The invention relates to a self-moving device, an elevator taking method and system of the self-moving device and a medium, and the method comprises the steps that the elevator state is judged according to the UWB signal intensity; responding to the condition that the elevator state meets the preset elevator entering condition, and controlling the self-moving equipment to execute an elevator entering task; in response to the situation that the distance between the self-moving equipment and the elevator car is smaller than a preset distance threshold value, it is judged that the self-moving equipment enters the elevator car; the distance between the self-moving device and the elevator car is obtained through UWB distance measurement. According to the method, smooth execution of the elevator taking task of the robot is guaranteed, and the elevator taking safety of the robot is improved. The problem that under the condition that the number of people taking the elevator is large, due to misjudgment of positioning of the target position point, the elevator taking task fails or danger occurs is solved.

    本申请涉及自移动设备、自移动设备的乘梯方法、系统及介质,其中,方法包括:根据UWB信号强度,判定电梯状态;响应于电梯状态满足预设的进梯条件,控制自移动设备执行进梯任务;响应于自移动设备与电梯轿厢的距离小于预设距离阈值,判定自移动设备已进入电梯轿厢内;自移动设备与电梯轿厢的距离是通过UWB测距得到的。本申请的保证了机器人乘梯任务的顺利执行,提高了机器人乘梯的安全性。解决了在乘梯人数较多的情况下,因对目标位置点的定位发生误判,导致乘梯任务失败或者发生危险的问题。


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    Title :

    Self-moving equipment, elevator taking method and system of self-moving equipment and medium


    Additional title:

    自移动设备、自移动设备的乘梯方法、系统及介质


    Contributors:
    ZHOU JUNJIE (author)

    Publication date :

    2022-04-12


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B66B Aufzüge , ELEVATORS



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