Robot elevator taking method, robot and storage medium

Abstract

The invention relates to a robot elevator taking method, a robot and a storage medium, the method is applied to the robot, and the method comprises the steps that at least two first available elevator identifiers sent by an elevator dispatching system are received; a first target elevator is selected from elevators corresponding to the first available elevator identifier, and a first calling instruction is sent to an elevator dispatching system, so that the elevator dispatching system controls the first target elevator to run to a floor where the robot is located; and if it is determined that the robot does not successfully take the first target elevator, a second target elevator is selected from elevators corresponding to the first available elevator identifier, and a second calling instruction is sent to the elevator dispatching system, so that the elevator dispatching system controls the second target elevator to run to the floor where the robot is located. The second target elevator is any elevator except the first target elevator in the elevators corresponding to the first available elevator identifier. The method can ensure that the robot successfully takes the elevator, the elevator taking efficiency is improved, and therefore the task execution success rate and efficiency are improved.

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 and a storage medium. Background Art

[0002] Robots are mechanical devices that can automatically perform tasks. They can run pre-programmed programs and complete a variety of different types of tasks. With the development of mobile Internet and artificial intelligence technology, robots are widely used in various service places to provide customers with services such as guiding and delivering items. In actual applications, when robots perform tasks of delivering items in places such as hotels and KTVs, they often need to take the elevator. To enable robots to take the elevator, the robot needs to establish a communication connection with the elevator.

[0003] In the prior art, robots mainly rely on calling a single elevator to take the elevator. However, in this single elevator calling method, when the elevator is under maintenance, in peak hours, or when the elevator fails, the robot cannot take the elevator. The robot may need to re-initiate the elevator request, resulting in a waste of time and low elevator efficiency, which leads to a decrease in the success rate and efficiency of task execution and a poor user experience. Summary of the invention

[0004] In view of this, an embodiment of the present invention provides a robot elevator riding method, a robot and a storage medium, aiming to solve the technical problem in the prior art that the robot cannot take the elevator or the elevator riding efficiency is low.

[0005] To solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0006] In a first aspect, an embodiment of the present invention provides a robot elevator riding method, which is applied to a robot, and the method includes:

[0007] receiving a first available elevator identifier sent by an elevator dispatching system, wherein the number of the first available elevator identifiers is at least two, and each of the first available elevator identifiers corresponds to one available elevator;

[0008] Selecting a first target elevator from the elevators corresponding to the first available elevator identifier, and sending a first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system controls the first target elevator to run to the floor where the robot is located based on the first call instruction;

[0009] If it is determined that the first target elevator has not been successfully taken, a second target elevator is selected from the elevators corresponding to the first available elevator identifier, and a second call instruction is sent to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system controls the second target elevator to run to the floor where the robot is located based on the second call instruction, and the second target elevator is any elevator among the elevators corresponding to the first available elevator identifier except the first target elevator.

[0010] In some embodiments, after sending the first call instruction to the elevator dispatching system, the method further includes:

[0011] Determining whether the first target elevator is successfully boarded;

[0012] When the first target elevator fails to run to the floor where the robot is located within the preset waiting time, determining that the first target elevator has not been successfully boarded;

[0013] Alternatively, when the first target elevator runs to the floor where the robot is located within the preset waiting time and the number of people in the first target elevator is greater than or equal to a preset number, it is determined that the first target elevator has not been successfully boarded;

[0014] Alternatively, when the first target elevator runs to the floor where the robot is located within a preset waiting time and the number of failures of the robot in attempting to enter the first target elevator is greater than or equal to a preset number, it is determined that the robot has failed to successfully board the first target elevator.

[0015] In some embodiments, the method further comprises:

[0016] If it is determined that the robot has not successfully taken any elevator corresponding to the first available elevator identifier, a first elevator dispatching request is sent to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the first elevator dispatching request, and sends a second available elevator identifier to the robot, wherein the second available elevator identifier is at least one, and one second available elevator identifier corresponds to one spare elevator.

[0017] In some embodiments, sending the first elevator dispatching request to the elevator dispatching system so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the first elevator dispatching request and sends a second available elevator identifier to the robot, comprises:

[0018] The robot sends a first elevator dispatching request to the elevator dispatching system, wherein the first elevator dispatching request includes an optional target elevator identifier, wherein after receiving the first elevator dispatching request, the elevator dispatching system determines a spare elevator according to the elevator with the optional target elevator identifier, and uses the spare elevator as the direct dedicated elevator of the robot, and then sends a second available elevator identifier to the robot, wherein the second available elevator identifier corresponds to the spare elevator.

[0019] In some embodiments, after sending the first elevator dispatching request to the elevator dispatching system, the method further includes:

[0020] If the robot does not receive the second available elevator identifier, an early warning notification is issued.

[0021] In some embodiments, the method further comprises:

[0022] After determining that the first target elevator is successfully boarded, if the first target elevator fails during the boarding of the first target elevator, obtaining current environment data in the first target elevator;

[0023] Based on the current environment data, determining a state of a car door of the first target elevator, the state comprising an open state;

[0024] If the car door of the first target elevator is in an open state, performing an exit operation to leave the car of the first target elevator;

[0025] After leaving the car of the first target elevator, a second elevator dispatching request is sent to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the second elevator dispatching request, and sends a third available elevator identifier to the robot, wherein the third available elevator identifier is at least one, and one third available elevator identifier corresponds to one spare elevator.

[0026] In some embodiments, the method further comprises:

[0027] When the first target elevator runs to the floor where the robot is located within a preset waiting time, obtaining a target position in the car of the first target elevator;

[0028] Planning a path in a global static map according to the current position of the robot and the target position to obtain a travel path for a car entering the first target elevator;

[0029] According to the travel path, the vehicle enters the car of the first target elevator to board the first target elevator.

[0030] In some embodiments, the method further comprises:

[0031] In the process of driving into the car of the first target elevator, acquiring surrounding environment data of the robot, wherein the surrounding environment data includes obstacles located on the driving path;

[0032] Based on the surrounding environment data and the width of the robot, determining whether the robot can travel into the car of the first target elevator;

[0033] If the robot can drive into the car of the first target elevator, then drive forward to enter the car of the first target elevator;

[0034] If the robot cannot drive into the car of the first target elevator, the robot waits for avoidance.

[0035] In a second aspect, an embodiment of the present invention provides a robot, comprising:

[0036] A processor and a memory communicatively connected to the processor;

[0037] 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, or executes the steps in any one of the implementations of any one of the robot elevator riding methods proposed in the first aspect.

[0038] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored, 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, or executes the steps in any one of the implementations of any one of the robot elevator riding methods proposed in the first aspect.

[0039] Beneficial effects of the embodiments of the present invention: Different from the prior art, the robot elevator riding method provided by the embodiments of the present invention is applied to a robot, and the method includes: receiving a first available elevator identifier sent by an elevator dispatching system, wherein the first available elevator identifier is at least two, and one first available elevator identifier corresponds to one available elevator; selecting a first target elevator from the elevators corresponding to the first available elevator identifier, and sending a first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system controls the first target elevator to run to the floor where the robot is located based on the first call instruction; if it is determined that the first target elevator is not successfully boarded, selecting a second target elevator from the elevators corresponding to the first available elevator identifier, and sending a second call instruction to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system controls the second target elevator to run to the floor where the robot is located based on the second call instruction, and the second target elevator is any elevator other than the first target elevator among the elevators corresponding to the first available elevator identifier.

[0040] In the present invention, a first target elevator to be taken is first selected from at least two available elevators. When the robot fails to successfully take the first target elevator, a second target elevator to be taken is selected. This method can ensure that the robot successfully takes the elevator, improve the robot's elevator riding efficiency, thereby improving the success rate and efficiency of task execution and improving user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art description. Obviously, the drawings described below only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope of protection. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative work.

[0042] Figure 1 is a schematic diagram of an application scenario of a robot elevator riding method provided by some embodiments of the present invention;

[0043] Figure 2 is a schematic diagram of the structure of a robot provided by some embodiments of the present invention;

[0044] Figure 3 is a flowchart of a robot elevator riding method provided by some embodiments of the present invention;

[0045] Figure 4 It is a flowchart of some steps in the robot elevator riding method provided in some embodiments of the present invention. DETAILED DESCRIPTION

[0046] In order to make the purpose 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 the 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.

[0047] 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 the present invention. In addition, although the functional modules are divided in the device or structural schematic 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 order from the module division in the device, or in a different order from 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 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.

[0048] Unless otherwise defined, the technical terms and scientific terms used in this specification have the same meanings as those generally understood by those of ordinary skill in the art of the present invention. The terms used in this specification are only for the purpose of describing specific embodiments and are not intended to limit the present invention. It should be understood that the term "and / or" used in this specification includes any and all combinations of one or more of the related listed items.

[0049] See also Figure 1 , Figure 1 A schematic diagram of an application scenario of the robot elevator riding method provided by some embodiments of the present invention is shown.

[0050] like Figure 1 As shown, the application scenario includes a robot 100, an elevator 200 (e.g., elevator 201 and elevator 202, etc.), and an elevator dispatching system 300. The robot 100 is connected to the elevator dispatching system 300 through a network (e.g., WiFi technology), and the elevator 200 is connected to the elevator dispatching system 300 through a network (e.g., wired connection).

[0051] When the robot 100 is performing a work task that requires taking an elevator, the elevator dispatching system 300 dispatches at least two available elevators (for example, elevator 201 and elevator 202) for the robot 100, and sends the corresponding identifiers of the available elevators to the robot 100, so that after receiving the corresponding identifiers of the available elevators, the robot 100 can take the elevator smoothly according to the corresponding identifiers of the available elevators to complete the corresponding work tasks.

[0052] After receiving the identifiers of the available elevators sent by the elevator dispatching system 300, the robot 100 selects any available elevator to take the elevator according to the identifiers of the available elevators. Figure 1 In the illustrated embodiment, the robot 100 selects the elevator 201 as the target elevator to take. After selecting and determining the target elevator 201, a first call instruction is sent to the elevator dispatching system 300, so that the elevator dispatching system 300 controls the target elevator 201 to run to the floor where the robot 100 is currently located after receiving the first call instruction.

[0053] In some embodiments, if the robot 100 fails to board the target elevator 201 due to factors such as the target elevator 201 failing to reach the current floor of the robot 100 within a preset time, the target elevator 201 failing to reach the current floor of the robot 100 within a preset time but the robot 100 has attempted to enter the target elevator 201 for a preset number of times, the robot 100 will then select another available elevator other than the target elevator 201 to board based on the identifier corresponding to the available elevator. Figure 1 In the illustrated embodiment, after failing to successfully board the target elevator 201 , the robot 100 reselects the elevator 202 as the target elevator to board.

[0054] After the robot 100 reselects and determines the target elevator 202, it sends a second call instruction to the elevator dispatching system 300, so that the elevator dispatching system 300 controls the target elevator 202 to run to the floor where the robot 100 is currently located after receiving the second call instruction.

[0055] It should be understood that Figure 1In the application scenario shown, only one situation in which the robot 100, the elevator 200 and the elevator dispatching system 300 cooperate with each other to assist the robot 100 to take the elevator smoothly is schematically shown, and it does not impose any restrictions on any situation such as the structure, type and number of the robot 100, the elevator 200 and the elevator dispatching system 300 in other application scenarios. For example, in some other application scenarios, the elevator dispatching system 300 can dispatch a larger number of available elevators (for example, 3 available elevators) for the robot 100, and the robot 100 can also communicate with the elevator dispatching system 300 through other suitable networks (for example, 4G, 5G communication networks, etc.).

[0056] In order to facilitate understanding of the robot elevator riding method provided by the embodiment of the present invention, the robot provided by the embodiment of the present invention is first introduced in detail.

[0057] See also Figure 2 , Figure 2 A schematic structural diagram of a robot 100 provided in some embodiments of the present invention is shown.

[0058] Specifically, Figure 2 As shown, the robot 100 includes at least one processor 110 and a memory 120 ( Figure 2 In the example of a bus system connection and a processor, the various components in the robot 100 are coupled together through the bus system 130, and the bus system 130 is used to realize the connection and communication between these components. It is easy to understand that the bus system 130 includes not only a data bus, but also a power bus, a control bus, and a status signal bus. However, for the sake of clarity and brevity, Figure 2 In the figure, various buses are labeled as bus system 130. Those skilled in the art will understand that Figure 2 The structure shown in the embodiment is only for illustration and does not impose any limitation on the structure of the robot 100. For example, the robot 100 may also include Figure 2 More or fewer components as shown, or with Figure 2 Different configurations shown.

[0059] Specifically, the processor 110 is used to provide computing and control capabilities to control the robot 100 to perform corresponding tasks. For example, the robot 100 is controlled to perform any one of the robot elevator methods provided in the embodiments of the present invention, or to perform any one of the steps in any possible implementation of any one of the robot elevator methods provided in the embodiments of the present invention. Those skilled in the art will appreciate that the processor 110 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components.

[0060] The memory 120, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer executable programs, instructions and modules, for example, programs, instructions and modules corresponding to the robot elevator method in the embodiment of the present invention. In some embodiments, the memory 120 may include a storage program area and a storage data area, and the storage program area may store an operating system, an application required for at least one function; the storage data area may store data created according to the use of the processor 110, etc. The processor 110 executes various functional applications and data processing of the robot 100 by running the non-transitory software programs, instructions and modules stored in the memory 120 to implement any robot elevator method provided in the embodiment of the present invention, or execute any possible implementation of any robot elevator method provided in the embodiment of the present invention. Among them, the memory 120 may include a high-speed random access memory, and may also include a non-transitory memory. For example, at least one disk storage device, a flash memory device or other non-transitory solid-state storage device. In some embodiments, the memory 120 may also include a memory remotely arranged relative to the processor 110, and these remote memories may be connected to the processor 110 through a communication network. It should be understood that examples of the above-mentioned communication networks include but are not limited to the Internet, corporate intranets, local area networks, mobile communication networks and combinations thereof.

[0061] It is easy to understand that the implementation subject of any robot elevator riding method provided by the embodiments of the present invention can be any suitable type of robot with certain computing and control capabilities. In some possible implementations, any robot elevator riding method provided by the embodiments of the present invention can be implemented by a processor calling a computer program instruction stored in a memory.

[0062] It can be understood from the above that the robot elevator riding method provided by the embodiment of the present invention can be implemented by various suitable types of robots with certain computing and control capabilities, for example, it can be implemented and executed by the above robot 100. The robot elevator riding method provided by the embodiment of the present invention is described in detail below in conjunction with the exemplary application and implementation of the robot provided by the embodiment of the present invention.

[0063] See also Figure 3 , Figure 3 A schematic flow chart of a robot elevator riding method provided in some embodiments of the present invention is shown.

[0064] Those skilled in the art will appreciate that the robot elevator riding method provided in the embodiment of the present invention can be applied to the above-mentioned robot (eg, robot 100). Specifically, the robot elevator riding method is executed by one or at least two processors of the robot.

[0065] like Figure 3 As shown, the robot elevator riding method includes but is not limited to the following steps S100-S300:

[0066] S100: receiving a first available elevator identifier sent by an elevator dispatching system, where there are at least two first available elevator identifiers, and one first available elevator identifier corresponds to one available elevator.

[0067] Specifically, when the robot is performing a work task that requires taking an elevator, the elevator dispatching system dispatches multiple available elevators for the robot based on factors such as the work task requirements fed back by the robot (for example, the degree of urgency, ride time, etc.) and the current status of the elevator (for example, location, operating status, and passenger load, etc.), so as to assist the robot in completing the corresponding work task.

[0068] After determining the available elevators for the robot to dispatch, the elevator dispatching system generates a first available elevator identifier corresponding to the available elevator, and sends the first available elevator identifier to the robot through a suitable wireless communication technology (e.g., Wi-Fi, Bluetooth, Zigbee, etc.). In an embodiment of the present invention, there are at least two first available elevator identifiers, and one first available elevator identifier corresponds to one available elevator, that is, the elevator dispatching system dispatches at least two available elevators for the robot.

[0069] The robot receives at least two first available elevator identifiers sent by the elevator dispatching system through a suitable wireless communication technology (e.g., Wi-Fi, Bluetooth, Zigbee, etc.). In some embodiments, the first available elevator identifier includes information such as the elevator number, the current floor, and the estimated arrival time. The robot can select the most suitable available elevator from the at least two first available elevator identifiers to ensure successful elevator riding and improve elevator riding efficiency.

[0070] S200: Select a first target elevator from the elevators corresponding to the first available elevator identifier, and send a first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system controls the first target elevator to run to the floor where the robot is located based on the first call instruction.

[0071] Specifically, after receiving at least two first available elevator identifications, the robot can select an available elevator as the first target elevator from at least two available elevators corresponding to the at least two first available elevator identifications based on the work task requirements (for example, the shortest waiting time, the shortest driving distance, etc.) and the current status of the elevator (for example, the current passenger load, the estimated arrival time, etc.).

[0072] After selecting and determining the first target elevator, the robot generates a first call instruction including an identifier corresponding to the first target elevator, and sends the first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system parses the first call instruction to obtain the identifier corresponding to the first target elevator, and then controls the first target elevator to run to the current floor of the robot, so as to assist the robot to take the elevator smoothly.

[0073] In some embodiments, although the elevator dispatching system controls the first target elevator to run to the floor where the robot is currently located, various situations may occur, and the robot fails to successfully take the first target elevator, resulting in failure of the robot's task execution. Therefore, after sending the first call instruction to the elevator dispatching system, the robot also needs to determine whether it has successfully taken the first target elevator to ensure smooth execution of the task.

[0074] See also Figure 4 , Figure 4 A flow chart showing some steps in a robot elevator riding method provided in some embodiments of the present invention is shown.

[0075] like Figure 4 As shown, in some embodiments, after sending the first call instruction to the elevator dispatching system, the robot elevator riding method further includes but is not limited to the following steps S201-S204:

[0076] S201: Determine whether the first target elevator is successfully boarded.

[0077] Specifically, in order to ensure the smooth execution of the task, after sending the first call instruction to the elevator dispatching system, the robot can determine whether it has successfully boarded the first target elevator in a variety of different ways.

[0078] In some embodiments, the robot can use a camera equipped on itself to confirm whether the current location is inside an elevator, thereby determining whether it has successfully boarded the first target elevator.

[0079] In some other embodiments, the robot can use the positioning sensor equipped with itself to confirm whether the current position has changed, so as to determine whether it has successfully boarded the first target elevator. For example, if the current position of the robot has not changed, it means that the robot may be blocked by an obstacle when entering the elevator, or the robot is insufficient in power and cannot travel. In this case, it can be determined that the robot has not successfully boarded the first target elevator.

[0080] It is easy to understand that a variety of other suitable methods may be used to determine whether the robot successfully takes the first target elevator, and the embodiment of the present invention does not impose any limitation on this.

[0081] S202: When the first target elevator fails to run to the floor where the robot is located within the preset waiting time, it is determined that the first target elevator has not been successfully boarded.

[0082] In some embodiments, the robot communicates with the elevator dispatch system in real time to confirm whether it has successfully boarded the first target elevator. For example, if the robot does not receive an arrival notification of the first target elevator running to the robot's current floor within a preset waiting time, it means that the first target elevator has failed to run to the robot's current floor within the preset waiting time, and the robot cannot board the first target elevator, and it can be determined that the robot has not successfully boarded the first target elevator.

[0083] It should be understood that in some other embodiments, the robot may not communicate with the elevator dispatching system in real time to confirm whether it has successfully boarded the first target elevator. For example, the robot may detect and obtain the external environment data of the first target elevator through the laser radar, camera, and visual sensor equipped on itself, and determine whether the first target elevator runs to the robot's current floor within the preset waiting time based on the external environment data of the first target elevator. If the detection determines that the first target elevator fails to run to the robot's current floor within the preset waiting time, it can be determined that the first target elevator has not been successfully boarded.

[0084] It is easy to understand that the preset waiting time (for example, 30s, 50s or other durations) can be set and determined according to work task requirements and actual conditions. The embodiment of the present invention does not impose any limitation on this, and the preset waiting time can be adjusted in real time when necessary.

[0085] S203: When the first target elevator runs to the floor where the robot is located within the preset waiting time and the number of people in the first target elevator is greater than or equal to the preset number, it is determined that the first target elevator has not been successfully boarded.

[0086] In some embodiments, the first target elevator can run to the robot's current floor within the preset waiting time, but the robot detects through a camera or other device equipped on itself that the number of people in the first target elevator is greater than or equal to the preset number, indicating that the first target elevator is crowded. In order to ensure safety and reliability, the robot will not take the first target elevator. That is, if the first target elevator can run to the robot's current floor within the preset waiting time, and the number of people in the first target elevator is greater than or equal to the preset number, the robot will not take the first target elevator, then it can be determined that the robot has not successfully taken the first target elevator.

[0087] It should be understood that the preset number (for example, 10 people, 15 people or other numbers) can be set and determined according to work task requirements and actual conditions, and the embodiments of the present invention do not impose any limitations on this, and the preset number can be adjusted in real time when necessary.

[0088] S204: When the first target elevator runs to the floor where the robot is located within the preset waiting time and the number of failures of the robot in attempting to enter the first target elevator is greater than or equal to the preset number, it is determined that the robot has failed to successfully board the first target elevator.

[0089] In some embodiments, the first target elevator can run to the floor where the robot is currently located within a preset waiting time, and the robot attempts to drive into the car of the first target elevator after the car door of the first target elevator is opened. The robot may be blocked when driving into the car of the first target elevator due to obstacles, pedestrians, etc. If blocked, the robot will retry to drive into the car of the first target elevator.

[0090] When the number of times the robot attempts to drive into the car of the first target elevator and fails is greater than or equal to the preset number of times, forcibly trying to drive in again may cause bad consequences such as damage to the robot and the elevator. In order to ensure safety and reliability, the robot no longer attempts to drive into the car of the first target elevator, and it can be determined that the robot has not successfully boarded the first target elevator. That is, if the first target elevator can run to the robot's current floor within the preset waiting time, and the number of times the robot attempts to drive into the car of the first target elevator and fails is greater than or equal to the preset number of times, the robot no longer attempts to drive into the car of the first target elevator and will not board the first target elevator, and it can be determined that the robot has not successfully boarded the first target elevator.

[0091] It should be understood that the preset number of times (for example, 3 times, 5 times or other times) can be set and determined according to the work task requirements and actual conditions, and the embodiments of the present invention do not impose any limitations on this, and the preset number of times can be adjusted in real time when necessary.

[0092] S300: If it is determined that the first target elevator has not been successfully taken, a second target elevator is selected from the elevators corresponding to the first available elevator identifier, and a second call instruction is sent to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system controls the second target elevator to run to the floor where the robot is located based on the second call instruction. The second target elevator is any elevator corresponding to the first available elevator identifier except the first target elevator.

[0093] Specifically, after sending the first call instruction to the elevator dispatching system and determining through an appropriate method that the robot has failed to successfully take the first target elevator, it means that the first target elevator previously selected by the robot has failed, and the robot will no longer take the first target elevator.

[0094] The robot reselects any available elevator other than the first target elevator as the second target elevator from at least two available elevators corresponding to at least two first available elevator identifiers according to the work task requirements and the current state of the elevator.

[0095] After selecting and determining the second target elevator, the robot generates a second call instruction including an identifier corresponding to the second target elevator, and sends the second call instruction to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system parses the second call instruction to obtain the identifier corresponding to the second target elevator, and then controls the second target elevator to run to the robot's current floor, so as to assist the robot in taking the elevator smoothly.

[0096] Obviously, the second target elevator may be any one of the at least two available elevators corresponding to the at least two first available elevator identifiers except the first target elevator.

[0097] In some embodiments, if the robot fails to successfully take any of the at least two available elevators corresponding to the at least two first available elevator identifiers, the robot requests the elevator dispatching system to dispatch other available elevators again to ensure smooth boarding of the elevator and execution of the work task.

[0098] Specifically, in some embodiments, the robot elevator riding method further includes but is not limited to the following steps S400:

[0099] S400: If it is determined that the robot has not successfully taken any elevator corresponding to the first available elevator identifier, a first elevator dispatching request is sent to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the first elevator dispatching request, and sends a second available elevator identifier to the robot. There is at least one second available elevator identifier, and one second available elevator identifier corresponds to one spare elevator.

[0100] Specifically, if the robot reselects and subsequently selects any one of the at least two available elevators corresponding to at least two first available elevator identifiers as the target elevator to take, and fails to successfully take the selected target elevator, that is, if it is determined that the robot has failed to successfully take any available elevator corresponding to the first available elevator identifier, it means that the first available elevator identifier previously sent by the elevator dispatching system has expired, the robot no longer takes the available elevator corresponding to the first available elevator identifier, and the robot re-requests the elevator dispatching system to dispatch a spare elevator.

[0101] The robot generates a first elevator dispatching request according to the work task requirements and other conditions, and sends the first elevator dispatching request to the elevator dispatching system, so that after receiving the first elevator dispatching request, the elevator dispatching system dispatches at least one spare elevator for the robot, and after determining the spare elevator to be dispatched by the robot, generates a second available elevator identifier corresponding to the spare elevator, and then sends the second available elevator identifier to the robot through a suitable wireless communication technology (such as Wi-Fi, Bluetooth, Zigbee, etc.).

[0102] In the embodiment of the present invention, there is at least one second available elevator identifier, and one second available elevator identifier corresponds to one spare elevator, that is, the elevator dispatching system dispatches at least one spare elevator for the robot.

[0103] In some embodiments, sending a first elevator dispatching request to an elevator dispatching system so that the elevator dispatching system dispatches at least one standby elevator for the robot after receiving the first elevator dispatching request and sends a second available elevator identifier to the robot, specifically including but not limited to the following steps S410:

[0104] S410: The robot sends a first elevator dispatching request to the elevator dispatching system, wherein the first elevator dispatching request includes an optional target elevator identifier, wherein after receiving the first elevator dispatching request, the elevator dispatching system determines a spare elevator based on the elevator with the optional target elevator identifier, and uses the spare elevator as the robot's direct dedicated elevator, and then sends a second available elevator identifier to the robot, wherein the second available elevator identifier corresponds to the spare elevator.

[0105] Specifically, the robot generates a first elevator dispatch request according to the work task requirements, etc., and sends the first elevator dispatch request to the elevator dispatch system. It is understandable that in order to ensure that the robot can take the elevator as soon as possible, the robot can select some suitable elevators from the historical elevator data as optional target elevators according to historical work tasks and historical elevator data (for example, when performing a certain work task, the efficiency and success rate of taking a certain elevator are very high), and then generate a first elevator dispatch request containing an identifier corresponding to the optional target elevator, and send the first elevator dispatch request to the elevator dispatch system.

[0106] Among them, after receiving the first elevator dispatching request sent by the robot, the elevator dispatching system determines a spare elevator from the elevators corresponding to the optional target elevator identifier based on the current status of the elevator corresponding to the optional target elevator identifier (for example, the current position, the number of passengers on board, and the estimated arrival time, etc.).

[0107] After determining the backup elevator, the backup elevator is used as the robot's direct dedicated elevator, and the second available elevator identifier corresponding to the determined backup elevator is sent to the robot, so that after receiving the second available elevator identifier, the robot can take the corresponding backup elevator according to the second available elevator identifier to assist the robot in taking the elevator smoothly. The second available elevator identifier corresponds to the backup elevator.

[0108] In some embodiments, the elevator dispatching system receives the first elevator dispatching request, dispatches at least one standby elevator according to the first elevator dispatching request, generates a corresponding second available elevator identifier, and sends the second available elevator identifier to the robot. If the robot does not receive the second available elevator identifier, it indicates that the robot task execution may fail, and an early warning notification is issued to inform relevant management personnel to handle the robot accordingly.

[0109] Specifically, in some embodiments, after sending the first elevator dispatching request to the elevator dispatching system, the robot elevator riding method further includes but is not limited to the following steps S500:

[0110] S500: If the robot does not receive the second available elevator identifier, it issues a warning notification.

[0111] Specifically, the robot generates a first elevator dispatching request according to work task requirements and other conditions, and sends the first elevator dispatching request to the elevator dispatching system. After receiving the first elevator dispatching request, the elevator dispatching system dispatches at least one standby elevator according to the first elevator dispatching request, generates a corresponding second available elevator identifier, and sends the second available elevator identifier to the robot.

[0112] However, due to various factors (such as communication network interruption), the elevator dispatching system may not receive the first elevator dispatching request sent by the robot, or the elevator dispatching system receives the first elevator dispatching request, but the elevator dispatching system fails, resulting in the inability to dispatch a backup elevator for the robot, so that the second available elevator identifier will not be sent to the robot, and the robot will not receive the second available elevator identifier.

[0113] If the robot does not receive the second available elevator identifier sent by the elevator dispatching system, it means that the elevator dispatching system has not dispatched a backup elevator for the robot, and the robot cannot take the elevator, so the task execution may fail. When the robot does not receive the second available elevator identifier, the robot issues a warning notification to inform the relevant management personnel that the robot needs to take corresponding measures.

[0114] It should be understood that the warning notification may be any suitable form of notification, such as a text message, a voice alarm, and flashing lights, etc., and the embodiment of the present invention does not impose any limitation on this.

[0115] A robot elevator riding method provided by an embodiment of the present invention is applied to a robot, and the method includes: receiving a first available elevator identifier sent by an elevator dispatching system, wherein the first available elevator identifier is at least two, and one first available elevator identifier corresponds to one available elevator; selecting a first target elevator from the elevators corresponding to the first available elevator identifier, and sending a first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system controls the first target elevator to run to the floor where the robot is located based on the first call instruction; if it is determined that the first target elevator is not successfully boarded, selecting a second target elevator from the elevators corresponding to the first available elevator identifier, and sending a second call instruction to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system controls the second target elevator to run to the floor where the robot is located based on the second call instruction, and the second target elevator is any one of the elevators corresponding to the first available elevator identifier except the first target elevator.

[0116] In this embodiment, a first target elevator to be taken is first selected from at least two available elevators. When the robot fails to successfully take the first target elevator, a second target elevator to be taken is selected. This method can ensure that the robot successfully takes the elevator, improve the robot's elevator efficiency, thereby improving the success rate and efficiency of task execution and improving user experience.

[0117] In some embodiments, after the robot successfully takes the first target elevator, the first target elevator may fail during the process of taking the first target elevator. When the first target elevator fails, in order to ensure safety and timeliness, the robot needs to leave the first target elevator as soon as possible and take another elevator to complete the work task.

[0118] Specifically, in some embodiments, the robot elevator riding method further includes but is not limited to the following steps S601-S604:

[0119] S601: After it is determined that the first target elevator is successfully boarded, if the first target elevator fails during the boarding process, current environment data in the first target elevator is obtained.

[0120] Specifically, after it is determined that the robot has successfully boarded the first target elevator, the first target elevator may malfunction during the process of the robot boarding the first target elevator, and the robot needs to detect the operation status of the first target elevator.

[0121] In some embodiments, the change in speed in the vertical direction can be detected by an inertial sensor equipped with the elevator to determine whether the first target elevator has failed. For example, if the first target elevator stops running without running to the target floor corresponding to the task being executed this time, and the stop time exceeds a preset time, it means that the first target elevator stops running not because people in the elevator get on or off, but because the first target elevator has failed, then it can be determined that the first target elevator has failed.

[0122] It is understandable that other suitable methods may be used to determine whether the first target elevator has a fault. For example, by communicating with the elevator control system to obtain elevator fault status information in real time, thereby determining whether the first target elevator has a fault. The embodiment of the present invention does not impose any limitation on this.

[0123] For example, if the first target elevator fails, the robot obtains the current environmental data in the first target elevator through the laser radar, camera, visual sensor and other devices equipped on the robot. In some embodiments, the current environmental data in the first target elevator includes but is not limited to: temperature, humidity, light intensity, video or image data in the elevator.

[0124] S602: Based on the current environment data, determine the state of the car door of the first target elevator, where the state includes an open state.

[0125] Specifically, after obtaining the current environment data in the first target elevator, the current environment data is parsed and processed to determine the state of the car door of the first target elevator, wherein the state of the car door of the first target elevator includes an open state and a closed state.

[0126] It is understandable that when the elevator car door is opened, the light intensity will increase, so the change in the light intensity in the elevator can be determined based on the current environmental data, thereby determining the state of the car door of the first target elevator. In some embodiments, after parsing and processing the current environmental data, if it is determined that the light intensity in the first target elevator has increased, it is determined that the car door of the first target elevator has been opened, that is, the state of the car door of the first target elevator is in an open state.

[0127] S603: If the car door of the first target elevator is in an open state, an exit operation is performed to leave the car of the first target elevator.

[0128] Specifically, if it is determined that the car door of the first target elevator is in an open state according to the current environmental data in the first target elevator, the robot may travel out of the car of the first target elevator.

[0129] The robot plans a travel path for leaving the car of the first target elevator based on its current position in the car of the first target elevator and the target position outside the car door of the first target elevator, and then performs an exit operation based on the travel path, gradually moving toward the target position to ensure safe and smooth departure from the car of the first target elevator.

[0130] S604: After leaving the car of the first target elevator, send a second elevator dispatching request to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the second elevator dispatching request, and sends a third available elevator identifier to the robot, the third available elevator identifier is at least one, and one third available elevator identifier corresponds to one spare elevator.

[0131] Specifically, after the robot leaves the car of the first target elevator, it confirms its current floor through the position sensor equipped on itself, and then generates a corresponding second elevator dispatching request according to the work task requirements and other conditions, and sends the second elevator dispatching request to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the second elevator dispatching request, and after determining the spare elevator to be used for the robot dispatch, generates a third available elevator identifier corresponding to the spare elevator, and then sends the third available elevator identifier to the robot through a suitable wireless communication technology (such as Wi-Fi, Bluetooth and Zigbee, etc.).

[0132] In the embodiment of the present invention, there is at least one third available elevator identifier, and one third available elevator identifier corresponds to one spare elevator, that is, the elevator dispatching system dispatches at least one spare elevator for the robot.

[0133] In some embodiments, if the first target elevator can run to the robot's current floor within a preset waiting time, when the first target elevator runs to the robot's current floor, the robot plans a driving path to enter the first target elevator based on its current position and the target position in the first target elevator, and then drives into the car of the first target elevator according to the driving path.

[0134] Specifically, in some embodiments, the robot elevator riding method further includes but is not limited to the following steps S701-S703:

[0135] S701: When the first target elevator runs to the floor where the robot is located within a preset waiting time, a target position in the car of the first target elevator is obtained.

[0136] Specifically, if the first target elevator can run to the floor where the robot is currently located within the preset waiting time, then after the first target elevator runs to the floor where the robot is currently located and the car door of the first target elevator is opened, the robot scans the environment inside the car through devices such as laser radar, camera, and visual sensor to obtain the target position in the car of the first target elevator. It can be understood that the target position is mainly used for the robot to stop after the robot drives into the car of the first target elevator.

[0137] S702: Planning a path in the global static map according to the current position and the target position of the robot to obtain a travel path for a car entering the first target elevator.

[0138] Specifically, after obtaining the target position in the car of the first target elevator, a path is planned in the global static map according to the current position and the target position of the robot, so as to plan a driving path from the current position of the robot to the target position in the car of the first target elevator. It should be understood that the robot's built-in positioning system (such as GPS, inertial navigation system, and visual positioning sensor, etc.) can be used to determine its current position.

[0139] Among them, the global static map is an electronic map pre-stored in the robot. The global static map includes information such as the locations and relative positions of all floors, rooms, obstacles, passages and elevators of the building.

[0140] After obtaining the target position, the current position and the target position of the robot are marked on the global static map, and then a path planning algorithm (for example, A* algorithm, Dijkstra algorithm or other suitable path planning algorithms) is used to plan a path on the global static map, thereby obtaining a driving path for the car that enters the first target elevator.

[0141] In some embodiments, the robot can use a path smoothing algorithm or perform post-processing to optimize the planned driving path to optimize the smoothness and feasibility of the driving path, ensure the smoothness of the driving path, avoid unnecessary turns and complex paths, and improve the smoothness and driving efficiency of the driving path.

[0142] S703: According to the driving path, the vehicle enters the car of the first target elevator to take the first target elevator.

[0143] Specifically, after planning the driving path, the robot moves along the driving path to the target position in the car of the first target elevator according to the driving path, so as to drive into the car of the first target elevator from the current position and stop at the target position in the car of the first target elevator, thereby successfully boarding the first target elevator.

[0144] In some embodiments, in order to ensure the safety of the robot, in the process of driving into the car of the first target elevator according to the driving path, since there may be obstacles on the driving path, it is necessary to determine whether the obstacles on the driving path will prevent the robot from driving into the first target elevator, so as to select different driving strategies.

[0145] Specifically, in some embodiments, the robot elevator riding method further includes but is not limited to the following steps S801-S804:

[0146] S801: Acquire surrounding environment data of the robot during the process of entering the car of the first target elevator, wherein the surrounding environment data includes obstacles located on the driving path.

[0147] Specifically, when the robot enters the car of the first target elevator along the planned driving path, that is, at any position along the driving path when the robot is driving toward the car of the first target elevator, the robot can collect and obtain the robot's surrounding environment data through devices such as laser radar, camera, and infrared sensor equipped on the robot. The robot's surrounding environment data includes obstacle information on the driving path.

[0148] S802: Based on the surrounding environment data and the width of the robot, determine whether the robot can drive into the car of the first target elevator.

[0149] After acquiring the robot's surrounding environment data, the robot processes and analyzes the acquired surrounding environment data to identify obstacles on the driving path. Then, the distance between the obstacle and the robot is determined based on the robot's current position and the position information of the obstacle on the driving path. After obtaining the distance between the obstacle and the robot, it is compared with the width of the robot to determine whether the robot can successfully avoid the obstacle on the driving path, thereby ensuring that the robot can safely and smoothly drive into the car of the first target elevator.

[0150] Obviously, when the distance between the obstacle and the robot is greater than the width of the robot, the robot can successfully avoid the obstacle on the driving path, and the robot can safely and smoothly drive into the car of the first target elevator. When the distance between the obstacle and the robot is less than or equal to the width of the robot, the robot cannot successfully avoid the obstacle on the driving path, and the robot cannot safely and smoothly drive into the car of the first target elevator.

[0151] S803: If the robot can drive into the car of the first target elevator, it drives forward to enter the car of the first target elevator.

[0152] Specifically, if it is determined that the robot can drive safely and smoothly into the car of the first target elevator, it means that although there are obstacles on the driving path, the robot can avoid them smoothly. At this time, the robot continues to drive forward along the driving path to enter the car of the first target elevator. In addition, in the process of driving forward into the car of the first target elevator, the robot can still use various sensors equipped with itself to detect obstacles and environmental changes on the driving path in real time, and timely plan or adjust the driving path to drive safely and smoothly into the car of the first target elevator.

[0153] S804: If the robot cannot drive into the car of the first target elevator, it waits for avoidance.

[0154] Specifically, if it is determined that the robot cannot safely and smoothly drive into the car of the first target elevator, it means that there is an obstacle on the driving path and it cannot be avoided smoothly. The robot stops moving forward and waits for the obstacle on the driving path to be avoided to avoid collision with the obstacle or other dangerous situations.

[0155] In some embodiments, if the waiting time exceeds a preset time threshold, the robot can detect whether the obstacle on the driving path has been avoided. If the obstacle has been avoided or removed, the robot continues to move forward along the driving path to drive into the car of the first target elevator. If the obstacle has not been avoided or removed, the robot sends a warning message or replans the driving path to ensure safe and smooth driving into the car of the first target elevator.

[0156] In summary, the robot elevator riding method provided by an embodiment of the present invention is applied to a robot, and the method includes: receiving a first available elevator identifier sent by an elevator dispatching system, wherein the first available elevator identifier is at least two, and one first available elevator identifier corresponds to one available elevator; selecting a first target elevator from the elevators corresponding to the first available elevator identifier, and sending a first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system controls the first target elevator to run to the floor where the robot is located based on the first call instruction; if it is determined that the first target elevator is not successfully taken, selecting a second target elevator from the elevators corresponding to the first available elevator identifier, and sending a second call instruction to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system controls the second target elevator to run to the floor where the robot is located based on the second call instruction, and the second target elevator is any one of the elevators corresponding to the first available elevator identifier except the first target elevator.

[0157] In this embodiment, a first target elevator to be taken is first selected from at least two available elevators. When the robot fails to successfully take the first target elevator, a second target elevator to be taken is selected. This method can ensure that the robot successfully takes the elevator, improve the robot's elevator efficiency, thereby improving the success rate and efficiency of task execution and improving user experience.

[0158] An embodiment of the present invention provides a computer-readable storage medium, on which computer program instructions executable by a processor are stored. When the computer program instructions are called by the processor, the processor executes any one of the robot elevator riding methods provided by the embodiment of the present invention, or executes the steps in any one of the possible implementation methods of any one of the robot elevator riding methods provided by the embodiment of the present invention.

[0159] 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 technical field, or various devices including one or any combination of the above storage media.

[0160] 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.

[0161] 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 in 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).

[0162] As an example, the computer program instructions may be deployed to be executed on a computing device (including devices such as smart terminals and servers), or on multiple computing devices located at one location, or on multiple computing devices distributed at multiple locations and interconnected by a communication network. It is easy to understand that all or part of the steps of the method described in the embodiments of the present invention may be directly implemented using electronic hardware or processor executable computer program instructions, or a combination of the two.

[0163] The technicians can understand that the embodiments provided by the present invention are only illustrative, and the writing order of each step in the method of the embodiment does not mean a strict execution order and does not constitute any limitation on the implementation process. The order can be adjusted, merged and deleted according to actual needs. The modules or sub-modules, units or sub-units in the device or system of the embodiment can be merged, divided and deleted according to actual needs. For example, the division of units is only a logical function division, and there can be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed.

[0164] 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, and of course can also be implemented by hardware. Those skilled in the art can understand that all or part of the processes in the above embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0165] It should be noted that the above embodiments are intended to illustrate the technical concept and features of the present invention, and their purpose is to enable people familiar with this technology to understand the content of the present invention and implement it accordingly, and 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 can be implemented according to the technical solutions recorded in the embodiments of the present invention, or some of the technical features can be equivalently replaced. It can be understood that these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and should be regarded as equal changes and modifications based on the embodiments of the present invention, and 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 method comprises: receiving a first available elevator identifier sent by an elevator dispatching system, wherein the number of the first available elevator identifiers is at least two, and each of the first available elevator identifiers corresponds to one available elevator; Selecting a first target elevator from the elevators corresponding to the first available elevator identifier, and sending a first call instruction to the elevator dispatching system, so that after receiving the first call instruction, the elevator dispatching system controls the first target elevator to run to the floor where the robot is located based on the first call instruction; If it is determined that the first target elevator has not been successfully taken, a second target elevator is selected from the elevators corresponding to the first available elevator identifier, and a second call instruction is sent to the elevator dispatching system, so that after receiving the second call instruction, the elevator dispatching system controls the second target elevator to run to the floor where the robot is located based on the second call instruction, and the second target elevator is any elevator among the elevators corresponding to the first available elevator identifier except the first target elevator.

2. The method according to claim 1, characterized in that After sending the first call instruction to the elevator dispatching system, the method further includes: Determining whether the first target elevator is successfully boarded; When the first target elevator fails to run to the floor where the robot is located within the preset waiting time, determining that the first target elevator has not been successfully boarded; Alternatively, when the first target elevator runs to the floor where the robot is located within the preset waiting time and the number of people in the first target elevator is greater than or equal to a preset number, it is determined that the first target elevator has not been successfully boarded; Alternatively, when the first target elevator runs to the floor where the robot is located within a preset waiting time and the number of failures of the robot in attempting to enter the first target elevator is greater than or equal to a preset number, it is determined that the robot has failed to successfully board the first target elevator.

3. The method according to claim 1, characterized in that The method further comprises: If it is determined that the robot has not successfully taken any elevator corresponding to the first available elevator identifier, a first elevator dispatching request is sent to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the first elevator dispatching request, and sends a second available elevator identifier to the robot, wherein the second available elevator identifier is at least one, and one second available elevator identifier corresponds to one spare elevator.

4. The method according to claim 3, characterized in that The sending of the first elevator dispatching request to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the first elevator dispatching request, and sends a second available elevator identifier to the robot, comprises: The robot sends a first elevator dispatching request to the elevator dispatching system, wherein the first elevator dispatching request includes an optional target elevator identifier, wherein after receiving the first elevator dispatching request, the elevator dispatching system determines a spare elevator according to the elevator with the optional target elevator identifier, and uses the spare elevator as the direct dedicated elevator of the robot, and then sends a second available elevator identifier to the robot, wherein the second available elevator identifier corresponds to the spare elevator.

5. The method according to claim 3, characterized in that: After sending the first elevator dispatching request to the elevator dispatching system, the method further includes: If the robot does not receive the second available elevator identifier, an early warning notification is issued.

6. The method according to claim 1, characterized in that The method further comprises: After determining that the first target elevator is successfully boarded, if the first target elevator fails during the boarding of the first target elevator, obtaining current environment data in the first target elevator; Based on the current environment data, determining a state of a car door of the first target elevator, the state comprising an open state; If the car door of the first target elevator is in an open state, performing an exit operation to leave the car of the first target elevator; After leaving the car of the first target elevator, a second elevator dispatching request is sent to the elevator dispatching system, so that the elevator dispatching system dispatches at least one spare elevator for the robot after receiving the second elevator dispatching request, and sends a third available elevator identifier to the robot, wherein the third available elevator identifier is at least one, and one third available elevator identifier corresponds to one spare elevator.

7. The method according to any one of claims 1 to 6, characterized in that: The method further comprises: When the first target elevator runs to the floor where the robot is located within a preset waiting time, obtaining a target position in the car of the first target elevator; Planning a path in a global static map according to the current position of the robot and the target position to obtain a travel path for a car entering the first target elevator; According to the travel path, the vehicle enters the car of the first target elevator to board the first target elevator.

8. The method according to claim 7, characterized in that The method further comprises: In the process of driving into the car of the first target elevator, acquiring surrounding environment data of the robot, wherein the surrounding environment data includes obstacles located on the driving path; Based on the surrounding environment data and the width of the robot, determining whether the robot can travel into the car of the first target elevator; If the robot can drive into the car of the first target elevator, then drive forward to enter the car of the first target elevator; If the robot cannot drive into the car of the first target elevator, the robot waits for avoidance.

9. 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 1-8.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer program instructions executable by a 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 8.

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