Robot stop location determination method

Abstract

The application discloses a robot waiting position determination method, comprising the following steps: step 1, determining the elevator door sleeve thickness β, wherein the elevator door sleeve thickness β refers to the size of the elevator door sleeve in the elevator car depth direction; step 2, judging whether a specific condition is established, if yes, determining the first distance between the robot waiting position and the elevator door according to the elevator door sleeve thickness, otherwise, setting the first distance as a default distance, wherein the default distance refers to the preset default value of the distance between the robot waiting position and the elevator door, and the specific condition comprises: condition 1, the difference obtained by subtracting the elevator door sleeve thickness from the default distance is less than a first threshold; step 3, drawing a parallel line parallel to the elevator door opening direction and at the first distance from the elevator door; and step 4, selecting a point on the parallel line as the robot waiting position. The application can avoid the situation that the waiting robot blocks the elevator user in the car from getting off.

Description

Technical Field

[0001] This invention relates to the field of robotics and elevator technology, and more specifically to a method for determining the waiting position of a robot that is about to take an elevator. Background Technology

[0002] Currently, robots, especially delivery robots, are being used more and more widely in reality, bringing great convenience to people. However, many problems have also arisen in the practical application of robots. One such problem is that robots, due to improper positioning in the elevator waiting area, obstruct elevator users (including passengers and other robots), thus negatively impacting passengers descending the elevator.

[0003] In existing technology, the robot's waiting position is typically preset by the robot manufacturer to a default distance from the elevator door. The robot then identifies a waiting position in an open area far from the default distance and waits for the elevator to arrive at its floor. Since the default distance is slightly larger than the thickness of most elevator door frames, the robot's waiting position is usually located on the wall of the waiting area, away from the elevator door, thus not obstructing passengers. However, in some special cases, the elevator door frame may be thicker (i.e., the distance between the elevator door and the waiting area wall is larger). In this case, if the robot's waiting position is still set according to existing technology, it will be located between the wall and the elevator door, that is, somewhere within the left and right door frames, thus obstructing passengers.

[0004] Therefore, how to properly determine the robot's waiting position on the elevator and ensure that the robot does not block passengers from getting off the elevator has become a technical problem to be solved. Summary of the Invention

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

[0006] To address the aforementioned technical problems, this invention discloses a method for determining the position of a robot waiting on a ladder, comprising:

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

[0008] Step 2: Determine whether a specific condition is met. If it is met, determine the first distance between the robot's waiting position and the elevator door based on the elevator door frame thickness. Otherwise, set the first distance as the default distance. The specific conditions include: Condition 1: The difference between the default distance and the elevator door frame thickness is less than a first threshold. The default distance refers to the preset default value of the distance between the robot's waiting position and the elevator door.

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

[0010] Step 4: Select a point on the parallel line as the waiting position for 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 the robot's waiting floor;

[0013] Condition 3: The ratio of the robot width to the elevator door opening width, or the distance between the robot and the left and right door frames, 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 frames is less than the third threshold.

[0014] Preferably, when a specific condition is met, the first distance determined based on the elevator door frame thickness is greater than the sum of the door frame thickness and the first threshold.

[0015] Preferably, step 1 uses the robot's ranging sensor to detect the elevator door frame and determines the thickness of the elevator door frame based on the detection results.

[0016] Preferably, step 1 includes:

[0017] Step 101: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

[0018] Step 102: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively;

[0019] Step 103: Draw perpendicular lines from the first intersection point and the second intersection point to the plane containing the elevator door to obtain the first perpendicular line and the second perpendicular line.

[0020] Step 104: Control the robot to move to the area within the first and second vertical lines in the waiting hall;

[0021] Step 105: Adjust the robot's orientation so that the robot is directly facing the elevator door (directly facing means that the robot's orientation is perpendicular to the plane where the elevator door is located);

[0022] Step 106: Adjust the robot's orientation so that the robot is facing the first intersection line, record the robot's first orientation rotation angle θ1, and use a ranging sensor to measure the distance L1 between the robot and the first intersection point; similarly, adjust the robot's orientation so that the robot is facing the second intersection line, record the robot's second orientation rotation angle θ2, and use a ranging sensor to measure the distance L2 between the robot and the second intersection point.

[0023] Step 107: Calculate the elevator door frame thickness β using the first orientation rotation angle θ1 and the first intersection point distance L1, as well as the second orientation rotation angle θ2 and the second intersection point 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 frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

[0026] Step 112: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively;

[0027] Step 113: Draw a perpendicular line from the first intersection point to the plane containing the elevator door to obtain the first perpendicular line;

[0028] Step 114: Control the robot to move to the first vertical line inside the waiting hall;

[0029] Step 115: Adjust the robot's orientation so that the robot is facing the first intersection line, and use the range sensor to measure the distance L1 between the robot and the first intersection point;

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

[0031] Step 117: Calculate the elevator door frame thickness β using the distance L1 of the first intersection point, the rotation angle θ, and the distance L2 of the second intersection line; 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 frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

[0034] Step 122: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively;

[0035] Step 123: Draw a perpendicular line from the second intersection point to the plane containing the elevator door to obtain the second perpendicular line;

[0036] Step 124: Control the robot to move to the second vertical line inside the waiting hall;

[0037] Step 125: Adjust the robot's orientation so that the robot is facing the second intersection line, and use the range sensor to measure the distance L2 between the robot and the second intersection point;

[0038] Step 126: Adjust the robot's orientation so that the robot is facing the first intersection line, record the robot's orientation rotation angle θ, and use a ranging sensor to measure the distance L1 between the robot and the first intersection point.

[0039] Step 127: Calculate the elevator door frame thickness β using the distance L1 of the first intersection point, the rotation angle θ, and the distance L2 of the second intersection line; 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 frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

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

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

[0044] Step 134: Control the robot to move to the area inside the waiting hall located within the first and second perpendicular lines, the area including the first and second perpendicular lines;

[0045] Step 135: Measure the distance L1 between the robot and the first intersection point and the distance L2 between the robot and the second intersection point using the ranging sensor;

[0046] Step 136: Calculate the elevator door frame thickness β using the distance L1 between the first intersection point and the distance L2 between the second intersection point; the calculation formula is: β=L1-L2.

[0047] Preferably, step 1 includes:

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

[0049] Step 142: Determine the intersection point of the first or second intersection line with the ground;

[0050] Step 143: Draw a perpendicular line from the intersection point to the plane containing the elevator door to obtain a perpendicular line;

[0051] Step 144: Control the robot to move to the vertical line inside the waiting hall;

[0052] Step 145: 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 using the distance measuring sensor;

[0053] Step 146: Calculate the elevator door frame thickness β using distances L3 and L4; the calculation formula is: β = L3 - L4.

[0054] Preferably, the method for determining the elevator door frame thickness β in step 1 is as follows: based on the elevator door frame thickness of each floor of the building obtained in advance, a floor-door frame thickness relationship table is established. When the robot arrives at the waiting hall of a certain floor to wait for the elevator, it uses the floor it is on to retrieve the elevator door frame thickness β of that floor from the floor-door frame thickness relationship table.

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

[0056] Preferably, in step 4, the point with the largest minimum distance from the non-projection area of ​​the parallel line to the projection area is selected as the waiting position of the robot.

[0057] Beneficial technical effects

[0058] The robot waiting position determination method of the present invention determines the waiting position based on the thickness of the elevator door frame, which can ensure that the waiting robot will not obstruct elevator users going down the elevator. Attached Figure Description

[0059] Figure 1 This is a schematic diagram of the steps in the robot waiting position determination method of Example 1;

[0060] Figure 2 This is a schematic diagram illustrating the detection of elevator door frame thickness in Example 2. Detailed Implementation

[0061] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention. It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of the present invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0062] Example 1

[0063] In this embodiment, the method for determining the robot's waiting position is as follows: Figure 1 As shown, it includes:

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

[0065] Step 2: Determine whether a specific condition is met. If it is met, determine the first distance between the robot's waiting position and the elevator door based on the elevator door frame thickness. Otherwise, set the first distance as the default distance. The specific conditions include: Condition 1: The difference between the default distance and the elevator door frame thickness is less than a 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 line parallel to the elevator door opening direction and at the first distance from the elevator door;

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

[0068] Considering that when the elevator car arrives at the floor where the waiting robot is located, if there are no elevator users (such as passengers or other robots, which will be referred to as passengers in the following text) in the car, then even if the robot's waiting position is designed according to the default distance, it will not obstruct the passengers from getting off the elevator. Therefore, the specific conditions may also include: Condition 2, there is at least one elevator user (passenger or robot) in the elevator car getting off the elevator at the floor where the robot is waiting.

[0069] Considering that the elevator door opening is very wide relative to the robot's dimensions, even if the robot's waiting position is designed according to the default distance, the robot will not cause substantial obstruction to passengers going down the elevator. Therefore, specific conditions may also include: Condition 3, the ratio of the robot's width to the elevator door opening width (or the distance between the robot and the left and right door frames) exceeds the second threshold, or the width difference obtained by subtracting the robot's width from the elevator door opening width (or the distance between the left and right door frames) is less than the third threshold.

[0070] To ensure that the predetermined first distance, when the robot is waiting at its designated position based on this first distance, does not obstruct passengers from exiting the elevator, the first distance should satisfy the following condition: when a specific condition is met, the first distance determined based on the elevator door frame thickness is greater than the sum of the door frame thickness and a first threshold. The existence of this first threshold ensures a certain distance between the robot's waiting position and the elevator lobby wall in the elevator car's depth direction. This means that even when the robot is directly in front of the elevator door, there is adequate space between the robot, the left and right door frames, and the front of the elevator lobby, allowing passengers to pass smoothly into the lobby.

[0071] Example 2

[0072] This embodiment, based on embodiment 1, further defines and explains how to determine the thickness of the elevator door frame in step 1.

[0073] In this embodiment, step 1 uses the robot's ranging sensor to detect the elevator door frame and determines the thickness of the elevator door frame based on the detection results. Specifically, this includes the following implementation methods:

[0074] Implementation Form 1

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

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

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

[0078] Step 103: Draw perpendicular lines from the first intersection point and the second intersection point to the plane containing the elevator door to obtain the first perpendicular line and the second perpendicular line.

[0079] Step 104: Control robot 4 to move to the area inside the waiting hall located between the first and second vertical lines;

[0080] Step 105: Adjust the orientation of robot 4 so that robot 4 is directly facing elevator door 2 (directly facing means that the robot's orientation is perpendicular to the plane of the elevator door);

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

[0082] Step 107: Calculate the elevator door frame thickness β using the first orientation rotation angle θ1 and the first intersection point distance L1, as well as 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 Two

[0084] Step 1 includes:

[0085] Step 111: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

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

[0087] Step 113: Draw a perpendicular line from the first intersection point to the plane containing the elevator door to obtain the first perpendicular line;

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

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

[0090] Step 116: Adjust the robot's orientation so that the robot is facing the second intersection line, record the robot's orientation rotation angle θ, and use a ranging sensor to measure the distance L2 between the robot and the second intersection point.

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

[0092] Implementation Form 3

[0093] Step 1 includes:

[0094] Step 121: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

[0095] Step 122: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively;

[0096] Step 123: Draw a perpendicular line from the second intersection point to the plane containing the elevator door to obtain the second perpendicular line;

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

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

[0099] Step 126: Adjust the robot's orientation so that the robot is facing the first intersection line, record the robot's orientation rotation angle θ, and use a ranging sensor to measure the distance L1 between the robot and the first intersection point.

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

[0101] Implementation Method 4

[0102] Step 1 includes:

[0103] Step 131: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall.

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

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

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

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

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

[0109] As explained above, implementation methods two, three, and four are actually simplified versions of implementation method one. Implementation method four assumes that the door frame width α is very small relative to the distance L1 from the first intersection point or the distance L2 from the second intersection point. Furthermore, when the door frame width α = 0, i.e., the plane of the door frame is perpendicular to the plane of the elevator door, only slight adjustments are needed to implementation method four, resulting in implementation method five as follows:

[0110] Implementation Method 5

[0111] Step 1 includes:

[0112] Step 141: Determine the first intersection line between the elevator door frame and the elevator door, or the second intersection line between the elevator door frame and the wall.

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

[0114] Step 143: Draw a perpendicular line from the intersection point to the plane containing the elevator door to obtain a perpendicular line;

[0115] Step 144: Control the robot to move to the vertical line inside 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 wall of the waiting hall using the distance measuring sensor;

[0117] Step 146: Calculate the elevator door frame thickness β using distances L3 and L4; the calculation formula is: β = L3 - L4.

[0118] It should be noted that even when determining the robot's waiting position based on the elevator door frame thickness, the following methods are also included:

[0119] Based on pre-obtained door frame thicknesses for each floor of the building (e.g., from building data), a floor-door frame thickness relationship table is established. When the robot arrives at the elevator lobby on a certain floor to wait for the elevator, it uses the floor-door frame thickness table to retrieve the door frame thickness β for that floor. Then, based on the obtained door frame thickness, it appropriately sets the first distance between its waiting position and the elevator door, thus appropriately determining its waiting position. This method has a drawback: if the robot cannot correctly determine its current floor due to certain special reasons (such as being pushed out of the elevator car by a passenger), it will be unable to use the floor-door frame thickness table to obtain the correct door frame thickness (relative to the robot's current floor), meaning it cannot appropriately determine its waiting position.

[0120] The implementation methods one to five described in this embodiment involve the robot preparing to wait for the elevator autonomously detecting the door frame thickness of its current floor using its sensors, and then appropriately determining the elevator waiting position based on the measured door frame thickness. This overcomes the shortcomings of the methods mentioned above.

[0121] Example 3

[0122] Based on the aforementioned embodiments, this embodiment further defines and explains how to select the waiting position on the parallel line obtained in step 3 in step 4.

[0123] Step 4: Obtain the exit positions of elevator users who are about to exit the elevator car, project these exit positions onto the parallel line, and select a point from the non-projection area of ​​the parallel line as the robot's waiting position.

[0124] Specifically, in step 4, the point with the largest minimum distance from the non-projection region of the parallel line to the projection region is selected as the waiting position for the robot.

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

Claims

1. A method for determining the position of a robot waiting on a ladder, characterized in that, The method for determining the robot's waiting position includes: Step 1: Determine the elevator door frame thickness β, where the elevator door frame thickness β refers to the dimension of the elevator door frame in the depth direction of the elevator car; Step 2: Determine if specific conditions are met. If met, determine the first distance between the robot's waiting position and the elevator door based on the elevator door frame thickness, and set the first distance as the default distance. The specific conditions include: Condition 1: The difference between the default distance and the elevator door frame thickness is less than a first threshold. The default distance refers to a preset default value for the distance between the robot's waiting position and the elevator door. Condition 2: At least one elevator user is disembarking at the robot's waiting floor in the elevator car. Condition 3: The ratio of the robot's width to the elevator door opening width, or the distance between the robot and the left and right door frames, exceeds a second threshold. Alternatively, the width difference between the elevator door opening width or the distance between the left and right door frames minus the robot's width is less than a third threshold. The first distance determined based on the elevator door frame thickness is greater than the sum of the door frame thickness and the first threshold. Step 3: Draw a line parallel to the elevator door opening direction and at the first distance from the elevator door; Step 4: Select a point on the parallel line as the robot's waiting position; project the exit position of the elevator user inside the car onto the parallel line, and select a point in the non-projection area of ​​the parallel line as the robot's waiting position; from the non-projection area of ​​the parallel line, select the point with the largest minimum distance from the projection area as the robot's waiting position.

2. The method for determining the robot's waiting position according to claim 1, characterized in that, Step 1 uses the robot's ranging sensor to detect the elevator door frame and determines the thickness of the elevator door frame based on the detection results.

3. The method for determining the robot's waiting position according to claim 2, characterized in that, Step 1 includes: Step 101: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall. Step 102: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively; Step 103: Draw perpendicular lines from the first intersection point and the second intersection point to the plane containing the elevator door to obtain the first perpendicular line and the second perpendicular line. Step 104: Control the robot to move to the area within the first and second vertical lines in the waiting hall; Step 105: Adjust the robot's orientation so that the robot is directly facing the elevator door. Directly facing means that the robot's orientation is perpendicular to the plane where the elevator door is located. Step 106: Adjust the robot's orientation so that the robot is facing the first intersection line, record the robot's first orientation rotation angle θ1, and use a ranging sensor to measure the distance L1 between the robot and the first intersection point; similarly, adjust the robot's orientation so that the robot is facing the second intersection line, record the robot's second orientation rotation angle θ2, and use a ranging sensor to measure the distance L2 between the robot and the second intersection point. Step 107: Calculate the elevator door frame thickness β using the first orientation rotation angle θ1 and the first intersection point distance L1, as well as the second orientation rotation angle θ2 and the second intersection point distance L2. The calculation formula is: β=L1*cosθ1-L2*cosθ2.

4. The method for determining the robot's waiting position according to claim 2, characterized in that, Step 1 includes: Step 111: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall. Step 112: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively; Step 113: Draw a perpendicular line from the first intersection point to the plane containing the elevator door to obtain the first perpendicular line; Step 114: Control the robot to move to the first vertical line inside the waiting hall; Step 115: Adjust the robot's orientation so that the robot is facing the first intersection line, and use the range sensor to measure the distance L1 between the robot and the first intersection point; Step 116: Adjust the robot's orientation so that the robot is facing the second intersection line, record the robot's orientation rotation angle θ, and use a ranging sensor to measure the distance L2 between the robot and the second intersection point. Step 117: Calculate the elevator door frame thickness β using the distance L1 of the first intersection point, the rotation angle θ, and the distance L2 of the second intersection line; the calculation formula is: β=L1-L2*cosθ.

5. The method for determining the robot's waiting position according to claim 2, characterized in that, Step 1 includes: Step 121: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall. Step 122: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively; Step 123: Draw a perpendicular line from the second intersection point to the plane containing the elevator door to obtain the second perpendicular line; Step 124: Control the robot to move to the second vertical line inside the waiting hall; Step 125: Adjust the robot's orientation so that the robot is facing the second intersection line, and use the range sensor to measure the distance L2 between the robot and the second intersection point; Step 126: Adjust the robot's orientation so that the robot is facing the first intersection line, record the robot's orientation rotation angle θ, and use a ranging sensor to measure the distance L1 between the robot and the first intersection point. Step 127: Calculate the elevator door frame thickness β using the distance L1 of the first intersection point, the rotation angle θ, and the distance L2 of the second intersection line; the calculation formula is: β=L1*cosθ-L2.

6. The method for determining the robot's waiting position according to claim 2, characterized in that, Step 1 includes: Step 131: Determine the first intersection line between the elevator door frame and the elevator door, and the second intersection line between the elevator door frame and the wall. Step 132: Determine the first intersection point between the first line of intersection and the ground, and the second intersection point between the second line of intersection and the ground, respectively; Step 133: Draw perpendicular lines from the first intersection point and the second intersection point to the plane where the elevator door is located to obtain the first perpendicular line and the second perpendicular line. Step 134: Control the robot to move to the area inside the waiting hall located within the first and second perpendicular lines, the area including the first and second perpendicular lines; Step 135: Measure the distance L1 between the robot and the first intersection point and the distance L2 between the robot and the second intersection point using the ranging sensor; Step 136: Calculate the elevator door frame thickness β using the distance L1 between the first intersection point and the distance L2 between the second intersection point; the calculation formula is: β=L1-L2.

7. The method for determining the robot's waiting position according to claim 2, characterized in that, Step 1 includes: Step 141: Determine the first intersection line between the elevator door frame and the elevator door, or the second intersection line between the elevator door frame and the wall. Step 142: Determine the intersection point of the first or second intersection line with the ground; Step 143: Draw a perpendicular line from the intersection point to the plane containing the elevator door to obtain a perpendicular line; Step 144: Control the robot to move to the vertical line inside the waiting hall; Step 145: 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 using the distance measuring sensor; Step 146: Calculate the elevator door frame thickness β using distances L3 and L4; the calculation formula is: β = L3 - L4.

8. The method for determining the robot's waiting position according to claim 2, characterized in that, The method for determining the elevator door frame thickness β in step 1 is as follows: Based on the elevator door frame thickness of each floor of the building obtained in advance, a floor-door frame thickness relationship table is established. When the robot arrives at the waiting hall of a certain floor to wait for the elevator, it uses the floor it is on to retrieve the elevator door frame thickness β of that floor from the floor-door frame thickness relationship table.

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