CN113090158A - Interception device passing method and device and readable non-transitory storage medium - Google Patents
Interception device passing method and device and readable non-transitory storage medium Download PDFInfo
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- CN113090158A CN113090158A CN202110391021.0A CN202110391021A CN113090158A CN 113090158 A CN113090158 A CN 113090158A CN 202110391021 A CN202110391021 A CN 202110391021A CN 113090158 A CN113090158 A CN 113090158A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
- E01F13/00—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions
- E01F13/04—Arrangements for obstructing or restricting traffic, e.g. gates, barricades ; Preventing passage of vehicles of selected category or dimensions movable to allow or prevent passage
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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
- E05F15/60—Power-operated mechanisms for wings using electrical actuators
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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
- E05F15/79—Power-operated mechanisms for wings with automatic actuation using time control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application relates to the field of automation operation and provides an intercepting device passing method, a control method, a device and a readable non-transitory storage medium. Specifically, the method for passing the intercepting device comprises the following steps: the first robot sends a reservation signal to the first intercepting device for the first time at a first position of a traveling route; judging whether the first interception device is reserved successfully or not, and if the first interception device is reserved successfully, sending a door opening signal to the first interception device at a second position of the travel route; judging whether the first interception device can pass through, if so, passing through the first interception device; the first position and the second position are on the same side of the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device. According to the intercepting device passing method, the robot makes an appointment for the intercepting device, and sends the door opening signal after the appointment succeeds, so that the robot can smoothly pass through the intercepting device.
Description
Technical Field
The present application relates to the field of automated operations, and in particular, to an intercepting apparatus passing method, an intercepting apparatus passing apparatus, and a readable non-transitory storage medium.
Background
In the prior art, automatic operation robots are already capable of moving and performing tasks independently in many scenarios such as factories, stores, offices.
However, in many current working scenes, an intercepting device is arranged for regional separation in order to prevent external people from entering, and the robot needs to work in two separated scenes. In office buildings, factories and other scenes, intercepting devices such as gates and automatic doors can be arranged, and in order to ensure that the robot can automatically execute tasks without human intervention, the robot can automatically pass through the intercepting devices.
Content of application
The present application is directed to an intercepting apparatus, a method, an apparatus and a readable non-transitory storage medium for solving at least one of the problems described in the background.
In a first aspect of the present application, there is provided an intercepting apparatus passing method, including the steps of:
the first robot transmits a reservation signal to the first intercepting means for the first time at a first position of the travel route,
whether the first interception device is successfully reserved is judged,
if the reservation is successful, a door opening signal to the first interception device is sent at a second position of the travel route,
it is determined whether it is possible to pass the first intercepting means,
if yes, the first interception device is passed through.
Preferably, the first position and the second position are located outside the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
Preferably, the intercepting means is implemented by a method, further comprising the steps of,
after passing through the first intercepting device, the first robot sends a door closing signal relative to the first intercepting device at a third position, and the third position is positioned at the inner side of the first intercepting device.
Preferably, after the first robot reaches the second position, if the first robot does not make a reservation within a first predetermined time, the first robot moves to a fourth position, and the fourth position is located on both sides of the first intercepting device passing area.
Preferably, said determining whether said passing of said first intercepting means is enabled comprises the steps of,
and when judging whether the first intercepting device is in the accessible state, if the first intercepting device does not reach the accessible state within second preset time, moving to a fourth position, wherein the fourth position is positioned at two sides of the first intercepting device passing area.
Preferably, said determining whether said passing of said first intercepting means is enabled comprises the steps of,
and when the first intercepting device is started, the first intercepting device advances to the opposite side of the first intercepting device, if the first intercepting device is not successfully passed through within a first preset number of times, the first intercepting device advances to a fourth position, and the fourth position is positioned at two sides of a passing area of the first intercepting device.
Preferably, the first robot transmits the reservation signal to the first intercepting means a plurality of times before the reservation is successfully made.
Preferably, the reservation signals transmitted to the first interception device by the plurality of times have the same time interval.
In a second aspect of the present application, there is provided an intercepting apparatus control method, comprising the steps of,
the intercepting device receives a reservation signal transmitted by the first robot at a first position for the first time,
if the interception device is in a state of accepting the reservation, a reservation success signal is sent to the first robot,
and receiving a door opening signal which is sent by the first robot at the second position for the first time after the reservation is successful, and executing a door opening action.
Preferably, the first position and the second position are located outside the intercepting device, and the distance from the first position to the traveling route of the intercepting device is greater than the distance from the second position to the traveling route of the intercepting device.
Preferably, when the door opening motion is performed, the door of the intercepting device is opened in the same direction along the first robot traveling route.
Preferably, a door-closing signal sent by the first robot at a third position, which is located inside the intercepting device, is received and a door-closing action is performed.
Preferably, if the door closing signal sent by the first robot is not received within the third predetermined time, the door closing motion is executed.
Preferably, after the door closing action is performed, the intercepting device is in a state that can accept the reservation.
In a third aspect of the present application, there is provided an intercepting apparatus passing apparatus, including:
a first sending module arranged on the first robot and used for sending a reservation signal to the first intercepting device for the first time at a first position of the traveling route,
a second sending module arranged on the first robot and used for judging whether the first interception device is successfully reserved or not,
if the reservation is successful, a door opening signal to the first interception device is sent at a second position of the travel route,
a first driving module arranged on the first robot for judging whether the first robot can pass through the first intercepting device,
if so, driving the first robot to pass through the first intercepting device;
the first position and the second position are on the same side of the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
In a fourth aspect of the present application, there is provided an intercepting apparatus control apparatus, including,
a first receiving module, which is arranged in the interception device and is used for receiving the reservation signal transmitted by the first robot at the first position for the first time,
a third sending module, which is arranged in the interception device and sends a reservation success signal to the first robot when the interception device is in a state of accepting the reservation,
the first execution module is arranged in the interception device and used for receiving the door opening signal which is sent by the first robot with successful reservation at the second position for the first time and executing the door opening action,
the first position and the second position are on the same side of the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
In a fifth aspect of the present application, there is provided an electronic device, including a processor, a memory, and a program or instructions stored on the memory and executable on the processor, where the program or instructions, when executed by the processor, implement the method for controlling the method by the intercepting apparatus according to the first and second aspects of the present application.
In a sixth aspect of the present application, a readable non-transitory storage medium is provided, on which a program or instructions are stored, which when executed by a processor, implement the steps of the method for controlling by a method or an intercepting apparatus according to the first or second aspect of the present application.
In summary, the present application has the following beneficial effects:
1. according to the intercepting device passing method, the robot makes an appointment for the intercepting device, and sends a door opening signal after the appointment succeeds, so that the robot can smoothly pass through the appointed intercepting device; furthermore, according to the technical scheme provided by the application, the robot can be directly communicated with the intercepting device, so that the equipment configuration is simplified, and the execution efficiency is higher;
2. according to the control method of the intercepting device, the intercepting device receives the appointment of the robot, receives the door opening signal and executes the door opening action after the appointment succeeds, so that the robot can pass through smoothly; furthermore, according to the technical scheme provided by the application, the robot can be directly communicated with the intercepting device, so that the equipment configuration is simplified, and the execution efficiency is higher.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a flow chart of a method by which an intercepting device passes in some embodiments of the present application;
FIG. 2 is a schematic view of the positions of the intercepting apparatus in some embodiments of the present application;
FIG. 3 is a schematic view of an example embodiment of the present disclosure with the intercepting apparatus in an open position;
FIG. 4 is a schematic view of a robot after passing through an intercepting apparatus in some embodiments of the present application;
FIG. 5 is a schematic view of a robot moving to a fourth position in some embodiments of the present application;
FIG. 6 is a schematic illustration of a robot moving to a fourth position in accordance with further embodiments of the present application;
FIG. 7 is a schematic view of a traffic zone of an intercepting apparatus according to some embodiments of the present application;
FIG. 8a is a user interface of an embodiment of the present application when the intercepting device is turned on;
FIG. 8b is a user interface for an alarm when the robot fails to communicate with the intercepting device in an embodiment of the present application;
FIG. 8c is a user interface of an embodiment of the present application when the robot fails to alarm after passing the intercepting means;
FIG. 9a is a user interface for creating an intercepting means at a background database according to an embodiment of the present application;
fig. 9b is a user interface for entering information of an intercepting apparatus in an embodiment of the present application;
fig. 9c is a user interface when an address of the intercepting apparatus LoRa is entered in an embodiment of the present application;
FIG. 9d is a user interface for creating the second and third locations in an embodiment of the present application;
FIG. 9e is a map interface after a second location has been created in an embodiment of the present application;
FIG. 9f is a diagram illustrating a map interface after a third location has been created in an embodiment of the present application;
FIG. 10 is a schematic view of a robot illustrating a change in state in some embodiments of the present application;
FIG. 11 is a flow chart of a method of controlling an intercepting apparatus in some embodiments of the present application;
FIG. 12 is a schematic view of an intercepting apparatus passing through the apparatus in some embodiments of the present application;
FIG. 13 is a schematic view of an intercepting apparatus control device according to some embodiments of the present application;
FIG. 14 is a schematic view of an electronic device in some embodiments of the present application.
Description of the reference numerals
1. A gate machine; 11. a gate door; 2. a waiting area; 3. a first position; 4. a second position; 5. a third position; 6. a fourth position; 7. a route of travel of the first robot; 8. a traffic area.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
The term "include" and variations thereof as used herein are intended to be open-ended, i.e., "including but not limited to". The term "based on" is "based, at least in part, on". The term "one embodiment" means "at least one embodiment".
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The intercepting apparatus passing method, the intercepting apparatus control method, the intercepting apparatus passing apparatus, the intercepting apparatus control apparatus, the electronic device, and the readable non-transitory storage medium provided in the embodiments of the present application are described in detail below with reference to the accompanying drawings by specific embodiments and application scenarios thereof.
The intercepting device is used for carrying out area separation on scenes such as office buildings, factories and the like, has an opening state and a closing state, and can generally comprise devices for automatically opening or closing a gate, an automatic door and the like when receiving corresponding signals.
The Long Range Radio (Long Range Radio, LoRa) described in this application is a modulation technique of linear frequency modulation spread spectrum, has adopted the mode of linear modulation spread spectrum, and the acceptance sensitivity of its improvement that can show has realized the farther communication distance than other modulation techniques.
Fig. 1 is one of a flow chart of steps of an intercepting device passing method according to an embodiment of the present application, and this embodiment may be applied to a method for enabling a robot to pass through the intercepting device during a moving process, where the method may be performed by the intercepting device passing device, and the device may be implemented in a hardware and/or software manner, and may be integrated in the robot, so that the robot may pass through a work scene where the intercepting device is installed. Referring to fig. 1, an embodiment of the present application provides an intercepting apparatus passing method, including:
s102, the first robot sends a reservation signal to the first intercepting device for the first time at the first position of the traveling route.
In a specific implementation process, a traveling route of the first robot in the current working scene can be planned in advance by the back-end server and sent to a processor of the first robot, and the processor controls a driving mechanism of the first robot so as to enable the first robot to move according to a preset route. In this case, the back-end server has geographic information of the work scenario, such as an electronic map. When an intercepting device such as a gate is arranged in the working scene and the traveling route of the robot may need to pass through the gate, information such as position, width and the like of the gate needs to be added into the working scene, as shown in fig. 9a, so that the traveling route of the robot can be conveniently planned.
In a specific implementation process, as shown in fig. 2, waiting areas may be disposed at two sides of the first intercepting device, such as a gate, and the first position is located outside the waiting area, so that the robot makes an advance reservation at a position far away from the intercepting device, thereby reducing waiting time when passing through the intercepting device and making the passage smoother. It will be understood by those skilled in the art that although waiting areas are provided on both sides of the intercepting apparatus, only one waiting area is used each time the intercepting apparatus is passed, depending on the position and the traveling route of the robot. Referring to fig. 2, when the robot passes from the N side to the S side of the intercepting apparatus, only the waiting area of the N side is used.
Illustratively, the waiting area of the first intercepting means, such as a gate, may be created or modified by a back-end server. The user can edit the waiting area of the intercepting device on a graphical user interface through computer software or APP. The user can set the length and the width of the waiting area according to actual conditions under the condition that the intercepting device cannot collide with the robot when opening the door.
In a specific implementation process, before the reservation is successful, the first robot may continuously transmit reservation signals to the first intercepting device during the process, and the reservation signals may have the same time interval. Therefore, after leaving the first position, the first robot can still send the reservation signal to the first intercepting device until the reservation is successful.
And S104, judging whether the first interception device is successfully reserved or not, and if the first interception device is successfully reserved, sending a door opening signal to the first interception device at a second position of the travel route.
In a specific implementation, the first intercepting device, such as a gate, includes a state that can accept a reservation and an occupied state. When no robot enters the work scene, the intercepting device does not communicate with any robot and is in a state of accepting the reservation, and when the intercepting device accepts the reservation of a corresponding number of robots, the intercepting device is converted into an occupied state, and the intercepting device in the occupied state can not accept the reservation of the robot any more. The number of robots which can simultaneously accept reservation by the intercepting device can be set according to actual requirements, such as 1 robot, 2 robots, 3 robots and the like.
Schematically, as shown in fig. 9d, 9e and 9f, the user needs to set the second position, and the waiting areas on both sides of the intercepting apparatus can be set to the second position. As shown in fig. 2, the second position of the travel route is located in the waiting area, and the first robot can stop moving in the second position after entering the waiting area. And if the first interception device is reserved successfully at the moment, sending a door opening signal to the first interception device at the second position. Before the first intercepting device successfully receives the door opening signal or the door is opened, the first robot can continuously send the door opening signal to the first intercepting device at the second position, and the door opening signal can be sent at a fixed frequency. As shown in fig. 8a, after the first intercepting apparatus successfully receives the door opening signal, the first intercepting apparatus is turned on. In some embodiments, the door of the first intercepting device may be opened in the same direction of the robot traveling direction, i.e., inward, or in the opposite direction of the robot traveling direction, i.e., outward; preferably, the door of the first intercepting device is opened inwards, and by adopting the technical scheme, the door can be prevented from colliding with the first robot in the process of advancing when being opened, so that the first robot cannot pass through smoothly or a safety risk is generated.
Further, with continued reference to fig. 2, the direction of the arrow represents the direction of travel of the first robot. The first position and the second position are both outside the first intercepting device, the outside of the intercepting device is determined according to the traveling direction of the robot, as shown in fig. 2, when the robot travels from the N side to the S side of the intercepting device, the N side is the outside of the intercepting device, and the S side is the inside of the intercepting device. In some preferred embodiments, the distance from the first position to the path of travel of the first intercepting means is greater than the distance from the second position to the path of travel of the first intercepting means, so as to ensure that the robot communicates with the intercepting means at a greater distance. Further, referring to fig. 3, when the robot is located at the second position, the door of the intercepting device does not contact with the robot when being opened, so that the safety of the robot at the second position is ensured. It is understood that the first position is further from the first intercepting means than the second position on the travel path of the robot.
And S106, judging whether the first interception device can pass through, if so, passing through the first interception device.
In a specific implementation process, the method for the first robot to judge whether the first interception device can pass through the first interception device may be implemented by sending a door opening signal to the first robot through the first interception device, or may be implemented by analyzing the state of the first interception device through an image acquisition device arranged in the first robot, or may be implemented by first judging whether the first interception device sends a door opening signal to the first robot, and then analyzing the state of the first interception device through the image acquisition device of the robot.
By adopting the technical scheme, the robot can make an appointment for the intercepting device and send a door opening signal after the appointment succeeds, so that the robot can smoothly pass through the appointed intercepting device; furthermore, the technical scheme can also enable the robot to directly communicate with the intercepting device, so that the equipment configuration is simplified, and the execution efficiency is higher.
In some preferred embodiments, the first robot and the first intercepting device are respectively provided with an LoRa module and communicate through the LoRa module.
In the specific implementation process, the robot and the intercepting device are provided with LoRa modules at corresponding positions, and the robot and the intercepting device can communicate through the LoRa modules. In this embodiment, the LoRa technology can be used to enable the robot and the intercepting device to communicate directly, and the communication distance can be further increased. Schematically, the hardware parameters of the intercepting device are shown in table 1. When the intercepting device is added to a working scene after the intercepting device installs the LoRa module, its LoRa address needs to be entered, as shown in fig. 9B and 9C, a typical LoRa address is composed of 4-bit 16-ary symbols, where the 16-ary symbols may be composed of 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, a, B, C, D, E, and F, and exemplarily, the LoRa address of a certain intercepting device may be 801F.
TABLE 1
Illustratively, the communication of the LoRa between the robot and the intercepting device can adopt an RS232 or TTL interface, and adopts a question-and-answer mode to carry out communication, the robot actively queries and controls, and the intercepting device passively responds.
In some preferred embodiments, the intercepting apparatus is implemented by a method, further comprising the step of,
and S107, after the first robot passes through the first interception device, sending a door closing signal relative to the first interception device at a third position, wherein the third position is positioned at the inner side of the first interception device.
In the specific implementation process, the user needs to set the third position. The inner side of the intercepting apparatus is determined according to the traveling direction of the robot, and as shown in fig. 4, when the robot travels from the N side of the intercepting apparatus to the S side, the N side is the outer side of the intercepting apparatus, and the S side is the inner side of the intercepting apparatus. With continued reference to fig. 4, when the robot is in the third position, the door of the intercepting device will not contact the robot when closed, ensuring the safety of the robot in the third position. The first robot may continuously transmit a door closing signal to the first intercepting device before the first intercepting device receives the door closing signal or the door is closed, and the door closing signal may be transmitted at a fixed frequency. The door closing signal can be sent at the third position completely, namely, the door closing signal stops moving at the third position; when the robot executes an emergency task, the robot can also continue to move forward along the travel route after reaching the third position, and continuously sends a door closing signal to the first intercepting device during travel.
By adopting the technical scheme, the first interception device can be closed after the first robot passes through the first interception device, so that the first interception device is prevented from being always opened to cause disorder of a working area.
In some preferred embodiments, after the first robot reaches the second position, if the reservation is not successfully made within the first predetermined time, the first robot travels to a fourth position, which is located at both sides of the first intercepting means passing area.
In a specific implementation process, referring to fig. 5, after the first robot reaches the second position outside the first intercepting device, if the reservation is not successful after the first predetermined time elapses, in order to prevent the first robot from affecting the routes of other robots or pedestrians entering and exiting the intercepting device, the first robot moves to the fourth position. The first predetermined time may be 5s, 10s, 15s, 30s, etc., and may be set according to the needs of an actual scene. As shown in fig. 7, the fourth position is any point on both sides of the passing area of the first intercepting device, and the specific position may be set according to an actual scene. In some embodiments, after the first robot reaches the second position outside the first intercepting device, if the reservation is not successful after the first predetermined time, the first robot sends out an alarm signal, and the alarm signal can be transmitted to the back-end server through the network to alarm, as shown in fig. 8b, or can be alarmed on site through a buzzer or other devices.
In some preferred embodiments, the determining whether the first intercepting means can be successfully passed includes the steps of,
and S1061, when judging whether the first intercepting device is in the passing state, if the first intercepting device does not reach the passing state within the second preset time, moving to a fourth position, wherein the fourth position is positioned at two sides of the passing area of the first intercepting device.
In a specific implementation process, with reference to fig. 5, the method for the first robot to determine whether the first interception device can pass through the first interception device may be implemented by sending a door-opened signal to the first robot through the first interception device, may be implemented by analyzing a state of the first interception device through an image acquisition device provided in the first robot, or may be implemented by first determining whether the first interception device sends a door-opened signal to the first robot, and then analyzing the state of the first interception device through the image acquisition device of the robot. The second predetermined time may be 5s, 10s, 15s, 30s, etc., and may be set according to the needs of an actual scene. As shown in fig. 7, the fourth position is any point on both sides of the passing area of the first intercepting device, and the specific position may be set according to an actual scene. In some embodiments, when the first intercepting device does not reach the passing state within the second predetermined time, the first robot sends out an alarm signal, and the alarm signal can be transmitted to a back-end server through a network to alarm, and can also be used for field alarm through a buzzer and other devices.
By adopting the technical scheme, the first robot can be prevented from influencing the routes of other robots or pedestrians entering and exiting the intercepting device.
In some preferred embodiments, the determining whether the first intercepting means can be successfully passed includes the steps of,
and S1062, after the first intercepting device is started, moving to the opposite side of the first intercepting device, and if the first intercepting device is not successfully passed through within a first preset number of times, moving to a fourth position, wherein the fourth position is located on two sides of a passing area of the first intercepting device.
In a specific implementation, referring to fig. 6, the first robot travels to the opposite side of the first intercepting device after the first intercepting device is opened. The first robot may fail to pass due to its pose, direction of travel, or first robot volume. The first predetermined number of times may be 2 times, 3 times, 5 times, and the like, and may be set according to the needs of an actual scene. As shown in fig. 7, the fourth position is any point on both sides of the passing area of the first intercepting device, and the specific position may be set according to an actual scene. In some embodiments, when the first robot fails to pass through the first intercepting device within the first predetermined number of times, an alarm signal is sent out, and the alarm signal can be transmitted to a back-end server through a network for alarming, as shown in fig. 8c, or can be sent out on site through a buzzer or the like.
By adopting the technical scheme, the first robot can be prevented from influencing the routes of other robots or pedestrians entering and exiting the intercepting device.
In some preferred embodiments, as shown in fig. 10, the robot includes an idle state, a reservation state, a reserved state, a door open state, and a door close state, and performs a state change according to an instruction transmitted to or received from the intercepting means.
In the specific implementation process, the robot puts the event into a corresponding state machine for execution and performs state conversion. For example, when the robot is in an idle state, if a reservation instruction is transmitted, the robot transitions to a reservation-in-progress state: if the reservation failure signal fed back by the intercepting device is received at the moment, or the signal fed back by the intercepting device is not received for a period of time, the robot is converted into an idle state; if the reservation success signal fed back by the intercepting device is received at the moment, the robot is converted into the reserved state. When the robot is in the reserved state, if a door opening instruction is sent, the robot is changed into a door opening state: if a door opening failure signal fed back by the intercepting device is received at the moment, or a signal fed back by the intercepting device is not received after a period of time, the robot is changed into a reserved state; and if the door opening success signal fed back by the intercepting device is received at the moment, the robot is converted into the door opening state. When the robot is in the reserved state, if a door closing instruction is sent, the robot is changed into a door closing state: if a door closing failure signal fed back by the intercepting device is received at the moment, or a signal fed back by the intercepting device is not received within a period of time, the robot is converted into a reserved state; if a door closing success signal fed back by the intercepting device is received at the moment, the robot can be converted into an idle state. When the robot is in the opened state, if a door closing instruction is sent, the robot is changed into the closed state: if a door closing failure signal fed back by the intercepting device is received at the moment, or a signal fed back by the intercepting device is not received within a period of time, the robot is converted into a reserved state; if a door closing success signal fed back by the intercepting device is received at the moment, the robot can be converted into an idle state. In some embodiments, the robot may return to the idle state by sending an emergency stop command in any state. By adopting the technical scheme, the robot can realize more efficient state conversion.
In other embodiments of the present application, as shown in fig. 11, there is provided an intercepting apparatus control method including a step of receiving, by the intercepting apparatus, a reservation signal transmitted by a first robot at a first location for the first time, S202.
In a specific implementation process, as shown in fig. 2, waiting areas may be disposed at two sides of the intercepting device, such as a gate, and the first position is located outside the waiting area, so that the robot makes an advance reservation at a position far away from the intercepting device, thereby reducing waiting time when passing through the intercepting device and making the passage smoother. It will be understood by those skilled in the art that although waiting areas are provided on both sides of the intercepting apparatus, only one waiting area is used each time the intercepting apparatus is passed, depending on the position and the traveling route of the robot. Referring to fig. 2, when the robot passes from the N side to the S side of the intercepting apparatus, only the waiting area of the N side is used.
Illustratively, the waiting area of the intercepting means, such as a gate, may be created or modified by a back-end server. The user can edit the waiting area of the intercepting device on a graphical user interface through computer software or APP. The user can set the length and the width of the waiting area according to actual conditions under the condition that the intercepting device cannot collide with the robot when opening the door.
And S204, if the intercepting device is in a state of being capable of accepting the reservation, sending a reservation success signal to the first robot.
In a specific implementation process, before the reservation is successful, the first robot may continuously transmit reservation signals to the intercepting device during the progress, and the reservation signals may have the same time interval. Therefore, after leaving the first position, the first robot can still send a reservation signal to the intercepting device until the reservation is successful.
In a specific implementation, the intercepting means, such as a gate, comprises a state that can accept a reservation and an occupied state. When no robot enters the work scene, the intercepting device does not communicate with any robot and is in a state of accepting the reservation, and when the intercepting device accepts the reservation of a corresponding number of robots, the intercepting device is converted into an occupied state, and the intercepting device in the occupied state can not accept the reservation of the robot any more. The number of robots which can simultaneously accept reservation by the intercepting device can be set according to actual requirements, such as 1 robot, 2 robots, 3 robots and the like.
Further, when the intercepting device is in a state of being capable of accepting the reservation, the intercepting device receives a reservation signal of the first robot, and at the moment, the intercepting device establishes a communication connection with the first robot and sends a signal that the reservation is successful to the first robot.
And S206, receiving a door opening signal which is sent by the first robot with successful reservation at the second position for the first time, and executing a door opening action.
Schematically, as shown in fig. 9d, 9e and 9f, the user needs to set the second position, and the waiting areas on both sides of the intercepting apparatus can be set to the second position. As shown in fig. 2, the second position of the travel route is located in the waiting area, and the first robot can stop moving in the second position after entering the waiting area. If the interception device has subscribed successfully at this time, a door opening signal is sent to the interception at the second position. The first robot may continuously transmit a door opening signal to the intercepting apparatus at the second position before the intercepting apparatus successfully receives the door opening signal or the door is opened, and the door opening signal may be transmitted at a fixed frequency. When the intercepting apparatus receives the door opening signal of the first robot, the door opening operation is performed, as shown in fig. 8 a.
Further, with continued reference to fig. 2, the direction of the arrow represents the direction of travel of the first robot. The first position and the second position are both outside the intercepting device, the outside of the intercepting device is determined according to the traveling direction of the robot, as shown in fig. 2, when the robot travels from the N side to the S side of the intercepting device, the N side is the outside of the intercepting device, and the S side is the inside of the intercepting device. In some preferred embodiments, the distance from the first position to the path of travel of the first intercepting means is greater than the distance from the second position to the path of travel of the first intercepting means, so as to ensure that the robot communicates with the intercepting means at a greater distance. Further, referring to fig. 3, when the robot is located at the second position, the door of the intercepting device does not contact with the robot when being opened, so that the safety of the robot at the second position is ensured. It is understood that the first position is located further from the intercepting means than the second position on the path of travel of the robot.
By adopting the technical scheme, the intercepting device receives the appointment of the robot, receives the door opening signal and executes the door opening action after the appointment succeeds, so that the robot can pass through smoothly; furthermore, the technical scheme can also enable the robot to directly communicate with the intercepting device, so that the equipment configuration is simplified, and the execution efficiency is higher.
In some preferred embodiments, the door of the intercepting apparatus is opened in the same direction along the first robot traveling route when the door opening motion is performed.
In a specific implementation process, the intercepting device may include two doors, and both the two doors may be opened inward or outward, as shown in fig. 3 and 4, when the first robot travels from the N side to the S side in the drawing, the doors of the intercepting device are opened to the S side, that is, opened in the same direction along the travel route of the first robot. By adopting the technical scheme, the collision between the door and the first robot in the process of moving can be avoided when the door is opened, so that the first robot cannot smoothly pass through or generate safety risks.
In some preferred embodiments, a door-closing signal sent by the first robot at a third position, which is located inside the intercepting device, is received and a door-closing action is performed.
In the specific implementation process, the user needs to set the third position. The inner side of the intercepting apparatus is determined according to the traveling direction of the robot, and as shown in fig. 4, when the robot travels from the N side of the intercepting apparatus to the S side, the N side is the outer side of the intercepting apparatus, and the S side is the inner side of the intercepting apparatus. With continued reference to fig. 4, when the robot is in the third position, the door of the intercepting device will not contact the robot when closed, ensuring the safety of the robot in the third position. The first robot may continuously transmit a door closing signal to the first intercepting device before the first intercepting device receives the door closing signal or the door is closed, and the door closing signal may be transmitted at a fixed frequency. The door closing signal can be sent at the third position completely, namely, the door closing signal stops moving at the third position; when the robot executes an emergency task, the robot can also continue to move forward along the travel route after reaching the third position, and continuously sends a door closing signal to the first intercepting device during travel.
By adopting the technical scheme, the intercepting device can be closed after the first robot passes through the intercepting device, so that the intercepting device is prevented from being always opened to cause disorder of a working area.
In some preferred embodiments, if the door closing signal sent by the first robot is not received within the third predetermined time, the door closing action is performed.
In a specific implementation process, in order to prevent the situation that the door cannot be closed due to the fact that the first robot does not send a door closing signal or the intercepting device does not receive the door closing signal after the door is opened, third preset time is set. Especially, when the LoRa is adopted for communication, due to the characteristics of the LoRa communication, the first robot may not send the door closing signal or the intercepting device may not receive the door closing signal. The third predetermined time may be 10s, 15s, 30s, 60s, etc., and may be set according to the needs of an actual scene.
In some preferred embodiments, the intercepting means is in a state of being able to accept a reservation after the door closing action is performed.
In general, the barrier device can only accept the successful reservation of one robot, so that the barrier device can be reserved and started by the robot again after the door closing action is executed to update the state of the barrier device, and the barrier device is reset to the state capable of accepting the reservation after the door closing action is executed. Further, after the door closing action is executed, the intercepting device is in a state of being capable of accepting reservation after fourth preset time. By adopting the scheme, the danger of collision caused by too close distance between the front and the rear robots can be avoided. The fourth predetermined time may be 5s, 10s, 15s, 30s, 60s, etc., and may be set according to the needs of an actual scene. In other embodiments of the present application, as shown in fig. 12, there is provided an intercepting apparatus passing apparatus including: the first sending module 102 is arranged on the first robot and used for sending a reservation signal to the first intercepting device for the first time at a first position of the traveling route; a second sending module 104, disposed on the first robot, for determining whether the first intercepting apparatus is successfully reserved, and if the first intercepting apparatus is successfully reserved, sending a door opening signal to the first intercepting apparatus at a second position of the travel route; the first driving module 106 is arranged on the first robot and used for judging whether the first robot can pass through the first intercepting device or not, and if so, the first robot is driven to pass through the first intercepting device; the first position and the second position are on the same side of the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
In some preferred embodiments, the first robot and the first intercepting device are respectively provided with an LoRa module and communicate through the LoRa module.
In some preferred embodiments, the intercepting means is a device, further comprising,
and a fourth sending module 107, disposed on the first robot, for sending a door-closing signal corresponding to the first intercepting device at a third position after the first robot passes through the first intercepting device, where the third position is located at the opposite side of the first position and the second position relative to the first intercepting device.
In some preferred embodiments, after the first robot reaches the second position, if the reservation is not successfully made within the first predetermined time, the first robot travels to a fourth position, which is located at both sides of the first intercepting means passing area.
In some preferred embodiments, the intercepting apparatus further comprises:
and the second driving module 1061 is disposed on the first robot, and is configured to, when determining whether the first intercepting device is in the accessible state, if the first intercepting device does not reach the accessible state within a second predetermined time, move to a fourth position, where the fourth position is located on two sides of the first intercepting device passing area.
In some preferred embodiments, the intercepting apparatus further comprises:
and the third driving module 1062 is disposed on the first robot, and is configured to advance to the opposite side of the first intercepting device after the first intercepting device is turned on, and advance to a fourth position if the first intercepting device fails to pass through within a first predetermined number of times, where the fourth position is located on both sides of a passing area of the first intercepting device.
It should be noted that the intercepting apparatus passing apparatus provided in the embodiment of the present application can implement each process in the intercepting apparatus passing method embodiment provided in the embodiment of the present application, and for avoiding repetition, details are not described here again.
In a fourth aspect of the present application, there is provided an intercepting apparatus control apparatus, as shown in fig. 13, including a first receiving module 202, disposed in the intercepting apparatus, for receiving a reservation signal that is first transmitted by a first robot at a first location; a third sending module 204, configured to send a reservation success signal to the first robot when the intercepting apparatus is in a state that can accept the reservation; the first executing module 206 is disposed in the intercepting device, and is configured to receive a door opening signal sent by the first robot with a successful reservation at a second position for the first time, and execute a door opening action, where the first position and the second position are on the same side of the first intercepting device, and a distance from the first position to a traveling route of the first intercepting device is greater than a distance from the second position to the traveling route of the first intercepting device.
In some preferred embodiments, the door of the intercepting apparatus is opened in the same direction along the first robot traveling route when the door opening motion is performed.
In some preferred embodiments, a door-closing signal sent by the first robot at a third position is received, and a door-closing action is performed, wherein the third position is located at the opposite side of the first position and the second position relative to the first intercepting device.
In some preferred embodiments, if the door closing signal sent by the first robot is not received within the third predetermined time, the door closing action is performed.
In some preferred embodiments, the intercepting means is in a state of being able to accept a reservation after the door closing action is performed.
It should be noted that the intercepting apparatus control apparatus provided in the embodiment of the present application can implement each process in the intercepting apparatus control method embodiment provided in the embodiment of the present application, and details are not described here to avoid repetition.
The means for intercepting means passing or control by the intercepting means in the embodiments of the present application may be a component, an integrated circuit, or a chip in the terminal. The device can be mobile electronic equipment or non-mobile electronic equipment. By way of example, the mobile electronic device may be a mobile phone, a tablet computer, a smart display, a notebook computer, a palm top computer, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook or a Personal Digital Assistant (PDA), and the like, and the non-mobile electronic device may be a server, a Network Attached Storage (NAS), a Personal Computer (PC), a television (television), a teller machine, a self-service machine, and the like, and the embodiments of the present application are not particularly limited.
The device for intercepting the device passing through or controlled by the intercepting device in the embodiment of the application can be a device with an operating system. The operating system may be an Android (Android) operating system, an ios operating system, or other possible operating systems, and embodiments of the present application are not limited specifically.
In further embodiments of the present application, an electronic device is provided, as shown in fig. 14, comprising a processor, a readable non-transitory storage medium comprising computer program instructions executable by the processor to perform the steps of the method for intercepting means passing or intercepting means controlling according to any of the embodiments of the present application.
Those skilled in the art will appreciate that the electronic device may further include a power source (e.g., a battery) for supplying power to the various components, and the power source may be logically connected to the processor via a power management system, so as to manage charging, discharging, and power consumption management functions via the power management system.
The processor is the processor in the electronic device in the above embodiment. Readable non-transitory storage media include computer-readable non-transitory storage media such as a computer-Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and the like.
In other embodiments of the present application, reference may be made to fig. 14, which provides a readable non-transitory storage medium, on which a program or instructions are stored, which when executed by a processor, implement the steps of the method for intercepting means passing or intercepting means controlling as in any of the embodiments of the present application.
Readable non-transitory storage media include computer-readable non-transitory storage media such as a computer-Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic or optical disk, and the like.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. Further, it should be noted that the scope of the methods and apparatus of the embodiments of the present application is not limited to performing the functions in the order illustrated or discussed, but may include performing the functions in a substantially simultaneous manner or in a reverse order based on the functions involved, e.g., the methods described may be performed in an order different than that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the methods of the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (13)
1. An intercepting apparatus passing method, comprising the steps of:
the first robot sends a reservation signal to the first intercepting device for the first time at a first position of a traveling route;
whether the first interception device is successfully reserved is judged,
if the reservation is successful, a door opening signal to the first intercepting device is sent at a second position of the travel route;
it is determined whether it is possible to pass the first intercepting means,
if yes, the first interception device is passed through.
2. The intercepting apparatus passing method according to claim 1, further comprising the step of,
the first robot sends a door closing signal relative to the first interception device at a third position after passing through the first interception device,
the first position, the second position and the third position are respectively positioned at the outer side and the inner side of the first interception device; and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
3. The barrier passing method according to claim 1 or 2, wherein the first robot travels to a fourth position if the reservation is not successfully made within a first predetermined time after reaching the second position, the fourth position being located at both sides of the first barrier passing area.
4. The intercepting apparatus passing method according to claim 3, wherein said judging whether the first intercepting apparatus can pass comprises the steps of,
and when judging whether the first intercepting device is in the accessible state, if the first intercepting device does not reach the accessible state within second preset time, moving to a fourth position, wherein the fourth position is positioned at two sides of the first intercepting device passing area.
5. The intercepting apparatus passing method according to claim 3, wherein said judging whether the first intercepting apparatus can pass comprises the steps of,
and when the first intercepting device is started, the first intercepting device advances to the opposite side of the first intercepting device, if the first intercepting device is not successfully passed through within a first preset number of times, the first intercepting device advances to a fourth position, and the fourth position is positioned at two sides of a passing area of the first intercepting device.
6. A control method of an intercepting device comprises the steps of,
the intercepting device receives a reservation signal transmitted by the first robot at a first position for the first time,
if the interception device is in a state of accepting the reservation, a reservation success signal is sent to the first robot,
and receiving a door opening signal which is sent by the first robot at the second position for the first time after the reservation is successful, and executing a door opening action.
7. The barrier device control method according to claim 6, wherein when the door opening operation is performed, the door of the barrier device is opened in the same direction of the first robot traveling route; the first position and the second position are positioned on the outer side of the intercepting device, and the distance from the first position to the traveling route of the intercepting device is greater than the distance from the second position to the traveling route of the intercepting device.
8. The intercepting apparatus controlling method of claim 6 or 7, wherein a door-closing signal transmitted by the first robot at a third position, which is located inside the intercepting apparatus, is received and a door-closing motion is performed.
9. The method of claim 8, wherein if a door closing signal transmitted from the first robot is not received within a third predetermined time, a door closing action is performed.
10. An intercepting apparatus passing device, comprising:
a first sending module arranged on the first robot and used for sending a reservation signal to the first intercepting device for the first time at a first position of the traveling route,
a second sending module arranged on the first robot and used for judging whether the first interception device is successfully reserved or not,
if the reservation is successful, a door opening signal to the first interception device is sent at a second position of the travel route,
a first driving module arranged on the first robot for judging whether the first robot can pass through the first intercepting device,
if so, driving the first robot to pass through the first intercepting device;
the first position and the second position are on the same side of the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
11. A control device of an interception device comprises a control device,
a first receiving module, which is arranged in the interception device and is used for receiving the reservation signal transmitted by the first robot at the first position for the first time,
a third sending module, which is arranged in the interception device and sends a reservation success signal to the first robot when the interception device is in a state of accepting the reservation,
the first execution module is arranged in the interception device and used for receiving the door opening signal which is sent by the first robot with successful reservation at the second position for the first time and executing the door opening action,
the first position and the second position are on the same side of the first intercepting device, and the distance from the first position to the traveling route of the first intercepting device is greater than the distance from the second position to the traveling route of the first intercepting device.
12. A readable non-transitory storage medium on which is stored a program or instructions which, when executed by a processor, implement the steps of the intercepting device passing method of claims 1-5.
13. A readable non-transitory storage medium, on which a program or instructions are stored, which when executed by a processor implement the steps of the intercepting device control method of claims 6-9.
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