CN109236107A - A kind of control method of automatically-controlled door, device, system and storage medium - Google Patents
A kind of control method of automatically-controlled door, device, system and storage medium Download PDFInfo
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- CN109236107A CN109236107A CN201811417158.3A CN201811417158A CN109236107A CN 109236107 A CN109236107 A CN 109236107A CN 201811417158 A CN201811417158 A CN 201811417158A CN 109236107 A CN109236107 A CN 109236107A
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- China
- Prior art keywords
- automatically
- robot
- controlled door
- predeterminable area
- control unit
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
Abstract
The invention discloses a kind of control method of automatically-controlled door, device, system and storage mediums, wherein control method includes: the location information for obtaining robot；Determine the current location of robot whether in predeterminable area according to location information；If it is determined that the current location of robot is located in region, then opening signal is sent to automatically-controlled door, control automatically-controlled door is opened.The control method of automatically-controlled door provided in an embodiment of the present invention, in the case where unmanned intervene, control automatically-controlled door is opened, robot can quickly, safety automatically-controlled door, improve machine task efficiency.
Description
Technical field
The present embodiments relate to automatic door control field more particularly to a kind of control methods of automatically-controlled door, device, system
And storage medium.
Background technique
Article or inspection device are transported using intelligent robot, transport and routing inspection efficiency can be greatlyd improve.It is transporting
During inspection, it will usually encounter automatically-controlled door, therefore, it is necessary to control automatically-controlled door robot close to when opening, allow machine
Pass through to people's fast and stable, and automatically-controlled door is automatically closed after robot passes through.
However, existing infrared-sensing type automatically-controlled door can not detect robot, when robot close to when, automatically-controlled door will not
It automatically opens.Although microwave radar type automatically-controlled door is able to detect that robot, still, to the movement speed and size of robot
(such as height) has certain limitation.In addition, in some special occasions, for example, hospital, laboratory etc., it usually needs work
The modes such as personnel's brush access card or fingerprint could open the door, so that robot passes through, in this way, not only wasting manpower, but also reduce machine
Device task efficiency can not embody the intelligence of robot.
Summary of the invention
The present invention provides control method, device, system and the storage medium of a kind of automatically-controlled door, in unmanned the case where intervening
Under, robot close to when, control automatically-controlled door open, allow robot quickly, safety, improve machine task efficiency.
In a first aspect, the embodiment of the invention provides a kind of control methods of automatically-controlled door, comprising:
Obtain the location information of robot；
Determine the current location of robot whether in predeterminable area according to location information；
If it is determined that the current location of robot is located in predeterminable area, then opening signal is sent to automatically-controlled door.
Optionally, after sending opening signal to automatically-controlled door, further includes:
If it is determined that the current location of robot is located at outside predeterminable area, then stop sending opening signal.
Optionally, predeterminable area is using automatically-controlled door geometric center as the border circular areas in the center of circle.
Optionally, opening signal includes the encoded information of automatically-controlled door, and automatically-controlled door has corresponding preset encoding information.
Second aspect, the embodiment of the invention also provides a kind of control devices of automatically-controlled door, comprising:
Location information acquiring unit obtains the location information of robot；
Whether band of position determination unit determines the current location of robot in predeterminable area according to location information；
Opening signal sends control unit, however, it is determined that the current location of robot is located in predeterminable area, then controls machine
People sends opening signal to automatically-controlled door.
Optionally, opening signal sends control unit and is also used to if it is determined that the current location of robot is located at predeterminable area
Outside, then stop sending opening signal.
The third aspect, the embodiment of the invention also provides a kind of control system of automatically-controlled door, including server, robot and
Automatically-controlled door, robot or server are integrated with the control device of any automatically-controlled door of second aspect of the present invention.
Optionally, automatically-controlled door includes communication unit, main control unit and automatic door control unit；
Communication unit and robot communication connection；
Main control unit includes input terminal and output end, and the input terminal of main control unit is electrically connected with the output end of communication unit,
The output end of main control unit is electrically connected with the input terminal of automatic door control unit, what main control unit was used to receive communication unit
The opening signal that robot is sent is decoded, if the position of the robot decoded is located in predeterminable area, control is automatic
Door control unit opens automatically-controlled door.
Optionally, communication unit includes reception of wireless signals chip and receiving antenna；
Receiving antenna is electrically connected with the signal input part of reception of wireless signals chip, and the data of reception of wireless signals chip are defeated
Outlet is electrically connected with the input terminal of main control unit.
Optionally, main control unit includes DIP device and main control chip；
The output end of DIP device and the encoded signal input terminal of main control chip connect；
The data input pin of main control chip is electrically connected with the output end of communication unit；
The control instruction output end of main control chip is electrically connected with the input terminal of automatic door control unit.
Fourth aspect, the embodiment of the invention also provides a kind of computer readable storage mediums, are stored thereon with computer
Program realizes the control method of the automatically-controlled door as described in first aspect present invention is any when the program is executed by processor.
The present invention by obtain robot location information, according to location information determine robot current location whether
In predeterminable area, however, it is determined that the current location of robot is located in predeterminable area, then sends opening signal to automatically-controlled door, control is certainly
Dynamic door is opened.In the case where unmanned intervene, control automatically-controlled door is opened, and robot can fast and safely pass through automatically-controlled door, is improved
Machine task efficiency.
Detailed description of the invention
Fig. 1 is a kind of present invention flow chart of the control method of automatically-controlled door provided in this embodiment；
Fig. 2 is the flow chart of the control method of the present invention another automatically-controlled door provided in this embodiment；
Fig. 3 is a kind of structural schematic diagram of the control device of automatically-controlled door provided in an embodiment of the present invention；
Fig. 4 is a kind of structure chart of the control system of automatically-controlled door provided in an embodiment of the present invention；
Fig. 5 is the circuit structure diagram of communication unit in the embodiment of the present invention；
Fig. 6 is the circuit structure diagram of main control unit in the embodiment of the present invention.
Specific embodiment
To keep the technical problems solved, the adopted technical scheme and the technical effect achieved by the invention clearer, below
It will the technical scheme of the embodiment of the invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
The embodiment of the invention provides a kind of control method of automatically-controlled door, this method is applicable to go on patrol or transport in robot
It is defeated equal in the process close to automatically-controlled door, control the case where automatically-controlled door is fail to open.This method can be filled by a kind of control of automatically-controlled door
It sets to execute, which can be realized by way of software and/or hardware.
Fig. 1 is a kind of present invention flow chart of the control method of automatically-controlled door provided in this embodiment, as shown in Figure 1, the control
Method processed includes:
S110: the location information of robot is obtained.
Optionally, in the present invention wherein an embodiment, robot may include a locating module, be moved through in robot
Cheng Zhong, acquires the location information of robot in real time, and is sent to the control device of automatically-controlled door in real time.Wherein, location information can be with
Floor information where GPS position information and robot including robot.Locating module can also be according to the mobile speed of robot
Degree, with the location information of certain frequency collection robot, and is sent to the control device of automatically-controlled door.
In an alternative embodiment of the invention, robot can be moved along fixed running track, the area near automatically-controlled door two sides
Under the track in domain, it is embedded with RFID (Radio Frequency Identification) electronic tag, robot bottom is equipped with
RFID reader, when position where robot is moved to RFID electronic label, RFID reader reads RFID electronic label
The corresponding location information in the position of interior storage, and it is sent to the control device of automatically-controlled door.
In an alternative embodiment of the invention, it is equipped with a wireless signal transmitting device on or near automatically-controlled door, is set in robot
There is corresponding reception device, the reception device is strong and weak according to the wireless signal received, determines robot location (apart from automatically-controlled door
Distance), and the location information is sent to the control device of automatically-controlled door.
In an alternative embodiment of the invention, robot may include laser radar sensor, for acquiring robot in real time
The environmental information on periphery, and pass through synchronous superposition system (Simultaneous Localization And
Mapping, SLAM) determine itself location information.
S120: determine the current location of robot whether in predeterminable area according to location information.
The location information received is parsed, and judge the current location of robot whether in predeterminable area, i.e.,
Whether predeterminable area is reached.
Predeterminable area is using automatically-controlled door geometric center as the border circular areas in the center of circle, and the radius of the border circular areas can basis
The movement speed of robot is set, specifically, robot speed is faster, the radius of the border circular areas is bigger, avoids automatically-controlled door
Not as good as opening, robot and automatically-controlled door collision cause safety accident.In general, the movement speed of robot may be configured as 1m/s, circle
The radius in shape region can be set to 3-5m.
In the present invention wherein in an embodiment, can according to the GPS position information and floor information of the robot received,
Judge the current location of robot whether in default border circular areas；Alternatively, it is strong and weak according to the wireless signal received, determine machine
Device people position (distance apart from automatically-controlled door), and then judge the current location of robot whether in default border circular areas.
In an alternative embodiment of the invention, preset border circular areas be automatically-controlled door two sides, such as away from automatically-controlled door 5m at, robot
The region that inbuilt RFID electronic label determines under running track, the position where robot is moved to RFID electronic label
When, RFID reader reads the information stored in RFID electronic label, and is sent to the control device of automatically-controlled door, the control of automatically-controlled door
Device processed is that can determine the current location of robot in default border circular areas.
In an alternative embodiment of the invention, robot may include laser radar sensor, for acquiring robot in real time
The environmental information on periphery, and determine by SLAM the location information of itself.Specifically, the collected object of laser radar sensor
Information shows a series of dispersions, point with precise angle and range information, referred to as point cloud.In general, laser SLAM system
System is by matching to different moments two panels point cloud and compares, the distance of calculating laser radar sensor relative motion and posture
Change, also just completes the positioning to robot itself, and then judge the current location of robot whether in default border circular areas
It is interior.
S130: if it is determined that the current location of robot is located in predeterminable area, then opening signal is sent to automatically-controlled door.
If it is determined that the current location of robot is located in predeterminable area, illustrate robot close to automatically-controlled door, at this point, to
Automatically-controlled door sends opening signal, and control automatically-controlled door is opened, so that robot is quick, safety.
The control method of automatically-controlled door provided in an embodiment of the present invention, by obtaining the location information of robot, according to position
Whether information determines the current location of robot in predeterminable area, however, it is determined that the current location of robot is located at predeterminable area
It is interior, then opening signal is sent to automatically-controlled door, control automatically-controlled door is opened.In the case where unmanned intervene, control automatically-controlled door is opened, machine
Device people can quickly, safety automatically-controlled door, improve machine task efficiency.
Optionally, on the basis of the above embodiments, after sending opening signal to automatically-controlled door, further includes:
If it is determined that the current location of robot is located at outside predeterminable area, then stop sending opening signal.
Fig. 2 is the flow chart of the control method of the present invention another automatically-controlled door provided in this embodiment, as shown in Fig. 2, should
Control method includes:
S210: the location information of robot is obtained.
S220: determine the current location of robot whether in predeterminable area according to location information.
S230: if it is determined that the current location of robot is located in predeterminable area, then opening signal is sent to automatically-controlled door.
S240: if it is determined that the current location of robot is located at outside predeterminable area, then stop sending opening signal.
When determining that robot is in predeterminable area, continue to send opening signal to automatically-controlled door, automatically-controlled door is made to maintain to open the door
State, so that robot security passes through automatically-controlled door.Robot continues to move to, however, it is determined that the current location of robot is located at preset areas
It is overseas, that is, when reaching outside predeterminable area, then stop sending opening signal, control automatically-controlled door is closed.
In the present invention wherein in an embodiment, predeterminable area be using automatically-controlled door geometric center as the border circular areas in the center of circle, can
To judge the current location of robot whether in default circle according to the GPS position information and floor information of the robot received
Outside shape region；Alternatively, it is strong and weak according to the wireless signal received, determine robot location (distance apart from automatically-controlled door), in turn
Judge the current location of robot whether outside default border circular areas.
In an alternative embodiment of the invention, predeterminable area be automatically-controlled door two sides, such as away from automatically-controlled door 5m locate, robot run
The border circular areas that inbuilt RFID electronic label determines under track, the position where robot is moved to RFID electronic label
When, RFID reader reads the information stored in RFID electronic label, and is sent to the control device of automatically-controlled door.In preset time
In section, when the control device of automatically-controlled door receives the information of RFID reader transmission for the first time, that is, it is default to judge that robot enters
Region；After preset time, when the control device of automatically-controlled door receives the information of RFID reader transmission for the second time, that is, machine is judged
Device people has left predeterminable area, then stops sending opening signal, control automatically-controlled door is closed.Wherein preset time can be according to machine
The movement speed and predeterminable area diameter of people is set, and the movement speed with robot is 1m/s, and the diameter of predeterminable area is that 6m is
Example, then preset time can be set to 6s.
In an alternative embodiment of the invention, robot may include laser radar sensor, for acquiring robot in real time
The environmental information on periphery, and determine by SLAM the location information of itself, and then judge the current location of robot whether pre-
If outside border circular areas.
The control method of automatically-controlled door provided in an embodiment of the present invention, by obtaining the location information of robot, according to position
Whether information determines the current location of robot in predeterminable area, however, it is determined that the current location of robot is located at predeterminable area
It is interior, then continue to send opening signal to automatically-controlled door, control automatically-controlled door is maintained open state；If it is determined that the present bit set of robot
In outside predeterminable area, then stopping transmission opening signal, control automatically-controlled door is closed.In the case where unmanned intervene, automatically-controlled door is controlled
Open and close, robot can quickly, safety automatically-controlled door, improve machine task efficiency.
It should be noted that the control method of automatically-controlled door described in above-described embodiment, this method can be by a kind of automatically-controlled door
Control device execute, which can integrate in robot or server, and this method is executed by robot or server.
Specifically, robot is connect with server and automatically-controlled door wireless telecommunications respectively, this method when the device is integrated in server
Implementation procedure are as follows:
Server obtains the location information of robot, and parses to the location information, determines machine according to location information
Whether the current location of device people is in predeterminable area, however, it is determined that the current location of robot is located in predeterminable area, then server
Control instruction is sent to robot, control robot sends opening signal to automatically-controlled door.
Optionally, opening signal includes the encoded information of automatically-controlled door.
Specifically, there are corresponding relationship, the corresponding unique codings of each automatically-controlled door for predeterminable area and automatically-controlled door.Determining machine
When the current location of device people is located in predeterminable area, opening signal is sent to automatically-controlled door, which includes the predeterminable area
The encoded information of corresponding automatically-controlled door.Automatically-controlled door is parsed to opening signal is received, when the obtained coding of parsing and automatic
When the preset codes match of door, control automatically-controlled door is opened.When there are multiple automatically-controlled doors, only when the coding in opening signal is believed
Automatically-controlled door can just be opened when ceasing codes match preset with automatically-controlled door, avoid influencing other automatically-controlled doors.
The embodiment of the invention also provides a kind of control devices of automatically-controlled door, for executing such as the above embodiment of the present invention institute
The control method for the automatically-controlled door stated, Fig. 3 are a kind of structural schematic diagram of the control device of automatically-controlled door provided in an embodiment of the present invention,
As shown in figure 3, the control device of the automatically-controlled door includes location information acquiring unit 10, band of position determination unit 20 and the letter that opens the door
Number send control unit 30.
Wherein, location information acquiring unit 10 is used to obtain the location information of robot.
Optionally, in the present invention wherein an embodiment, robot may include a locating module, be moved through in robot
Cheng Zhong, acquires the location information of robot in real time, and is sent to location information acquiring unit 10 in real time.Wherein, location information can
To include the GPS position information and robot place floor information of robot.Locating module can also be according to the movement of robot
Speed with the location information of certain frequency collection robot, and is sent to the control device of automatically-controlled door.
In an alternative embodiment of the invention, robot can be moved along fixed running track, the area near automatically-controlled door two sides
Under the track in domain, it is embedded with RFID (Radio Frequency Identification) electronic tag, robot bottom is equipped with
RFID reader, when position where robot is moved to RFID electronic label, RFID reader reads RFID electronic label
The corresponding location information in the position of interior storage, and it is sent to the control device of automatically-controlled door.
In an alternative embodiment of the invention, it is equipped with a wireless signal transmitting device on or near automatically-controlled door, is set in robot
There is corresponding reception device, the reception device is strong and weak according to the wireless signal received, determines robot location (apart from automatically-controlled door
Distance), and the location information is sent to the control device of automatically-controlled door.
In an alternative embodiment of the invention, robot may include laser radar sensor, for acquiring robot in real time
The environmental information on periphery, and determine by SLAM the location information of itself.
Whether band of position determination unit 20 is used to determine the current location of robot in predeterminable area according to location information
It is interior.
Band of position determination unit 20 parses the location information received, and judges that the current location of robot is
It is no in predeterminable area, i.e., whether reach predeterminable area.
Predeterminable area is using automatically-controlled door geometric center as the border circular areas in the center of circle, and the radius of the border circular areas can basis
The movement speed of robot is set, specifically, robot speed is faster, the radius of the border circular areas is bigger, avoids automatically-controlled door
Not as good as opening, robot and automatically-controlled door collision cause safety accident.In general, the movement speed of robot may be configured as 1m/s, circle
The radius in shape region can be set to 3-5m.
In the present invention wherein an embodiment, band of position determination unit 20 can be according to the GPS of the robot received
Whether location information and floor information judge the current location of robot in default border circular areas；Alternatively, according to receiving
Wireless signal is strong and weak, determines robot location (distance apart from automatically-controlled door), so judge robot current location whether
In default border circular areas.
In an alternative embodiment of the invention, preset border circular areas be automatically-controlled door two sides, such as away from automatically-controlled door 5m at, robot
The region that inbuilt RFID electronic label determines under running track, the position where robot is moved to RFID electronic label
When, RFID reader reads the information stored in RFID electronic label, and is sent to location information acquiring unit 10, the band of position
Determination unit 20 is that can determine the current location of robot in default border circular areas.
In an alternative embodiment of the invention, robot may include laser radar sensor, for acquiring robot in real time
The environmental information on periphery, and determine by SLAM the location information of itself.Specifically, the collected object of laser radar sensor
Information shows a series of dispersions, point with precise angle and range information, referred to as point cloud.In general, laser SLAM system
System is by matching to different moments two panels point cloud and compares, the distance of calculating laser radar sensor relative motion and posture
Change, also just completes the positioning to robot itself, and then judge the current location of robot whether in default border circular areas
It is interior.
Opening signal sends control unit 30 for being located in predeterminable area in the current location for determining robot, then controls
Robot sends opening signal to automatically-controlled door.
Opening signal sends control unit 30 if it is determined that the current location of robot is located in predeterminable area, illustrates robot
Close to automatically-controlled door, at this point, control robot sends opening signal to automatically-controlled door, control automatically-controlled door is opened, so as to robot
Quickly, safety.
The control device of automatically-controlled door provided in an embodiment of the present invention obtains the position of robot by location information acquiring unit
Confidence breath, band of position determination unit determines the current location of robot whether in predeterminable area according to location information, if really
The current location for determining robot is located in predeterminable area, and opening signal sends control unit and sends opening signal, control to automatically-controlled door
Automatically-controlled door processed is opened.In the case where unmanned intervene, control automatically-controlled door is opened, robot can quickly, safety automatically-controlled door,
Improve machine task efficiency.
Optionally, opening signal sends control unit and is also used to if it is determined that the current location of robot is located at predeterminable area
Outside, then stop sending opening signal.
When determining that robot is in predeterminable area, opening signal sends the control of control unit 30 robot and continues to automatic
Door sends opening signal, so that automatically-controlled door is maintained door opening state, so that robot security passes through automatically-controlled door.Robot continues to move to,
If it is determined that the current location of robot is located at outside predeterminable area, that is, when reaching outside predeterminable area, opening signal sends control unit
30 control robots stop sending opening signal, and control automatically-controlled door is closed.
In the present invention wherein in an embodiment, predeterminable area be using automatically-controlled door geometric center as the border circular areas in the center of circle, can
To judge the current location of robot whether in default circle according to the GPS position information and floor information of the robot received
Outside shape region；Alternatively, it is strong and weak according to the wireless signal received, determine robot location (distance apart from automatically-controlled door), in turn
Judge the current location of robot whether outside default border circular areas.
In an alternative embodiment of the invention, predeterminable area be automatically-controlled door two sides, such as away from automatically-controlled door 5m locate, robot run
The border circular areas that inbuilt RFID electronic label determines under track, the position where robot is moved to RFID electronic label
When, RFID reader reads the information stored in RFID electronic label, and is sent to the control device of automatically-controlled door.In preset time
In section, when the control device of automatically-controlled door receives the information of RFID reader transmission for the first time, that is, it is default to judge that robot enters
Region；After preset time, when the control device of automatically-controlled door receives the information of RFID reader transmission for the second time, that is, machine is judged
Device people has left predeterminable area, then stops sending opening signal, control automatically-controlled door is closed.Wherein preset time can be according to machine
The movement speed and predeterminable area diameter of people is set, and the movement speed with robot is 1m/s, and the diameter of predeterminable area is that 6m is
Example, then preset time can be set to 6s.
In an alternative embodiment of the invention, robot may include laser radar sensor, for acquiring robot in real time
The environmental information on periphery, and determine by SLAM the location information of itself, and then judge the current location of robot whether pre-
If outside border circular areas.
The embodiment of the present invention also provides a kind of control system of automatically-controlled door, Fig. 4 be it is provided in an embodiment of the present invention it is a kind of from
The structure chart of the control system of dynamic door, as shown in figure 4, including server 100, robot 200 and automatically-controlled door 300, robot 200
Or server 100 is integrated with the control device of any automatically-controlled door of the above embodiment of the present invention.In embodiments of the present invention,
By taking the control device of automatically-controlled door is integrated in server 100 as an example, the present invention will be described, and robot 100 is respectively by wireless
Mode, such as WIFI, bluetooth or near-field communication mode and server and automatically-controlled door communication connection.
The locating module of robot 200 acquires the location information of robot 200 in real time, and location information may include robot
GPS position information and robot where floor information, and be sent to server 100 in real time, server 100 is integrated with the present invention
The control device of automatically-controlled door described in above-described embodiment, server 100 determine the present bit of robot 200 according to the location information
It sets whether in predeterminable area, if server 100 determines that robot 200 is currently located in predeterminable area, is sent out to robot 200
It instructs out, control robot 200 sends opening signal.After robot 200 is by automatically-controlled door 300, if server 100 determines machine
Device people 200 is currently located at outside predeterminable area, then issues and instruct to robot 200, and control robot 200 stops sending the letter that opens the door
Number.
Optionally, automatically-controlled door includes communication unit 310, main control unit 320 and automatic door control unit 330.Wherein, it communicates
The communication unit communication connection of unit 310 and robot 200, main control unit 320 include input terminal and output end, main control unit
320 input terminal is electrically connected with the output end of communication unit 310, the output end and automatic door control unit 330 of main control unit 320
Input terminal electrical connection.
In the present invention wherein an embodiment, the locating module of robot 200 acquires the position letter of robot 200 in real time
Breath, location information may include the GPS position information and robot place floor information of robot, and be sent to server in real time
100, server 100 is integrated with the control device of automatically-controlled door described in the above embodiment of the present invention, and server 100 is according to the position
Whether information determines the current location of robot 200 in predeterminable area.It is preset if it is determined that the current location of robot 100 is located at
In region, then robot 200 is controlled to automatically-controlled door 300 and sends opening signal.Main control unit 320 is for connecing communication unit 310
The opening signal that the robot 200 received is sent is decoded, if the current location of the robot 200 decoded is located at preset areas
In domain, then controls automatic door control unit 330 and open automatically-controlled door.Wherein, predeterminable area is to be with the geometric center of automatically-controlled door 300
The radius of the border circular areas in the center of circle, the border circular areas can be set according to the movement speed of robot 200, in general, circle
The radius in domain can be set to 3-5m.
Wherein, there are corresponding relationship, the corresponding unique codings of each automatically-controlled door 300 for predeterminable area and automatically-controlled door 300.Service
When the current location for determining robot 200 is located in predeterminable area, control robot 200 opens device 100 to the transmission of automatically-controlled door 300
Gate signal, the opening signal include the encoded information of the corresponding automatically-controlled door 300 of the predeterminable area.Main control unit 320 is to receiving
Opening signal is parsed, and when the coding and 300 preset codes match of automatically-controlled door that parsing obtains, control automatically-controlled door is opened.
Fig. 5 is the circuit structure diagram of communication unit in the embodiment of the present invention, as shown in figure 5, optionally, communication unit 310
Including reception of wireless signals chip U1, receiving antenna ant, resistance R12, capacitor C3 and C4.Wherein, reception of wireless signals chip U1
Model H3V4F, reception of wireless signals pin ANT is electrically connected with receiving antenna ant, grounding pin GND ground connection, and data are defeated
Pin DATA1 and DATA2 electrical connection out, and be electrically connected by a data line with the input terminal of main control unit 320.Power input
Pin VCC connection 5V power supply.The one end resistance R12 connects 5V power supply, and the other end connects on the data line, one end of capacitor C3 and C4
It is grounded simultaneously, the other end is electrically connected to each other, and is electrically connected with power input pin VCC.Receiving antenna ant is for receiving the letter that opens the door
Number, reception of wireless signals chip U1 is converted into data-signal, and be conveyed to master control for handling the radiofrequency signal received
Unit 320.
Optionally, main control unit 320 includes DIP device and main control chip, the output end of DIP device and the coding of main control chip
Signal input part connection, the data input pin of main control chip are electrically connected with the output end of communication unit, and the control of main control chip refers to
Output end and the input terminal of automatic door control unit is enabled to be electrically connected.Fig. 6 is the circuit structure of main control unit in the embodiment of the present invention
Figure, as shown in fig. 6, wherein DIP device includes two 8421 specifically, main control unit 320 includes DIP device and main control chip U2
Toggle switch S1 and S2, the model PT2274-M4 of main control chip U2.DIP device is used to set coding (or the room of automatically-controlled door
Coding), each toggle switch includes four output pins, and there are two types of output state (high level and low levels) for each pin, then
It can export 256 kinds of codings, and each output pin is separately connected one end of a corresponding dial-up resistance (R1-R8), each dial-up
The other end of resistance is connect with 5V power supply, output pin encoded signal input pin (A0-A7) also corresponding with main control chip U2
Electrical connection, the COM pin ground connection of two toggle switch.The power pins VCC connection 5V power supply of main control chip U2, capacitor C1 and C2
For pressure stabilizing, one end of capacitor C1 and C2 are grounded, other end electrical connection, and are connect with the power pins VCC of main control chip U2；Number
Pass through the data output pins DATA1 and DATA2 of a current-limiting resistance R11 and reception of wireless signals chip U1 according to input pin DIN
Electrical connection.Specifically, main control chip U2 receives the data-signal exported from reception of wireless signals chip U1, and to data-signal
It is parsed, if the encoded information and the preset automatically-controlled door codes match of DIP device that include in the data-signal that parsing obtains,
Main control chip U2 conveys control instruction to automatic door control unit 330 by output pin D0, D1, D2 or D3, controls automatically-controlled door
300 open.
The embodiment of the present invention also provides a kind of storage medium comprising computer executable instructions, and the computer is executable
It instructs when being executed by computer processor for executing the control method of automatically-controlled door, this method comprises:
Obtain the location information of robot；
Determine the current location of robot whether in predeterminable area according to location information；
If it is determined that the current location of robot is located in predeterminable area, then opening signal is sent to automatically-controlled door.
Certainly, a kind of storage medium comprising computer executable instructions, computer provided by the embodiment of the present invention
The method operation that executable instruction is not limited to the described above, can also be performed automatically-controlled door provided by any embodiment of the invention
Relevant operation in control method.
In the description of this specification, the description of reference term " embodiment " etc. means the specific spy in conjunction with the embodiment
Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned
The schematic representation of term is not necessarily referring to identical embodiment.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this narrating mode of specification be only be to understand device, those skilled in the art should
It considers the specification as a whole, the technical solutions in the embodiments can also be appropriately combined, and forming those skilled in the art can
With the other embodiments of understanding.
The technical principle of the invention is described above in combination with a specific embodiment.These descriptions are intended merely to explain of the invention
Principle, and shall not be construed in any way as a limitation of the scope of protection of the invention.Based on the explanation herein, the technology of this field
Personnel can associate with other specific embodiments of the invention without creative labor, these modes are fallen within
Within protection scope of the present invention.
Claims (11)
1. a kind of control method of automatically-controlled door characterized by comprising
Obtain the location information of robot；
Determine the current location of robot whether in predeterminable area according to the positional information；
If it is determined that the current location of robot is located in predeterminable area, then opening signal is sent to the automatically-controlled door.
2. the control method of automatically-controlled door according to claim 1, which is characterized in that send opening signal to the automatically-controlled door
Later, further includes:
If it is determined that the current location of the robot is located at outside the predeterminable area, then stop sending opening signal.
3. the control method of automatically-controlled door according to claim 1, which is characterized in that the predeterminable area is several with automatically-controlled door
What center is the border circular areas in the center of circle.
4. the control method of automatically-controlled door according to claim 1, which is characterized in that
The opening signal includes the encoded information of the automatically-controlled door, and the automatically-controlled door has corresponding preset encoding information.
5. a kind of control device of automatically-controlled door characterized by comprising
Location information acquiring unit obtains the location information of robot；
Whether band of position determination unit determines the current location of robot in predeterminable area according to the positional information；
Opening signal send control unit, however, it is determined that the current location of robot is located in predeterminable area, then control robot to
Automatically-controlled door sends opening signal.
6. the control device of automatically-controlled door according to claim 5, which is characterized in that the opening signal sends control unit
It is also used to then stop sending opening signal if it is determined that the current location of the robot is located at outside the predeterminable area.
7. a kind of control system of automatically-controlled door, which is characterized in that including server, robot and automatically-controlled door, the robot or
The server set at automatically-controlled door described in having the right to require 5 or 6 control device.
8. the control system of automatically-controlled door according to claim 7, which is characterized in that the automatically-controlled door include communication unit,
Main control unit and automatic door control unit；
The communication unit and robot communication connection；
The main control unit includes input terminal and output end, the output end of the input terminal of the main control unit and the communication unit
Electrical connection, the output end of the main control unit are electrically connected with the input terminal of the automatic door control unit, and the main control unit is used
It is decoded in the opening signal that the robot received to the communication unit is sent, if the robot decoded
Position be located in predeterminable area, then control the automatic door control unit and open automatically-controlled door.
9. the control system of automatically-controlled door according to claim 8, which is characterized in that the communication unit includes wireless signal
Receive chip and receiving antenna；
The receiving antenna is electrically connected with the signal input part of the reception of wireless signals chip, the reception of wireless signals chip
Data output end be electrically connected with the input terminal of the main control unit.
10. the control system of automatically-controlled door according to claim 8, which is characterized in that the main control unit includes DIP device
And main control chip；
The output end of the DIP device is connect with the encoded signal input terminal of the main control chip；
The data input pin of the main control chip is electrically connected with the output end of the communication unit；
The control instruction output end of the main control chip is electrically connected with the input terminal of the automatic door control unit.
11. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The control method of the automatically-controlled door as described in any in claim 1-4 is realized when execution.
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| CN201811417158.3A CN109236107A (en) | 2018-11-26 | 2018-11-26 | A kind of control method of automatically-controlled door, device, system and storage medium |
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| CN201811417158.3A CN109236107A (en) | 2018-11-26 | 2018-11-26 | A kind of control method of automatically-controlled door, device, system and storage medium |
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| CN111119653A (en) * | 2019-11-28 | 2020-05-08 | 广州赛特智能科技有限公司 | Automatic door cluster control device and method based on unmanned logistics distribution robot |
| CN111119653B (en) * | 2019-11-28 | 2021-06-18 | 广州赛特智能科技有限公司 | Automatic door cluster control method based on unmanned logistics distribution robot |
| CN111671352A (en) * | 2020-03-19 | 2020-09-18 | 广东蓝水花智能电子有限公司 | Automatic door induction triggering area adjusting method |
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| CN111462375A (en) * | 2020-04-01 | 2020-07-28 | 中国工商银行股份有限公司 | Access control method and device, inspection system and electronic equipment |
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