Robot elevator taking control method

Abstract

The invention discloses a robot elevator taking control method. The method comprises the steps that 1, a first area and a second area are determined, and at least one first moving path exists between two points in the first area and two points in the second area; step 2, acquiring first occupation information and second occupation information; step 3, determining unoccupied parts of the first area and the second area; step 4, determining a first feasible region and a second feasible region, wherein at least one third moving path exists between two points in the first feasible region and the second feasible region; 5, elevator waiting points and a first point are selected; 6, planning a second moving path from the selected elevator waiting point to the stop point through the selected first point; and 7, the robot is controlled to enter the elevator car along the second moving path and stop at the stop point. According to the method, the elevator waiting point and the moving path can be more reasonably determined for the robot, so that the control performance of the robot entering the elevator car is optimal.

Description

Technical Field

[0001] The present invention relates to robot control technology, and particularly to the control during the process of a robot taking an elevator. Background Art

[0002] To achieve the control of a robot taking an elevator, Document 1 (CN202410325978.9) proposes, for a scenario with multiple possible elevator entry points, first selecting a selected elevator entry point from the unoccupied and unselected elevator entry points, then further selecting a first position based on the selected elevator entry point (i.e., a point in the car where the minimum distance between the robot and surrounding objects is not less than a preset safety distance during the process of the robot entering the car along the movement path and after entering the car), and then, when it is determined that there is an unoccupied first area within a third range that can accommodate the robot, controlling the robot to enter the elevator car along the movement path between the selected elevator entry point and the first position. Since the technical solution of Document 1 randomly selects the selected elevator entry point and once it is determined that there is an unoccupied first area within the third range that can accommodate the robot, it controls the robot to enter the elevator car along the movement path between the selected elevator entry point and the first position, the performance of the robot when entering the elevator car along this movement path is not necessarily optimal (such as the distance of the movement path may not be the shortest), so there is room for improvement.

[0003] Therefore, how to more reasonably select the elevator entry point and determine the corresponding first position to optimize the control performance of the robot entering the elevator car becomes a technical problem to be solved. Summary of the Invention

[0004] The technical problem to be solved by the present invention is how to more reasonably select the elevator entry point and determine the corresponding first position to optimize the control performance of the robot entering the elevator car.

[0005] To solve the above technical problem, the present invention discloses a robot elevator riding control method, including:

[0006] Step 1: Determine a first area that is a set of all waiting points in the waiting hall and a second area that is a set of all first points in the car, and satisfy that for any point in one of the first area and the second area, there is at least one corresponding point in the other of the first area and the second area, and there is at least one first movement path between these two points;

[0007] Step 2: Obtain first occupancy information reflecting the occupancy situation in the waiting hall and second occupancy information reflecting the occupancy situation in the car where the robot responds to the elevator;

[0008] Step 3: Determine the unoccupied part of the first area according to the first occupancy information, and determine the unoccupied part of the second area according to the second occupancy information;

[0009] Step 4: Determine a first feasible region and a second feasible region based on the unoccupied parts of the first region and the second region. The first feasible region and the second feasible region are respectively the unoccupied parts of the first region and the second region. For any point within one of the first feasible region and the second feasible region, there is at least one corresponding point within the other of the first feasible region and the second feasible region, and there is at least one third movement path between these two points.

[0010] Step 5: Select a selected waiting point and a selected first point from the first feasible region and the second feasible region respectively.

[0011] Step 6: Plan a second movement path connecting the selected waiting point, through the selected first point, to the docking point.

[0012] Step 7: Control the robot to enter the elevator car along the second movement path and dock at the docking point.

[0013] Preferably, the angle between the tangent line at the intersection of the first movement path and the first straight line and the first straight line is not less than a second threshold value. The first straight line is the intersection line of the elevator door and the waiting hall floor.

[0014] Preferably, the movement path satisfies at least one of the following conditions: Condition A1: Continuous; Condition A2: Smooth; Condition A3: The maximum derivative does not exceed a first threshold value.

[0015] Preferably, when the first movement path between the waiting point and the first point is a straight line, Step 1 determines the first region and the second region according to the following steps:

[0016] Step S1: Respectively draw a first parallel line and a second parallel line parallel to the first straight line on the waiting hall floor and the floor inside the car. The first distance between the first parallel line and the first straight line and the second distance between the second parallel line and the first straight line are both not less than a preset safety margin.

[0017] Step S2: Draw a second straight line between the left and right end points of the elevator door.

[0018] Step S3: Adjust the direction of the second straight line relative to the first straight line in one direction until the distances between the left and right end points of the elevator door and the second straight line are both the sum of the safety margin and 0.5 times the width of the robot. And take the intersection point of the second straight line and the first parallel line as the first boundary point of the first region, and take the intersection point of the second straight line and the second parallel line as the second boundary point of the second region.

[0019] Step S4: Adjust the direction of the second straight line relative to the first straight line in the other direction until the distances between the left and right endpoints of the elevator door and the second straight line are both the sum of the safety margin and 0.5 times the width of the robot. Also, take the intersection point of the second straight line and the first parallel line as the second boundary point of the first region, and take the intersection point of the second straight line and the second parallel line as the first boundary point of the second region;

[0020] Step S5: Take the first parallel line between the first boundary point and the second boundary point as the first region, and take the second parallel line between the first boundary point and the second boundary point as the second region.

[0021] Preferably, when the first moving path between the waiting point and the first point is a straight line, step 1 determines the second region according to the following steps:

[0022] Step T1: Draw a second parallel line on the floor of the car parallel to the first straight line, and the second distance between the second parallel line and the first straight line is not less than the preset safety margin;

[0023] Step T2: Draw a second straight line through the first boundary point of the first region, and the intersection point of the second straight line and the first straight line is between the left and right endpoints of the elevator door, and the distance between the second straight line and the endpoint of the elevator door that is relatively closer to the first boundary point among the left and right endpoints of the elevator door is the sum of the safety margin and 0.5 times the width of the robot. Take the intersection point of the second straight line and the second parallel line as the second boundary point of the second region;

[0024] Step T3: Draw a third straight line through the second boundary point of the first region, and the intersection point of the third straight line and the first straight line is between the left and right endpoints of the elevator door, and the distance between the third straight line and the endpoint of the elevator door that is relatively closer to the second boundary point among the left and right endpoints of the elevator door is the sum of the safety margin and 0.5 times the width of the robot. Take the intersection point of the third straight line and the second parallel line as the first boundary point of the second region;

[0025] Step T4: Take the second parallel line between the first boundary point and the second boundary point as the second region.

[0026] Preferably, when the first moving path between the waiting point and the first point is a straight line, step 1 determines the second region according to the following steps:

[0027] Step E1: Draw a third parallel line on the floor of the car parallel to the first straight line, and the third distance between the second parallel line and the first straight line is not less than the preset safety margin;

[0028] Step E2: Arbitrarily select a point on the third parallel line as the selected point;

[0029] Step E3: Draw a fourth straight line, a fifth straight line, and a sixth straight line that are parallel to each other. The fifth straight line passes through the selected point and is located between the fourth straight line and the sixth straight line. The distances between the fourth straight line and the fifth straight line and between the fifth straight line and the sixth straight line are both the sum of the safety margin and 0.5 times the width of the robot. The fourth straight line passes through the first endpoint of the elevator door, and the fifth straight line is located between the two endpoints of the elevator door;

[0030] Step E4: While keeping the fourth straight line passing through the first endpoint of the elevator door, move the selected point on the third parallel line until the sixth straight line passes through the second endpoint of the elevator door;

[0031] Step E5: Take the intersection point of the fifth straight line and the third parallel line at this time as the first boundary point of the second area. Similarly, the second boundary point of the second area can be obtained;

[0032] Step E6: Take the second parallel line located between the first boundary point and the second boundary point as the second area.

[0033] Preferably, when the first feasible area contains multiple waiting points and / or the second feasible area contains multiple first points, in step S5, the movement paths between the waiting points and the first points and the movement paths between the first points and the final stopping points of the robot after entering the car are evaluated according to a preset evaluation principle, and the selected waiting points and the selected first points are determined according to the evaluation results.

[0034] Preferably, the evaluation principle includes at least one of the following principles:

[0035] Principle 1: The total length of the movement path is the smallest;

[0036] Principle 2: The movement path has the fewest obstacles and / or the least effort required to avoid obstacles;

[0037] Principle 3: The angle between the tangent direction of the movement path between the waiting point and the first point at the selected first point and the tangent direction of the movement path between the first point and the final stopping point of the robot after entering the car at the selected first point is the smallest;

[0038] Principle 4: The difference between the angle between the tangent of the movement path between the waiting point and the first point at the intersection with the first straight line and the first straight line and a right angle is the smallest. The first straight line is the intersection line of the elevator door and the waiting hall floor;

[0039] Principle 5: The minimum distance between the robot and external objects when moving along the movement path is the smallest.

[0040] Preferably, in principle 5, the method for determining the minimum distance between the robot and external objects when moving along the movement path is:

[0041] Step F1, determine the minimum value of the distance between each point constituting the movement path and the external object;

[0042] Step F2, find the minimum value among the minimum values corresponding to each point as the first minimum distance between the movement path and the external object;

[0043] Step F3, for each feasible waiting point in the first feasible region, each feasible first point in the second feasible region, and each stopping point, enumerate all possible movement paths and determine the first minimum distance of each possible movement path;

[0044] Step F4, find the minimum first minimum distance among the obtained first minimum distances as the second minimum distance;

[0045] Step F5, use the movement path corresponding to the second minimum distance as the final movement path that the robot follows to enter the elevator car and stop at the stopping point.

[0046] Beneficial technical effects

[0047] In the present invention, by determining a first region that is a set of all waiting points in the waiting hall and a second region that is a set of all first points in the car, and then determining a first feasible region and a second feasible region according to the unoccupied part of the first region and the unoccupied part of the second region, all feasible waiting points and feasible first points that can be used as the starting point and ending point of the movement path for the robot to enter the car from the waiting point are obtained. Finally, the selected waiting point and the selected first point are selected from all the feasible waiting points and feasible first points according to the preset selection principle. Therefore, the optimal control performance of the robot entering the car can be ensured. Since Document 1 only uses some of the feasible waiting points and feasible first points, there is a large room for improvement in its control performance. Description of the drawings

[0048] Figure 1 is a flowchart of the robot elevator control method in Embodiment 1;

[0049] Figure 2 is a schematic diagram of the first region and the second region in the robot elevator control method in Embodiment 1;

[0050] Figure 3 is a schematic diagram of determining the first region and the second region in the robot elevator control method in Embodiment 2;

[0051] Figure 4 is a schematic diagram of determining the second region in steps E1 to E6 of the robot elevator control method in Embodiment 3. Detailed implementation manners

[0052] To enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily need to be used to describe a specific order or sequence, unless otherwise specified.

[0053] Embodiment 1

[0054] As Figure 1 shown, in this embodiment, the robot elevator riding control method includes:

[0055] Step 1: Determine a first area that is a set of all waiting points in the waiting hall and a second area that is a set of all first points in the car, and satisfy that for any point in one of the first area and the second area, there is at least one corresponding point in the other of the first area and the second area, and there is at least one first movement path between these two points;

[0056] Step 2: Obtain first occupancy information reflecting the occupancy situation in the waiting hall and second occupancy information reflecting the occupancy situation in the car where the robot responds to the elevator;

[0057] Step 3: Determine the unoccupied part of the first area according to the first occupancy information, and determine the unoccupied part of the second area according to the second occupancy information;

[0058] Step 4: Determine a first feasible area and a second feasible area according to the unoccupied part of the first area and the unoccupied part of the second area. The first feasible area and the second feasible area are respectively the unoccupied part of the first area and the unoccupied part of the second area, where for any point in one of the first feasible area and the second feasible area, there is at least one corresponding point in the other of the first feasible area and the second feasible area, and there is at least one third movement path between these two points;

[0059] Step 5: Select a selected waiting point and a selected first point from the first feasible area and the second feasible area respectively;

[0060] Step 6: Plan a second movement path connecting from the selected waiting point through the selected first point to the docking point;

[0061] Step 7: Control the robot to ride into the elevator car along the second movement path and dock at the docking point.

[0062] The moving path satisfies at least one of the following conditions:

[0063] Condition A2: Continuous;

[0064] Condition A3: Smooth;

[0065] Condition A4: The maximum derivative does not exceed the first threshold.

[0066] Figure 2 The schematic diagrams of the first area and the second area are given, where the gray-filled circle is the projection of the robot on the landing floor or the car floor, the dashed circle is obtained by adding a safety margin to the robot body, d1 is the given distance between the waiting point of the robot and the elevator door (actually, it should be the intersection line of the plane where the elevator landing door is located and the landing floor), d2 is the distance between the first point at the first moment when the whole robot completely enters the car and the elevator door (actually, it should be the intersection line of the plane where the elevator car door is located and the car floor). Both d1 and d2 are not less than the sum of the radius of the robot and 0.5 times the safety margin. Usually, d1 is greater than the sum of the radius of the robot and 0.5 times the safety margin, and d2 is equal to the sum of the radius of the robot and 0.5 times the safety margin.

[0067] Obviously, in this embodiment, by determining the first area as the set of all waiting points in the waiting hall and the second area as the set of all first points in the car, and then determining the first feasible area and the second feasible area according to the unoccupied parts of the first area and the second area, so as to obtain all the feasible waiting points and feasible first points that can be used as the starting and ending points of the moving path for the robot to enter the car from the waiting point. Finally, the selected waiting point and the selected first point are selected from all the feasible waiting points and feasible first points according to the preset selection principle. Therefore, it can ensure that the control performance of the robot entering the car is optimal finally.

[0068] Embodiment 2

[0069] This embodiment further illustrates on the basis of Embodiment 1.

[0070] As Figure 3 shown, when the first moving path between the waiting point and the first point is a straight line, step 1 determines the first area and the second area according to the following steps:

[0071] Step S1: Respectively draw a first parallel line and a second parallel line parallel to the first straight line on the waiting hall floor and the car floor, and both the first distance between the first parallel line and the first straight line and the second distance between the second parallel line and the first straight line are not less than the preset safety margin;

[0072] Step S2: Draw a second straight line between the left and right endpoints of the elevator door (preferably draw the second straight line through the endpoints of the first straight line at both ends of the elevator door).

[0073] Step S3: Adjust the direction of the second straight line relative to the first straight line in one direction (such as clockwise) until the distances between the left and right endpoints (M and N) of the elevator door and the second straight line are both the sum of the safety margin and 0.5 times the width of the robot. And take the intersection point J of the second straight line and the first parallel line as the first boundary point of the first region, and take the intersection point K of the second straight line and the second parallel line as the second boundary point of the second region.

[0074] Step S4: Adjust the direction of the second straight line relative to the first straight line in the other direction (such as counterclockwise) until the distances between the left and right endpoints of the elevator door and the second straight line are both the sum of the safety margin and 0.5 times the width of the robot. And take the intersection point of the second straight line and the first parallel line as the second boundary point of the first region, and take the intersection point of the second straight line and the second parallel line as the first boundary point of the second region.

[0075] Step S5: Take the first parallel line between the first boundary point and the second boundary point as the first region, and take the second parallel line between the first boundary point and the second boundary point as the second region.

[0076] As Figure 3 shown, K is the left boundary point of the second region, and J is the right boundary point of the first region. Similarly, the right boundary point of the second region and the left boundary point of the first region can be obtained.

[0077] Embodiment 3

[0078] This embodiment is further described on the basis of Embodiment 1.

[0079] When the first moving path between the waiting point and the first point is a straight line, the second region is determined in step 1 as follows:

[0080] Step T1: Draw a second parallel line parallel to the first straight line on the ground in the car, and the second distance between the second parallel line and the first straight line is not less than the sum of the preset safety margin and 0.5 times the width of the robot (the width refers to the size of the robot's shape in the direction perpendicular to its advancing direction).

[0081] Step T2: Draw a second straight line through the first boundary point J of the first region, and the intersection point of the second straight line and the first straight line is between the left and right endpoints of the elevator door, and the distance between the second straight line and the endpoint of the left and right endpoints of the elevator door that is relatively closer to the first boundary point is the sum of the safety margin and 0.5 times the width of the robot. Take the intersection point K of the second straight line and the second parallel line as the second boundary point of the second region.

[0082] Step T3: Draw a third straight line through the second boundary point of the first region. The intersection point of the third straight line and the first straight line is located between the left and right endpoints of the elevator door, and the distance between the intersection point and the endpoint of the left and right endpoints of the elevator door that is relatively closer to the second boundary point is the sum of the safety margin and 0.5 times the width of the robot. Take the intersection point of the third straight line and the second parallel line as the first boundary point of the second region;

[0083] Step T4: Take the second parallel line located between the first boundary point and the second boundary point as the second region.

[0084] As Figure 3 shown, draw a straight line through the right boundary point J of the first region such that the distance between the straight line JK and the right endpoint of the elevator door is the sum of the safety margin and 0.5 times the width of the robot. Then the straight line intersects the second parallel line at point K, and K is the left boundary point of the second region. Similarly, the right boundary point of the second region can be obtained.

[0085] Alternatively, when the first movement path between the waiting point and the first point is a straight line, as Figure 4 shown, step 1 determines the second region according to the following steps:

[0086] Step E1: Draw a third parallel line parallel to the first straight line on the ground in the car, and the third distance between the second parallel line and the first straight line is not less than the preset safety margin;

[0087] Step E2: Arbitrarily select a point on the third parallel line as the selected point;

[0088] Step E3: Draw a fourth straight line, a fifth straight line, and a sixth straight line that are parallel to each other. The fifth straight line passes through the selected point and is located between the fourth straight line and the sixth straight line. The distance between the fourth straight line and the fifth straight line and the distance between the fifth straight line and the sixth straight line are both the sum of the safety margin and 0.5 times the width of the robot. The fourth straight line passes through the first endpoint of the elevator door, and the fifth straight line is located between the two endpoints of the elevator door (the width direction of the robot is perpendicular to the fourth straight line);

[0089] Step E4: While keeping the fourth straight line passing through the first endpoint of the elevator door, move the selected point on the third parallel line until the sixth straight line passes through the second endpoint of the elevator door;

[0090] Step E5: Take the intersection point of the fifth straight line and the third parallel line at this time as the first boundary point of the second region. Similarly, the second boundary point of the second region can be obtained;

[0091] Step E6: Take the second parallel line located between the first boundary point and the second boundary point as the second region. Q is the right boundary point of the second region. Similarly, its left boundary point can be obtained.

[0092] Embodiment 4

[0093] On the basis of the foregoing embodiments, further limitations and explanations are made in this embodiment.

[0094] When the first feasible region includes multiple waiting points and / or the second feasible region includes multiple first points, in step S5, the movement paths between the waiting points and the first points and the movement paths between the first points and the final stopping points after the robot enters the car are evaluated according to a preset evaluation principle, and the selected waiting points and the selected first points are selected according to the evaluation results.

[0095] Among them, the evaluation principle includes at least one of the following principles:

[0096] Principle 1: The total length of the movement path is the shortest; the length of the movement path is an important factor in the time and energy consumed by the robot's movement. Therefore, the shorter the movement path, the more conducive it is to reducing the time and energy consumption during the robot's movement.

[0097] Principle 2: The movement path has the fewest obstacles and / or the least effort required to avoid obstacles; this principle is mainly aimed at the movement path between the first point and the final stopping point after the robot enters the car. That is, inside the car, due to space occupancy, there is no connected unoccupied path between the first point and the stopping point. At this time, it is necessary to control the existing robots and / or passengers in the car to change their current positions so that there can be an unoccupied path connecting the first point and the stopping point inside the car after the position change (i.e., the aforementioned avoidance). This principle aims at such avoidance and hopes that the effort required for implementation (such as the number of other robots and passengers participating in the avoidance, the total distance moved by other robots and passengers without implementing the avoidance, the duration of implementing the avoidance, etc.) is the smallest.

[0098] Principle 3: The angle between the tangent direction of the movement path between the waiting point and the first point at the selected first point and the tangent direction of the movement path between the first point and the final stopping point after the robot enters the car at the selected first point is the smallest. Since the planning of the movement path between the waiting point and the first point and the movement path between the first point and the stopping point is carried out separately, although these two movement paths intersect at the first point, when the robot continuously moves from the waiting point to the stopping point along these two movement paths, when passing through the first point, since these two movement paths are usually not smooth at the first point, the robot needs to make a hard in-situ turn at the first point. A hard in-situ turn is usually not conducive to the movement efficiency of the robot. Therefore, this principle minimizes the aforementioned angle to reduce the turning angle of the robot's hard in-situ turn at the first point.

[0099] Principle 4: The difference between the angle between the tangent line at the intersection point of the moving path between the waiting point and the first point and the first straight line and a right angle is minimized. The first straight line is the intersection line of the elevator door and the waiting hall floor; the purpose of this principle is to make the robot pass through the sill along the depth direction of the car as much as possible, which is beneficial to improving the safety of the robot when passing through the elevator door (mainly the sill gap between the landing sill at the lower part of the door and the car door sill). Because when the angle between the moving direction of the robot and the intersection line of the elevator door and the ground (i.e., the aforementioned first straight line) is too small, when the robot passes through the sill gap, if there is a large leveling error, the wheels of the robot may slide in the direction of the first straight line between the wheels and the sill.

[0100] Principle 5: The minimum distance between the robot and external objects (such as other robots, passengers, or elevator doors, etc.) when the robot moves along the moving path is minimized. For a given elevator entry point and the first point, there may be many moving paths. Similarly, for a given first point and the docking point, there will also be many moving paths. For a given elevator entry point, the first point, and the docking point, there may be external objects (such as other robots, passengers, or elevator doors, etc.) near each point on each moving path, and the minimum distance between each point and the external objects is also different. To quantify the degree of proximity between the moving path and the external objects, the following method is given: First, determine the minimum value of the distance between each point constituting the moving path and the external objects, and then find the smallest one among the minimum values corresponding to each point as the first minimum distance between the moving path and the external objects. After determining the first minimum distance of a given moving path, for each feasible waiting point in the first feasible region, each feasible first point in the second feasible region, and each docking point, enumerate all possible moving paths (the moving path includes the first section of the path from the elevator entry point to the first point and the second section of the path from the first point to the docking point), determine the first minimum distance of each possible moving path, and finally, find the smallest first minimum distance from the obtained first minimum distances as the second minimum distance, and use the moving path corresponding to the second minimum distance as the final moving path for the robot to enter the elevator car and dock at the docking point. Naturally, the waiting point and the first point at this time are also the finally selected waiting point and the first point.

Claims

1. A robot elevator control method, characterized in that: The method comprises: Step 1: Determine a first area as a set of all waiting points in the elevator lobby and a second area as a set of all first points in the elevator car, and satisfy that any point in one of the first area and the second area has at least one corresponding point in the other of the first area and the second area, and there is at least one first moving path between the two points; Step 2: Acquire first occupancy information reflecting the occupancy status in the elevator lobby and second occupancy information reflecting the occupancy status in the car of the response elevator of the robot; Step 3: determining an unoccupied portion of the first area according to the first occupancy information, and determining an unoccupied portion of the second area according to the second occupancy information; Step 4: determining a first feasible area and a second feasible area according to the unoccupied part of the first area and the unoccupied part of the second area, wherein the first feasible area and the second feasible area are the unoccupied part of the first area and the unoccupied part of the second area, respectively, wherein any point in one of the first feasible area and the second feasible area has at least one corresponding point in the other of the first feasible area and the second feasible area, and there is at least one third moving path between the two points; Step 5, selecting a waiting point and a first point from the first feasible area and the second feasible area respectively; Step 6: planning a second moving path from the selected waiting point to the selected first point and then to the stop point; Step 7: Control the robot to enter the elevator car along the second moving path and stop at the stop point.

2. The robot elevator control method according to claim 1, characterized in that: The angle between the tangent line at the intersection of the first moving path and the first straight line and the first straight line is not less than a second threshold value, and the first straight line is the intersection line of the elevator door and the elevator lobby floor.

3. The robot elevator control method according to claim 1 or 2, characterized in that: The moving path satisfies at least one of the following conditions: condition A1, continuous; condition A2, smooth; condition A3, the maximum derivative does not exceed a first threshold.

4. The robot elevator control method according to claim 2, characterized in that: When the first moving path between the elevator waiting point and the first point is a straight line, the step 1 determines the first area and the second area according to the following steps: Step S1, draw a first parallel line and a second parallel line parallel to the first straight line on the floor of the elevator lobby and the floor of the car respectively, and the first distance between the first parallel line and the first straight line and the second distance between the second parallel line and the first straight line are not less than a preset safety margin; Step S2, draw a second straight line between the left and right endpoints of the elevator door; Step S3, adjusting the direction of the second straight line relative to the first straight line in one direction until the distances between the left and right endpoints of the elevator door and the second straight line are both the sum of the safety margin and 0.5 times the width of the robot, and taking the intersection of the second straight line and the first parallel line as the first boundary point of the first area, and taking the intersection of the second straight line and the second parallel line as the second boundary point of the second area; Step S4, adjusting the direction of the second straight line relative to the first straight line in another direction until the distances between the left and right endpoints of the elevator door and the second straight line are both the sum of the safety margin and 0.5 times the width of the robot, and taking the intersection of the second straight line and the first parallel line as the second boundary point of the first area, and taking the intersection of the second straight line and the second parallel line as the first boundary point of the second area; Step S5: taking a first parallel line between the first boundary point and the second boundary point as a first region, and taking a second parallel line between the first boundary point and the second boundary point as a second region.

5. The robot elevator control method according to claim 2, characterized in that: When the first moving path between the elevator waiting point and the first point is a straight line, the step 1 determines the second area according to the following steps: Step T1, draw a second parallel line on the floor of the car that is parallel to the first straight line, and a second distance between the second parallel line and the first straight line is not less than a preset safety margin; Step T2, draw a second straight line through the first boundary point of the first area, and the intersection of the second straight line and the first straight line is located between the left and right endpoints of the elevator door, and the distance between the second straight line and the endpoint of the left and right endpoints of the elevator door that is relatively close to the first boundary point is the sum of the safety margin and 0.5 times the width of the robot, and the intersection of the second straight line and the second parallel line is used as the second boundary point of the second area; Step T3, draw a third straight line through the second boundary point of the first area, and the intersection of the third straight line and the first straight line is located between the left and right endpoints of the elevator door, and the distance between the third straight line and the endpoint of the left and right endpoints of the elevator door that is relatively close to the second boundary point is the sum of the safety margin and 0.5 times the width of the robot, and the intersection of the third straight line and the second parallel line is taken as the first boundary point of the second area; Step T4: taking a second parallel line between the first boundary point and the second boundary point as a second region.

6. The robot elevator control method according to claim 2, characterized in that: When the first moving path between the elevator waiting point and the first point is a straight line, the step 1 determines the second area according to the following steps: Step E1, draw a third parallel line on the floor of the car that is parallel to the first straight line, and the third distance between the second parallel line and the first straight line is not less than a preset safety margin; Step E2, randomly selecting a point on the third parallel line as a selected point; Step E3, draw a fourth straight line, a fifth straight line and a sixth straight line parallel to each other, the fifth straight line passes through the selected point and is located between the fourth straight line and the sixth straight line, the distance between the fourth straight line and the fifth straight line and the distance between the fifth straight line and the sixth straight line are both the sum of the safety margin and 0.5 times the width of the robot, the fourth straight line passes through the first end point of the elevator door, and the fifth straight line is located between the two end points of the elevator door; Step E4, while keeping the fourth straight line passing through the first end point of the elevator door, moving the selected point on the third parallel line until the sixth straight line passes through the second end point of the elevator door; Step E5, taking the intersection of the fifth straight line and the third parallel line as the first boundary point of the second area, and similarly obtaining the second boundary point of the second area; Step E6: taking a second parallel line between the first boundary point and the second boundary point as a second region.

7. The robot elevator control method according to claim 1, characterized in that: When the first feasible area includes multiple waiting points and / or the second feasible area includes multiple first points, step S5 evaluates the moving path between the waiting point and the first point and the moving path between the first point and the final stop point after the robot enters the car according to a preset evaluation principle, and selects the selected waiting point and the selected first point according to the evaluation results.

8. The robot elevator control method according to claim 7, characterized in that: The evaluation principle includes at least one of the following principles: Principle 1: The total length of the moving path is minimal; Principle 2: The path of movement has the fewest obstacles and / or the effort required to avoid obstacles is minimal; Principle 3: The angle between the moving path between the waiting point and the first point in the tangent direction of the selected first point and the moving path between the first point and the final stop point after the robot enters the car in the tangent direction of the selected first point is the smallest; Principle 4: The angle between the tangent line at the intersection of the moving path between the elevator waiting point and the first point and the first straight line and the first straight line has the smallest difference from the right angle, where the first straight line is the intersection of the elevator door and the elevator lobby floor; Principle 5: The minimum distance between the robot and external objects when moving along the moving path is the smallest.

9. The robot elevator control method according to claim 8, characterized in that: In principle 5, the method for determining the minimum distance between the robot and external objects when the robot moves along the moving path is: Step F1, determining the minimum value of the distance between each point constituting the moving path and the external object; Step F2, finding the smallest value among the minimum values ​​corresponding to each point as the first minimum distance between the moving path and the external object; Step F3, for each feasible waiting point in the first feasible area, each feasible first point in the second feasible area, and each stop point, enumerate all possible moving paths, and determine a first minimum distance of each possible moving path; Step F4, finding the smallest first minimum distance from the obtained first minimum distances as the second minimum distance; Step F5, taking the moving path corresponding to the second minimum distance as the final moving path followed by the robot to get into the elevator car and stop at the stop point.

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