CN111462375A - Access control method and device, inspection system and electronic equipment - Google Patents
Access control method and device, inspection system and electronic equipment Download PDFInfo
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- CN111462375A CN111462375A CN202010248337.XA CN202010248337A CN111462375A CN 111462375 A CN111462375 A CN 111462375A CN 202010248337 A CN202010248337 A CN 202010248337A CN 111462375 A CN111462375 A CN 111462375A
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- 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
- G07C1/00—Registering, indicating or recording the time of events or elapsed time, e.g. time-recorders for work people
- G07C1/20—Checking timed patrols, e.g. of watchman
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Abstract
The disclosure provides an access control method, an access control device, an inspection system and electronic equipment, wherein the access control method comprises the following steps: determining entrance guard position information and a routing inspection path; determining access control point information, wherein the access control point information is determined based on the routing inspection path and the access control position information; sending an access control instruction to the access control system so that the access control system controls the specified access to be in a specified state; when the access control instruction is triggered, the robot is located at an access control point corresponding to the access control point information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
Description
Technical Field
The present disclosure relates to the field of security technologies, and in particular, to an access control method, an access control device, an inspection system, and an electronic device.
Background
With the explosive growth of data and requests in the internet era, the number of devices in the server center is rapidly increasing, which leads to a great increase in the workload of machine room inspection. The inspection robot is used for gradually replacing the manual work to complete daily inspection work such as inspection, inspection and the like, the inspection efficiency of the machine room can be effectively improved, and the labor cost is reduced.
In the related art, machine room access controls are distributed in Internet Data centers (IDCs for short), and when an inspection robot automatically inspects in a machine room, the inspection robot needs to pass through a plurality of access controls. The entrance guard of computer lab passageway accessible presses the entrance guard button or modes such as punching the card open relevant entrance guard. The manner of pressing the access control button is not widely adopted in the IDC of higher security level in view of the poor control of security authority. Card-swiping type entrance guard has higher applicability in IDC, and illegal invasion is prevented by arranging multiple card-swiping type entrance guards. When deploying the inspection robot in the machine room with multiple access controls, in order to enable the inspection robot to obtain authorization to pass through the access controls, an access control card needs to be arranged on the inspection robot.
In carrying out the disclosed concept, the inventors have discovered that there are at least the following problems in the prior art. There are multiple entrance guard in the computer lab, and the robot carries out the different entrance guard that passes through when patrolling and examining the task different, if need take out the access control card in patrolling and examining the robot with the renewal authorization information when the authority changes, lead to the operation inconvenience. In addition, the security of the access card cannot be guaranteed.
Disclosure of Invention
In view of the above, the present disclosure provides an access control method and apparatus, an inspection system, and an electronic device for improving convenience of automatic inspection and safety of a machine room.
One aspect of the present disclosure provides an access control method performed by a robot, including: determining entrance guard position information and a routing inspection path; determining access control point information, wherein the access control point information is determined based on the routing inspection path and the access control position information; sending an access control instruction to the access control system so that the access control system controls the specified access to be in a specified state; when the access control instruction is triggered, the robot is located at an access control point corresponding to the access control point information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
According to the access control method provided by the embodiment of the disclosure, the access control required to pass by the inspection robot is determined according to the inspection path and the access control position information, the access control point information is automatically generated, and convenience in updating the authorization information is improved. When the robot is at the entrance guard control point, automatic triggering sends the entrance guard control instruction to access control system to open the entrance guard, need not to use the entrance guard card, promoted the convenient degree of deployment robot. Because the robot just can trigger access control instruction when being in access control point, has promoted access control system's security. The access control method provided by the embodiment of the disclosure can effectively improve the flexibility, the safety and the manageability of the inspection robot, the inspection robot does not need to carry an access control card, the non-card operation is realized, the operation and maintenance operation process of the access control card is reduced, and the convenience of the machine room access control management under the multi-inspection robot is promoted. In addition, the access control method can be suitable for various inspection robots and access control systems on the market.
According to the embodiment of the disclosure, the method further comprises the steps of determining the current state of the designated entrance guard based on the sensor after sending an entrance guard control instruction to the entrance guard system to control the designated entrance guard of the entrance guard system to be in the designated state; and determining a robot action based on the specified state and the current state.
According to an embodiment of the disclosure, determining the robot action based on the specified state and the current state comprises at least one of: if the specified state and the current state are both in an open state, determining that the action of the robot passes through the specified access control; if it is determined that the specified state is an open state and the current state is a closed state, then it is determined that the robot action is: repeatedly sending an access control instruction representing that the specified access is opened to the access control system until the specified state and the current state are both in an open state, or sending abnormal information to the access control system until a first specified number of threshold values is reached; if the specified state and the current state are both determined to be the closing state, determining that the robot action is to continue to execute the task; and if it is determined that the specified state is an off state and the current state is an on state, determining that the robot action is: and repeatedly sending an access control instruction for representing closing of the specified access control to the access control system until the specified state and the current state are both closed states, or sending abnormal information to the access control system until a second specified time threshold is reached, and continuing to execute the task after the abnormal information is sent.
According to an embodiment of the present disclosure, the method further includes associating the access control point information with a built-in map of the robot and/or associating the access control point information with a drawn map of the robot after determining the access control point information.
According to the embodiment of the disclosure, in the associated built-in map and/or drawing map, the distance between the access control point position of the access control point information and the corresponding access control position is determined based on the attribute information of the robot.
According to the embodiment of the disclosure, the access control instruction comprises an access identifier; the access control identification is determined based on access control point information and a first mapping relation, and the first mapping relation is between the access control identification and the access control point information.
One aspect of the present disclosure provides an access control method performed by an access control system, including: responding to an access control instruction from the robot, and determining an appointed access corresponding to the access control instruction; and controlling the appointed entrance guard to be in an appointed state; the access control instruction is triggered when the robot is located at an access control point, the access control point is determined by the robot based on the routing inspection path and the access control position information, and the appointed access control is the access control corresponding to the current access control point where the robot is located.
According to the embodiment of the present disclosure, an entrance guard includes a state detection auxiliary device.
According to an embodiment of the present disclosure, the method further includes receiving a current status of a designated gate from the robot; comparing the current state with the specified state; if the current state is determined to be inconsistent with the specified state, the control instruction is repeatedly sent to the specified entrance guard until the current state is consistent with the specified state, or the alarm information is output until a third specified time threshold value is reached.
Another aspect of the present disclosure provides an access control apparatus including: the device comprises a first information determining module, a second information determining module and a first control module. The first information determining module is used for determining entrance guard position information and a routing inspection path; the second information determining module is used for determining access control point information, and the access control point information is determined based on the routing inspection path and the access control position information; the first control module is used for sending an access control instruction to the access control system so that the access control system controls the specified access to be in a specified state; when the access control instruction is triggered, the robot is located at an access control point corresponding to the access control point information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
Another aspect of the present disclosure provides an access control apparatus including: the device comprises a first response module and a second control module. The first response module is used for responding to an access control instruction from the robot and determining an appointed access corresponding to the access control instruction; and the second control module is used for controlling the designated access control to be in a designated state, wherein the access control command is triggered when the robot is located at an access control point, the access control point is determined by the robot based on the routing inspection path and the access control position information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
Another aspect of the present disclosure provides an inspection system, including: robots and access control systems. Wherein, this robot is provided with above-mentioned entrance guard's controlling means by the robot execution. The access control system is provided with the access control device executed by the access control system.
Another aspect of the present disclosure provides an electronic device comprising one or more processors and a storage for storing executable instructions that, when executed by the processors, implement the method as described above.
Another aspect of the present disclosure provides a computer-readable storage medium storing computer-executable instructions for implementing the method as described above when executed.
Another aspect of the disclosure provides a computer program comprising computer executable instructions for implementing the method as described above when executed.
Drawings
The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:
fig. 1 schematically illustrates an application scenario of an access control method, an access control device, an inspection system and an electronic device according to an embodiment of the disclosure;
fig. 2 schematically illustrates an exemplary system architecture to which the access control method, apparatus, inspection system and electronic device may be applied, according to an embodiment of the present disclosure;
fig. 3 schematically shows a flow chart of an access control method according to an embodiment of the present disclosure;
fig. 4 schematically illustrates a schematic diagram of a routing inspection path according to an embodiment of the disclosure;
FIG. 5 schematically illustrates a schematic view of an access control point according to an embodiment of the disclosure;
fig. 6 schematically illustrates a schematic view of an access control point according to another embodiment of the present disclosure;
fig. 7 schematically shows a flow chart of an access control method according to another embodiment of the present disclosure;
fig. 8 schematically shows a structural diagram of a door access according to an embodiment of the present disclosure;
fig. 9 schematically shows a logic diagram of an access control method according to an embodiment of the present disclosure;
fig. 10 schematically shows a block diagram of an access control device according to an embodiment of the present disclosure;
fig. 11 schematically shows a block diagram of an access control device according to another embodiment of the present disclosure; and
FIG. 12 schematically shows a block diagram of an electronic device according to an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more features.
The embodiment of the disclosure provides an access control method, an access control device, an inspection system and electronic equipment. The access control method comprises an access control point determining process and an access control process. In the process of determining the access control point, firstly, determining access control position information and an inspection path, and then determining the access control point information, wherein the access control point information is determined based on the inspection path and the access control position information. After finishing the entrance guard control point confirming process, entering the entrance guard control process, sending an entrance guard control instruction to the entrance guard system, so that the appointed entrance guard of entrance guard system control is in an appointed state, wherein, when the entrance guard control instruction is triggered, the robot is located at the entrance guard control point corresponding to the entrance guard control point information, and the appointed entrance guard is the entrance guard corresponding to the current entrance guard control point where the robot is located.
Fig. 1 schematically shows an application scenario of an access control method, an access control device, an inspection system and an electronic device according to an embodiment of the disclosure. The application scene can comprise an inspection robot and a machine room (comprising a server, a cabinet, a machine room channel and the like). The inspection robot can have a laser navigation function and is used for moving, positioning and detecting obstacles in a machine room. An access control system is required to be configured in the machine room channel, and a wireless network is required to be arranged in the machine room, so that information interaction between the inspection robot and the access control system is facilitated.
The inspection robot can be provided with a chassis laser navigator and navigation software, the two items are basic configuration of the inspection robot and need to be matched for use, and position information in a real-time machine room of the inspection robot can be provided. The acoustic wave sensor can further detect the barrier and improve the driving safety of the inspection robot. The access control system can be provided with an access control system and management software so as to be convenient for communication interaction with the inspection robot. And an exclusive wireless network of the inspection robot can be configured in the machine room.
As shown in fig. 1, the IDC has a plurality of servers 120 (which may be disposed in a cabinet), and the servers 120 are connected to a power supply, a network, and provide data services to the outside through the network. The server 120, the power supply equipment, the power transformation equipment, the air conditioning equipment and the like need to operate continuously all the year round, so that the power consumption of the center of the server is large, the power supply cable is overheated due to poor contact or overcurrent of the power supply cable and the like, the power supply fault of a machine room is caused, and a fire disaster is caused in severe cases. In the related technology, equipment such as servers 120 and the like can be regularly inspected through the inspection robot 110 in a machine room channel, and the like, and machine room environment data such as temperature, humidity, cleanliness, air flow speed and the like are regularly collected through the sensors 111 such as a temperature and humidity sensor, an air sensor, an image sensor, an infrared sensor and the like, so that the environmental condition distribution of a machine room is analyzed, indexes such as cabinet utilization rate and the like are counted, the comprehensive evaluation of the overall running state of the equipment and the machine room is formed, and a timely and effective data basis is provided for IDC operation and maintenance. In addition, the sensors 111 may also include lidar, ultrasonic radar, and the like to enable positioning and navigation. In order to improve the security of the IDC, implement the equipment security, the information security, etc., an entrance guard 121 may be disposed at any position of the passageway of the machine room. In order to enable the inspection robot 110 to smoothly pass through the access control 121, the related art may be implemented in a manner of configuring an access control card for the inspection robot 110.
This disclosed embodiment can be when patrolling and examining robot 110 and being in the access control point, send the access control instruction to access control system automatically, this access control point is based on patrolling and examining route and entrance guard position information automatic determination, need not to be given each to patrol and examine robot 110 by fortune dimension personnel and carries out independent configuration, has promoted the convenient degree of patrolling and examining robot 110 and maintaining greatly. In addition, only when the inspection robot 110 is at an access control point, an access control command is triggered, and the safety of the IDC can be effectively guaranteed.
Fig. 2 schematically shows an exemplary system architecture to which the access control method, apparatus, inspection system and electronic device may be applied according to an embodiment of the present disclosure. It should be noted that fig. 2 is only an example of a system architecture to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and does not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.
As shown in fig. 2, a system architecture 200 according to this embodiment may include a robot 201, terminal devices 202, 203, a network 204, and servers 205, 206. The network 204 serves as a medium for providing communication links between the robot 201, the terminal devices 202, 203 and the servers 205, 206. Network 204 may include various connection types, such as wired, wireless communication links, or fiber optic cables, to name a few.
The robot 201 interacts with servers 205, 206 via a network 204, and a user may interact with the servers 205, 206 via the network 204 using terminal devices 202, 203 to receive or transmit information or the like. The terminal devices 202, 203 may be installed with various communication client applications, such as an operation and maintenance application (e.g., for an access control system or a robot), an operation and management application, an office application, a shopping application, a web browser application, a search application, an instant messaging tool, a mailbox client, social platform software, and the like (for example only).
The robot 201 may be a robot having information collecting components such as a camera, a gas sensor, a sound sensor, etc., such as an inspection robot, etc. The terminal devices 202, 203 include, but are not limited to, smart phones, tablets, laptop portable computers, desktops, virtual reality devices, augmented reality devices, and the like.
The server 205 may provide services for an access control system, and the server 206 may provide monitoring services for a network data center and the like. Such as servers 205, 206 may be background management servers, database servers, server clusters, and the like. The background management server can analyze and process the received data and feed back the processing result (such as the door control state, the door control position, the door control abnormal alarm, the machine room state parameter, the machine room abnormal area, the equipment identification and the related information) to the terminal equipment.
It should be noted that the access control method provided by the embodiment of the present disclosure may be generally executed by the robot 201 or the server 205. Accordingly, the access control device provided by the embodiment of the present disclosure may be generally disposed in the robot 201 or the server 205.
It should be understood that the number of terminal devices, networks, and servers are merely illustrative. There may be any number of terminal devices, networks, and servers, as desired for implementation.
Fig. 3 schematically shows a flow chart of an access control method according to an embodiment of the present disclosure.
As shown in fig. 3, the access control method may include operations S301 to S305.
In operation S301, entrance guard position information and a patrol route are determined.
In this embodiment, the entrance guard position information may be geographical position information, such as coordinate information or area information for a specific map. For example, the entrance guard position information may be coordinate information of a map for a machine room. For another example, the entrance guard position information may be latitude and longitude information, and the latitude and longitude information may be converted into coordinate information of a map for the machine room. The access control position information can be obtained by the robot from an access control system, can also be input to the inspection robot by an operator, and can also be determined by the robot through surveying and mapping.
The routing inspection path may be generated according to a daily routing inspection task and a map of the machine room. For example, the inspection task includes a plurality of inspection position information, and the inspection robot can perform path planning according to the inspection position information and the machine room map to determine the inspection path. It should be noted that, during the route planning, it is default that each door or at least some doors (e.g., authorized doors) are in an open state.
Fig. 4 schematically shows a schematic diagram of a patrol route according to an embodiment of the present disclosure.
As shown in fig. 4, the machine room of the IDC includes a plurality of rows of servers 120, a machine room channel is formed between each row of servers 120, two sides of the machine room channel are respectively provided with a door 121, and each door 121 may be in a normally closed state. Different access control authorities can be set for different inspection robots. For example, the gate 121 that different inspection robots 110 are authorized to open differs. When the route is planned, the entrance authorized to be opened may be used as a route point for the inspection robot 110 to plan the route. As shown in fig. 4, the inspection robot 110 automatically generates an inspection path 410 based on a map of a machine room, an inspection task, and an entrance authorized to open itself. The inspection robot 110 can automatically perform inspection in the machine room based on the inspection path 410 to collect information required for the inspection task.
In operation S303, access control point information is determined, the access control point information being determined based on the patrol route and the access location information.
In this embodiment, entrance guard control point information is located patrols and examines the route, and every robot of patrolling and examining can have a static or dynamic entrance guard control point for an entrance guard, and this entrance guard control point can be confirmed according to the attribute of patrolling and examining the robot for the distance between the entrance guard. Attributes of the inspection robot include, but are not limited to: the size of the robot, the current travel speed of the robot, etc. For example, the faster the travel speed of the inspection robot is, the farther the access control point of the inspection robot can be set with respect to the distance between the accesses, so as to avoid interference between the inspection robot and the accesses. In addition, set up dynamic entrance guard control point as above and also help promoting the efficiency of patrolling and examining the robot, if need not to patrol and examine the robot and brake or obvious speed reduction operation before entrance guard, can pass through entrance guard with higher speed. That is, for a dynamic access control point, one inspection robot may have a plurality of the above-mentioned distances with respect to one access, which may be preset based on size and speed, or determined based on attributes of each inspection robot before passing through the access.
Fig. 5 schematically shows a schematic diagram of an access control point according to an embodiment of the present disclosure.
As shown in fig. 5, the access control point 510 is located before the access 121 that the inspection robot 110 passes through on the inspection path, and when the inspection robot 110 reaches the access control point 510, a control instruction for the access 121 of the access control point 510 may be sent to the access control system. The access control point 510 may be a coordinate point. The access control point 510 may also be an area surrounded by a plurality of coordinate points. The access control point 510 may also be a circular area with a center of a circle and a radius of a specific length. The specific length may be determined based on a first distance between the access control point 510 and the access control 121, for example, the specific length may be a small value of the first distance and a minimum braking distance of the current speed of the inspection robot 110.
Fig. 6 schematically shows a schematic diagram of an access control point according to another embodiment of the present disclosure.
As shown in fig. 6, the access control points include a first access control point 511 located before the access 121 to be passed on the inspection path, and a second access control point 512 located after the access 121. That is, one gate 121 may have two gate control points. The first access control point 511 located before the access 121 is used to control the access 121 to open, and the second access control point 512 located after the access 121 is used to control the access 121 to close. The size of the area covered by the first access control point 511 and the second access control point 512 may be the same or different. For example, if the inspection robot 110 needs to assist in determining whether the access door 121 is closed, the area covered by the second access control point 512 may be larger, so that the inspection robot 110 may assist in determining whether the access door 121 is normally closed while performing an inspection task.
In addition, the closing of the door 121 may also be performed by the door control system based on a preset opening time threshold and detecting whether the door 121 can be closed (e.g., detecting whether an object obstructing the closing of the door 121 exists in the door position), for example, after the door 121 is opened for a specified time (e.g., 3 seconds, 5 seconds, etc.), the door 121 is automatically closed. For another example, after the door 121 is opened for 3 seconds, whether an object exists at the door 121 is detected, and if not, closing is automatically performed.
In operation S305, an entrance guard control instruction is transmitted to the entrance guard system so that the entrance guard system controls a designated entrance guard in a designated state.
When the access control command is triggered, the inspection robot is located at an access control point corresponding to the access control point information, and the appointed access control is the access control corresponding to the current access control point where the inspection robot is located.
For example, the access control instruction includes an access identifier, the access identifier is determined based on the access control point information and a first mapping relationship, and the first mapping relationship is between the access identifier and the access control point information. Therefore, the entrance guard system can rapidly and accurately determine the entrance guard needing to change the state. In addition, the access control system can determine whether the access control command is valid or not, if the access control system can be provided with a plurality of sensors respectively arranged at each access control position to detect whether an object exists nearby the access control, and if the object does not exist, the access control command can be determined to be invalid.
In another embodiment, the method may further include the following operations.
The inspection robot is used as an example, and an access control instruction is sent to the access control system so that the appointed access control of the access control system is in an appointed state, and then the current state of the appointed access control is determined based on the sensor. The current state of the designated access control system can comprise an open state and a closed state. The sensor can be arranged on the inspection robot, and comprises but is not limited to: laser radar, ultrasonic radar, image sensors, and the like. In order to improve the accuracy of determining the current state of the designated entrance guard, a state detection auxiliary device and the like can be arranged on the entrance guard. For example, for a laser radar, a reflecting device (such as a reflecting film) can be arranged on the entrance guard, and for an image sensor, a specific image (such as a two-dimensional code) can be arranged on the entrance guard so as to determine the current state of the entrance guard based on the position of the two-dimensional code in the collected image.
Then, the inspection robot action is determined based on the specified state and the current state.
For example, determining the inspection robot action based on the specified state and the current state includes at least one of the following.
In one embodiment, if it is determined that the designated state and the current state are both the open state, it is determined that the inspection robot action is through the designated gate.
In another embodiment, if it is determined that the specified state is an open state and the current state is a closed state, it is determined that the inspection robot action is: and repeatedly sending an entrance guard control instruction representing that the appointed entrance guard is opened to the entrance guard system until the appointed state and the current state are both in the opening state, or sending abnormal information to the entrance guard system until a first appointed time threshold value is reached. The specified number threshold may be preset, such as 2, 3, 5, and so on. There may be a preset time interval between repeated transmission of the access control command.
In another embodiment, if it is determined that both the specified state and the current state are the off state, it is determined that the inspection robot action is to continue performing the task. Wherein, continuing to execute the task may include at least one of: the inspection robot is driven to a specified position (such as in front of each server), the posture of the inspection robot is adjusted, and information (such as noise information, temperature and humidity information, gas component information, image information containing server images, infrared image information and the like) is collected.
In another embodiment, if it is determined that the specified state is an off state and the current state is an on state, it is determined that the inspection robot action is: and repeatedly sending an access control instruction for representing closing of the specified access control to the access control system until the specified state and the current state are both closed states, or sending abnormal information to the access control system until a second specified time threshold is reached, and continuing to execute the task after the abnormal information is sent. The abnormal information may indicate that the access control cannot be normally closed, and the abnormal information may include at least one of access control point information, access control identification, access control position information, and the like.
Can need not to patrol and examine whether robot detection entrance guard closes among the correlation technique, simplified entrance guard's control logic like this, but also have certain risk, break down after opening like entrance guard, can't normally close, for example again, have the object to be located entrance guard department and lead to entrance guard can't close. The embodiment of the disclosure can effectively improve the safety and reliability of the access control system.
Referring to fig. 6, when the inspection robot 110 reaches the first access control point 511, a control instruction to open the access 121 to the first access control point 511 may be transmitted to the access control system. When the inspection robot 110 reaches the second access control point 512, a control instruction for closing the access 121 to the second access control point 512 may be sent to the access control system. As shown in fig. 6, in the embodiment of the present disclosure, one access control 121 may have two access control points in front and at the back, and after the inspection robot 110 travels through the access control 121, an access control instruction for closing the traveled access control may be sent to the access control system, so that a closed-loop control for one access control 121 is formed, which is beneficial to improving the security of the access control system.
According to the access control method provided by the embodiment of the disclosure, access control point information is automatically generated according to the routing inspection path, the access control position information and the like, and convenience in updating authorization information is improved. When the inspection robot is at an access control point, the inspection robot automatically triggers to send an access control instruction to an access control system so as to open an access, an access card is not needed, and convenience in deploying the inspection robot is improved. The access control method can be suitable for various inspection robots and access control systems in the market, excessive hardware improvement is not needed, and the access control method is convenient to popularize.
In another embodiment, the method may further include the following operations.
After determining the access control point information, associating the access control point information with a built-in map of the inspection robot, and/or associating the access control point information with a drawing map of the inspection robot.
After the information of the access control points is determined, in order to facilitate the inspection robot to determine whether the current position of the robot reaches a certain access control point, the information of the access control points can be associated with a map to form a specific area on the map. The map can be a built-in map of the inspection robot (such as a machine room map based on a world coordinate system) or a drawn map drawn by the inspection robot (such as a map drawn by using a laser radar, and the drawn map can accurately determine the current position of the inspection robot in the map so as to facilitate automatic navigation based on a cruising path).
And in the associated built-in map and/or drawing map, the distance between the access control point position of the access control point information and the corresponding access control position is determined based on the attribute information of the inspection robot.
The following describes an information setting process of the inspection robot in an embodiment.
Firstly, a robot manager can set the inspection robot to acquire access control system information, wherein the access control system information includes but is not limited to a system address, a system interface, a system instruction and the like, so that the inspection robot can perform information interaction with an access control system.
Then, the robot manager can set the inspection robot, and the access control position information of each access control in the machine room to be inspected is acquired from the access control system, so that the access control point information of each access control can be determined.
And then, establishing an appointed number of access control points for all accesses in the machine room in a built-in map of the inspection robot, wherein if the number of the access control points is 2, the positions and the ranges of the access control points can be adjusted based on the volume and the running speed of the inspection robot. And logically associating the access control point with an actual laser map of the inspection robot and the access control point.
By the method, the requirement of the access control method on hardware provided by the embodiment of the disclosure can be met without carrying out a large amount of reconstruction on the inspection robot or the existing access control system.
Another aspect of the present disclosure provides an access control method performed by an access control system. Fig. 7 schematically shows a flow chart of an access control method according to another embodiment of the present disclosure.
As shown in fig. 7, the access control method may include operations S701 to S703.
In operation S701, a designated access control corresponding to an access control instruction is determined in response to the access control instruction from the robot.
In operation S703, the designated access control is controlled to be in a designated state. The access control instruction is triggered when the robot is located at an access control point, the access control point is determined by the robot based on the routing inspection path and the access control position information, and the appointed access control is the access control corresponding to the current access control point where the robot is located.
The above related contents can be referred to for entrance control instructions, routing inspection paths, entrance position information, and the like, and are not described in detail herein.
In one embodiment, the access control includes a status detection aid. The state detection auxiliary device is used for assisting the robot to improve the accuracy of the entrance guard state detection result. Specifically, the state detection auxiliary device includes, but is not limited to, assisting a sensor corresponding to the robot to collect information related to the entrance guard state in a sound, optical, electrical or magnetic field manner. As above, the state detection assistance means may be a reflective film, a specific image, an electric field or magnetic field providing means, or the like.
Fig. 8 schematically shows a structural schematic diagram of a door access according to an embodiment of the present disclosure.
As shown in fig. 8, the door 121 is a glass door, and the sensor is a laser sensor. The door 121 is provided with the reflective film 122, so that laser emitted by the inspection robot can be reflected back better to determine the accurate state of the door 121. Specifically, set up impenetrable reflector layers such as laser (like pasting reflector layer sticker) on entrance guard 121, highly refer to laser sensor height, guarantee that the laser energy is by effective reflection.
In another embodiment, the method may further include the following operations.
First, a current state of a designated gate from the inspection robot is received, and the current state may be included in a gate control instruction.
Then, the current state is compared with the specified state.
If the current state is determined to be inconsistent with the specified state, the control instruction is repeatedly sent to the specified entrance guard until the current state is consistent with the specified state, or the alarm information is output until a third specified time threshold value is reached. The first specified time threshold, the second specified time threshold, and the third specified time threshold may be equal or different, and may be specifically set by an operator.
It should be noted that, for the alarm information of the abnormal access control state, the inspection robot may also output the alarm information to the background server to remind the machine room maintenance personnel to perform maintenance in time.
The access control method is described in detail below with an embodiment. Fig. 9 schematically shows a logic diagram of an access control method according to an embodiment of the present disclosure.
As shown in fig. 9, the access control method may include the following operations.
First, the inspection robot performs an inspection task.
Then, the inspection robot judges whether the inspection route of the inspection task passes through a specific entrance guard.
And then, if the routing inspection route passes through a specific access control, automatically bringing 2 internal and external access control points of the specific access control into the routing inspection route, otherwise, continuously executing the routing inspection task by the routing inspection robot without passing through the specific access control.
Then, after 2 inside and outside entrance guard control points with this specific entrance guard are brought into the route of patrolling and examining automatically, when patrolling and examining robot operation and arriving 2 inside and outside entrance guard control point positions, will open entrance guard's instruction information or close entrance guard's instruction information according to task sequence trigger, entrance guard's system will receive entrance guard's instruction information and turn into the opening of entrance guard or the control command of closing in order to control entrance guard and move.
Then, the inspection robot further confirms the actual state (such as an opening state or a closing state) of the specific access control through the laser navigator and the acoustic wave sensor, and safety driving and machine room safety are ensured.
And then, if the actual state of the specific access control is confirmed to be correct, the inspection robot continues to execute the inspection task. And if the actual state of the specific access control is confirmed to be incorrect, the inspection robot retransmits the access control instruction information and detects the actual state of the access control.
Then, if the inspection robot confirms that the access control is abnormal (if the actual state of the specific access control is still incorrect after the access control instruction information is sent for multiple times), the inspection robot can inform the background that the specific access control needs to be processed by abnormal access control.
The embodiment of the disclosure can improve the flexibility, the safety and the convenient operation degree of the inspection robot passing in the machine room. The inspection robot does not need to carry an access control card, so that the card-free operation is realized, and the operation and maintenance operation process of the access control card is reduced. The access control management efficiency of the inspection robot can be improved, and the management of machine room access controls under multiple inspection robots is facilitated.
Another aspect of the present disclosure provides an access control apparatus provided in a robot. Fig. 10 schematically shows a block diagram of an access control device according to an embodiment of the present disclosure.
As shown in fig. 10, the access control apparatus 1000 may include a first information determination module 1010, a second information determination module 1020, and a first control module 1030.
The first information determining module 1010 is used for determining entrance guard position information and a routing inspection path.
The second information determining module 1020 is configured to determine access control point information, where the access control point information is determined based on the patrol route and the access location information.
The first control module 1030 is configured to send an access control instruction to the access control system, so that the access control system controls a designated access control to be in a designated state; when the access control instruction is triggered, the robot is located at an access control point corresponding to the access control point information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
Another aspect of the present disclosure provides an access control device provided in an access control system. Fig. 11 schematically shows a block diagram of an access control device according to another embodiment of the present disclosure.
As shown in fig. 11, the access control device 1100 may include: a first response module 1110 and a second control module 1120.
The first response module 1110 is configured to determine, in response to an access control instruction from the robot, an assigned access control corresponding to the access control instruction.
The second control module 1120 is used for controlling the specified entrance guard to be in a specified state; the access control instruction is triggered when the robot is located at an access control point, the access control point is determined by the robot based on the routing inspection path and the access control position information, and the appointed access control is the access control corresponding to the current access control point where the robot is located.
Another aspect of the present disclosure provides an inspection system, including: robots and access control systems.
The robot is provided with an access control device as shown in fig. 10.
The access control system is provided with an access control device as shown in fig. 11.
It should be noted that the implementation, solved technical problems, implemented functions, and achieved technical effects of each module/unit and the like in the apparatus part embodiment are respectively the same as or similar to the implementation, solved technical problems, implemented functions, and achieved technical effects of each corresponding step in the method part embodiment, and are not described in detail herein.
Any one or more of the modules, units, or any other suitable combination thereof, in accordance with embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a programmable logic array (P L a), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or any other reasonable manner of integrating or packaging a circuit, such as a Field Programmable Gate Array (FPGA), a programmable logic array (P L a), a system on a chip, a system on a substrate, a system on a package, an ASIC, or any other reasonable manner of hardware or firmware, or any one or any combination thereof, or one or more of the modules, units, or any other suitable combination thereof, in accordance with embodiments of the present disclosure may be implemented at least in part as a computer program module that, when executed, may perform the corresponding functions.
For example, any number of the first information determination module 1010, the second information determination module 1020, and the first control module 1030 may be combined into one module, or any one of the modules may be split into multiple modules, or at least part of the functionality of one or more of these modules may be combined with at least part of the functionality of other modules and implemented in one module according to embodiments of the present disclosure, at least one of the first information determination module 1010, the second information determination module 1020, and the first control module 1030 may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a programmable logic array (P L A), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in hardware or firmware, such as any other reasonable manner of integrating or packaging the circuits, or implemented in any one or any suitable combination of any of these, or at least one of the first information determination module 1010, the second information determination module 1020, and the first control module 1030 may be implemented as a computer program that executes at least part of the computer when the computer module executes the program.
FIG. 12 schematically shows a block diagram of an electronic device according to an embodiment of the disclosure. The electronic device shown in fig. 12 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 12, an electronic apparatus 1200 according to an embodiment of the present disclosure includes a processor 1201, which can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)1202 or a program loaded from a storage section 1208 into a Random Access Memory (RAM) 1203. The processor 1201 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor 1201 may also include on-board memory for caching purposes. The processor 1201 may include a single processing unit or multiple processing units for performing the different actions of the method flows according to embodiments of the present disclosure.
In the RAM 1203, various programs and data necessary for the operation of the electronic apparatus 1200 are stored. The processor 1201, the ROM 1202, and the RAM 1203 are communicatively connected to each other by a bus 1204. The processor 1201 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 1202 and/or the RAM 1203. Note that the programs may also be stored in one or more memories other than the ROM 1202 and the RAM 1203. The processor 1201 may also perform various operations of method flows according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to AN embodiment of the present disclosure, the electronic device 1200 may further include AN input/output (I/O) interface 1205, the input/output (I/O) interface 1205 also being connected to the bus 1204. the electronic device 1200 may further include one or more of AN input section 1206 including a keyboard, a mouse, and the like, AN output section 1207 including a Cathode Ray Tube (CRT), a liquid crystal display (L CD), and the like, and a speaker, and the like, a storage section 1208 including a hard disk, and the like, and a communication section 1209 including a network interface card such as a L AN card, a modem, and the like, the communication section 1209 performs communication processing via a network such as the Internet, the drive 1210 is also connected to the I/O interface 1205 as necessary, a removable medium 1211 such as a magnetic disk, AN optical disk, a magneto-optical disk, a semiconductor memory, and the like, is mounted on the drive 1210 as necessary, so that a computer program read out therefrom is mounted into the storage section 1208 as necessary.
According to embodiments of the present disclosure, method flows according to embodiments of the present disclosure may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program containing program code for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 1209, and/or installed from the removable medium 1211. The computer program, when executed by the processor 1201, performs the above-described functions defined in the system of the embodiments of the present disclosure. The systems, devices, apparatuses, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the present disclosure.
The present disclosure also provides a computer-readable storage medium, which may be contained in the apparatus/device/system described in the above embodiments; or may exist separately and not be assembled into the device/apparatus/system. The computer-readable storage medium carries one or more programs which, when executed, implement the method according to an embodiment of the disclosure.
According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, which may include, for example but is not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. For example, according to embodiments of the present disclosure, a computer-readable storage medium may include the ROM 1202 and/or the RAM 1203 and/or one or more memories other than the ROM 1202 and the RAM 1203 described above.
Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. These examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.
Claims (13)
1. An access control method performed by a robot, comprising:
determining entrance guard position information and a routing inspection path;
determining access control point information, wherein the access control point information is determined based on the routing inspection path and the access control position information; and
sending an access control instruction to an access control system so that the access control system controls an appointed access to be in an appointed state;
when the access control instruction is triggered, the robot is located at an access control point corresponding to the access control point information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
2. The method of claim 1, further comprising: after the entrance guard control instruction is sent to the entrance guard system to control the appointed entrance guard of the entrance guard system to be in the appointed state,
determining a current state of the designated access control based on a sensor; and
determining a robot action based on the specified state and the current state.
3. The method of claim 2, wherein the determining robot actions based on the specified state and the current state comprises at least one of:
if the specified state and the current state are both in an open state, determining that the robot action passes through the specified entrance guard;
if it is determined that the specified state is an open state and the current state is a closed state, determining that the robot action is: repeatedly sending an access control instruction representing that the specified access control is opened to the access control system until the specified state and the current state are both in an open state, or sending abnormal information to the access control system until a first specified number threshold is reached;
determining that the robot action is to continue to perform a task if it is determined that the specified state and the current state are both off states; and
if it is determined that the specified state is an off state and the current state is an on state, then it is determined that the robot action is: and repeatedly sending an entrance guard control instruction for representing closing of the specified entrance guard to the entrance guard system until the specified state and the current state are both closed states, or sending abnormal information to the entrance guard system until a second specified time threshold is reached, and continuing to execute tasks after sending the abnormal information.
4. The method of claim 1, further comprising: after the determination of the access control point information,
and associating the access control point information with a built-in map of the robot, and/or associating the access control point information with a drawn map of the robot.
5. The method of claim 4, wherein a distance between the access control point position of the access control point information and the corresponding access control position in the associated built-in map and/or the mapped map is determined based on the attribute information of the robot.
6. The method of claim 1, wherein the access control instructions include an access identification;
the access control identification is determined based on access control point information and a first mapping relation, and the first mapping relation is between the access control identification and the access control point information.
7. An access control method executed by an access control system, comprising:
responding to an access control instruction from a robot, and determining an appointed access corresponding to the access control instruction; and
controlling the appointed entrance guard to be in an appointed state;
wherein, entrance guard's control command is that the robot triggers when being located entrance guard's control point, entrance guard's control point is the robot is based on patrolling and examining route and entrance guard positional information and confirming, appointed entrance guard with the current entrance guard that the robot was located corresponds entrance guard.
8. The method of claim 7, wherein the door access comprises a status detection aid.
9. The method of claim 7, further comprising:
receiving a current state of a designated entrance guard from the robot;
comparing the current state with the specified state;
if the current state is determined to be inconsistent with the specified state, repeatedly sending a control instruction to the specified entrance guard until the current state is consistent with the specified state or outputting alarm information until a third specified time threshold is reached.
10. An access control device comprising:
the first information determining module is used for determining entrance guard position information and a routing inspection path;
the second information determining module is used for determining access control point information, and the access control point information is determined based on the routing inspection path and the access control position information; and
the first control module is used for sending an access control instruction to an access control system so that the access control system controls an appointed access to be in an appointed state; when the access control instruction is triggered, the robot is located at an access control point corresponding to the access control point information, and the designated access control is the access control corresponding to the current access control point where the robot is located.
11. An access control device comprising:
the first response module is used for responding to an access control instruction from the robot and determining an appointed access corresponding to the access control instruction; and
the second control module is used for controlling the specified entrance guard to be in a specified state; wherein, entrance guard's control command is that the robot triggers when being located entrance guard's control point, entrance guard's control point is the robot is based on patrolling and examining route and entrance guard positional information and confirming, appointed entrance guard with the current entrance guard that the robot was located corresponds entrance guard.
12. An inspection system comprising:
a robot provided with the door access control device according to claim 10; and
an access control system provided with an access control device according to claim 11.
13. An electronic device, comprising:
one or more processors;
a storage device for storing executable instructions which, when executed by the processor, implement the method of any one of claims 1 to 9.
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| EP4027310A1 (en) * | 2021-01-06 | 2022-07-13 | Shanghai Quicktron Intelligent Technology Co., Ltd | Control method for safety door, safety door system and intelligent warehousing system |
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Application publication date: 20200728 |