoiding them and successfully entering the elevator car. After executing the elevator entry procedure for a preset duration, the robot uses its inertial sensor to obtain acceleration information along the direction of travel of the elevator car. Based on this information, the robot determines whether it has successfully entered the elevator car. It should be understood that the preset duration can be 2 seconds, 5 seconds, or another duration, and can be adjusted based on actual circumstances.

[0060] In an embodiment of the present invention, the robot's acceleration information along the elevator car's travel direction is identical to the elevator car's acceleration information. The robot's acceleration information includes both the magnitude and direction of the acceleration. The magnitude of the acceleration is pre-set based on factors such as the elevator's performance, congestion level, and usage time. The magnitude of the elevator car's acceleration is constant during the process of accelerating from a standstill to a preset speed and decelerating from the preset speed to a stop. Therefore, the robot's acceleration along the elevator car's travel direction is also constant. During the process of accelerating from a standstill to a preset speed, the direction of the acceleration is the same as the direction of the elevator car's travel speed. During the process of decelerating from the preset speed to a stop, the direction of the acceleration is opposite to the direction of the elevator car's travel speed.

[0061] In some embodiments, the robot can determine whether it has successfully entered the elevator car based on the acceleration information obtained by the inertial sensor to take the next step.

[0062] See also Figure 4 , Figure 4 This is a schematic diagram of a sub-flow of step S200 in the robot elevator riding method provided in some embodiments of the present invention. Specifically, the process of determining whether the robot has successfully entered the elevator car based on the acceleration information of the robot along the direction of travel of the elevator car obtained by the inertial sensor includes but is not limited to the following steps S210-S230:

[0063] S210: When the elevator car is running in a vertical direction, obtain acceleration information of the robot in the vertical direction based on the inertial sensor.

[0064] Specifically, the inertial sensor uses multiple built-in accelerometers to obtain acceleration information along different axes of the robot. The inertial sensor includes three single-axis accelerometers, each corresponding to a direction in a rectangular coordinate system: the X-axis, the Y-axis, and the Z-axis. The Z-axis typically represents the vertical direction, and the accelerometer on the Z-axis is used to detect the robot's acceleration information in the vertical direction.

[0065] Typically, an elevator car travels in a vertical direction, where the vertical direction includes vertically upward and vertically downward. When the elevator car travels in a vertical direction, the robot's acceleration information along the vertical direction is acquired by using an inertial sensor, i.e., the acceleration information along the Z-axis of the inertial sensor is acquired. When the elevator car begins to move downward, the direction of acceleration of the elevator car (i.e., the robot) is vertically downward. As the elevator car accelerates from a standstill to a preset speed at a constant acceleration, the robot's acceleration along the direction of the elevator car's movement changes from zero to a non-zero value. When the elevator car's speed reaches the preset speed, the acceleration of the elevator car becomes zero. At this time, the elevator car descends at a constant speed at the preset speed, and the robot's acceleration along the direction of the elevator car's movement changes from a non-zero value to a zero value. When the elevator car is about to reach the target floor and decelerates, the direction of acceleration of the elevator car (i.e., the robot) is vertically upward. The elevator car decelerates from the preset speed to a stop at a constant acceleration, and the robot's acceleration along the direction of the elevator car's movement changes from zero to a non-zero value. When the elevator car moves upward, its operation process is similar to that of the elevator moving downward, and will not be described in detail here.

[0066] S220: If the acceleration information changes from a zero value to a non-zero value, it is determined that the robot has successfully entered the elevator car and is riding the elevator.

[0067] In an embodiment of the present invention, regardless of whether the elevator is moving downward or upward, the robot's acceleration information along the elevator car's direction of travel is the same as the elevator car's acceleration information. When the elevator begins to move downward, while the elevator car accelerates from a standstill to a preset speed at a constant acceleration, the robot's acceleration along the elevator car's direction of travel is vertically downward. If the inertial sensor detects that the robot's acceleration along the elevator car's direction of travel changes from zero to a non-zero value, it can be determined that the robot has successfully entered the elevator car and is riding the elevator, following the elevator car's downward movement. When the elevator begins to move upward, while the elevator car accelerates from a standstill to a preset speed at a constant acceleration, the robot's acceleration along the elevator car's direction of travel is vertically upward. If the inertial sensor detects that the robot's acceleration along the elevator car's direction of travel changes from zero to a non-zero value, it can be determined that the robot has successfully entered the elevator car and is riding the elevator, following the elevator car's upward movement.

[0068] S230: If the acceleration information is always at zero, it is determined that the robot has not successfully taken the elevator.

[0069] Specifically, if the robot fails to enter the elevator car normally, and when the elevator begins to move downward or upward, the robot's inertial sensor fails to detect the acceleration information of the elevator car during the process of the elevator car accelerating from rest to a preset operating speed at a constant acceleration, and thus the robot's acceleration along the direction of the elevator car's movement remains at zero and does not change from zero to a non-zero value, then it can be determined that the robot has not successfully boarded the elevator. In some embodiments, the robot may have entered the elevator car normally, but due to the elevator door not closing properly or other reasons, the elevator does not move to the target floor, resulting in a failure to call the elevator to the target floor. The robot remains in the elevator car, resulting in the robot's inertial sensor also failing to detect the acceleration information of the elevator car. Therefore, the robot's acceleration along the direction of the elevator car's movement remains at zero and does not change from zero to a non-zero value, then it can be determined that the robot has not successfully boarded the elevator.

[0070] In some embodiments, there may be different situations that cause the robot to fail to take the elevator successfully, and different situations require different handling measures to ensure that the robot completes the work task in a timely and accurate manner.

[0071] Specifically, if the acceleration information is always at zero, it is determined that the robot has not successfully taken the elevator, including but not limited to the following steps S2301-S2303:

[0072] S2301: If the acceleration information is always at zero value and the duration of the elevator entry operation is greater than the preset duration, the surrounding environment data of the robot is obtained.

[0073] To ensure that the robot completes its task promptly and accurately, a preset timer is typically set to determine whether the robot has successfully boarded the elevator. This preset timer can be 2 seconds, 5 seconds, or another length, and can be adjusted based on actual conditions.

[0074] Specifically, if the robot fails to enter the elevator car normally or an abnormal reason causes the elevator call to run to the target floor to fail, resulting in the inertial sensor detecting that the robot's acceleration in the direction of the elevator car's movement remains at zero for a period longer than a preset time, that is, if the robot performs the elevator entry operation for a period longer than a preset time, it can be determined that the robot has not successfully boarded the elevator. At this time, the robot uses various sensors equipped with it to obtain environmental data about its current location. For example, infrared sensors, lidar, and cameras are used to detect the status of elevator doors, the location of surrounding objects, and other environmental information.

[0075] By acquiring data about the surrounding environment, the robot can confirm its current location and take the next action based on its environment.

[0076] S2302: If the surrounding environment data of the robot does not match the environment data inside the elevator car, it is determined that the robot has not entered the elevator car and the robot has not successfully taken the elevator.

[0077] S2303: If the surrounding environment data of the robot matches the environmental data inside the elevator car, it is determined that the robot has entered the elevator car and the robot has not successfully taken the elevator.

[0078] In this embodiment of the present invention, environmental data within the elevator car is pre-set based on factors such as the specific design, type, and specifications of the elevator equipment and stored in the robot. This environmental data typically includes information such as the shape, size, temperature, communication, lighting, or other environmental parameters of the elevator car. Specifically, this environmental data includes the shape and size of the elevator car, as well as the location and status of emergency communication devices, lighting equipment, surveillance cameras, emergency stop buttons, and other special equipment.

[0079] After obtaining data about its current location, the robot compares it with the stored data about the elevator cabin. If the robot's data doesn't match the elevator cabin data, it can be determined that the robot didn't enter the elevator cabin properly and failed to board the elevator.

[0080] If the robot's surrounding environment data matches the environmental data inside the elevator car, it can be determined that the robot has entered the elevator car normally, but because the elevator door was not closed correctly or for other reasons, the elevator did not run to the target floor, resulting in the failure of calling the elevator to run to the target floor. The robot stayed in the elevator car, so the robot did not successfully take the elevator.

[0081] In some embodiments, if the robot has entered the elevator car but failed to successfully take the elevator due to the elevator door not closing correctly or other reasons, the robot can execute the elevator exit operation and, after successfully exiting the elevator, call the elevator again to run to the initial floor.

[0082] Specifically, after determining that the robot has entered the elevator car and the robot has not successfully boarded the elevator, the process further includes but is not limited to the following steps S2304:

[0083] S2304: After executing the exit elevator operation, call the elevator again at the initial floor.

[0084] In some embodiments, after determining that it has entered the elevator car and has not successfully boarded the elevator, the robot executes an exit procedure according to a pre-set elevator exit procedure. Specifically, the robot adjusts its direction of travel, waits for the elevator door to fully open, and then travels at a preset speed. Using various sensing technologies, the robot detects obstacles or pedestrians ahead, avoids them, exits the elevator car smoothly, and safely returns to the waiting area for the elevator.

[0085] The robot successfully exits the elevator and sends a call to the elevator again from the initial floor. Upon receiving the call, the elevator returns to the initial floor and carries the robot to its target floor.

[0086] S300: After successfully entering the elevator car, determine whether the target floor has been reached based on the acceleration information.

[0087] Specifically, after the robot determines that it has successfully entered the elevator car based on the acceleration information obtained by the inertial sensor, it can analyze the acquired acceleration information to detect changes in the elevator car's acceleration information. Based on the elevator car's acceleration information, travel time, and travel speed, the robot calculates the height of the elevator car's current stop floor. The robot then compares the height of the elevator car's current stop floor with the height of the target floor to determine whether the elevator car has reached the target floor. If the height of the current stop floor matches the height of the target floor, the elevator car is determined to have reached the target floor. If the height of the current stop floor does not match the height of the target floor, the elevator car is determined to have not reached the target floor.

[0088] S400: After arriving at the target floor, perform the exit operation to leave the elevator car.

[0089] After determining that the elevator car has reached the target floor, the robot executes the exit procedure according to a pre-set exit procedure. Specifically, the robot adjusts its direction of travel and waits for the elevator doors to open. Once the doors are fully open, the robot travels at a preset speed, using various sensing technologies to detect obstacles or pedestrians ahead. The robot avoids these obstacles and successfully exits the elevator car, reaching the target floor to continue its work.

[0090] The robot elevator riding method provided in an embodiment of the present invention is applied to a robot including an inertial sensor. The method comprises: calling an elevator at an initial floor; after the elevator car reaches the initial floor, performing an elevator entry operation and determining whether the elevator car has successfully entered based on the robot's acceleration information along the elevator car's travel direction acquired by the inertial sensor; after successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information; and after reaching the target floor, performing an elevator exit operation to leave the elevator car. By configuring an inertial sensor to sense the acceleration information of the elevator car, the method promptly confirms the robot's entry into the elevator car and arrival at the target floor, thereby ensuring that the robot completes its work tasks smoothly and efficiently.

[0091] In some embodiments, after determining that the robot has successfully entered the elevator car, it is possible to determine whether the elevator car has reached the target floor based on the acceleration information obtained by the inertial sensor.

[0092] See also Figure 5 , Figure 5 This is a sub-flow diagram of step S300 in the robot elevator riding method provided in some embodiments of the present invention. Specifically, after successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information includes but is not limited to the following steps S310-S350:

[0093] S310: After successfully entering the elevator car, determine a first operating height of the elevator car from start to stop based on the acceleration information.

[0094] Specifically, after successfully entering the elevator car, the robot analyzes changes in the elevator car's operating state based on the acceleration information captured by the inertial sensor. Based on the acceleration information, travel time, and travel speed of the elevator car during vertical upward or downward movement captured by the inertial sensor, the robot can calculate the first operating height of the elevator car during its first operating phase. The first operating phase includes the entire process from the elevator car starting operation, accelerating to a preset operating speed at a constant acceleration, then running at a constant speed at the preset operating speed, and decelerating from the preset operating speed to a stop just before reaching the landing floor.

[0095] S320: If the first height difference between the initial floor and the target floor matches the first operating height, it is determined that the elevator car has reached the target floor.

[0096] Typically, before taking an elevator, the robot can obtain the initial floor and the target floor by analyzing the work task, and calculate the first height difference between the initial floor and the target floor based on the height of the initial floor and the height of the target floor. After obtaining the first operating height of the elevator car in the first operating phase, the first operating height of the elevator car is compared with the first height difference. In some embodiments, when the initial floor is higher than the target floor, if the operating direction of the elevator car is a vertical downward direction pointing to the target floor, and the first operating height of the elevator car matches the first height difference, it can be determined that the elevator car has reached the target floor. In other embodiments, when the initial floor is lower than the target floor, if the operating direction of the elevator car is a vertical upward direction pointing to the target floor, and the first operating height of the elevator car matches the first height difference, it can be determined that the elevator car has reached the target floor.

[0097] It should be understood that in the embodiment of the present invention, when the robot calls the elevator and runs from the initial floor to the target floor, the initial running direction of the elevator car defaults to the direction of the target floor, that is, when the initial floor is higher than the target floor, the target floor is below the initial floor, and the initial running direction of the elevator car is vertically downward; when the initial floor is lower than the target floor, the target floor is above the initial floor, and the initial running direction of the elevator car is vertically upward.

[0098] S330: If the first height difference does not match the first operating height, determine the second height difference between the current stop floor and the target floor of the elevator car, and determine the second operating height of the elevator car in the next start-to-stop process based on the acceleration information.

[0099] Specifically, under the premise that the elevator car's running direction is pointing towards the target floor, if the elevator car's first running height does not match the first height difference, the height of the elevator car's current stop floor is obtained, and the second height difference between the current stop floor and the target floor is calculated. Based on the obtained acceleration information in the elevator car's running direction, running time, running speed and other information, the robot can calculate the second running height of the elevator car in the second running phase. The second running phase includes the entire process of accelerating to a preset running speed at a constant acceleration after the elevator car starts running next time, then running at a constant speed at the preset running speed, and decelerating from the preset running speed to stopping when it is about to reach the stop floor.

[0100] S340: If the second height difference does not match the second operating height, re-execute the steps of: determining the second height difference between the current stop floor and the target floor of the elevator car, and determining the second operating height of the elevator car in the next start-to-stop process based on the acceleration information, until the second height difference matches the second operating height.

[0101] S350: If the second height difference matches the second operating height, it is determined that the elevator car has reached the target floor.

[0102] Specifically, after obtaining the second operating height of the elevator car in the second operating phase, the second operating height of the elevator car is compared with the second height difference. When the elevator car is running in the direction of the target floor, if the second operating height of the elevator car does not match the second height difference, it can be determined that the elevator car has not reached the target floor. At this time, the robot continues to obtain the height of the current stop floor of the elevator car, and calculates the second height difference between the current stop floor and the target floor. Based on the obtained acceleration information in the running direction of the elevator car, the running time, the running speed and other information, the second operating height of the elevator car in the second operating phase is calculated. The second operating height of the elevator car is compared with the second height difference until the second height difference matches the second operating height, and it is determined that the elevator car has reached the target floor.

[0103] When the running direction of the elevator car is toward the target floor, if the second running height of the elevator car matches the second height difference, it can be determined that the elevator car has reached the target floor.

[0104] In some embodiments, it may be possible to determine whether the robot has successfully performed the exit operation and left the elevator car by using acceleration information obtained by an inertial sensor and / or other reasons.

[0105] See also Figure 6 , Figure 6 This is a sub-flow diagram of step S400 in the robot elevator riding method provided in some embodiments of the present invention. Specifically, after reaching the target floor, the robot performs the elevator exit operation to leave the elevator car, including but not limited to the following steps S410-S430:

[0106] S410: After the elevator car reaches the target floor, the robot performs the elevator exit operation.

[0107] S420: If the robot passes through the elevator car door, and the acceleration information of the robot along the elevator car running direction obtained based on the inertial sensor is always zero, it is determined that the robot has successfully performed the elevator exit operation.

[0108] Specifically, after determining that the elevator car has reached the target floor, the robot prepares to perform the exit operation according to the pre-set exit program, and then performs the corresponding exit operation. Specifically, the robot adjusts its position, direction of travel, sensor status, etc., and waits for the elevator door to open. After waiting for the elevator door to fully open, the robot moves toward the elevator car door at a preset speed and passes through the elevator car door to leave the elevator car. After passing through the elevator car door for a period of time, if the inertial sensor obtains the acceleration information of the robot along the direction of movement of the elevator car (i.e., the Z-axis direction of the inertial sensor) and has been at zero value, and has not changed from zero value to non-zero value, it can be determined that the robot has successfully performed the exit operation.

[0109] S430: If the robot fails to pass through the elevator car door, and / or the acceleration information of the robot along the elevator car running direction obtained based on the inertial sensor changes from zero to a non-zero value, it is determined that the robot fails to successfully execute the elevator exit operation.

[0110] In some embodiments, the robot adjusts its position, direction of travel, and sensor status, among other operations, while waiting for the elevator door to open. After the elevator door is fully opened, if the robot is unable to promptly advance to the elevator car door due to a sudden malfunction, insufficient power, obstruction by obstacles or pedestrians, or other reasons, resulting in the robot failing to pass through the elevator car door and remaining inside the elevator car, it is determined that the robot has failed to successfully execute the exit operation. In other embodiments, if the robot executes the exit operation for longer than a preset time, and the inertial sensor detects that the robot's acceleration information along the direction of travel of the elevator car (i.e., along the Z-axis of the inertial sensor) changes from zero to a non-zero value, it can be determined that the robot followed the elevator car to another floor and that the robot has failed to successfully execute the exit operation.

[0111] In some embodiments, after determining that the elevator exit operation has not been successfully performed, the robot can call the elevator again at the current stop floor and run to the target floor to complete the work task.

[0112] Specifically, after determining that the robot fails to execute the ladder exit operation, the process further includes but is not limited to the following steps S500:

[0113] S500: Re-calling the elevator to the target floor according to the stop floor and the target floor of the elevator car, and determining whether the elevator car has reached the target floor based on the acceleration information.

[0114] Specifically, after determining that the robot has failed to exit the elevator, indicating that it remains inside the elevator car, the robot determines the elevator car's landing floor based on acceleration information captured by the inertial sensor. Based on the landing floor and the target floor, the robot then sends an elevator call command to the elevator to re-call the elevator to the target floor. As the elevator car travels toward the target floor, the robot calculates the height of the landing floor based on information such as the elevator car's acceleration in the travel direction, travel time, and speed captured by the inertial sensor. The robot then compares the landing floor height with the target floor height to determine whether the elevator car has reached the target floor.

[0115] In summary, the robot elevator riding method provided in an embodiment of the present invention is applied to a robot including an inertial sensor. The method includes: calling an elevator at an initial floor; after the elevator car reaches the initial floor, performing an elevator entry operation and determining whether the elevator car has been successfully entered based on the robot's acceleration information along the direction of travel of the elevator car acquired by the inertial sensor; after successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information; and after reaching the target floor, performing an elevator exit operation to leave the elevator car. This method uses an inertial sensor to sense the acceleration information of the elevator car, promptly confirming that the robot has entered the elevator car and reached the target floor, thereby ensuring that the robot completes its work tasks smoothly and efficiently.

[0116] An embodiment of the present invention provides a computer-readable storage medium having computer program instructions stored thereon, and a processor runs the computer program instructions to execute any one of the above-mentioned robot elevator riding methods, or steps in any possible implementation of any one of the above-mentioned robot elevator riding methods.

[0117] In some embodiments, the storage medium may be a flash memory, a hard disk, an optical disk, a register, a magnetic surface storage, a removable disk, a CD-ROM, a random access memory (RAM), a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM or other memory, or any other form of storage medium known in the art, or various devices including one or any combination of the above storage media.

[0118] In some embodiments, computer program instructions may be in the form of a program, software, software module, script, or code, written in any form of programming language (including compiled or interpreted languages, or declarative or procedural languages), and may be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment.

[0119] As an example, computer program instructions may, but do not necessarily, correspond to a file in a file system, may be stored as part of a file that stores other programs or data, for example, in one or more scripts within a HyperText Markup Language (HTML) document, in a single file dedicated to the program in question, or in multiple coordinated files (for example, files storing one or more modules, subroutines, or code portions).

[0120] As an example, computer program instructions can be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located in a single location, or on multiple computing devices distributed across multiple locations and interconnected via a communication network. It is readily understood that all or part of the steps of the methods described in the embodiments of the present invention described above can be implemented directly using electronic hardware or processor-executable computer program instructions, or a combination of the two.

[0121] It will be understood by those skilled in the art that the embodiments provided herein are merely illustrative, and the order in which the steps in the methods of the embodiments are written does not imply a strict order of execution and does not limit the implementation process. The order can be adjusted, merged, and deleted according to actual needs. The modules or submodules, units, or subunits in the devices or systems of the embodiments can be merged, divided, and deleted according to actual needs. For example, the division of the units is merely a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another device, or some features may be ignored or not executed.

[0122] It should be noted that the above embodiments are only for illustrating the technical concept and features of the present invention. Their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly. They cannot be used to limit the scope of protection of the present invention. Ordinary technicians in this field can understand that all or part of the processes of the above embodiments are implemented, and equivalent changes and modifications made in accordance with the claims of the present invention should all fall within the scope of the claims of the present invention.

Claims

1. A robot elevator riding method, applied to a robot, characterized in that: The robot includes an inertial sensor, and the method includes: Call the elevator on the initial floor; After the elevator car reaches the initial floor, the robot enters the elevator and determines whether it has successfully entered the elevator car based on the acceleration information of the robot along the direction of travel of the elevator car obtained by the inertial sensor. Determining whether the robot has successfully entered the elevator car based on the acceleration information of the robot along the direction of travel of the elevator car obtained by the inertial sensor includes: When the elevator car is running in a vertical direction, acquiring acceleration information of the robot in the vertical direction based on the inertial sensor; If the acceleration information changes from a zero value to a non-zero value, it is determined that the robot has successfully entered the elevator car and is riding the elevator; If the acceleration information is always at a zero value, it is determined that the robot has not successfully boarded the elevator, including: if the acceleration information is always at a zero value and the duration of the elevator entry operation is greater than a preset duration, then obtaining the robot's surrounding environment data; if the robot's surrounding environment data does not match the environmental data in the elevator car, it is determined that the robot has not entered the elevator car and the robot has not successfully boarded the elevator; if the robot's surrounding environment data matches the environmental data in the elevator car, it is determined that the robot has entered the elevator car and the robot has not successfully boarded the elevator; After successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information; After reaching the target floor, perform the exit operation to leave the elevator car.

2. The robot elevator riding method according to claim 1, characterized in that: After determining that the robot has entered the elevator car and the robot has not successfully boarded the elevator, the method further includes: After exiting the elevator, call the elevator again at the initial floor.

3. The robot elevator riding method according to any one of claims 1-2, characterized in that: After successfully entering the elevator car, determining whether the target floor has been reached based on the acceleration information includes: After successfully entering the elevator car, determining a first operating height of the elevator car from start to stop based on the acceleration information; If the first height difference between the initial floor and the target floor matches the first operating height, it is determined that the elevator car has reached the target floor; If the first height difference does not match the first operating height, determining a second height difference between the current stop floor and the target floor of the elevator car, and determining a second operating height of the elevator car during the next start-to-stop process based on the acceleration information; If the second height difference does not match the second operating height, re-performing the steps of: determining a second height difference between the current stop floor and the target floor of the elevator car, and determining a second operating height of the elevator car during the next start-to-stop process based on the acceleration information, until the second height difference matches the second operating height; If the second height difference matches the second operating height, it is determined that the elevator car has reached the target floor.

4. The robot elevator riding method according to claim 3, characterized in that: After reaching the target floor, performing the exit operation to leave the elevator car includes: After the elevator car reaches the target floor, the robot performs the elevator exit operation; If the robot passes through the elevator car door and the acceleration information of the robot along the elevator car running direction obtained by the inertial sensor is always zero, it is determined that the robot has successfully performed the elevator exit operation; If the robot fails to pass through the elevator car door, and / or the acceleration information of the robot along the elevator car running direction obtained based on the inertial sensor changes from zero to a non-zero value, it is determined that the robot fails to successfully execute the elevator exit operation.

5. The robot elevator riding method according to claim 4, characterized in that: After determining that the robot fails to successfully perform the ladder exit operation, the method further includes: According to the stopping floor and the target floor of the elevator car, the elevator is called to the target floor again, and whether the target floor is reached is determined based on the acceleration information.

6. A robot, characterized in that: include: a processor and a memory communicatively connected to the processor; The memory stores computer program instructions executable by the processor, and when the computer program instructions are called by the processor, the processor executes the robot elevator riding method according to any one of claims 1 to 5.

7. A robot elevator system, characterized in that: include: An elevator and a robot as claimed in claim 6, wherein the robot is used to ride an elevator car of the elevator to a target floor.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer program instructions, and the computer program instructions are suitable for being loaded by a processor to execute the robot elevator riding method according to any one of claims 1 to 5.

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