Robot elevator selection method, elevator selection device, robot and computer program product

Abstract

The invention discloses a robot elevator selecting method, a robot elevator selecting device, a robot and a computer program product. The robot is provided with a mechanical arm capable of interacting with the elevator. During elevator selection, the robot performs initial elevator selection based on floor information corresponding to the cross-floor task so as to determine a first candidate elevator capable of assisting in completing the cross-floor task; and after the elevator is called through the mechanical arm, the state information of all the second candidate elevators in the preset range is obtained so as to carry out secondary elevator selection, that is, the target elevator predicted to reach the current floor first is screened out from all the second candidate elevators, and the target elevator is selected from the second candidate elevators. Secondary elevator selection can prevent the waiting time of the target elevator selected by the robot from being too long, so that the elevator taking efficiency of the robot is guaranteed. In the whole process, the robot does not need to communicate with the elevators, autonomous elevator calling is achieved through interaction of the mechanical arm and the elevators, the elevators are screened once before and after elevator calling, finally, the target elevator predicted to be most efficient is determined and waits for taking, and therefore the time needed for waiting for the elevators by the robot can be shortened, and the execution efficiency of cross-floor tasks is improved.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular relates to a robot elevator selection method, a robot elevator selection device, a robot, and a computer program product. Background Art

[0002] When a robot performs a cross-floor task, choosing the elevator to take is one of the key links. In the related art, if there are multiple elevators on the same floor, the robot selects one of them through the elevator module of the elevator control system and controls the elevator door to remain open until the robot enters smoothly.

[0003] However, this solution relies on the communication between the elevator and the control system, and requires the connection between the elevator protocol and the robot. However, many elevators do not have this function, which requires high-cost modification, and different elevator models need to be adapted separately. In addition, some manufacturers and users are unwilling to open the communication interface, which may limit the robot's elevator riding function and reduce the applicability of the scene.

[0004] However, if the robot does not communicate with the elevator, it is difficult to ensure the robot's elevator efficiency when there are multiple elevators nearby.

[0005] Therefore, an efficient and low-cost robot elevator selection method is urgently needed. Summary of the invention

[0006] The present application provides a robot elevator selection method, a robot elevator selection device, a robot and a computer program product. The robot does not need to communicate with the elevator, and can autonomously call the elevator by interacting with the elevator through a mechanical arm. The robot screens the elevator once before and after the elevator call, and finally determines the target elevator that is expected to be most efficient and goes to wait for the elevator. This can shorten the time required for the robot to wait for the elevator and improve the execution efficiency of cross-floor tasks.

[0007] In a first aspect, the present application provides a robot elevator selection method, wherein the robot is provided with a mechanical arm for interacting with an elevator button; the elevator selection method comprises:

[0008] After receiving the cross-floor task, at least one first candidate elevator is determined based on the departure floor where the robot is located and the arrival floor corresponding to the cross-floor task; the candidate elevator is an elevator that the robot can take from the departure floor to the arrival floor;

[0009] Move to the first elevator call point corresponding to the first candidate elevator;

[0010] Control the robot arm to activate the target elevator call button; the first target running direction of the elevator corresponding to the target elevator call button is consistent with the target elevator riding direction of the robot;

[0011] Obtaining status information of a second candidate elevator within a preset range;

[0012] Selecting a target elevator from the second candidate elevators based on the departure floor, the arrival floor and various status information; the target elevator is the second candidate elevator that is expected to reach the departure floor first;

[0013] Wait for the elevator at the second call point corresponding to the target elevator.

[0014] In a second aspect, the present application provides a robot elevator selection device, wherein the robot is provided with a mechanical arm for interacting with an elevator button; the robot elevator selection device comprises:

[0015] A first elevator selection module is used to determine at least one first candidate elevator based on the departure floor of the robot and the arrival floor corresponding to the cross-floor task after receiving the cross-floor task; the candidate elevator is an elevator that the robot can take from the departure floor to the arrival floor;

[0016] A movement module, used for moving to a first elevator call point corresponding to a first candidate elevator;

[0017] A control module, used for controlling the robot arm to activate a target elevator call button;

[0018] The first acquisition module is used to acquire the state information of the second candidate elevator within the preset range; the first target running direction of the elevator corresponding to the target elevator call button is consistent with the target elevator riding direction of the robot;

[0019] The second elevator selection module is used to select a target elevator from the second candidate elevators based on the departure floor, the arrival floor and various status information; the target elevator is the second candidate elevator that reaches the departure floor first in advance;

[0020] The motion module is also used to wait for the elevator at the second elevator call point corresponding to the target elevator.

[0021] In a third aspect, the present application provides a robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the computer program.

[0022] In a fourth aspect, the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect are implemented.

[0023] In a fifth aspect, the present application provides a computer program product, which includes a computer program. When the computer program is executed by one or more processors, it implements the steps of the method of the first aspect.

[0024] Compared with the prior art, the present application has the following beneficial effects: for a robot equipped with a mechanical arm capable of interacting with an elevator, during its elevator selection process, the robot can first perform an initial elevator selection based on the floor information corresponding to the cross-floor task to determine the first candidate elevator that can go from the departure floor to the arrival floor; in order to shorten the waiting time for the elevator, the robot can first go to the first elevator call point of the first candidate elevator and activate the corresponding elevator call button through the mechanical arm; after calling the elevator, in order to ensure that the most efficient elevator can be taken to the arrival floor, the robot can obtain the status information of each second candidate elevator within a preset range, and perform a secondary elevator selection based on the status information, that is, select the target elevator that is expected to arrive at the current floor first from each second candidate elevator. During the whole process, the robot does not need to communicate with the elevator, and calls the elevator after a screening, which can ensure that the elevator being waited for can go to the arrival floor; after calling the elevator, the status information of the second candidate elevator within the preset range is obtained for secondary elevator screening, which can effectively use the waiting time to determine the target elevator with a closer distance and the shortest waiting time. The robot can go to its second elevator call point in advance to wait before the target elevator arrives, further shortening the time required for the robot to wait for the elevator and improving the execution efficiency of the cross-floor task.

[0025] It can be understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0027] Figure 1 is a schematic diagram of the physical structure of the robot provided in the embodiment of the present application;

[0028] Figure 2 It is a flowchart of a robot elevator selection method provided in an embodiment of the present application;

[0029] Figure 3 It is a structural schematic diagram of a robot ladder selection device provided in an embodiment of the present application;

[0030] Figure 4 It is a schematic diagram of the structure of the robot provided in the embodiment of the present application. DETAILED DESCRIPTION

[0031] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0032] In the related technology, the robot elevator selection depends on the communication between the elevator and the elevator control system, and the elevator protocol needs to be compatible with the robot communication. However, many existing elevators lack the communication function to connect with the robot, and the system must be modified. This not only increases the cost of modification and deployment, but also involves the issue of whether the elevator manufacturers and users are willing to open the communication interface to third parties, which may easily lead to the robot being unable to take the elevator, thereby reducing the scenario applicability and application scope. However, if there is no communication with the elevator, it is difficult to guarantee the robot's elevator efficiency when there are multiple elevators nearby.

[0033] In order to solve this problem, this application proposes a robot elevator selection method. By modifying the software and hardware of the robot, the robot has the ability to actively interact with the elevator. Without communicating with the elevator, the robot controls the mechanical arm to autonomously call the elevator, and performs an elevator screening before and after the elevator call to determine the target elevator that can reach the floor and is expected to be the most efficient. Before the target elevator arrives, it goes to its second elevator call point to wait, which can effectively shorten the time required for the robot to wait for the elevator and improve the execution efficiency of cross-floor tasks. The control method proposed in this application will be described below through specific embodiments.

[0034] The robot elevator selection method provided in the embodiment of the present application can be applied to a robot provided with a mechanical arm for interacting with an elevator button. The elevator riding method can also be applied to an electronic device that can establish a communication connection with the robot and control the robot based on the communication connection, or a cloud server, etc. For example, a mobile phone, a tablet computer, a vehicle-mounted device, an augmented reality (AR) / virtual reality (VR) device, a laptop computer, an ultra-mobile personal computer (UMPC), a netbook, a personal digital assistant (PDA), and other electronic devices. The embodiment of the present application does not impose any restrictions on the specific type of the electronic device.

[0035] Optionally, in order to allow the robot to control the mechanical arm to interact with the elevator at a certain distance from the robot while minimizing movement, for example, to allow the robot to stand at the elevator waiting point corresponding to the elevator door and interact with the elevator call button on one side, a sensor for detecting elevator information may be provided on the mechanical arm. Based on such a mechanical arm, the robot can accurately control the end of the mechanical arm to call the elevator according to the detected elevator information, thereby improving the flexibility of the robot's interaction with the elevator.

[0036] In some embodiments, see Figure 1 , Figure 1 A schematic diagram of the structure of a robot 1 is shown. For the sake of convenience, only the parts related to the present application are shown in the figure. The robot 1 includes a body 10, a first sensor 11 is arranged on the body 10, and a mechanical arm 20 is arranged on both sides of the body 10. Each mechanical arm 20 includes a mechanical arm end 21 and a second sensor 22 arranged on the mechanical arm.

[0037] Among them, the first sensor 11 is mainly used to detect the surrounding environmental information, so that the robot 1 can achieve collision-free movement based on the environmental information; the second sensor 22 is mainly used to detect the elevator information, so that the robot 1 can interact with the elevator by controlling the mechanical arm 20 to achieve the elevator ride. The first sensor 11 can also be used to assist the second sensor 22 in detecting the elevator information. Exemplarily, the first sensor 11 and the second sensor 22 can both be image sensors. The second sensor 22 can be a stereoscopic vision image sensor. The mechanical arm has a large movable range. By setting two mechanical arms 20, no matter which side of the robot 1 the elevator button is on, the robot can control the mechanical arm 20 on the side adjacent to the elevator button to move within a certain distance without moving, so as to detect the button information according to the corresponding second sensor 22, and then control the mechanical arm end 21 to press the target elevator call button based on the button information.

[0038] In order to illustrate the technical solution proposed in this application, each embodiment will be described below using a robot with the above-mentioned structure as the execution subject.

[0039] Figure 2 A schematic flow chart of a robot elevator selection method provided by the present application is shown, and the robot elevator selection method includes:

[0040] Step 210: After receiving the cross-floor task, the robot determines at least one first candidate elevator based on its own departure floor and the arrival floor corresponding to the cross-floor task.

[0041] The task information corresponding to the cross-floor task includes the target floor corresponding to the task. For example, for the item delivery task, the item on the 8th floor needs to be delivered to the 1st floor. Then the 8th floor and the 1st floor are both the target floors, that is, they are the floors that the robot arrives at in the process of taking the elevator. Combined with the floor where the robot is when receiving the task, it can be known how many elevators it needs to take. For example, if the robot receives the delivery task on the 5th floor, the robot must first go from the 5th floor to the 8th floor, and then from the 8th floor to the 1st floor. That is, since the departure and arrival floors of the two elevator rides are different, and since the process of each elevator ride is the same, the subsequent plan will be explained in terms of a single elevator ride process.

[0042] In high-rise buildings, different elevators may have limited accessible floors. To improve the efficiency of elevator riding, the robot can select at least one qualified candidate elevator based on the current departure floor and arrival floor before each elevator call to ensure that the elevator can deliver the robot from the departure floor to the current arrival floor, thereby ensuring the smooth progress of the elevator ride. For example, if the robot receives a delivery task on the 5th floor and needs to deliver items from the 8th floor to the 1st floor, then the departure floor is the 5th floor and the current arrival floor is the 8th floor; when the robot arrives at the 8th floor to pick up the items, the departure floor is the 8th floor and the current arrival floor is the 1st floor.

[0043] For example, suppose a high-rise building has 12 elevators, 6 on the east side and 6 on the west side. Of the 6 elevators on the east / west side, 3 can go to the lower floors and 3 can go to the upper floors. Without considering the distance after reaching the target floor, if the target floor is a lower floor, the robot can determine the 6 elevators on the east and west sides that can go to the lower floors as the first candidate elevators.

[0044] Preliminary screening of elevators before calling the elevator can increase the probability that the first candidate elevator can directly reach the destination floor from the departure floor, increase the success rate of the robot reaching the destination floor in one ride, and improve the robot's elevator efficiency. If there is no elevator that can directly reach the destination floor from the departure floor, the robot can choose a transfer elevator and determine the elevator that can reach the transfer floor as the first candidate elevator.

[0045] Step 220: The robot moves to the first elevator call point corresponding to the first candidate elevator.

[0046] After the initial screening of the elevators, the robot can move to the first elevator call point corresponding to the first candidate elevator in order to get on the elevator as quickly as possible. If there are multiple first candidate elevators, there can be multiple strategies to determine which first candidate elevator's first elevator call point to go to.

[0047] For example, if the first candidate elevators are distributed in different areas of the building, and the number of first candidate elevators in each area is less than the set number, for example, 1, in order to shorten the time required to reach the first elevator call point, the nearest first candidate elevator can be selected for the elevator call.

[0048] For example, if the first candidate elevators are distributed in different areas of the building and the number of candidate elevators in each area is different, in order to be able to take the elevator as quickly as possible, any elevator among the first candidate elevators in the area with the largest number of first candidate elevators can be selected for elevator calling.

[0049] For example, if the first elevators are scattered in different areas of the building, the first candidate elevator corresponding to the shortest comprehensive path can be selected for elevator calling according to the target position corresponding to the arrival floor and the current position of the robot.

[0050] Exemplarily, if the first elevators are scattered in different areas of the building and the distance between each area is greater than a set value, the current robot can communicate with the robots in the elevators to obtain the current status of the elevators occupied by other robots, such as the floor and up and down information, and determine the first candidate elevator that will arrive at the departure floor within a preset time period from the first candidate elevators.

[0051] That is to say, if there are multiple first candidate elevators, different selection strategies can be determined according to specific needs. Of course, the selection strategies can also be combined, for example, the first candidate elevator with the closest distance and relatively concentrated elevators is selected for elevator calling, which is not specifically limited in this embodiment.

[0052] In addition, it is worth noting that the elevator call point can also be the elevator waiting point (generally in front of the elevator door). For example, if the robot's mechanical arm is equipped with a sensor and the range of motion of the mechanical arm is large, then even if the robot is at the elevator waiting point, it can drive the mechanical arm to interact with the elevator call button. However, if the robot's mechanical arm is not equipped with a sensor, or the range of motion of the mechanical arm is not large enough, then the robot will rely on the sensor on the body to detect the elevator information. At this time, the robot's elevator call point is a position closer to the elevator call button, such as a position corresponding to a certain distance in front of the elevator call button, rather than the elevator waiting point.

[0053] Step 230: The robot controls the mechanical arm to activate the target elevator call button.

[0054] The direction of the robot from the departure floor to the arrival floor is the robot's target elevator direction. In order to accurately call the elevator, the robot can press the corresponding elevator call button according to the target elevator direction, that is, the target elevator call button. For example, if the target elevator direction is up (22nd floor to 28th floor), the robot can determine that the target elevator call button is the up button.

[0055] After determining the target elevator call button, the robot can control the mechanical arm to activate the target elevator call button. Specifically, the robot can detect and calculate the operation point of pressing the target elevator call button in real time through relevant sensors, and then control the mechanical arm to move to the operation point, press the target elevator call button, and activate the button to realize the elevator call.

[0056] Step 240: The robot obtains status information of a second candidate elevator within a preset range.

[0057] Step 250: The robot selects a target elevator from the second candidate elevators based on the departure floor, arrival floor and various status information.

[0058] There may be multiple elevators near the first elevator call point. Therefore, after calling the elevator, in order to get on the elevator in the shortest time, the robot can determine the second candidate elevator within a preset range. The preset range can be defined based on the location of the robot, for example, with the first elevator call point as the center and a preset distance value as the radius to define the preset range; or, if the building is provided with an elevator area, the preset range can also be determined based on the elevator area where the first elevator call point is located.

[0059] The second candidate elevator within the preset range may be the first candidate elevator corresponding to the first elevator call point, and may also include other first candidate elevators within the range.

[0060] In order to effectively utilize the waiting time after calling the elevator, the robot can obtain the information status of each second candidate elevator, and make a secondary elevator selection among the second candidate elevators based on the departure floor and the arrival floor, and determine the second candidate elevator that is expected to reach the departure floor first, i.e., the target elevator.

[0061] For example, the robot completes the elevator call at the first elevator waiting point, and the elevator call instruction may correspond to multiple second candidate elevators. For example, there may be multiple elevators and multiple elevator call buttons in an elevator area. After receiving the elevator call instruction, each elevator call button will synchronize to all elevators in the current area that can execute the elevator call instruction (such as going down or up), and these elevators can all serve as second candidate elevators.

[0062] Step 260: The robot waits for the elevator at the second elevator call point corresponding to the target elevator.

[0063] The target elevator is the most efficient elevator. In order to enter the target elevator efficiently and timely, the robot can wait for the elevator at the second elevator call point corresponding to the target elevator.

[0064] It can be understood that the target elevator may be the first candidate elevator corresponding to the elevator call. In this case, the robot can wait for the elevator on the spot; but if the target elevator is not the first candidate elevator corresponding to the elevator call, in this case, the robot can go to the second elevator call point corresponding to the target elevator to take the elevator.

[0065] In this embodiment, for a robot equipped with a mechanical arm capable of interacting with an elevator, during its elevator selection process, the robot can first perform an initial elevator selection based on the floor information corresponding to the cross-floor task to determine the first candidate elevator that can go from the departure floor to the arrival floor; in order to shorten the waiting time for the elevator, the robot can first go to the first elevator call point of the first candidate elevator and activate the corresponding elevator call button through the mechanical arm; after calling the elevator, in order to ensure that the most efficient elevator can be taken to the arrival floor, the robot can obtain the status information of each second candidate elevator within a preset range, and perform a secondary elevator selection based on the status information, that is, select the target elevator that is expected to arrive at the current floor first from each second candidate elevator. During the whole process, the robot does not need to communicate with the elevator, and realizes autonomous elevator calling through the interaction between the mechanical arm and the elevator. The elevator is selected once before and after the elevator call, and finally the target elevator that is expected to be the most efficient is determined and waits for the elevator, thereby shortening the waiting time for the robot and improving the execution efficiency of the cross-floor task.

[0066] In some embodiments, in order to accurately estimate the most efficient target elevator, the aforementioned step 250 specifically includes:

[0067] Step A1: For each second candidate elevator, the robot calculates the cost value corresponding to the second candidate elevator based on the departure floor, the arrival floor, the state information corresponding to the second candidate elevator and a preset cost function.

[0068] Since the operation conditions of each second candidate elevator are different, the cost that the robot needs to pay from the departure floor to the arrival floor is also different. To quantify this difference, for each second candidate elevator, the robot can calculate its corresponding cost value based on the departure floor, arrival floor, the real-time status information of the elevator, and the preset cost function, so as to accurately estimate the most efficient elevator and optimize the elevator selection decision.

[0069] Step A2: The robot determines the second candidate elevator corresponding to the minimum cost value as the target elevator.

[0070] The size of the cost value reflects the time cost and resource consumption required for the robot to select the second candidate elevator. The smaller the cost value, the more the paths of the departure and arrival floors match the running paths of the corresponding second candidate elevators, and the robot can take the elevator at a lower time or energy cost. By comparing the cost values ​​of each second candidate elevator, the robot can optimize its elevator strategy and quickly select the best elevator as the target elevator among multiple elevators to improve task execution efficiency and resource utilization.

[0071] In this embodiment, the robot can calculate the cost of taking each second candidate elevator through the departure floor, arrival floor, real-time status information of each second candidate elevator and a preset cost function, that is, quantify the efficiency of different second candidate elevators; by comparing the cost of each second candidate elevator, the robot can select the most efficient elevator among multiple elevators as the target elevator, so as to fully and effectively utilize elevator resources and shorten the waiting time.

[0072] In some embodiments, in order to accurately calculate the cost value corresponding to each second candidate elevator, the aforementioned step A1 specifically includes:

[0073] Step A11: The robot determines a target running mode of the elevator before the robot takes the elevator based on the current running direction, the first target running direction, and the second target running direction.

[0074] The status information includes the current floor and the current running direction of the elevator. According to the different status information of the elevator, the robot determines the different running modes of the elevator before the robot takes the elevator.

[0075] For example, assume that the robot wants to go from the 5th floor to the 9th floor. At this time, the current floor of the elevator is the 7th floor and the current running direction is upward. Before the elevator reaches the 5th floor, its running mode is estimated to be: first go up to the highest floor, then go down to the 1st floor, and then run to the 5th floor.

[0076] For example, assuming that the robot wants to go from the 5th floor to the 9th floor, the current floor of the elevator is the 3rd floor, and the current running direction is upward, then before the elevator reaches the 5th floor, its running mode is estimated to be: go directly up to the 3rd floor.

[0077] Based on this, after knowing the state information of the second candidate elevator, the target operation mode matching the state information can be determined from various operation modes based on the relationship between the state information and the operation modes.

[0078] Step A12: The robot determines a target cost function from multiple cost functions based on the target operation mode.

[0079] Step A13: Calculate the cost value corresponding to the second candidate elevator based on the target cost function.

[0080] Different operation modes may have different compositions of cost values. In order to accurately calculate the cost value corresponding to each second candidate elevator based on the cost function, multiple cost functions may be set, and a corresponding cost function may be set for each operation mode.

[0081] For example, assuming that the cost function is recorded as G(k), it is known that the current robot departure floor F c , arrive at floor F oThe number of floors in the entire elevator is L, and the cost of [opening at least once] is C.

[0082] The current floor of all second candidate elevators is E = {E1, E2, E3, ..., E n}, the current running direction (no movement = 0, upward movement = 1, downward movement = -1) is {S1, S2, S3, ..., S n}.

[0083] The robot needs to go up or down S o =sgn(F o -F c ), the corresponding elevator also needs to run in the same direction.

[0084] Take any second candidate elevator as an example, assuming E = E k , S=S k , when S k = 0, the elevator does not move and can go directly to the departure floor where the robot is located; ideally, the cost value at this time is the smallest: G(k) = |E k -F c |.

[0085] However, in actual application, it may be affected by E k , S k and E k -F c The influence of the size of these three values, the operation mode of the elevator is complex, and the parameters corresponding to the cost function are different. Specifically, please refer to the following table. Table 1 below shows the evaluation function corresponding to different operation modes of the elevator. L represents the number of all floors of the elevator. In the example, it is assumed that L is a fixed value and L is greater than 10.

[0086] Table 1 Cost functions corresponding to different operation modes

[0087]

[0088] Based on the relationship between the operation mode and the cost function, after determining the target operation mode, the robot can select the target cost function that matches the target operation mode from multiple cost functions. Each second candidate elevator can calculate its cost value through the matching target cost function, thereby accurately quantifying the cost of the robot taking different second candidate elevators.

[0089] In this embodiment, each second candidate elevator matches the corresponding target cost function through the target operation mode to ensure that the calculation method of the cost value is adapted to the current operation mode of the elevator, so as to quickly obtain a more accurate cost value of taking the elevator. As a result, the robot can more accurately evaluate the selection cost of each second candidate elevator, thereby improving the accuracy of the target elevator selection. When constructing the cost function, the robot's elevator direction and the current state of the elevator, as well as the influence of the elevator switch, are fully considered, which can improve the accuracy of the estimate, facilitate the robot to find the optimal target elevator, and improve the efficiency of taking the elevator.

[0090] In some embodiments, in order to further improve the accuracy of cost value calculation, before calculating the cost value corresponding to the second candidate elevator based on the target cost function, the method further includes:

[0091] Step B1: If the second candidate elevator is the preset elevator, the robot obtains the elevator attributes of the second candidate elevator.

[0092] Step B2: The robot optimizes the cost function based on the elevator attributes.

[0093] A preset elevator is an elevator with special properties, such as an elevator that stops only on odd-numbered floors, or an elevator that stops only on high floors. In this case, the time required to pass the same number of floors is shorter than that of an elevator that stops at every floor.

[0094] Therefore, in order to make the cost function more consistent with the elevator properties of the second candidate elevator, the robot can first determine whether the second candidate elevator is a preset elevator. If the elevator is a preset elevator, the cost function can be optimized according to the elevator properties. For example, for an elevator that only stays on high floors, the corresponding cost value can be set according to the number of floors on the bottom floor, and the cost function of the second candidate elevator can be optimized by using the cost value.

[0095] Exemplarily, the robot can obtain the elevator attributes corresponding to different preset elevators in advance. During the elevator riding process, the robot can collect relevant information through sensors or communicate with the elevator riding robot to obtain corresponding attribute information, and match the attribute information with the elevator attributes corresponding to different preset elevators. If they match, the second candidate elevator can be determined as the preset elevator.

[0096] Accordingly, step A13 includes:

[0097] B21. The robot calculates the cost value corresponding to the second candidate elevator based on the optimized cost function.

[0098] It can be understood that if the second candidate elevator is the candidate elevator, then when calculating the cost value of the second elevator, the optimized cost function of the second candidate elevator can be used to calculate the cost value, thereby further improving the accuracy of the cost value calculation.

[0099] In this embodiment, for a second candidate elevator with special attributes, especially an elevator whose attributes will affect the cost value calculation, the robot can obtain the elevator attributes of the second candidate elevator to optimize the corresponding cost function, and calculate the cost value of the second candidate elevator through the optimized cost function to improve the accuracy of the cost value calculation.

[0100] In some embodiments, in order to improve the flexibility and efficiency of the robot in acquiring elevator information, the robot may acquire the status information of the second candidate elevator through the following steps:

[0101] Step C1: At the first elevator call point, the robot controls the image sensor to move and collect elevator data, so as to determine status information based on the elevator data.

[0102] And / or, step C2, communicating with the robot riding the elevator to obtain status information.

[0103] The robot may obtain the status information of the second candidate elevator in two ways. The robot may select one of the ways to obtain the status information, or may combine the two ways to obtain the status information, and there is no specific limitation.

[0104] In the first method, the robot can collect elevator information through its own image sensor. For example, the robot can deploy a trained detection model, input the elevator image into the model after acquiring it, obtain the detection result, and extract the elevator status information from it; or, the robot can use the traditional OCR (optical character recognition) algorithm to acquire the elevator image through the image sensor to recognize the text or digital information on the elevator panel, and determine the current floor, running direction, status and other key information of the elevator. By combining these technologies, the robot can obtain and analyze the status information of the second candidate elevator in real time to provide support for the decision to take the elevator.

[0105] The robot is equipped with an image sensor for collecting elevator information, such as a first sensor 11 disposed on the robot head and a second sensor 22 disposed on the robot arm. Exemplarily, the first sensor 11 and the second sensor 22 can both be image sensors. The robot can control the movement of the robot arm at the first elevator call point to drive the movement of the second sensor 22, capture and collect images, and obtain elevator data of multiple second candidate elevators. It is possible to obtain the status information of the second candidate elevator without communicating with the elevator or other robots.

[0106] If there are multiple second candidate elevators and the interval between the status panels of the second candidate elevators is greater than a predetermined value, an observation point can be set in advance. The observation point is set between the status panels of the multiple second candidate elevators. After the robot completes the elevator call at the first elevator call point, it goes to the observation point and uses the first sensor 11 set on the head combined with the robot's in situ rotation to obtain the elevator data of the multiple second candidate elevators.

[0107] If the first sensor 11 cannot completely obtain the elevator data of the second candidate elevator at the observation point, the missing area of ​​the status panel is determined according to the image information captured by the first sensor 11, and the robot is kept at the observation point, and the second sensor 22 is controlled to move to capture the missing area, so as to achieve complete collection of elevator data. The robot can only rotate in place at the observation point, and / or control the movement of the second sensor without moving the entire machine, so as to reduce the impact on people entering and exiting the elevator, and improve the integrity of the elevator data.

[0108] In another way, the robot can communicate with other elevator robots to share key information such as the elevator's current floor, running direction, status, etc. By exchanging information, the robot can understand the elevator's availability, estimated arrival time, and whether there are other robots ready to take the elevator in real time, thereby optimizing its own elevator decision. It can be understood that this collaborative method not only reduces resource conflicts, but also improves the overall elevator efficiency, especially in scenarios where multiple robots perform tasks at the same time, which can achieve more intelligent scheduling and path planning.

[0109] In the embodiment of the present application, the robot can flexibly obtain the status information of the second candidate elevator in a variety of ways, which can improve the efficiency of obtaining the status information and help improve the efficiency of taking the elevator.

[0110] In some embodiments, if the robot wants to autonomously obtain elevator information and select a target elevator, it needs to configure a complex algorithm, which not only increases the amount of calculation, but also places high demands on the robot's hardware performance. In order to improve the compatibility of this application with robots of different performance, the robot can perform the following steps:

[0111] Step D1: The robot generates a guidance text based on the departure floor, arrival floor, status information and each second candidate elevator.

[0112] In order to reduce the amount of calculation, the robot can generate guidance text based on the departure floor, the target arrival floor, and the status information of each elevator. The guidance text contains the key parameters for elevator selection; for example, it may include "the robot's departure floor is X, the arrival floor is Y; the current floor of elevator A is M1, and the running direction is up; the current floor of elevator A is M2, and the running direction is down... Please determine which elevator will reach floor X first."

[0113] Step D2: The robot sends the guidance text to the preset model.

[0114] Step D3: The robot determines the target elevator based on the output of the preset model.

[0115] The guide text is input into a preset model, and the preset model can make a decision based on the content of the guide text, and output which second candidate elevator arrives at the departure floor first, that is, which second candidate elevator can be used as the target elevator by the robot.

[0116] Exemplarily, the preset model may be a large model, which has powerful computing capabilities and can be directly put into use without user training, and can more efficiently and accurately determine the target elevator that is expected to arrive first based on the guidance text.

[0117] In this embodiment, the robot generates a guide text based on the departure floor, the target arrival floor, and the status information of each elevator, by describing the key parameters. Then, the robot sends the guide text to the preset large model, which is trained to comprehensively evaluate the elevator status and floor requirements and analyze the appropriate target elevator. Finally, based on the output of the large model, the robot determines the final target elevator to ensure its elevator riding efficiency and task success rate. This process enables the robot to effectively select the target elevator, not only does not require the user to conduct additional training, but also reduces the robot's calculation amount, so that even robots with average performance can apply the elevator riding method of this application, improving the applicability of the elevator riding method.

[0118] In some embodiments, in order to control the robot arm to interact with the target elevator call button accurately to activate the target elevator call button, the robot may perform the following steps:

[0119] Step E1: The robot controls the mechanical arm to move from the safety point to the detection point.

[0120] Step E2: At the detection point, the robot detects the button information of the elevator call button based on the sensor provided on the robot arm.

[0121] When the robot is moving, its robotic arm is in a safe position. At the safe position, the robotic arm is not likely to collide with other objects, which can effectively ensure the safety of the robot's movement.

[0122] Exemplarily, the safety point can be the default setting when the robot leaves the factory, or it can be set according to customer needs. Normally, the robotic arm is in a state of being retracted straight up and down, that is, the robotic arm is close to the body of the robot like a human arm. In this state, the robotic arm is not easily interfered with by the outside world, which can effectively ensure the safety of the robot during movement.

[0123] When the robot moves to the first elevator call point, the mechanical arm can be controlled to move from the safety point to the detection point, so as to detect the button information of the elevator call button through the sensor arranged on the mechanical arm.

[0124] Step E3: The robot calculates the operation point corresponding to the target elevator call button based on the button information and the detection point.

[0125] After obtaining the button information, the robot can calculate the operation point corresponding to pressing the target elevator call button based on the button information and detection point of the target elevator call button in the button information. The robot calculates the operation point corresponding to pressing the target elevator call button based on the button information collected in real time and the first point, which can improve the reliability of the operation point and thus increase the probability of the robot successfully calling the elevator by pressing the button.

[0126] Step E4: The robot controls the mechanical arm to move to the operating point and presses the target elevator call button corresponding to the preset position to activate the target elevator call button.

[0127] After calculating the precise operation point, the robot can control the mechanical arm at the detection point to move to the operation point and press the target elevator call button to activate the target elevator call button.

[0128] In this embodiment, the robot can accurately drive the mechanical arm to interact smoothly with the target elevator call button through the set safety points, detection points and calculated operation points, thereby effectively improving the efficiency of elevator riding. During the entire process, there is no need for the robot to communicate with the elevator, so there is no need to modify the elevator, which can ensure the robot's applicability in different scenarios.

[0129] In some embodiments, after executing step E4, the robot can control the mechanical arm to move to the detection point to detect the elevator call button information to determine whether the target elevator call button is successfully activated. If it is successfully activated, the mechanical arm is controlled to move to a safe point to facilitate subsequent movement; if it is not successfully activated, it returns to execute step E2 and its subsequent steps until it is determined that the target elevator call button is activated successfully.

[0130] In some embodiments, if the target elevator call button that the robot wants to activate may have been activated before the robot interacts with the target elevator call button, in order to reduce useless operations, the robot may first determine whether the target elevator call button has been activated before executing step E3. If it is activated, step 240 may be executed directly; if it is not activated, step E3 and its subsequent steps may be executed again until the target elevator call button is activated.

[0131] In some embodiments, the button information includes the relative position information between the target elevator call button and the sensor. In order to accurately calculate the operation point, the aforementioned step 230 specifically includes:

[0132] Step A1: The robot calculates the first position transformation matrix between the target elevator call button and the sensor based on the relative position information.

[0133] The robot can establish a reference system based on the sensor, and combine the relative position information to calculate the first position transformation matrix from the target elevator call button position to the sensor position, which can be expressed as

[0134] Step A2: The robot obtains a second posture transformation matrix between the end of the robotic arm and the robot's calibrated position corresponding to when the robotic arm is at the detection point.

[0135] The robot's position is known as the detection point. Therefore, the robot can obtain the second posture transformation matrix from the position of the end of the robotic arm at the detection point to the robot's calibration position, which can be recorded as Usually, the robot's calibrated position is a position that is relatively difficult to change, such as the center of the robot base or the center of the robot body. Using these positions as reference points, the robot can control the movement of the robotic arm more accurately.

[0136] Step A3: The robot calculates the first operating point based on the first posture transformation matrix, the second posture transformation matrix, and the third posture transformation matrix between the end of the robot arm and the sensor.

[0137] The position between the end of the robotic arm and the sensor is relatively fixed, so the robot can also obtain the third posture transformation matrix from the sensor to the position of the end of the robotic arm, which can be recorded as

[0138] Given that the positional relationship between the end of the robotic arm (when located at the detection point) and the robot's calibrated position, as well as the positional relationship between the end of the robotic arm and the sensor set on the robotic arm are relatively fixed, and It can be calibrated in advance and brought into the subsequent calculation process as a known parameter to improve the calculation efficiency.

[0139] In order to facilitate the robot to drive the end of the mechanical arm to press the target elevator call button, the position of the target elevator call button can be converted to the coordinate system established by the robot calibration position through three posture transformation matrices. Specifically, the posture transformation matrix corresponding to the first operation point is The calculation formula is as follows:

[0140]

[0141] The first pose transformation matrix defines the position of the target elevator call button relative to the sensor, but this is still different from the reference frame of the robot. The second pose transformation matrix converts the reference frame of the end of the robot to the reference frame of the robot's calibrated position. The third pose transformation matrix aligns the sensor and the end of the robot to ensure the uniformity of the final operation.

[0142] In this embodiment, the robot can effectively ensure the accuracy of the robot's operation by combining multiple posture transformations, because each posture transformation matrix provides an accurate description of the position information and posture. Through multiple combinations, the measurement error of a single data source can be eliminated, and the compensation of multiple small-range errors can be accumulated. In addition, different posture matrices can bring together the coordinate system between the sensor, the end of the robotic arm, and the calibration point to ensure the coordination of each part during the operation and avoid error accumulation. Multiple transformations can also adapt to complex scenes and dynamic changes, allowing the robot to update and correct the first operating point in real time, so that the pressing operation can achieve higher accuracy and stability.

[0143] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0144] Corresponding to the robot elevator selection method of the above embodiment, Figure 3 A structural block diagram of a robot ladder selection device 3 provided in an embodiment of the present application is shown. For ease of explanation, only the parts related to the embodiment of the present application are shown.

[0145] Reference Figure 3 , the robot ladder selection device 3 comprises:

[0146] The first elevator selection module 31 is used to determine at least one first candidate elevator based on the departure floor of the robot and the arrival floor corresponding to the cross-floor task after receiving the cross-floor task; the candidate elevator is an elevator that the robot can take from the departure floor to the arrival floor;

[0147] A movement module 32, configured to move to a first elevator call point corresponding to a first candidate elevator;

[0148] A control module 33, used to control the mechanical arm to activate the target elevator call button;

[0149] The first acquisition module 34 is used to acquire the state information of the second candidate elevator within the preset range; the first target running direction of the elevator corresponding to the target elevator call button is consistent with the target elevator riding direction of the robot;

[0150] The second elevator selection module 35 is used to select a target elevator from the second candidate elevators based on the departure floor, the arrival floor and various status information; the target elevator is the second candidate elevator that reaches the departure floor first in advance;

[0151] The motion module 32 is also used to wait for the elevator at the second elevator call point corresponding to the target elevator.

[0152] Optionally, the second elevator selection module 35 includes:

[0153] a calculation unit, configured to calculate, for each second candidate elevator, a cost value corresponding to the second candidate elevator based on the departure floor, the arrival floor, the state information corresponding to the second candidate elevator, and a preset cost function;

[0154] The elevator selection unit is used to determine the second candidate elevator corresponding to the minimum cost value as the target elevator.

[0155] Optionally, the state information includes the current floor and the current running direction corresponding to the elevator; there are multiple cost functions; and the calculation unit is specifically used for:

[0156] Determine the target operation mode of the elevator before the robot takes the elevator based on the current operation direction, the first target operation direction and the second target operation direction; each elevator operation mode is provided with a corresponding cost function;

[0157] Determining a target cost function from a plurality of cost functions based on the target operation mode; the second target operation direction is a direction corresponding to the elevator running from the current floor to the arrival floor;

[0158] The cost value corresponding to the second candidate elevator is calculated based on the target cost function.

[0159] Optionally, the robot ladder selection device 3 may include:

[0160] A second acquisition module, configured to acquire an elevator attribute of the second candidate elevator if the second candidate elevator is a preset elevator before calculating a cost value corresponding to the second candidate elevator based on the target cost function;

[0161] An optimization module, used to optimize the cost function based on elevator properties;

[0162] Accordingly, the computing unit is specifically used for:

[0163] The cost value corresponding to the second candidate elevator is calculated based on the optimized cost function.

[0164] Optionally, the robot is equipped with an image sensor for collecting elevator information; the first acquisition module 34 is specifically used for:

[0165] The robot controls the image sensor to move and collect elevator data at the first elevator call point to determine the status information based on the elevator data;

[0166] And / or, communicate with the robot riding the elevator to obtain status information.

[0167] Optionally, the second elevator selection module 35 can be used to:

[0168] Generate a guidance text based on the departure floor, the arrival floor, the status information and the second candidate elevators;

[0169] The guide text is sent to a preset model; the preset model is used to output a target elevator based on the guide text;

[0170] The target elevator is determined based on the output of the preset model.

[0171] Optionally, the control module 33 is specifically used for:

[0172] Control the robot arm to move from the safety point to the detection point;

[0173] At the detection point, the button information of the elevator call button is detected based on the sensor set on the mechanical arm;

[0174] Calculate the operation point corresponding to the target elevator call button based on the button information and the detection point;

[0175] Control the robot arm to move to the operating point and press the target button corresponding to the preset position to activate the target elevator call button.

[0176] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0177] Figure 4 This is a schematic diagram of the physical structure of a robot provided in one embodiment of the present application. Figure 4 As shown, the robot 4 of this embodiment includes: at least one processor 40 ( Figure 4 Only one processor is shown in the figure), a memory 41, and a computer program 42 stored in the memory 41 and executable on at least one processor 40. When the processor 40 executes the computer program 42, the steps in any of the above-mentioned robot elevator selection method embodiments are implemented, for example Figure 2 Steps 210-260 are shown.

[0178] The processor 40 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0179] In some embodiments, the memory 41 may be an internal storage unit of the robot 4, such as a hard disk or memory of the robot 4. In other embodiments, the memory 41 may also be an external storage device of the robot 4, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc., equipped on the robot 4.

[0180] Furthermore, the memory 41 may include both an internal storage unit and an external storage device of the robot 4. The memory 41 is used to store operating devices, application programs, boot loaders, data, and other programs, such as program codes of computer programs, etc. The memory 41 may also be used to temporarily store data that has been output or is to be output.

[0181] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the above-mentioned device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0182] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments can be implemented.

[0183] An embodiment of the present application provides a computer program product. When the computer program product runs on a robot, the robot can implement the steps in the above-mentioned method embodiments when executing the computer program product.

[0184] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program. The above-mentioned computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the above-mentioned computer program includes computer program code, and the above-mentioned computer program code can be in source code form, object code form, executable file or some intermediate form. The above-mentioned computer-readable medium may at least include: any entity or device that can carry the computer program code to the camera / electronic device, recording medium, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal and software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0185] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0186] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0187] In the embodiments provided in the present application, it should be understood that the disclosed devices / network equipment and methods can be implemented in other ways. For example, the device / network equipment embodiments described above are merely schematic. For example, the division of the above modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0188] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0189] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot elevator selection method, characterized in that: The robot is provided with a mechanical arm for interacting with elevator buttons; the elevator selection method comprises: After receiving the cross-floor task, determining at least one first candidate elevator based on the departure floor where the robot is located and the arrival floor corresponding to the cross-floor task; the candidate elevator is an elevator that the robot can take from the departure floor to the arrival floor; Move to the first elevator call point corresponding to the first candidate elevator; Controlling the robot arm to activate a target elevator call button; the first target running direction of the elevator corresponding to the target elevator call button is consistent with the target elevator riding direction of the robot; Obtaining status information of a second candidate elevator within a preset range; Selecting a target elevator from the second candidate elevators based on the departure floor, the arrival floor and each of the status information; the target elevator is the second candidate elevator that is expected to reach the departure floor first; Wait for the elevator at the second elevator call point corresponding to the target elevator.

2. The robot elevator selection method according to claim 1, characterized in that: The selecting a target elevator from the second candidate elevators based on the departure floor, the arrival floor and each of the status information comprises: For each of the second candidate elevators, a cost value corresponding to the second candidate elevator is calculated based on the departure floor, the arrival floor, the state information corresponding to the second candidate elevator, and a preset cost function; The second candidate elevator corresponding to the minimum cost value is determined as the target elevator.

3. The robot ladder selection method according to claim 2, characterized in that: The state information includes the current floor and the current running direction corresponding to the elevator; there are multiple cost functions; the cost value corresponding to the second candidate elevator is calculated based on the departure floor, the arrival floor, the state information corresponding to the second candidate elevator and the preset cost function, including: Determine the target operation mode of the elevator before the robot takes the elevator based on the current operation direction, the first target operation direction, and the second target operation direction; each elevator operation mode is provided with a corresponding cost function; Determining a target cost function from the plurality of cost functions based on the target operation mode; the second target operation direction is a direction corresponding to the elevator running from the current floor to the arrival floor; A cost value corresponding to the second candidate elevator is calculated based on the target cost function.

4. The robot ladder selection method according to claim 3, characterized in that: Before calculating the cost value corresponding to the second candidate elevator based on the target cost function, the method further includes: If the second candidate elevator is a preset elevator, obtaining elevator attributes of the second candidate elevator; Optimizing the cost function based on the elevator attributes; Accordingly, the calculating the cost value corresponding to the second candidate elevator based on the target cost function includes: A cost value corresponding to the second candidate elevator is calculated based on the optimized cost function.

5. The robot ladder selection method according to any one of claims 1 to 4, characterized in that: The robot is equipped with an image sensor for collecting elevator information; the step of obtaining the status information of the second candidate elevator within the preset range includes: The robot controls the image sensor to move and collect elevator data at the first elevator call point, so as to determine the status information based on the elevator data; And / or, communicate with the robot riding the elevator to obtain the status information.

6. The robot elevator selection method according to any one of claims 1 to 4, characterized in that: The selecting a target elevator from the second candidate elevators based on the departure floor, the arrival floor and each of the status information comprises: Generate a guidance text based on the departure floor, the arrival floor, each of the status information, and each of the second candidate elevators; Sending the guide text to a preset model; the preset model is used to output the target elevator based on the guide text; The target elevator is determined based on an output of the preset model.

7. The robot elevator selection method according to any one of claims 1 to 4, characterized in that: The controlling the mechanical arm to activate the target elevator call button comprises: Controlling the movement of the robotic arm from a safety point to a detection point; At the detection point, the button information of the elevator call button is detected based on the sensor provided on the mechanical arm; Calculate the operation point corresponding to the target elevator call button based on the button information and the detection point; The mechanical arm is controlled to move to the operating point, and a target elevator call button corresponding to the preset position is pressed to activate the target elevator call button.

8. A robot ladder selection device, characterized in that: The robot is provided with a mechanical arm for interacting with elevator buttons; the robot elevator selection device comprises: A first elevator selection module is used to determine at least one first candidate elevator based on the departure floor of the robot and the arrival floor corresponding to the cross-floor task after receiving the cross-floor task; the candidate elevator is an elevator that the robot can take from the departure floor to the arrival floor; A movement module, used for moving to a first elevator call point corresponding to the first candidate elevator; A control module, used for controlling the mechanical arm to activate a target elevator call button; The first acquisition module is used to acquire the state information of the second candidate elevator within the preset range; the first target running direction of the elevator corresponding to the target elevator call button is consistent with the target elevator riding direction of the robot; A second elevator selection module is used to select a target elevator from the second candidate elevators based on the departure floor, the arrival floor and each of the status information; the target elevator is the second candidate elevator that reaches the departure floor first in advance; The motion module is also used to wait for the elevator at a second elevator call point corresponding to the target elevator.

9. A robot comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the robot elevator selection method according to any one of claims 1 to 7 is implemented.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by one or more processors, the robot elevator selection method according to any one of claims 1 to 7 is implemented.

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