Robot elevator waiting position determining method

Abstract

The invention discloses a robot elevator waiting position determining method which comprises the steps that 1, the thickness beta of an elevator door pocket is determined, and the thickness beta of the elevator door pocket refers to the size of the elevator door pocket in the depth direction of an elevator car; 2, whether specific conditions are met or not is judged, if yes, the first distance between the elevator waiting position of the robot and the elevator door is determined according to the thickness of the elevator door pocket, otherwise, the first distance is set to be a default distance, and the default distance refers to a preset default value of the distance between the elevator waiting position of the robot and the elevator door; the specific conditions comprise the condition 1 that the difference value obtained by subtracting the thickness of the elevator door pocket from the default distance is smaller than a first threshold value; 3, drawing a parallel line which is parallel to the elevator door opening direction and is a first distance away from the elevator door; and 4, one point is selected from the parallel line to serve as the elevator waiting position of the robot. The elevator waiting robot can be prevented from stopping elevator users in the elevator car from getting off the elevator.

Description

Technical Field

[0001] The present invention relates to the technical fields of robots and elevators, and particularly relates to a method for determining the waiting position of a robot about to take an elevator. Background Art

[0002] At present, robots, especially delivery robots, are more and more widely used in reality, bringing great convenience to people. However, in the practical application of robots, many problems have also emerged. Among them, the robot forms an obstruction to the elevator users getting off the elevator (including passengers and other robots, etc.) due to an improper waiting position, thus having an adverse impact on the passengers getting off the elevator.

[0003] In the prior art, the waiting position of the robot is usually set by the robot manufacturer in advance with a default distance value from the elevator door. The robot will determine a waiting position in the idle area at a distance from the elevator door equal to the default distance value and wait there for the elevator to arrive at its floor. Since the default distance value is slightly larger than the thickness of most elevator door frames, the waiting position of the robot is usually located on the wall of the waiting hall away from the elevator door, so it will not obstruct the passengers getting off the elevator. However, in some special occasions, the elevator door frame may be thicker (i.e., the distance between the elevator door and the wall of the waiting hall is larger). At this time, if the waiting position of the robot is still set according to the prior art, it will cause the waiting position of the robot to be between the wall and the elevator door, that is, at a certain position within the left and right door frames, thus causing the waiting robot to obstruct the passengers getting off the elevator.

[0004] Therefore, how to appropriately determine the waiting position of the robot and ensure that the robot does not obstruct the passengers getting off the elevator becomes a technical problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to appropriately determine the waiting position of the robot and ensure that the robot does not obstruct the passengers getting off the elevator.

[0006] To solve the above technical problem, the present invention discloses a method for determining the waiting position of a robot, including:

[0007] Step 1, determining the thickness β of the elevator door frame, where the thickness β of the elevator door frame refers to the dimension of the elevator door frame in the depth direction of the elevator car;

[0008] Step 2, judging whether a specific condition is satisfied. If it is satisfied, determining a first distance between the waiting position of the robot and the elevator door according to the thickness of the elevator door frame; otherwise, setting the first distance as the default distance. The specific condition includes: Condition 1, the difference obtained by subtracting the thickness of the elevator door frame from the default distance is less than a first threshold value. The default distance refers to a preset default value of the distance between the waiting position of the robot and the elevator door;

[0009] Step 3: Draw a parallel line parallel to the elevator door opening direction and at a first distance from the elevator door.

[0010] Step 4: Select a point on the parallel line as the waiting position of the robot.

[0011] Preferably, the specific condition further includes at least one of the following conditions:

[0012] Condition 2: There is at least one elevator user in the elevator car getting off at a floor below the floor where the robot waits.

[0013] Condition 3: The ratio of the robot width to the elevator door opening width, or the distance between the left and right door jambs, exceeds a second threshold, or the width difference obtained by subtracting the robot width from the elevator door opening width or the distance between the left and right door jambs is less than a third threshold.

[0014] Preferably, when it is determined that the specific condition is satisfied, the first distance determined according to the elevator door jamb thickness is greater than the sum obtained by adding the door jamb thickness and a first threshold.

[0015] Preferably, in Step 1, the elevator door jamb is detected by using a distance measuring sensor of the robot, and the elevator door jamb thickness is determined according to the detection result.

[0016] Preferably, Step 1 includes:

[0017] Step 101: Respectively determine a first intersection line between the elevator door jamb and the elevator door and a second intersection line between the elevator door jamb and the wall.

[0018] Step 102: Respectively determine a first intersection point between the first intersection line and the ground and a second intersection point between the second intersection line and the ground.

[0019] Step 103: Respectively draw perpendicular lines to the plane where the elevator door is located through the first intersection point and the second intersection point to obtain a first perpendicular line and a second perpendicular line.

[0020] Step 104: Control the robot to move to the area in the waiting hall located between the first perpendicular line and the second perpendicular line.

[0021] Step 105: Adjust the orientation of the robot so that the robot faces the elevator door directly (here, facing directly means that the orientation of the robot is perpendicular to the plane where the elevator door is located).

[0022] Step 106: Adjust the orientation of the robot so that the robot faces the first intersection line directly, record the first orientation rotation angle θ1 of the robot, and use the distance measuring sensor to measure the first intersection point distance L1 between the robot and the first intersection point; similarly, adjust the orientation of the robot so that the robot faces the second intersection line directly, record the second orientation rotation angle θ2 of the robot, and use the distance measuring sensor to measure the second intersection point distance L2 between the robot and the second intersection point.

[0023] Step 107: Calculate the thickness β of the elevator door pocket using the first orientation rotation angle θ1, the first intersection distance L1, the second orientation rotation angle θ2, and the second intersection distance L2. The calculation formula is: β = L1 * cosθ1 - L2 * cosθ2.

[0024] Preferably, step 1 includes:

[0025] Step 111: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall surface.

[0026] Step 112: Respectively determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground.

[0027] Step 113: Draw a perpendicular line to the plane where the elevator door is located through the first intersection point to obtain the first perpendicular line.

[0028] Step 114: Control the robot to move to the first perpendicular line in the waiting hall.

[0029] Step 115: Adjust the orientation of the robot so that the robot is facing the first intersection line, and use the distance measuring sensor to measure the first intersection distance L1 between the robot and the first intersection point.

[0030] Step 116: Adjust the orientation of the robot so that the robot is facing the second intersection line, record the orientation rotation angle θ of the robot, and use the distance measuring sensor to measure the second intersection distance L2 between the robot and the second intersection point.

[0031] Step 117: Calculate the thickness β of the elevator door pocket using the first intersection distance L1, the orientation rotation angle θ, and the second intersection line distance L2. The calculation formula is: β = L1 - L2 * cosθ.

[0032] Preferably, step 1 includes:

[0033] Step 121: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall surface.

[0034] Step 122: Respectively determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground.

[0035] Step 123: Draw a perpendicular line to the plane where the elevator door is located through the second intersection point to obtain the second perpendicular line.

[0036] Step 124: Control the robot to move to the second perpendicular line in the waiting hall.

[0037] Step 125: Adjust the orientation of the robot so that the robot is facing the second intersection line, and use the distance measuring sensor to measure the second intersection distance L2 between the robot and the second intersection point.

[0038] Step 126: Adjust the orientation of the robot so that the robot is facing the first intersection line. Record the orientation rotation angle θ of the robot, and use the distance measuring sensor to measure the first intersection distance L1 between the robot and the first intersection point.

[0039] Step 127: Calculate the thickness β of the elevator door pocket using the first intersection distance L1, the orientation rotation angle θ, and the second intersection line distance L2. The calculation formula is: β = L1 * cosθ - L2.

[0040] Preferably, step 1 includes:

[0041] Step 131: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall respectively.

[0042] Step 132: Determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground respectively.

[0043] Step 133: Draw perpendicular lines to the plane where the elevator door is located through the first intersection point and the second intersection point respectively to obtain the first perpendicular line and the second perpendicular line.

[0044] Step 134: Control the robot to move to the area within the first perpendicular line and the second perpendicular line in the waiting hall, and the area includes the first perpendicular line and the second perpendicular line.

[0045] Step 135: Use the distance measuring sensor to measure the first intersection distance L1 between the robot and the first intersection point and the second intersection distance L2 between the robot and the second intersection point respectively.

[0046] Step 136: Calculate the thickness β of the elevator door pocket using the first intersection distance L1 and the second intersection distance L2. The calculation formula is: β = L1 - L2.

[0047] Preferably, step 1 includes:

[0048] Step 141: Determine the first intersection line between the elevator door pocket and the elevator door or the second intersection line between the elevator door pocket and the wall.

[0049] Step 142: Determine the intersection point between the first intersection line or the second intersection line and the ground.

[0050] Step 143: Draw a perpendicular line to the plane where the elevator door is located through the intersection point to obtain a perpendicular line.

[0051] Step 144: Control the robot to move to the perpendicular line in the waiting hall.

[0052] Step 145: Use the distance measuring sensor to measure the distance L3 between the robot and the elevator door and the distance L4 between the robot and the wall of the waiting hall respectively.

[0053] Step 146: Calculate the elevator door pocket thickness β using distance L3 and distance L4. The calculation formula is: β = L3 - L4.

[0054] Preferably, the method for determining the elevator door pocket thickness β in step 1 is as follows: Based on the elevator door pocket thickness of each floor of the building obtained in advance, establish a floor-door pocket thickness relationship table. When the robot arrives at the waiting hall of a certain floor and is about to wait for the elevator, retrieve the elevator door pocket thickness β of this floor from the floor-door pocket thickness relationship table using the floor where it is located.

[0055] Preferably, in step 4, project the getting-off position of the elevator user who is about to get off the elevator in the car onto the parallel line, and select a point from the non-projected area of the parallel line as the waiting position of the robot.

[0056] Preferably, in step 4, select the point with the largest maximum distance between it and the distance projection area from the non-projected area of the parallel line as the waiting position of the robot.

[0057] Beneficial technical effects

[0058] The method for determining the waiting position of the robot in the present invention determines the waiting position according to the elevator door pocket thickness, which can ensure that the waiting robot will not obstruct the elevator users getting off the elevator. Brief description of the drawings

[0059] Figure 1 Schematic diagram of the steps of the method for determining the waiting position of the robot in Embodiment 1;

[0060] Figure 2 Schematic diagram of detecting the elevator door pocket thickness in Embodiment 2. Detailed implementation manners

[0061] In order 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 making 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 drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence.

[0062] Embodiment 1

[0063] In this embodiment, the method for determining the waiting position of the robot is as Figure 1 shown and includes:

[0064] Step 1. Determine the thickness β of the elevator door pocket, where the thickness of the elevator door pocket refers to the dimension of the elevator door pocket in the depth direction of the elevator car.

[0065] Step 2. Determine whether a specific condition is satisfied. If it is satisfied, determine the first distance between the robot's waiting position and the elevator door according to the thickness of the elevator door pocket; otherwise, set the first distance as the default distance. The specific condition includes: Condition 1. The difference obtained by subtracting the thickness of the elevator door pocket from the default distance is less than the first threshold. The default distance refers to the preset default value of the distance between the robot's waiting position and the elevator door.

[0066] Step 3. Draw a parallel line parallel to the elevator door opening direction and at a first distance from the elevator door.

[0067] Step 4. Select a point on the parallel line as the robot's waiting position.

[0068] Considering that when the elevator car arrives at the floor where the waiting robot is located, if there is no elevator user (such as a passenger or other robot, hereinafter collectively referred to as a passenger without distinction) getting off the elevator in the car, then even if the robot's waiting position is designed according to the default distance, it will not form an obstacle to the passengers getting off the elevator. Therefore, the specific condition may further include: Condition 2. There is at least one elevator user (passenger or robot) getting off the elevator on the floor where the robot is waiting.

[0069] Considering that when the elevator door opening is very wide relative to the robot's outer dimension, then even if the robot's waiting position is designed according to the default distance, the robot will not cause a substantial obstacle to the passengers getting off the elevator. Therefore, the specific condition may further include: Condition 3. The ratio of the robot width to the elevator door opening width (or the distance between the left and right door pockets) exceeds the second threshold, or the width difference obtained by subtracting the robot width from the elevator door opening width (or the distance between the left and right door pockets) is less than the third threshold.

[0070] To ensure the determined first distance such that when the robot waits at the waiting position determined based on the first distance, it will not block the passengers getting off the elevator, the first distance should satisfy: when it is determined that the specific condition is satisfied, the first distance determined according to the thickness of the elevator door pocket is greater than the sum obtained by adding the thickness of the door pocket and the first threshold. The existence of the first threshold enables there to be a certain distance between the robot's waiting position and the waiting hall wall in the depth direction of the elevator car. In this way, even when the robot is directly in front of the elevator door, there is an appropriate space between the robot and the left and right door pockets and the front of the waiting hall, and the passengers getting off the elevator can pass through these spaces smoothly and enter the waiting hall.

[0071] Embodiment 2

[0072] Based on Embodiment 1, this embodiment further limits and explains how to determine the thickness of the elevator door pocket in Step 1.

[0073] In this embodiment, in step 1, the ranging sensor of the robot is used to detect the elevator door pocket, and the thickness of the elevator door pocket is determined according to the detection result. The specific implementation forms are as follows:

[0074] Implementation form 1

[0075] As Figure 2 shown, step 1 includes:

[0076] Step 101: respectively determine the first intersection line 5 between the elevator door pocket 1 and the elevator door 2 and the second intersection line 6 between the elevator door pocket 1 and the wall 3;

[0077] Step 102: respectively determine the first intersection point of the first intersection line 5 and the ground and the second intersection point of the second intersection line 6 and the ground;

[0078] Step 103: respectively draw perpendicular lines to the plane where the elevator door is located through the first intersection point and the second intersection point to obtain the first perpendicular line and the second perpendicular line;

[0079] Step 104: control the robot 4 to move to the area within the first perpendicular line and the second perpendicular line in the waiting hall;

[0080] Step 105: adjust the orientation of the robot 4 so that the robot 4 faces the elevator door 2 (here, facing directly means that the orientation of the robot is perpendicular to the plane where the elevator door is located);

[0081] Step 106: adjust the orientation of the robot 4 so that the robot 4 faces the first intersection line 5, record the first orientation rotation angle θ1 of the robot 4, and use the ranging sensor to measure the first intersection point distance L1 between the robot and the first intersection point; similarly, adjust the orientation of the robot so that the robot faces the second intersection line, record the second orientation rotation angle θ2 of the robot, and use the ranging sensor to measure the second intersection point distance L2 between the robot and the second intersection point;

[0082] Step 107: calculate the thickness β of the elevator door pocket by using the first orientation rotation angle θ1 and the first intersection point distance L1 and the second orientation rotation angle θ2 and the second intersection point distance L2. The calculation formula is: β = L1 * cosθ1 - L2 * cosθ2.

[0083] Implementation form 2

[0084] Step 1 includes:

[0085] Step 111: determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall;

[0086] Step 112: respectively determine the first intersection point of the first intersection line and the ground and the second intersection point of the second intersection line and the ground;

[0087] Step 113: Draw a perpendicular line to the plane where the elevator door is located through the first intersection point to obtain the first perpendicular line;

[0088] Step 114: Control the robot to move to the first perpendicular line in the waiting hall;

[0089] Step 115: Adjust the orientation of the robot so that the robot is facing the first intersection line, and use the distance measurement sensor to measure the first intersection distance L1 between the robot and the first intersection point;

[0090] Step 116: Adjust the orientation of the robot so that the robot is facing the second intersection line, record the orientation rotation angle θ of the robot, and use the distance measurement sensor to measure the second intersection distance L2 between the robot and the second intersection point;

[0091] Step 117: Calculate the elevator door pocket thickness β using the first intersection distance L1, the orientation rotation angle θ, and the second intersection distance L2; the calculation formula is: β = L1 - L2 * cosθ.

[0092] Implementation form three

[0093] Step 1 includes:

[0094] Step 121: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall;

[0095] Step 122: Respectively determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground;

[0096] Step 123: Draw a perpendicular line to the plane where the elevator door is located through the second intersection point to obtain the second perpendicular line;

[0097] Step 124: Control the robot to move to the second perpendicular line in the waiting hall;

[0098] Step 125: Adjust the orientation of the robot so that the robot is facing the second intersection line, and use the distance measurement sensor to measure the second intersection distance L2 between the robot and the second intersection point;

[0099] Step 126: Adjust the orientation of the robot so that the robot is facing the first intersection line, record the orientation rotation angle θ of the robot, and use the distance measurement sensor to measure the first intersection distance L1 between the robot and the first intersection point;

[0100] Step 127: Calculate the elevator door pocket thickness β using the first intersection distance L1, the orientation rotation angle θ, and the second intersection distance L2; the calculation formula is: β = L1 * cosθ - L2.

[0101] Implementation method four

[0102] Step 1 includes:

[0103] Step 131: Determine the first intersection line between the elevator door jamb and the elevator door and the second intersection line between the elevator door jamb and the wall surface respectively;

[0104] Step 132: Determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground respectively;

[0105] Step 133: Draw perpendicular lines to the plane where the elevator door is located through the first intersection point and the second intersection point respectively to obtain the first perpendicular line and the second perpendicular line;

[0106] Step 134: Control the robot to move to the area (including the first perpendicular line and the second perpendicular line) within the first perpendicular line and the second perpendicular line in the waiting hall;

[0107] Step 135: Measure the first intersection point distance L1 between the robot and the first intersection point and the second intersection point distance L2 between the robot and the second intersection point respectively by using a distance measuring sensor;

[0108] Step 136: Calculate the elevator door jamb thickness β by using the first intersection point distance L1 and the second intersection point distance L2; The calculation formula is: β = L1 - L2.

[0109] It can be seen from the above description that Implementation Modes Two, Three and Four are actually simplified versions of Implementation Mode One; Implementation Mode Four actually assumes that the door jamb width α is very small relative to the first intersection point distance L1 or the second intersection point distance L2, and when the door jamb width α = 0, that is, when the plane where the door jamb is located is perpendicular to the plane where the elevator door is located, only a slight adjustment to Implementation Mode Four is needed, that is, the following Implementation Mode Five is obtained:

[0110] Implementation Mode Five

[0111] Step 1 includes:

[0112] Step 141: Determine the first intersection line between the elevator door jamb and the elevator door or the second intersection line between the elevator door jamb and the wall surface;

[0113] Step 142: Determine the intersection point between the first intersection line or the second intersection line and the ground;

[0114] Step 143: Draw a perpendicular line to the plane where the elevator door is located through the intersection point to obtain a perpendicular line;

[0115] Step 144: Control the robot to move to the perpendicular line in the waiting hall;

[0116] Step 145: Measure the distance L3 between the robot and the elevator door and the distance L4 between the robot and the waiting hall wall surface respectively by using a distance measuring sensor;

[0117] Step 146: Calculate the elevator door jamb thickness β by using the distance L3 and the distance L4; The calculation formula is: β = L3 - L4.

[0118] It should be particularly noted that even when determining the waiting position of the robot according to the thickness of the elevator door pocket, the following methods are included:

[0119] According to the door pocket thickness of each floor of the building obtained in advance (such as from building materials), that is, establishing a floor-door pocket thickness relationship table. When the robot arrives at the waiting hall of a certain floor and is ready to wait for the elevator, it retrieves the door pocket thickness β of this floor from the floor-door pocket thickness relationship table by using its current floor, and then appropriately sets the first distance between the waiting position and the elevator door according to the obtained door pocket thickness, and further appropriately sets its waiting position. There is a drawback to this method: when the robot cannot correctly determine its current floor due to certain special reasons (such as being pushed out of the car by a passenger), it will not be able to obtain the correct door pocket thickness (relative to the current floor of the robot) using the floor-door pocket thickness relationship table, that is, it cannot appropriately determine the waiting position.

[0120] The implementation methods 1 to 5 introduced in this embodiment, that is, each time the robot preparing to wait for the elevator uses its sensor to independently detect the door pocket thickness of its current floor, and then appropriately determines the waiting position using the measured door pocket thickness, so it can overcome the drawbacks of the above method.

[0121] Embodiment 3

[0122] On the basis of the foregoing embodiment, this embodiment further limits and explains how to select the waiting position on the parallel line obtained in step 3.

[0123] Step 4 obtains the getting-off positions of the elevator users who are about to get off the elevator in the car, projects these getting-off positions onto the parallel line, and selects a point from the non-projected area of the parallel line as the waiting position of the robot.

[0124] Specifically, step 4 selects, from the non-projected area of the parallel line, the point with the largest minimum distance between it and the distance projection area as the waiting position of the robot.

[0125] Of course, the point in the non-projected area selected as the waiting position in step 4 should not be occupied by the waiting passengers or other robots in the waiting hall.

Claims

1. A method for determining the waiting position of a robot, characterized in that, The method for determining the robot's waiting position for the elevator includes: Step 1: Determine the thickness β of the elevator door pocket, where the thickness β of the elevator door pocket refers to the dimension of the elevator door pocket in the depth direction of the elevator car; Step 2: Judge whether a specific condition is established. If it is established, determine the first distance between the robot's waiting position and the elevator door according to the thickness of the elevator door pocket; otherwise, set the first distance as the default distance. The specific condition includes: Condition 1: The difference obtained by subtracting the thickness of the elevator door pocket from the default distance is less than the first threshold. The default distance refers to the preset default value of the distance between the robot's waiting position and the elevator door; Step 3: Draw a parallel line parallel to the elevator door opening direction and at a first distance from the elevator door; Step 4: Select a point on the parallel line as the robot's waiting position.

2. The method for determining the robot waiting elevator position according to claim 1, wherein The specific condition further includes at least one of the following conditions: Condition 2: There is at least one elevator user getting off the elevator on the floor where the robot is waiting; Condition 3: The ratio of the robot width to the elevator door opening width, or the distance between the left and right door pockets, exceeds the second threshold, or the width difference obtained by subtracting the robot width from the elevator door opening width or the distance between the left and right door pockets is less than the third threshold.

3. The method for determining the robot waiting elevator position according to claim 1, wherein When it is determined that the specific condition is established, the first distance determined according to the thickness of the elevator door pocket is greater than the sum obtained by adding the thickness of the door pocket and the first threshold.

4. The method for determining the robot waiting elevator position according to claim 1, wherein In Step 1, the distance measuring sensor of the robot is used to detect the elevator door pocket, and the thickness of the elevator door pocket is determined according to the detection result.

5. The method for determining the waiting position of the robot according to claim 4, wherein Step 1 includes: Step 101: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall respectively; Step 102: Determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground respectively; Step 103: Draw perpendicular lines to the plane where the elevator door is located through the first intersection point and the second intersection point respectively to obtain the first perpendicular line and the second perpendicular line; Step 104: Control the robot to move to the area within the first perpendicular line and the second perpendicular line in the waiting hall; Step 105: Adjust the orientation of the robot so that the robot faces the elevator door directly. Facing directly means that the orientation of the robot is perpendicular to the plane where the elevator door is located; Step 106: Adjust the orientation of the robot so that the robot faces the first intersection line directly, record the first orientation rotation angle θ1 of the robot, and use the distance measuring sensor to measure the first intersection point distance L1 between the robot and the first intersection point. Similarly, adjust the orientation of the robot so that the robot faces the second intersection line directly, record the second orientation rotation angle θ2 of the robot, and use the distance measuring sensor to measure the second intersection point distance L2 between the robot and the second intersection point; Step 107: Calculate the thickness β of the elevator door pocket by using the first orientation rotation angle θ1 and the first intersection point distance L1, and the second orientation rotation angle θ2 and the second intersection point distance L2. The calculation formula is: β = L1 * cosθ1 - L2 * cosθ2.

6. The method for determining the robot waiting elevator position according to claim 4, characterized in that Step 1 includes: Step 111: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall respectively; Step 112: Determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground respectively; Step 113: Draw a perpendicular line to the plane where the elevator door is located through the first intersection point to obtain the first perpendicular line; Step 114: Control the robot to move to the first vertical line in the waiting hall; Step 115: Adjust the orientation of the robot so that the robot is facing the first intersection line, and use the distance measurement sensor to measure the first intersection distance L1 between the robot and the first intersection point; Step 116: Adjust the orientation of the robot so that the robot is facing the second intersection line, record the orientation rotation angle θ of the robot, and use the distance measurement sensor to measure the second intersection distance L2 between the robot and the second intersection point; Step 117: Calculate the elevator door pocket thickness β using the first intersection distance L1, the orientation rotation angle θ, and the second intersection line distance L2; The calculation formula is: β = L1 - L2 * cosθ.

7. The method for determining the robot waiting elevator position according to claim 4, wherein The said Step 1 includes: Step 121: Determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall; Step 122: Respectively determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground; Step 123: Draw a perpendicular line to the plane where the elevator door is located through the second intersection point to obtain the second perpendicular line; Step 124: Control the robot to move to the second vertical line in the waiting hall; Step 125: Adjust the orientation of the robot so that the robot is facing the second intersection line, and use the distance measurement sensor to measure the second intersection distance L2 between the robot and the second intersection point; Step 126: Adjust the orientation of the robot so that the robot is facing the first intersection line, record the orientation rotation angle θ of the robot, and use the distance measurement sensor to measure the first intersection distance L1 between the robot and the first intersection point; Step 127: Calculate the elevator door pocket thickness β using the first intersection distance L1, the orientation rotation angle θ, and the second intersection line distance L2; The calculation formula is: β = L1 * cosθ - L2.

8. The method for determining the robot waiting elevator position according to claim 4, wherein The said Step 1 includes: Step 131: Respectively determine the first intersection line between the elevator door pocket and the elevator door and the second intersection line between the elevator door pocket and the wall; Step 132: Respectively determine the first intersection point between the first intersection line and the ground and the second intersection point between the second intersection line and the ground; Step 133: Respectively draw perpendicular lines to the plane where the elevator door is located through the first intersection point and the second intersection point to obtain the first perpendicular line and the second perpendicular line; Step 134: Control the robot to move to the area in the waiting hall located within the first perpendicular line and the second perpendicular line, and the area includes the first perpendicular line and the second perpendicular line; Step 135: Respectively use the distance measurement sensor to measure the first intersection distance L1 between the robot and the first intersection point and the second intersection distance L2 between the robot and the second intersection point; Step 136: Calculate the elevator door pocket thickness β using the first intersection distance L1 and the second intersection distance L2; The calculation formula is: β = L1 - L2.

9. The method for determining the robot waiting elevator position according to claim 4, characterized in that, The said Step 1 includes: Step 141: Determine the first intersection line between the elevator door pocket and the elevator door or the second intersection line between the elevator door pocket and the wall; Step 142: Determine the intersection point between the first intersection line or the second intersection line and the ground; Step 143: Draw a perpendicular line to the plane where the elevator door is located through the intersection point to obtain a perpendicular line; Step 144: Control the robot to move to the perpendicular line in the waiting hall; Step 145: Respectively use the distance measurement sensor to measure the distance L3 between the robot and the elevator door and the distance L4 between the robot and the waiting hall wall; Step 146: Calculate the elevator door pocket thickness β using the distance L3 and the distance L4; the calculation formula is: β = L3 - L4.

10. The method for determining the robot waiting elevator position according to claim 4, wherein The method for determining the elevator door pocket thickness β in step 1 is as follows: Based on the elevator door pocket thicknesses of each floor of the building obtained in advance, establish a floor-door pocket thickness relationship table. When the robot arrives at the waiting hall on a certain floor and is about to wait for the elevator, use its current floor to retrieve the elevator door pocket thickness β of this floor from the floor-door pocket thickness relationship table.

11. The method for determining the robot waiting elevator position according to claim 1, characterized in that, In step 4, project the getting-off position of the elevator user who is about to get off the elevator in the car onto the parallel line, and select a point from the non-projected area of the parallel line as the waiting position of the robot.

12. The method for determining the robot waiting elevator position according to claim 11, wherein In step 4, select, from the non-projected area of the parallel line, the point with the maximum minimum distance between it and the distance projection area as the waiting position of the robot.

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