CN112502566B - Method and system for assisting robot to pass through electric door - Google Patents
Method and system for assisting robot to pass through electric door Download PDFInfo
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- CN112502566B CN112502566B CN202011291105.9A CN202011291105A CN112502566B CN 112502566 B CN112502566 B CN 112502566B CN 202011291105 A CN202011291105 A CN 202011291105A CN 112502566 B CN112502566 B CN 112502566B
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- 230000007613 environmental effect Effects 0.000 claims description 15
- 230000004888 barrier function Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
-
- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
- E05F15/00—Power-operated mechanisms for wings
- E05F15/70—Power-operated mechanisms for wings with automatic actuation
- E05F15/73—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects
- E05F2015/767—Power-operated mechanisms for wings with automatic actuation responsive to movement or presence of persons or objects using cameras
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- E—FIXED CONSTRUCTIONS
- E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
- E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
- E05Y2900/00—Application of doors, windows, wings or fittings thereof
- E05Y2900/10—Application of doors, windows, wings or fittings thereof for buildings or parts thereof
- E05Y2900/13—Type of wing
- E05Y2900/132—Doors
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Abstract
The invention discloses a method and a system for assisting a robot to pass through an electric door, which comprise a dispatching management system, a plurality of robots, a plurality of environment recognition devices and automatic door control devices with the number corresponding to that of the environment recognition devices, wherein the dispatching management system is respectively communicated with the environment recognition devices, the automatic door control devices and the robots, each automatic door control device is connected with one electric door, and the environment recognition devices are arranged at the tops of the electric doors. The invention can assist the robot to quickly pass through the electric door, can realize that a plurality of robots queue to pass through the electric door, and improves the speed of the robot passing through the electric door.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a method and a system for assisting a robot to pass through an electric door.
Background
The indoor distribution robot usually adopts a local point-to-point communication mode when passing through the automatic door, the robot informs the electric door controller to open the electric door, after the electric door is opened, the electric door controller feeds back a door opening signal to the robot, and after the robot receives the door opening signal, the robot passes through the electric door. The mode lacks effectual means and detects the environment in advance, can not control the management to the automatically-controlled door in advance, and lacks the management to the different door orientations of crossing of many robots, leads to crossing a door inefficiency, when just the robot also passes through the automatically-controlled door when the pedestrian pushes away the goods and passes through the automatically-controlled door in addition, takes place to block up near the automatically-controlled door easily.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a method and a system for assisting a robot to pass through an electric door quickly, and the method and the system can assist the robot to queue for passing through the electric door and improve the speed of the robot passing through the electric door.
The invention is realized by the following technical scheme: a method of assisting a robot in passing through a power gate, the method comprising the steps of:
s1, the robot moves to an electric door and reports the real-time position of the robot to a scheduling management system;
s2, the environment recognition device recognizes the environment state information in the front and back limited range of the electric door and reports the environment state information to a scheduling management system;
s3, when the robot moves to a position 10m away from the electric door, the dispatching management system identifies the ID number of the electric door, judges whether the electric door meets the passing condition or not according to the environmental state information of the electric door, if so, executes the step S4, and if not, executes the step S5;
s4, the dispatching management background sends a passing instruction to the robot to control the robot to pass through the electric door;
and S5, the scheduling management background sends a pause instruction to the robot, controls the robot to stop outside the electrically operated gate to wait until the electrically operated gate meets the passing condition, and sends a passing instruction to the robot to control the robot to pass through the electrically operated gate.
Further, the method comprises the following steps: in step S5, when a plurality of robots stop outside the electric door for waiting, the dispatching management system controls the robots to stop outside the electric door at intervals and at equal intervals in sequence according to the sequence of the arrival time of the robots for waiting until the electric door meets the passing condition, and controls the robots to sequentially pass through the electric door in sequence.
Further: the step of recognizing the environmental state information within the limited range of the front and the rear of the electric door by the environment recognition device in the step S2 is as follows:
s21, respectively acquiring environmental image data in a limited range from front to back of the automatic door by the front camera and the back camera, and sending the environmental image data to a processor;
s22, the processor receives the environment image data, whether obstacles exist in a front and rear limited range of the automatic door or not is analyzed according to the environment image data, if not, the step S21 is executed, and if so, the step S23 is executed;
and S23, the processor analyzes whether the size of the obstacle exceeds a preset threshold value, if not, the obstacle is judged to be in a first state, the first state information is sent to the dispatching management system, and if so, the obstacle is judged to be in a second state, and the second state information is sent to the dispatching management system.
Further, the method comprises the following steps: if no obstacle exists in the front and rear limited range of the automatic door or the size of the obstacle does not exceed a preset threshold value, the electric door accords with the passing condition, and if the obstacle exists in the front and rear limited range of the electric door and the size of the obstacle exceeds the preset threshold value, the electric door does not accord with the passing condition.
Further: when the robot is about to pass through the electrically operated gate, the dispatch management system sends an instruction for opening the electrically operated gate to the controller, the controller receives the instruction for opening the electrically operated gate to control the electric door pushing device to open the electrically operated gate, and the voice unit is controlled to broadcast the prompt voice that the robot is about to pass through the electrically operated gate.
Further: after the robot passes through the electric door, the dispatching management system sends an instruction for closing the electric door to the controller, and the controller receives the instruction to control the electric door pushing device to close the electric door and control the voice unit to broadcast prompt voice about the closing of the electric door.
Further: when the electric door pusher opens or closes the electric door, the photoelectric sensor detects whether the electric door is opened or closed in place, and sends the opening or closing in-place state information of the electric door to the dispatching management system through the controller.
Further: the limited range described in step S2 is 5m.
The utility model provides a system for auxiliary robot passes through electrically operated gate, includes dispatch management system, a plurality of robot, a plurality of environment recognition device, with the corresponding automatic door controlling means of environment recognition device quantity, dispatch management system respectively with environment recognition device, automatic door controlling means, robot establish communication, every the automatic door controlling means is connected with an electrically operated gate, the environment recognition device sets up the top at the electrically operated gate.
Further: the environment recognition device includes treater, preceding camera, back camera, the treater pass through the communication unit with the dispatch management system connects, the treater respectively with preceding camera, back camera are connected, preceding camera and back camera set up the top at the automatically-controlled door respectively for discern the environmental condition around the automatically-controlled door, the automatically-controlled door controlling means includes controller, electronic sliding door ware, voice unit, photoelectric sensor, the controller pass through the communication unit with the dispatch management system connects, the controller respectively with electronic sliding door ware, voice unit, photoelectric sensor connect, electronic sliding door ware and automatically-controlled door are connected for open or close the electrically-controlled door, photoelectric sensor sets up at the top of electrically-controlled door for whether the detection electrically-controlled door opens or closes and targets in place, the voice unit is used for broadcasting the suggestion pronunciation.
The invention has the beneficial effects that:
compared with the prior art, in the process that the robot moves towards the electric door, whether obstacles exist in a limited range of the front and the back of the electric door is detected and identified through the environment identification device, if no obstacles exist, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if obstacles exist, whether the size of the analyzed obstacles exceeds a preset threshold value is judged, if the size of the obstacles does not exceed the preset threshold value, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if the size of the obstacles exceeds the preset threshold value, the dispatching management system controls the robot to stop outside the electric door to wait for the obstacles to pass through the electric door and then controls the robot to pass through the electric door, therefore, the environment recognition device is used for collecting the environment state information at the front and the back of the electric door in advance, when the robot moves to a position 10m away from the electric door, whether the robot is controlled to pass through the electric door is determined according to the environment state information, the blockage caused by the collision between goods pushed by the pedestrian and the walking route of the robot is avoided, when a plurality of robots all need to pass through the electric door, the robots are controlled to sequentially stop at the front and the back of the electric door at equal intervals and 5m according to the sequence of the arrival time of the robots and sequentially pass through the electric door, so that the plurality of robots can sequentially pass through the electric door to avoid the cross interference, the robot entering the front and the back of the electric door in advance is recognized as an obstacle by the environment recognition device, the mutual congestion of two robots moving in opposite directions when passing through the electric door can be avoided, and the detection and management of the environment states at the front and the back of the electric door can be realized in advance, the different door-passing directions of a plurality of robots are managed, and the speed of the robots passing through the electric door is improved.
Drawings
FIG. 1 is a flow chart of a method of the present invention for assisting a robot in passing through a motorized door;
FIG. 2 is a flowchart illustrating an environment recognition apparatus recognizing environment status information according to the present invention;
FIG. 3 is an architecture diagram of the system for assisting a robot in passing through a power door according to the present invention;
FIG. 4 is an architecture diagram of the environment recognition apparatus of the present invention;
FIG. 5 is an architectural view of an automatic door control apparatus of the present invention;
FIG. 6 is a schematic view of the mounting positions of the front camera and the electric door pusher of the present invention;
FIG. 7 is a flow chart of a plurality of robots queuing through motorized doors;
fig. 8 is a flow chart of multiple robots moving in opposite directions queuing to pass through a power gate.
Description of reference numerals: 1-an electric door, 21-a front camera, 22-a rear camera, 3-a robot stop waiting position, 4-a limited range and 5-an electric door pusher.
Detailed Description
Referring to fig. 1 and 2, the present invention provides a method for assisting a robot to pass through a power door, comprising the steps of:
s1, the robot moves towards the electric door and reports the real-time position of the robot to a scheduling management system.
And S2, the environment recognition device recognizes the environment state information in the front and back limited range of the electric door and reports the environment state information to the scheduling management system.
Specifically, the limited range is 5m, and the limited range can be set according to the walking speed of the robot passing through the electric door and the optimal passing time without causing congestion. The environment recognition device recognizes the environment state information in the limited range of the front and the back of the electric door as follows:
and S21, the front camera and the rear camera respectively acquire environment image data in a front-rear limited range of the automatic door and send the environment image data to the processor.
And S22, the processor receives the environment image data, analyzes whether the barrier exists in the front and rear limited range of the automatic door or not according to the environment image data, if not, executes the step S21, and if so, executes the step S23.
And S23, the processor analyzes whether the size of the obstacle exceeds a threshold value, if not, the processor judges that the obstacle is in a first state and sends the first state information to the scheduling management system, and if so, the processor judges that the obstacle is in a second state and sends the second state information to the scheduling management system.
Specifically, the maximum value of the preset threshold value may be set to the width of the electric door minus the minimum width required for the robot to pass through.
If no obstacle exists in the front and rear limited range of the automatic door or the size of the obstacle does not exceed a preset threshold value, the electric door accords with the passing condition, and if the obstacle exists in the front and rear limited range of the electric door and the size of the obstacle exceeds the preset threshold value, the electric door does not accord with the passing condition.
And S3, when the robot moves to a position 10m away from the electric door, the dispatching management system identifies the ID number of the electric door, judges whether the electric door meets the passing condition or not according to the environmental state information of the electric door, if so, the step S4 is carried out, and if not, the step S5 is carried out.
And S4, the scheduling management background sends a passing instruction to the robot to control the robot to pass through the electric door.
And S5, the scheduling management background sends a pause instruction to the robot, controls the robot to stop outside the electric door to wait until the electric door meets the passing condition, and then sends a passing instruction to the robot, and controls the robot to pass through the electric door.
When the robot is about to pass through the electrically operated gate, the dispatching management system sends an instruction for opening the electrically operated gate to the controller, the controller receives the instruction for opening the electrically operated gate to control the electrically operated door pushing device to open the electrically operated gate, and the voice unit is controlled to broadcast prompt voice about the fact that the robot is about to pass through the electrically operated gate.
After the robot passes through the electric door, the dispatching management system sends an instruction for closing the electric door to the controller, and the controller receives the instruction to control the electric door pushing device to close the electric door and control the voice unit to broadcast prompt voice about the closing of the electric door.
When the electric door pusher opens or closes the electric door, the photoelectric sensor detects whether the electric door is opened or closed in place, and sends the opening or closing in-place state information of the electric door to the dispatching management system through the controller.
When a plurality of robots stop outside the electrically operated gate for waiting, the dispatching management system controls the robots to stop outside the electrically operated gate at intervals and at equal intervals in sequence according to the sequence of the arrival time of the robots for waiting until the electrically operated gate meets the passing condition, and controls the robots to sequentially pass through the electrically operated gate in sequence. In the process that the robot stops waiting outside the electric door, when the environment recognition device recognizes that no barrier exists in the front and back limited range of the electric door, the dispatching management system sends an instruction for opening the electric door to the automatic door control device, the automatic door control device receives the instruction for opening the electric door and broadcasts the voice prompt that the robot is about to pass through the electric door, in the process that the robot is about to pass through the electric door, the dispatching management system acquires the environment state information recognized by the environment recognition device at every interval of 1s, and if the electric door accords with the passing condition, the robot is controlled to pass through the electric door. After the previous robot passes through the electric door, the next robot moves forwards, and so on, so that the robot waiting outside the electric door sequentially passes through the electric door (as shown in fig. 7 and 8).
Referring to fig. 3 to 6, the architecture diagram of an embodiment of a system for assisting a robot to pass through an electric door according to the present invention includes a scheduling management system, a plurality of robots, a plurality of environment recognition devices, and automatic door control devices corresponding to the number of the environment recognition devices, where the scheduling management system establishes communication with the environment recognition devices, the automatic door control devices, and the robots, respectively, each of the automatic door control devices is connected with one electric door, and the environment recognition device is disposed on the top of the electric door.
The environment recognition device includes treater, preceding camera, back camera, the treater pass through the communication unit with the dispatch management system connects, the treater respectively with preceding camera, back camera are connected, preceding camera and back camera set up the top at the automatically-controlled door respectively for discern the environmental condition around the automatically-controlled door, the automatically-controlled door controlling means includes controller, electronic sliding door ware, voice unit, photoelectric sensor, the controller pass through the communication unit with the dispatch management system connects, the controller respectively with electronic sliding door ware, voice unit, photoelectric sensor connect, electronic sliding door ware and automatically-controlled door are connected for open or close the electrically-controlled door, photoelectric sensor sets up at the top of electrically-controlled door for whether the detection electrically-controlled door opens or closes and targets in place, the voice unit is used for broadcasting the suggestion pronunciation.
An environment recognition device and an automatic door control device are arranged at the top of the electric door, a dispatching management system is communicated with the environment recognition device, the automatic door control device and the robot respectively, in the process that the robot moves towards the electric door, the environment recognition device detects and recognizes whether obstacles exist in a limited range in front of and behind the electric door, if no obstacles exist, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if obstacles exist, whether the size of the analyzed obstacles exceeds a preset threshold value or not is judged, if the size of the obstacles does not exceed the preset threshold value, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if the size of the obstacles exceeds the preset threshold value, the dispatching management system controls the robot to stop outside the electric door to wait for the obstacles to pass through the electric door, the robot is controlled to pass through the electric door, so that the environmental state information at the front and the back of the electric door is collected in advance by using the environmental recognition device, when the robot moves to a position 10m away from the electric door, whether the robot is controlled to pass through the electric door is determined according to the environmental state information, the blockage caused by the collision between goods pushed by a pedestrian and the walking route of the robot is avoided, when a plurality of robots need to pass through the electric door, the robots are controlled to sequentially stop at intervals and equidistantly outside 5m in front of and behind the electric door according to the sequence of the arrival time of the robots and sequentially pass through the electric door, so that the plurality of robots can sequentially pass through the electric door to avoid cross interference, the environmental recognition device recognizes the robots entering the limited range in front of and behind the electric door in advance as barriers, the mutual congestion of two robots moving in opposite directions can be avoided when the electric door passes through the electric door, the detection management of the environmental states at the front and the back of the electric door is realized in advance, the different door-passing directions of a plurality of robots are managed, and the speed of the robots passing through the electric door is improved.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. A method of assisting a robot in passing through a motorized door, comprising: the method comprises the following steps:
s1, the robot moves towards the electric door and reports the real-time position of the robot to a scheduling management system;
s2, the environment recognition device recognizes the environment state information in the limited range of the front and the back of the electric door and reports the environment state information to the scheduling management system;
s3, when the robot moves to a position 10m away from the electric door, the dispatching management system identifies the ID number of the electric door, judges whether the electric door meets the passing condition or not according to the environmental state information of the electric door, if so, executes the step S4, and if not, executes the step S5;
s4, the dispatching management system sends a passing instruction to the robot to control the robot to pass through the electric door;
s5, the dispatching management system sends a pause instruction to the robot, controls the robot to stop outside the electrically operated gate to wait until the electrically operated gate meets the passing condition, and sends a passing instruction to the robot to control the robot to pass through the electrically operated gate;
the step of recognizing the environmental state information within the limited range of the front and the rear of the electric door by the environment recognition device in the step S2 is as follows:
s21, respectively acquiring environment image data in a front and rear limited range of the automatic door by using a front camera and a rear camera, and sending the environment image data to a processor;
s22, the processor receives the environment image data, whether obstacles exist in a front and rear limited range of the automatic door or not is analyzed according to the environment image data, if not, the step S21 is executed, and if so, the step S23 is executed;
s23, analyzing whether the size of the obstacle exceeds a preset threshold value or not by the processor, if not, judging to be in a first state, sending first state information to the scheduling management system, and if so, judging to be in a second state, and sending second state information to the scheduling management system;
if no barrier exists in the front and rear limited range of the electric door or the size of the barrier does not exceed a preset threshold, the electric door accords with the passing condition, and if the barrier exists in the front and rear limited range of the electric door and the size of the barrier exceeds the preset threshold, the electric door does not accord with the passing condition;
in the step S5, when a plurality of robots stop outside the electric door for waiting, the dispatching management system controls the robots to stop outside the electric door at intervals and at equal intervals in sequence according to the sequence of the arrival time of the robots for waiting until the electric door meets the passing condition, and controls the robots to sequentially pass through the electric door in sequence.
2. The method of assisting a robot in passing through a power door of claim 1, wherein: when the robot is about to pass through the electrically operated gate, the dispatching management system sends an instruction for opening the electrically operated gate to the controller, the controller receives the instruction for opening the electrically operated gate to control the electrically operated door pushing device to open the electrically operated gate, and the voice unit is controlled to broadcast prompt voice about the fact that the robot is about to pass through the electrically operated gate.
3. The method of assisting a robot in passing through a power door of claim 2, wherein: after the robot passes through the electric door, the dispatching management system sends an instruction for closing the electric door to the controller, and the controller receives the instruction to control the electric door pushing device to close the electric door and control the voice unit to broadcast prompt voice about the closing of the electric door.
4. A method of assisting a robot in passing through a power door according to claim 3, wherein: when the electric door pusher opens or closes the electric door, the photoelectric sensor detects whether the electric door is opened or closed in place, and sends the opening or closing in-place state information of the electric door to the dispatching management system through the controller.
5. The method of assisting a robot in passing through a power door of claim 4, wherein: the limited range described in step S2 is 5m.
6. A system for assisting a robot to pass through a power door for implementing the method of assisting the robot to pass through the power door as claimed in claim 1, wherein: the system comprises a dispatching management system, a plurality of robots, a plurality of environment recognition devices and automatic door control devices corresponding to the environment recognition devices in number, wherein the dispatching management system is respectively communicated with the environment recognition devices, the automatic door control devices and the robots, each automatic door control device is connected with one electric door, and the environment recognition devices are arranged at the tops of the electric doors.
7. The system of claim 6, wherein the system is configured to assist a robot in passing through a power door, and further comprising: the environment recognition device comprises a processor, a front camera and a rear camera, wherein the processor is connected with the dispatching management system through a communication unit, the processor is connected with the front camera and the rear camera respectively, the front camera and the rear camera are arranged at the top of the automatic door respectively and used for recognizing the environmental states of the front and the rear of the automatic door, the automatic door control device comprises a controller, an electric door pusher, a voice unit and a photoelectric sensor, the controller is connected with the dispatching management system through the communication unit and connected with the electric door pusher, the voice unit and the photoelectric sensor respectively, the electric door pusher is connected with the automatic door and used for opening or closing the electric door, the photoelectric sensor is arranged at the top of the electric door and used for detecting whether the electric door is opened or closed in place, and the voice unit is used for broadcasting and prompting voice.
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| CN202011291105.9A CN112502566B (en) | 2020-11-17 | 2020-11-17 | Method and system for assisting robot to pass through electric door |
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| WO2023208167A1 (en) * | 2022-04-29 | 2023-11-02 | 深圳市普渡科技有限公司 | Robot passing method, and robot |
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| JP6730087B2 (en) * | 2016-05-13 | 2020-07-29 | 株式会社高山商事 | Monitoring system |
| CN108629438B (en) * | 2017-03-16 | 2021-04-30 | 北京京东振世信息技术有限公司 | Method and device for measuring congestion of AGV road section, electronic equipment and readable storage medium |
| US10852751B2 (en) * | 2017-07-07 | 2020-12-01 | Sensormatic Electronics, LLC | Building bots interfacing with security systems |
| CN108166887A (en) * | 2017-11-16 | 2018-06-15 | 国网浙江省电力公司紧水滩水力发电厂 | A kind of intelligence coordinated with electric inspection process robot is opened flat door system |
| CN110209485B (en) * | 2019-06-05 | 2020-06-02 | 青岛海通胜行智能科技有限公司 | Dynamic avoidance method for multiple robots during cooperative operation |
| CN110727272B (en) * | 2019-11-11 | 2023-04-18 | 广州赛特智能科技有限公司 | Path planning and scheduling system and method for multiple robots |
| CN111119653B (en) * | 2019-11-28 | 2021-06-18 | 广州赛特智能科技有限公司 | Automatic door cluster control method based on unmanned logistics distribution robot |
| CN111558942B (en) * | 2020-07-20 | 2020-10-13 | 北京云迹科技有限公司 | Robot scheduling mode switching method, first robot, equipment and storage medium |
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