CN111360802B - Control method and system for robot to pass through gate - Google Patents
Control method and system for robot to pass through gate Download PDFInfo
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- CN111360802B CN111360802B CN202010140720.3A CN202010140720A CN111360802B CN 111360802 B CN111360802 B CN 111360802B CN 202010140720 A CN202010140720 A CN 202010140720A CN 111360802 B CN111360802 B CN 111360802B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
Abstract
The invention relates to a control method and a control system for a robot to pass through a gate. The method comprises the following steps: the robot acquires a target gate number by adopting a preset method corresponding to the current network state; the robot moves to the target gate, whether the registration information of the target gate contains a corresponding robot number is judged when the robot moves to a preset waiting point of the target gate, and if yes, the robot passes through the target gate in a state interaction mode with the target gate; if not, a first gate passing request including the robot number is sent to the target gate so as to drive the target gate to register the robot number. The mobile robot can quickly acquire the most suitable target gate to pass through in a mode of combining far field communication and near field communication, and simultaneously can ensure that only one mobile robot passes through the target gate at the same time, so that the situation that a plurality of robots seize the gate is avoided, the working efficiency of the robot is improved, and the errors of the robot in the transportation process are reduced.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to a method and a system for controlling a robot to pass through a gate.
[ background of the invention ]
With the development of the technology, the mobile robot can help people to complete simple and repetitive work tasks, such as material transfer work between factory warehouses on the same floor and across floors, night patrol work in buildings, welcome work in entertainment places such as hotels and KTVs, and the like, and some gate machines are generally added in the places to ensure safety. In the prior art, devices such as gates generally only allow one robot device to pass through, and once the number of the robot devices increases, the contradiction of seizing the gates is often caused when a plurality of robots all pass through the gates, so that the passing efficiency is reduced.
[ summary of the invention ]
The invention provides a method and a system for controlling a robot to pass through a gate, which solve the technical problems that the contradiction that the gate is easily occupied among multiple robots and the passing efficiency of the robot is influenced.
The technical scheme for solving the technical problems is as follows: a control method for a robot to pass through a gate comprises the following steps:
step 1, acquiring a target gate serial number by the robot by adopting a preset method corresponding to the current network state;
step 2, the robot moves to a target gate, when the robot moves to a preset waiting point of the target gate, the registration information of the target gate is inquired, whether the registration information contains a corresponding robot number or not is judged, and if yes, the robot passes through the target gate in a state interaction mode with the target gate; if not, sending a first gate passing request comprising the robot number to the target gate to drive the target gate to register the robot number.
In a preferred embodiment, the method for acquiring the number of the target gate by the robot by using the preset method corresponding to the current network state specifically includes: the robot judges whether a far-field communication network exists or not, if so, a second gate passing request at least comprising a robot number and order information is sent to the cloud server, a target gate number generated by the cloud server according to the order information is received, and meanwhile, the cloud server sends the robot number to the target gate so as to drive the target gate to register the robot number; if no far field communication network exists, the far field communication network is not available or the target gate number cannot be acquired through the far field communication network within preset time, the robot broadcasts a third gate passing request at least comprising the robot number through the near field communication network, any idle gate automatically registers the robot number when acquiring the third gate passing request, and the gate number of the idle gate is used as the target gate number and is sent to the robot.
In a preferred embodiment, the far-field communication network comprises a mobile communication network, a WIFI communication network and/or an internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
In a preferred embodiment, the robot, through the target gate, performs state interaction with the target gate, and specifically includes the following steps:
step 201, after judging that the registration information contains the robot number of the robot, the robot moves to the inside of a target gate, marks the state of the robot as a passing gate when the robot moves to the entrance of the target gate, and sends a door opening request to the target gate;
step 202, after observing a door opening request of the robot, the target gate checks the state of the robot, opens the gate according to the traveling direction of the robot after the checking is passed, and marks the state of the target gate as the gate is opened;
step 203, the robot observes that the target gate is opened and continues to pass through, if the target gate is successfully passed through, the state of the robot is marked to be abandoned for opening the door, if the target gate is failed to pass through, the robot actively returns to the entrance, and meanwhile, the state of the robot is marked to be abandoned for opening the door;
step 204, the robot confirms the current position again, and if the current position is outside the target gate, the state of the robot is marked as the end of the passing task;
and step 205, after the target gate observes that the state of the robot is the task, closing the gate, and actively clearing the robot number in the registration information.
In a preferred embodiment, when the number of times of sending the first gate pass request to the target gate reaches the preset number and the target gate fails to register the robot number, the step 2 returns to the step 1 to acquire a new target gate number again.
A second aspect of the embodiments of the present invention provides a control system for a robot to pass through a gate, including a robot, a cloud server, and at least one idle gate, where the robot is configured to obtain a target gate number from the cloud server or the idle gate by using a preset method corresponding to a current network state, move to the target gate, query registration information of the target gate when moving to a preset waiting point of the target gate, determine whether the registration information includes a corresponding robot number, and if so, pass through the target gate by performing state interaction with the target gate; if not, sending a first gate passing request comprising the robot number to the target gate to drive the target gate to register the robot number.
In a preferred embodiment, the robot comprises a judging module, a far-field transmitting module, a near-field transmitting module and a receiving module,
the judging module is used for judging whether a far field communication network, a near field communication network, the communication quality of the far field communication network, the communication quality of the near field communication network and whether a target gate number is acquired through the far field communication network exist or not;
the far-field sending module is used for sending a second gate passing request at least comprising a robot number and order information to the cloud server when a far-field communication network exists;
the near field sending module is used for broadcasting a third gate passing request at least comprising a robot number when a far field communication network does not exist, the far field communication network is not communicated or a target gate number cannot be obtained through the far field communication network within a preset time;
the receiving module is used for receiving a target gate serial number generated by the cloud server according to the order information; and the target gate number is generated by the idle gate according to the third gate through the request.
In a preferred embodiment, the far-field communication network comprises a mobile communication network, a WIFI communication network and/or an internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
In a preferred embodiment, the robot further comprises a first motion control module, a second motion control module and a third motion control module, the target gate comprises an opening control module,
the first motion control module is used for controlling the robot to move towards the interior of the target gate after judging that the registration information contains the robot number of the robot, marking the state of the robot as the passing gate when the robot moves to the entrance of the target gate, and sending a door opening request to the target gate;
the second motion control module is used for observing that the robot continues to pass after the target gate is opened, if the robot successfully passes through the target gate, the state of the robot is marked to be abandoned for opening the door, and if the robot fails to pass through, the robot is controlled to actively return to the entrance of the target gate, and meanwhile, the state of the robot is marked to be abandoned for opening the door;
the third motion control module is used for confirming the current position of the robot again when the state of the robot is that the door is opened in a abandoning mode, and marking the state of the robot as the end of a passing task if the current position is outside a target gate;
the door opening control module is used for checking the state of the robot after receiving a door opening request of the robot, opening the gate according to the traveling direction of the robot after the checking is passed, and marking the state of the target gate as the gate is opened; and the gate is closed after the robot is observed to be in the state of the task, and the robot number in the registration information is actively cleared.
In a preferred embodiment, the robot is further configured to acquire a new target gate number from the cloud server or the idle gate again by using a preset method corresponding to the current network state when the number of times of sending the first gate passing request to the target gate reaches a preset number and the target gate still fails to register the robot number.
The invention provides a method and a system for controlling a robot to pass through a gate, wherein a mobile robot can quickly acquire the most appropriate number of a target gate in a mode of combining far field communication and near field communication, and meanwhile, only one mobile robot passes through the target gate at the same time by performing real-time state interaction with the target gate, so that the situation that a plurality of robots seize the gate is avoided, the working efficiency of the robot is improved, and the errors of the robot in the transportation process are reduced.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a control method for a robot to pass through a gate provided in embodiment 1;
fig. 2 is a schematic structural diagram of a control system of a robot passing gate provided in embodiment 2.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flowchart of a method for controlling a robot to pass through a gate provided in embodiment 1, and as shown in fig. 1, the method includes the following steps:
step 1, the robot acquires the number of the target gate by adopting a preset method corresponding to the current network state. Specifically, the robot first determines whether a far-field communication network exists, and if so, preferentially sends a second gate passing request including at least a robot number and order information to the cloud server. The cloud server selects the most appropriate gate as a target gate according to the current use state of each gate, such as whether the gate is occupied and the order information, such as the destination of the order, the expected electric quantity consumption, the task urgency and the like, generates a target gate number and sends the target gate number to the robot; meanwhile, the cloud server sends the robot number to the target gate to drive the target gate to register the robot number. At this time, the other robots can see that the target gate has registered a robot number indicating that the target gate is occupied, so that other available gates are selected, and the gate preemption condition is avoided. If no far field communication network exists, the far field communication network is not available or the target gate number cannot be acquired through the far field communication network within preset time, the robot broadcasts a third gate passing request at least comprising the robot number through the near field communication network, any idle gate automatically registers and broadcasts the robot number when acquiring the third gate passing request, then the gate number of the idle gate is used as the target gate number and sent to the robot, and other available gates can be selected after other robots observe the gate number.
In a preferred embodiment, the far-field communication network comprises a mobile communication network, such as a 2g, 3g, 4g, 5g network, a WIFI communication network and/or an internet of things communication network, such as an NB-IOT network and a LoRa network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
Then step 2 is executed, the robot moves to a target gate, when the robot moves to a preset waiting point of the target gate, the registration information of the target gate is inquired, whether the registration information contains a corresponding robot number or not is judged, and if yes, the robot passes through the target gate in a state interaction mode with the target gate; if not, sending a first gate passing request comprising the robot number to the target gate to drive the target gate to register the robot number again. And if the times of sending the first gate passing request to the target gate reaches the preset times and the target gate still fails to register the robot number, returning to the step 1 to obtain a new target gate number again.
In a preferred embodiment, the method for the robot to pass through the target gate in a state interaction manner includes the following steps:
and step 201, after judging that the registration information contains the robot number of the robot, the robot moves to the inside of the target gate, marks the state of the robot as the passing gate when the robot moves to the entrance of the target gate, and sends a door opening request to the target gate.
And step 202, after observing the door opening request of the robot, the target gate checks the state and the position of the robot, opens the gate according to the traveling direction of the robot after the checking is passed, and marks the state of the target gate as the gate is opened.
And step 203, the robot continues to pass after observing that the target gate is opened, and if the robot passes through the target gate successfully, the state of the robot is marked as that the door is opened. If the pass fails, for example, the robot is found to be blocked in the pass process, the robot actively retreats to the entrance, and simultaneously marks the self state as abandoning the door opening; if the backspacing fails, the robot initiates the operation of turning around in situ, continues to return to the entrance after turning around in situ, and simultaneously marks the self state as giving up opening the door. At this time, the robot may send a door opening request to the target gate again, and repeat steps 202-203 until the target gate is successfully passed or the number of repetitions reaches a preset threshold, abandon the target gate, and return to step 1 again to select another gate to pass.
And step 204, the robot confirms the current position again, and if the current position is outside the target gate, the state of the robot is marked as the end of the passing task.
And step 205, after the target gate observes that the state of the robot is the task, closing the gate, actively clearing the robot number in the registration information and yielding resources. In a preferred embodiment, the real-time position and the current state of the robot can also be marked simultaneously, thereby further improving the traffic efficiency.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 2 is a schematic structural diagram of a control system of a robot passing through a gate provided in embodiment 2, and as shown in fig. 2, the control system includes a robot 100, a cloud server 200, and at least one idle gate 300, where the robot 100 is configured to acquire a target gate number from the cloud server or the idle gate by using a preset method corresponding to a current network state, move to the target gate, query registration information of the target gate when moving to a preset waiting point of the target gate, determine whether the registration information includes the corresponding robot number, and if so, pass through the target gate by performing state interaction with the target gate; if not, sending a first gate passing request including the robot number to the target gate to drive the target gate to register the robot number.
In a preferred embodiment, the robot 100 includes a determining module 101, a far-field transmitting module 102, a near-field transmitting module 103 and a receiving module 104,
the judging module 101 is configured to judge whether a far-field communication network, a near-field communication network, communication quality of the far-field communication network, communication quality of the near-field communication network, and whether a target gate number is obtained through the far-field communication network;
the far-field sending module 102 is configured to send a second gate passing request including at least a robot number and order information to a cloud server when a far-field communication network exists;
the near field sending module 103 is configured to broadcast a third gate passing request at least including a robot number when there is no far field communication network, the far field communication network is blocked, or a target gate number cannot be obtained through the far field communication network within a preset time;
the receiving module 104 is configured to receive a target gate number generated by the cloud server according to the order information; and the target gate number is generated by the idle gate according to the third gate through the request.
In a preferred embodiment, the far-field communication network comprises a mobile communication network, a WIFI communication network and/or an internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
In a preferred embodiment, the robot 100 further comprises a first motion control module 105, a second motion control module 106, and a third motion control module 107, the object gate comprises an open gate control module 301,
the first motion control module 105 is configured to control the robot to move towards the inside of the target gate after determining that the registration information includes the robot number of the robot, mark a state of the robot as a passing gate when the robot moves to an entrance of the target gate, and send a door opening request to the target gate;
the second motion control module 106 is configured to observe that the robot continues to pass after the target gate is opened, mark the state of the robot as giving up to open the door if the robot successfully passes through the target gate, and control the robot to actively move back to the entrance of the target gate if the robot fails to pass through the target gate, and mark the state of the robot as giving up to open the door at the same time;
the third motion control module 107 is configured to, when the robot is in a state of abandoning door opening, confirm the current position of the robot again, and mark the state of the robot as end of a passing task if the current position is outside the target gate;
the door opening control module 301 is configured to, after receiving a door opening request from the robot, check the state of the robot, open a gate according to the direction of travel of the robot after the check is passed, and mark the state of the target gate as that the gate is opened; and the gate is closed after the robot is observed to be in the state of the task, and the robot number in the registration information is actively cleared.
In a preferred embodiment, the robot 100 is further configured to acquire a new target gate number from the cloud server or the idle gate by using the preset method corresponding to the current network state again when the number of times of sending the first gate passing request to the target gate reaches a preset number of times and the target gate still fails to register the robot number.
It should be clear to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional units and modules is only used for illustration, and in practical applications, the above function distribution may be performed by different functional units and modules as needed, that is, the internal structure of the apparatus may be divided into different functional units or modules to perform all or part of the above described functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the technical solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one type of logical function division, and other division manners may be available in actual implementation, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A control method for a robot to pass through a gate is characterized by comprising the following steps:
step 1, acquiring a target gate serial number by the robot by adopting a preset method corresponding to the current network state;
step 2, the robot moves to a target gate, when the robot moves to a preset waiting point of the target gate, the registration information of the target gate is inquired, whether the registration information contains a corresponding robot number or not is judged, and if yes, the robot passes through the target gate in a state interaction mode with the target gate; if not, sending a first gate passing request including the robot number to the target gate to drive the target gate to register the robot number.
2. The method for controlling the robot to pass through the gate according to claim 1, wherein the method for acquiring the number of the target gate by the robot by adopting the preset method corresponding to the current network state specifically comprises the following steps: the robot judges whether a far-field communication network exists or not, if so, a second gate passing request at least comprising a robot number and order information is sent to the cloud server, a target gate number generated by the cloud server according to the order information is received, and meanwhile, the cloud server sends the robot number to the target gate so as to drive the target gate to register the robot number; if no far field communication network exists, the far field communication network is not available or the target gate number cannot be acquired through the far field communication network within preset time, the robot broadcasts a third gate passing request at least comprising the robot number through the near field communication network, any idle gate automatically registers the robot number when acquiring the third gate passing request, and the gate number of the idle gate is used as the target gate number and is sent to the robot.
3. The robot control method through a gate of claim 2, wherein the far field communication network comprises a mobile communication network, a WIFI communication network and/or an internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
4. A method for controlling a robot to pass through a gate according to any one of claims 1-3, wherein the robot passes through the target gate by means of state interaction with the target gate comprises the following steps:
step 201, after judging that the registration information contains the robot number of the robot, the robot moves to the inside of a target gate, marks the state of the robot as a passing gate when the robot moves to the entrance of the target gate, and sends a door opening request to the target gate;
step 202, after observing a door opening request of the robot, the target gate checks the state of the robot, opens the gate according to the traveling direction of the robot after the checking is passed, and marks the state of the target gate as the gate is opened;
step 203, the robot observes that the target gate is opened and continues to pass through, if the target gate is successfully passed through, the state of the robot is marked to be abandoned for opening the door, if the target gate is failed to pass through, the robot actively returns to the entrance, and meanwhile, the state of the robot is marked to be abandoned for opening the door;
step 204, the robot confirms the current position again, and if the current position is outside the target gate, the state of the robot is marked as the end of the passing task;
and step 205, after the target gate observes that the state of the robot is the task end, closing the gate, and actively clearing the robot number in the registration information.
5. The method for controlling robot passing gates according to claim 4, wherein in step 2, when the number of times the first gate passing request is transmitted to the target gate reaches a preset number and the target gate still fails to register the robot number, the method returns to step 1 to acquire a new target gate number again.
6. A control system for a robot to pass through a gate is characterized by comprising the robot, a cloud server and at least one idle gate, wherein the robot is used for acquiring a target gate number from the cloud server or the idle gate by adopting a preset method corresponding to the current network state, moving the target gate, inquiring registration information of the target gate when the robot moves to a preset waiting point of the target gate, judging whether the registration information contains the corresponding robot number, and if so, passing through the target gate in a state interaction mode with the target gate; if not, sending a first gate passing request comprising the robot number to the target gate to drive the target gate to register the robot number.
7. The control system of a robot pass-gate of claim 6, wherein the robot comprises a determination module, a far-field transmission module, a near-field transmission module and a receiving module,
the judging module is used for judging whether a far field communication network, a near field communication network, the communication quality of the far field communication network, the communication quality of the near field communication network and whether a target gate number is acquired through the far field communication network exist or not;
the far-field sending module is used for sending a second gate passing request at least comprising a robot number and order information to the cloud server when a far-field communication network exists;
the near field sending module is used for broadcasting a third gate passing request at least comprising a robot number when a far field communication network does not exist, the far field communication network is not available or a target gate number cannot be obtained through the far field communication network within preset time;
the receiving module is used for receiving a target gate serial number generated by the cloud server according to the order information; and the target gate number is generated by the idle gate according to the third gate through the request.
8. The control system of a robotic pass-through gate of claim 7, wherein the far-field communication network comprises a mobile communication network, a WIFI communication network, and/or an Internet of things communication network; the near field communication network comprises any one or more of a 2.4G network, a Bluetooth network, an RFID network, an NFS network, a ZigBee network, a UWB network and an LIFI network.
9. A control system for a robot pass-through gate according to any of claims 6-8, wherein the robot further comprises a first motion control module, a second motion control module and a third motion control module, the target gate comprises an open gate control module,
the first motion control module is used for controlling the robot to move towards the interior of the target gate after judging that the registration information contains the robot number of the robot, marking the state of the robot as a passing gate when the robot moves to the entrance of the target gate, and sending a door opening request to the target gate;
the second motion control module is used for observing that the robot is controlled to continue to pass after the target gate is opened, if the robot successfully passes through the target gate, the state of the robot is marked to be abandoned for opening the door, and if the robot fails to pass through, the robot is controlled to actively return to an entrance of the target gate, and meanwhile, the state of the robot is marked to be abandoned for opening the door;
the third motion control module is used for confirming the current position of the robot again when the robot is in a state of abandoning door opening, and marking the state of the robot as the end of the passing task if the current position is outside the target gate;
the door opening control module is used for checking the state of the robot after receiving a door opening request of the robot, opening the gate according to the traveling direction of the robot after the checking is passed, and marking the state of the target gate as the gate is opened; and the gate is closed after the robot is observed to be in the state of the task, and the robot number in the registration information is actively cleared.
10. The system of claim 9, wherein the robot is further configured to obtain a new target gate number from the cloud server or the idle gate again by using a preset method corresponding to the current network status when the number of times of sending the first gate passing request to the target gate reaches a preset number of times and the target gate still fails to register the robot number.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010140720.3A CN111360802B (en) | 2020-03-03 | 2020-03-03 | Control method and system for robot to pass through gate |
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| CN202010140720.3A CN111360802B (en) | 2020-03-03 | 2020-03-03 | Control method and system for robot to pass through gate |
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| CN111360802A CN111360802A (en) | 2020-07-03 |
| CN111360802B true CN111360802B (en) | 2022-09-13 |
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| 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 |
| CN113090158B (en) * | 2021-04-12 | 2023-04-07 | 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 |
| CN114089672A (en) * | 2021-11-22 | 2022-02-25 | 北京云迹科技有限公司 | External circuit of gate, gate control method, device and 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 |
| CN114475654B (en) * | 2022-01-13 | 2024-03-15 | 香港中文大学（深圳） | Vehicle control method and device and computer readable storage medium |
| CN117001654A (en) * | 2022-04-29 | 2023-11-07 | 深圳市普渡科技有限公司 | Robot gate passing method and device and computer equipment |
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