CN110349314A - Robot passes through gate inhibition or the control method of gate - Google Patents
Robot passes through gate inhibition or the control method of gate Download PDFInfo
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- CN110349314A CN110349314A CN201910621529.8A CN201910621529A CN110349314A CN 110349314 A CN110349314 A CN 110349314A CN 201910621529 A CN201910621529 A CN 201910621529A CN 110349314 A CN110349314 A CN 110349314A
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- Prior art keywords
- gate
- robot
- gate inhibition
- server
- inhibition
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/30—Individual registration on entry or exit not involving the use of a pass
- G07C9/38—Individual registration on entry or exit not involving the use of a pass with central registration
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C2209/00—Indexing scheme relating to groups G07C9/00 - G07C9/38
- G07C2209/60—Indexing scheme relating to groups G07C9/00174 - G07C9/00944
- G07C2209/63—Comprising locating means for detecting the position of the data carrier, i.e. within the vehicle or within a certain distance from the vehicle
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Abstract
This application discloses a kind of robots to pass through gate inhibition or the control method of gate equipment, include the following steps: that, when robot is reached apart from one pre-determined distance range of equipment, the robot sends a request by the equipment to the server for controlling the equipment；The robot obtains the state of the equipment；The robot judges the state of the equipment；If the equipment is in the lock state, the request issued again after preset duration through the equipment is waited to be in the lock state the equipment if the equipment is in idle condition and the robot is driven to pass through the equipment；After the robot is by the equipment, it is in idle condition the equipment.By the way of locking and unlocking, achieve the purpose that multirobot passes through, so that realizing raising passes through technical effect of the robot by efficiency.
Description
Technical field
This application involves controller fields, pass through gate inhibition or the control method of gate in particular to a kind of robot.
Background technique
In the related art, the equipment such as gate inhibition or gate usually only allow a robot device to pass through, once robot
Number of devices rises, and often causes contradiction when Liang Ge robot is intended to pass through gate, passes through efficiency to reduce.
Summary of the invention
A kind of robot is included the following steps: by the control method of gate inhibition
When robot is reached apart from one pre-determined distance range of gate inhibition, service of the robot to the control gate inhibition
Device sends a request by the gate inhibition；
The robot obtains the state of the gate inhibition；
The robot judges the state of the gate inhibition；
If the gate inhibition is in the lock state, the request issued after preset duration again through the gate inhibition is waited, such as
Gate inhibition described in fruit is in idle condition, then is in the lock state the gate inhibition and the robot is driven to pass through the gate inhibition；
After the robot is by the gate inhibition, it is in idle condition the gate inhibition.
Further, after the machine personnel are by gate inhibition, the gate inhibition detects the position of the robot, when described
When robot reaches a pre-determined distance far from the gate inhibition, the gate inhibition switches to idle state, and status information is uploaded
To the server.
Further, after the machine personnel are by gate inhibition, the gate inhibition detects the position of the robot, when described
The position of robot is beyond when a predeterminable area, the gate inhibition switches to idle state, and state is believed near the gate inhibition
Breath is uploaded to the server.
Further, after the machine personnel are by gate inhibition, the robot uploads the position of itself to the server
Confidence breath, when the robot reaches a pre-determined distance far from the gate inhibition, the gate inhibition switches to idle state, and will
Status information is uploaded to the server.
Further, after the machine personnel are by gate inhibition, the robot uploads the position of itself to the server
Confidence breath, when the position of the robot is beyond a predeterminable area near the gate inhibition, the gate inhibition switches to idle shape
State, and status information is uploaded to the server.
Further, when robot is reached apart from one pre-determined distance range of gate, the robot is to described in control
The server of gate sends a request by the gate；
The robot obtains the state of the gate；
The robot judges the state of the gate；
If the gate is in the lock state, the request issued after preset duration again through the gate is waited, such as
Gate described in fruit is in idle condition, then is in the lock state the gate and the robot is driven to pass through the gate；
After the robot is by the gate, it is in idle condition the gate.
Further, after the machine personnel are by gate, the gate detects the position of the robot, when described
When robot reaches a pre-determined distance far from the gate, the gate switches to idle state, and status information is uploaded
To the server.
Further, after the machine personnel are by gate, the gate detects the position of the robot, when described
The position of robot is beyond when a predeterminable area, the gate switches to idle state, and state is believed near the gate
Breath is uploaded to the server.
Further, after the machine personnel are by gate, the robot uploads the position of itself to the server
Confidence breath, when the robot reaches a pre-determined distance far from the gate, the gate switches to idle state, and will
Status information is uploaded to the server.
Further, after the machine personnel are by gate, the robot uploads the position of itself to the server
Confidence breath, when the position of the robot is beyond a predeterminable area near the gate, the gate switches to idle shape
State, and status information is uploaded to the server.
In the embodiment of the present application, by the way of locking and unlocking, achieved the purpose that multirobot passes through, thus real
Show raising and passes through technical effect of the robot by efficiency.
Detailed description of the invention
The attached drawing constituted part of this application is used to provide further understanding of the present application, so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings:
Fig. 1 is the schematic block diagram according to the control centre that server is established in a kind of embodiment of the application；
Fig. 2 is a kind of mode of programme path in the application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only
The embodiment of the application a part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
Member's every other embodiment obtained without making creative work, all should belong to the model of the application protection
It encloses.
It should be noted that the description and claims of this application and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to embodiments herein described herein.In addition, term " includes " and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units
Process, method, system, product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include without clear
Other step or units listing to Chu or intrinsic for these process, methods, product or equipment.
In addition, term " installation ", " setting ", " being equipped with ", " connection ", " connected ", " socket " shall be understood in a broad sense.For example,
It may be a fixed connection, be detachably connected or monolithic construction；It can be mechanical connection, or electrical connection；It can be direct phase
It even, or indirectly connected through an intermediary, or is two connections internal between device, element or component.
For those of ordinary skills, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
The method of one of embodiment includes the following steps:
A kind of robot is included the following steps: by the control method of gate inhibition
When robot is reached apart from one pre-determined distance range of gate inhibition, robot sends one to the server of access control
A request by gate inhibition；
The state of robot acquisition gate inhibition；
Robot judges the state of gate inhibition；
If gate inhibition is in the lock state, the request issued after preset duration again through gate inhibition is waited, if at gate inhibition
In idle state, then it is in the lock state gate inhibition and robot is driven to pass through gate inhibition；
After robot is by gate inhibition, it is in idle condition gate inhibition.
Specifically, gate inhibition detects the position of robot, when robot is reached far from gate inhibition after machine personnel are by gate inhibition
When to a pre-determined distance, gate inhibition switches to idle state, and status information is uploaded to server.
Specifically, gate inhibition detects the position of robot, when the position of robot exceeds after machine personnel are by gate inhibition
Near gate inhibition when a predeterminable area, gate inhibition switches to idle state, and status information is uploaded to server.
Specifically, robot uploads the location information of itself to server, works as machine after machine personnel are by gate inhibition
When people reaches a pre-determined distance far from gate inhibition, gate inhibition switches to idle state, and status information is uploaded to server.
Specifically, robot uploads the location information of itself to server, works as machine after machine personnel are by gate inhibition
The position of people is beyond when a predeterminable area, gate inhibition switches to idle state, and status information is uploaded to service near gate inhibition
Device.
The method of one of embodiment includes the following steps:
When robot is reached apart from one pre-determined distance range of gate, robot sends one to the server of control gate
A request by gate；
The state of robot acquisition gate；
Robot judges the state of gate；
If gate is in the lock state, the request issued after preset duration again through gate is waited, if at gate
In idle state, then it is in the lock state gate and robot is driven to pass through gate；
After robot is by gate, it is in idle condition gate.
Specifically, gate detects the position of robot, when robot is reached far from gate after machine personnel are by gate
When to a pre-determined distance, gate switches to idle state, and status information is uploaded to server.
Specifically, gate detects the position of robot, when the position of robot exceeds after machine personnel are by gate
Near gate when a predeterminable area, gate switches to idle state, and status information is uploaded to server.
Specifically, robot uploads the location information of itself to server, works as machine after machine personnel are by gate
When people reaches a pre-determined distance far from gate, gate switches to idle state, and status information is uploaded to server.
Specifically, robot uploads the location information of itself to server, works as machine after machine personnel are by gate
The position of people is beyond when a predeterminable area, gate switches to idle state, and status information is uploaded to service near gate
Device.
It can be seen from the above description that the present invention realizes following technical effect: providing one kind and be able to solve multimachine
The current contradictory control method of device people.
The width general finite of gate inhibition or gate can only pass through a robot.
If the width of gate inhibition or gate is bigger, more robots can be passed through simultaneously, robot reaches gate inhibition or gate
Opening signal is directly transmitted, opens and directly passes through to gate inhibition or gate door.Opening signal is sent by rear stopping.
If the width of gate inhibition or gate is narrow, it can at most pass through a robot, robot reaches gate inhibition or gate
Before need to judge whether there is other robot and passing through gate inhibition or gate.Opening signal is directly transmitted if not, to door
Prohibit or gate door is opened and directly passed through.Opening signal is sent by rear stopping.If there is other robot is using gate or gate inhibition
After then needing that other robot is waited to pass through release gate inhibition, opening signal is sent, opens and directly passes through to gate inhibition or gate door.Pass through
Stop sending opening signal afterwards.
Robot needs to know gate inhibition or the gate position on map, that is, the map and point that are determined by point
Position is stored in robot.
Robot map and point interface under practical application scene pass through the different region of different color calibrations, black
Be wall or fixed obstacle profile, white be robot can traffic areas, grey is zone of ignorance, and red scatterplot is sharp
The data of optical sensor scanning, blue are the path of planning, and red straight line is forbidden line, indicates barrier, impassabitity.Three
Angle symbol indicates point, for marking destination, charging pile, and the position of gate inhibition or gate.
It creates gate inhibition on the server or gate control centre is mentioned simultaneously by the state of each equipment of database maintenance
For the interface of locking and unlocking, robot checks the occupancy shape of each equipment to specified gate doorway access server database
Then state determines it is to wait or directly pass through, locking device when robot is begun through passes through rear unlock.
Assuming that have m gate inhibition or gate, as concrete scheme, the method include that
Robot receives target point, passage path planning algorithm plan current location to destination path (p1, p2 ...,
pn)
Robot calculates control speed in real time and advances along path, while more new route
Judge whether path p passes through by one or more of m gate inhibition or gate, the method for judgement in traveling process
It is
Gate inhibition's point has direction, and usually mark is vertical with the direction that gate people passes in and out
Traverse each path point p (x, y), if the inner d the distance between one or more of with m gate inhibition or gate is small
In a certain distance threshold value dthres1, as d < dthres1, judge whether there be a left side of the path point respectively in point direction in path
Side and right side then illustrate robot path by gate a if there is such path point exists.
If robot passes through gate a, current location and gate a distance d1 are calculated, starts to ask as d1 < dthres2
Seek the occupied state of gate a in server-side database
If gate a is locked by other robot, robot stops planning path and control speed is advanced, if gate
A is idle state, then robot transmission locking gate signal to server, and gate state is locking in more new database, then
Start to control gate opening signal, until finally normal through release gate is locked after the completion, and gate state is in more new database
It is idle.
It should be noted that step shown in the flowchart of the accompanying drawings can be in such as a group of computer-executable instructions
It is executed in computer system, although also, logical order is shown in flow charts, and it in some cases, can be with not
The sequence being same as herein executes shown or described step.
Since the time that robot is needed by gate is very short, so be first to plan shortest path, then to before gate etc.
Pass through after other robot passes through.If gate is longer by the time, and there are the feelings that mulitpath arrives at the destination in robot
Under condition, the length selection that can integrate move into one's husband's household upon marriage time and path suitably passes through scheme.
Path planning algorithm is not innovated only using dijkstra algorithm, and the map of rasterizing is as shown in Fig. 2, according to machine
The corresponding relationship of device people's target point and picture pixels calculates the position of target point, the space where it is set to a kind of face
Color, such as red (cell of figure acceptance of the bid 0), the space where it is set to another color by calculating robot current location,
Such as green (figure acceptance of the bid 10 cell), then since target position, searching route, putting on search in each space
Distance, black and gray area are set to black when searching green in grid on map, indicate that path can reach
Destination, then the value of green grid indicates distance.
Specifically, each module realizes that the detailed process of its function can be found in embodiment of the method in the device of the embodiment of the present invention
In associated description, details are not described herein again.
Obviously, those skilled in the art should be understood that each module of the above invention or each step can be with general
Computing device realize that they can be concentrated on a single computing device, or be distributed in multiple computing devices and formed
Network on, optionally, they can be realized with the program code that computing device can perform, it is thus possible to which they are stored
Be performed by computing device in the storage device, perhaps they are fabricated to each integrated circuit modules or by they
In multiple modules or step be fabricated to single integrated circuit module to realize.In this way, the present invention is not limited to any specific
Hardware and software combines.
The foregoing is merely preferred embodiment of the present application, are not intended to limit this application, for the skill of this field
For art personnel, various changes and changes are possible in this application.Within the spirit and principles of this application, made any to repair
Change, equivalent replacement, improvement etc., should be included within the scope of protection of this application.
Claims (10)
1. the control method that a kind of robot passes through gate inhibition, which comprises the steps of:
When robot is reached apart from one pre-determined distance range of gate inhibition, the robot is sent out to the server for controlling the gate inhibition
Send a request by the gate inhibition；
The robot obtains the state of the gate inhibition；
The robot judges the state of the gate inhibition；
If the gate inhibition is in the lock state, the request issued after preset duration again through the gate inhibition is waited, if institute
It states gate inhibition to be in idle condition, be then in the lock state the gate inhibition and the robot is driven to pass through the gate inhibition；
After the robot is by the gate inhibition, it is in idle condition the gate inhibition.
2. the control method that robot according to claim 1 passes through gate inhibition, which is characterized in that logical in the machine personnel
After crossing gate inhibition, the gate inhibition detects the position of the robot, when the robot far from the gate inhibition reach one it is default away from
From when, the gate inhibition switches to idle state, and status information is uploaded to the server.
3. the control method that robot according to claim 1 passes through gate inhibition, which is characterized in that logical in the machine personnel
After crossing gate inhibition, the gate inhibition detects the position of the robot, when the position of the robot is beyond one near the gate inhibition
When predeterminable area, the gate inhibition switches to idle state, and status information is uploaded to the server.
4. the control method that robot according to claim 1 passes through gate inhibition, which is characterized in that logical in the machine personnel
After crossing gate inhibition, the robot uploads the location information of itself to the server, when the robot is reached far from the gate inhibition
When to a pre-determined distance, the gate inhibition switches to idle state, and status information is uploaded to the server.
5. the control method that robot according to claim 1 passes through gate inhibition, which is characterized in that logical in the machine personnel
After crossing gate inhibition, the robot uploads the location information of itself to the server, when the position of the robot is beyond described
Near gate inhibition when a predeterminable area, the gate inhibition switches to idle state, and status information is uploaded to the server.
6. the control method that a kind of robot passes through gate, which comprises the steps of:
When robot is reached apart from one pre-determined distance range of gate, the robot is sent out to the server for controlling the gate
Send a request by the gate；
The robot obtains the state of the gate；
The robot judges the state of the gate；
If the gate is in the lock state, the request issued after preset duration again through the gate is waited, if institute
It states gate to be in idle condition, be then in the lock state the gate and the robot is driven to pass through the gate；
After the robot is by the gate, it is in idle condition the gate.
7. the control method that robot according to claim 1 passes through gate, which is characterized in that logical in the machine personnel
After crossing gate, the gate detects the position of the robot, when the robot far from the gate reach one it is default away from
From when, the gate switches to idle state, and status information is uploaded to the server.
8. the control method that robot according to claim 1 passes through gate, which is characterized in that logical in the machine personnel
After crossing gate, the gate detects the position of the robot, when the position of the robot is beyond one near the gate
When predeterminable area, the gate switches to idle state, and status information is uploaded to the server.
9. the control method that robot according to claim 1 passes through gate, which is characterized in that logical in the machine personnel
After crossing gate, the robot uploads the location information of itself to the server, when the robot is reached far from the gate
When to a pre-determined distance, the gate switches to idle state, and status information is uploaded to the server.
10. the control method that robot according to claim 1 passes through gate, which is characterized in that in the machine personnel
After gate, the robot uploads the location information of itself to the server, when the position of the robot exceeds institute
When stating a predeterminable area near gate, the gate switches to idle state, and status information is uploaded to the server.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910621529.8A CN110349314A (en) | 2019-07-10 | 2019-07-10 | Robot passes through gate inhibition or the control method of gate |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910621529.8A CN110349314A (en) | 2019-07-10 | 2019-07-10 | Robot passes through gate inhibition or the control method of gate |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110675541A (en) * | 2019-11-04 | 2020-01-10 | 北京海益同展信息科技有限公司 | Access control method, access processing method, device and system |
| CN111360802A (en) * | 2020-03-03 | 2020-07-03 | 上海有个机器人有限公司 | Control method and system for robot to pass through gate |
| CN112442958A (en) * | 2020-12-08 | 2021-03-05 | 苏州优智达机器人有限公司 | Method for enabling unmanned equipment to pass through channel blocking device, unmanned equipment and system |
| CN112540605A (en) * | 2020-03-31 | 2021-03-23 | 深圳优地科技有限公司 | Multi-robot cooperation clearance method, server, robot and storage medium |
| CN112735001A (en) * | 2020-12-10 | 2021-04-30 | 南京熊猫电子股份有限公司 | Mobile terminal gating system and method based on machine interaction technology |
| CN113090158A (en) * | 2021-04-12 | 2021-07-09 | 上海高仙自动化科技发展有限公司 | Interception device passing method and device and readable non-transitory storage medium |
| CN114217623A (en) * | 2021-12-14 | 2022-03-22 | 北京云迹科技股份有限公司 | Method and device for robot to pass through gate |
| CN116229629A (en) * | 2023-05-09 | 2023-06-06 | 山东力拓智能科技有限公司 | Access control calling device control method and system |
| CN117079371A (en) * | 2023-10-13 | 2023-11-17 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
| CN112540605B (en) * | 2020-03-31 | 2024-06-25 | 深圳优地科技有限公司 | Multi-robot cooperation clearance method, server, robot and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110675541A (en) * | 2019-11-04 | 2020-01-10 | 北京海益同展信息科技有限公司 | Access control method, access processing method, device and system |
| CN111360802A (en) * | 2020-03-03 | 2020-07-03 | 上海有个机器人有限公司 | Control method and system for robot to pass through gate |
| CN112540605A (en) * | 2020-03-31 | 2021-03-23 | 深圳优地科技有限公司 | Multi-robot cooperation clearance method, server, robot and storage medium |
| CN112540605B (en) * | 2020-03-31 | 2024-06-25 | 深圳优地科技有限公司 | Multi-robot cooperation clearance method, server, robot and storage medium |
| CN112442958A (en) * | 2020-12-08 | 2021-03-05 | 苏州优智达机器人有限公司 | Method for enabling unmanned equipment to pass through channel blocking device, unmanned equipment and system |
| CN112735001A (en) * | 2020-12-10 | 2021-04-30 | 南京熊猫电子股份有限公司 | Mobile terminal gating system and method based on machine interaction technology |
| CN113090158A (en) * | 2021-04-12 | 2021-07-09 | 上海高仙自动化科技发展有限公司 | Interception device passing method and device and readable non-transitory storage medium |
| CN114217623A (en) * | 2021-12-14 | 2022-03-22 | 北京云迹科技股份有限公司 | Method and device for robot to pass through gate |
| CN116229629A (en) * | 2023-05-09 | 2023-06-06 | 山东力拓智能科技有限公司 | Access control calling device control method and system |
| CN117079371A (en) * | 2023-10-13 | 2023-11-17 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
| CN117079371B (en) * | 2023-10-13 | 2024-04-05 | 成都越凡创新科技有限公司 | Scheduling method and system for access control rights |
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