CN113818774A - Automatic door control method and device and robot - Google Patents
Automatic door control method and device and robot Download PDFInfo
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- CN113818774A CN113818774A CN202110895707.3A CN202110895707A CN113818774A CN 113818774 A CN113818774 A CN 113818774A CN 202110895707 A CN202110895707 A CN 202110895707A CN 113818774 A CN113818774 A CN 113818774A
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- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000000737 periodic effect Effects 0.000 claims description 33
- 238000004891 communication Methods 0.000 claims description 29
- 238000004590 computer program Methods 0.000 claims description 23
- 238000003860 storage Methods 0.000 claims description 10
- 238000011161 development Methods 0.000 abstract description 22
- 230000006870 function Effects 0.000 description 9
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000003032 molecular docking Methods 0.000 description 6
- 238000004904 shortening Methods 0.000 description 5
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- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000003993 interaction Effects 0.000 description 3
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- 210000001503 joint Anatomy 0.000 description 2
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Classifications
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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
- E05F15/77—Power-operated mechanisms for wings with automatic actuation using wireless control
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Abstract
The application is applicable to the technical field of robots, and provides a control method and a device for an automatic door and a robot, wherein the control method comprises the following steps: sending a door opening and closing request to a dry node, wherein the door opening and closing request carries the unique identifier of the automatic door and carries a door opening instruction or a door closing instruction; and if the opening of the automatic door is detected, the automatic door is passed through. By the method, the development cycle of the robot can be shortened.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a control method and device of an automatic door, a robot and a computer-readable storage medium.
Background
With the development of face recognition technology, fingerprint technology and internet technology, users have more and more demands on opening automatic doors.
In order to meet different door opening requirements of users, various access control systems appear in the market. These access control systems generally can shield the original mode of opening the door of automatically-controlled door to directly provide own unique access control system and product to the customer, for example, provide functions such as long-range opening the door, face identification opens the door, the fingerprint opens the door, entrance guard's card opens the door, button opens the door to the user.
In an Internet Data Center (IDC) machine room for robot inspection, more and more IDC machine rooms are provided with access control systems with unique functions. If the robot needs to enter the IDC machine room and each cold and hot channel in the IDC machine room, the robot needs to automatically control the corresponding door to be opened so as to enter the machine room. Because the robot manufacturer needs to do protocol butt joint development with the entrance guard manufacturer to control the door, the functional types of the entrance guard systems installed in the IDC machine room are various, and the problem that the robot comes in and goes out is basically not considered in different entrance guard systems, the robot manufacturer needs to perform customized development of protocols with numerous entrance guard manufacturers, the development cycle of the robot is further prolonged, and the business cost is increased.
Disclosure of Invention
The embodiment of the application provides a control method and device of an automatic door and a robot, and can solve the problems that an existing robot is long in development period and high in business cost.
In a first aspect, an embodiment of the present application provides a control method for an automatic door, which is applied to a robot, and includes:
sending a door opening and closing request to a dry node, wherein the door opening and closing request carries a unique identifier of the automatic door and carries a door opening instruction or a door closing instruction, the dry node is used for sending a door opening signal or a door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, the door opening signal is determined according to the door opening instruction, the door closing signal is determined according to the door closing instruction, and the switch control module is used for opening the automatic door after receiving the door opening signal or closing the automatic door after receiving the door closing signal;
and if the opening of the automatic door is detected, the automatic door is passed through.
In a second aspect, an embodiment of the present application provides a control method for an automatic door, which is applied to a dry node, and includes:
receiving a door opening and closing request sent by a robot or a server, wherein the door opening and closing request carries a unique identifier of an automatic door and carries a door opening instruction or a door closing instruction;
determining a door opening signal according to the door opening instruction, or determining a door closing signal according to the door closing instruction;
and sending the door opening signal or the door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, wherein the switch control module is used for opening the automatic door after receiving the door opening signal or closing the automatic door after receiving the door closing signal.
In a third aspect, an embodiment of the present application provides a control device for an automatic door, which is applied to a robot, and includes:
the system comprises a door opening and closing request sending module, a door opening and closing request sending module and a door closing and opening module, wherein the door opening and closing request sending module is used for sending a door opening and closing request to a dry node, the door opening and closing request carries a unique identifier of an automatic door and carries a door opening instruction or a door closing instruction, the dry node is used for sending a door opening signal or a door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, the door opening signal is determined according to the door opening instruction, the door closing signal is determined according to the door closing instruction, and the switch control module is used for opening the automatic door after receiving the door opening signal or closing the automatic door after receiving the door closing signal;
and the movement control module is used for passing through the automatic door if the opening of the automatic door is detected.
In a fourth aspect, embodiments of the present application provide a robot, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the method according to the first aspect when executing the computer program.
In a fifth aspect, the present application provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method according to the first aspect.
In a sixth aspect, the present application provides a computer program product, which when run on a robot, causes the robot to perform the method of the first aspect.
Compared with the prior art, the embodiment of the application has the advantages that:
in this embodiment of the application, after the robot sends the door opening and closing request to the dry node, the dry node can notify the opening and closing control module of the automatic door to open or close the corresponding automatic door, so that the robot can smoothly pass through the automatic door. And because the dry node only has 2 closed and open states, namely the communication mode of the dry node is simple, the manufacturer for producing the robot does not need to carry out long-time docking development on the robot aiming at the dry node, thereby shortening the development period of the robot and reducing the business cost of the robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings used in the embodiments or the description of the prior art will be briefly described below.
Fig. 1 is a flowchart of a control method for an automatic door applied to a robot according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a control method applied to an automatic door of a dry node according to an embodiment of the present application;
fig. 3 is a schematic view of an application scenario of a control method for an automatic door according to an embodiment of the present application;
fig. 4 is a schematic connection relationship diagram of a dry node and a control board of a gating system according to an embodiment of the present application;
fig. 5 is a block diagram of a control apparatus for an automatic door applied to a robot according to another embodiment of the present disclosure;
fig. 6 is a block diagram illustrating a structure of a control apparatus for an automatic door applied to a dry node according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of a robot according to another embodiment of the present application.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise.
The first embodiment is as follows:
at present, the robot needs to perform corresponding protocol development in advance for the protocol of the access control system of the automatic door, so that the robot can be identified by the access control system of the subsequent automatic door and controlled to be opened, and the robot can pass through the automatic door smoothly. However, since the access control systems have various functions, manufacturers of robots need to develop corresponding protocols according to the docking of different access control systems, which results in a long development period of the robots, high business costs, and generally poor compatibility.
In order to solve the above technical problem, an embodiment of the present application provides a method for controlling an automatic door, in which a dry node connected to a switch control module of the automatic door is newly added. The dry node sends a door opening signal or a door closing signal to the switch control module, and the switch control module opens or closes the automatic door according to the received door opening signal or door closing signal. The robot can inform the automatic door to open without being in butt joint development with a protocol of the entrance guard system in advance, so that the development period of the robot is effectively shortened, and the business cost is reduced. And because the dry node is only connected with the switch control module, namely, the dry node does not belong to one part of the access control system, the interaction between the robot and the dry node does not relate to the protocol of the access control system, thereby ensuring that the protocol of the robot and the protocol of the access control system have no compatibility problem.
The following describes a control method of an automatic door provided in an embodiment of the present application with reference to the drawings.
Fig. 1 shows a flowchart of a control method for an automatic door, which is applied to a robot and detailed as follows:
step S11, sending a door opening and closing request to a dry node, where the door opening and closing request carries a unique identifier of the automatic door and carries a door opening instruction or a door closing instruction, the dry node is configured to send a door opening signal or a door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, where the door opening signal is determined according to the door opening instruction, the door closing signal is determined according to the door closing instruction, and the switch control module is configured to open the automatic door after receiving the door opening signal, or is configured to close the automatic door after receiving the door closing signal.
In this embodiment, when the robot reaches the front of the automatic door (for example, the distance from the robot to the automatic door is not greater than the preset first distance threshold), a door opening and closing request carrying a door opening instruction is sent to the dry node, the dry node determines a corresponding door opening signal according to the received door opening instruction, and sends the door opening signal to the switch control module corresponding to the automatic door, and the switch control module pulls the hanging rail or stretches open the mechanical arm to open the automatic door. The unique identifier of the automatic door carried by the door opening request can be the name of the automatic door, the serial number of the automatic door, the channel number of the automatic door and the like, and the automatic door can be uniquely identified only by ensuring the name of the automatic door, the serial number of the automatic door or the channel number of the automatic door.
In this embodiment, after the robot passes through the automatic door, the robot sends a door opening and closing request carrying a door closing instruction to a dry node in communication with a door opening and closing control module of the automatic door, so that the dry node determines a corresponding door closing signal according to the door closing instruction in the door opening and closing request, and sends the door closing signal to the door opening and closing control module, and the door opening and closing control module pulls a hanging rail or retracts a mechanical arm according to the door closing signal to close the automatic door.
It should be noted that the stem node in this embodiment is a newly added module, and is connected to the switch control modules of one or more automatic doors to notify the one or more switch control modules to open or close the corresponding automatic doors.
In some embodiments, in order to reduce the probability of the robot colliding with the closed automatic door, the robot may reduce the current travel speed before sending a door opening and closing request carrying a door opening instruction to the dry node.
In step S12, if it is detected that the automatic door is opened, the automatic door is passed through.
In this embodiment, whether the automatic door is opened or not can be detected by:
if the robot is provided with the camera, and the camera can shoot the scenery in the advancing direction of the robot, the robot can judge whether the automatic door in front is opened or not by analyzing the image shot by the camera.
If the robot is equipped with a distance sensor, the robot may detect whether the automatic door is opened by analyzing the distance between the object in the forward direction of the robot and the robot, for example, when the distance between the robot and the automatic door is not greater than a preset first distance threshold, if the robot is within a preset time (e.g., within 1 second), it is determined that the automatic door in front of the robot is opened if it is detected that the distance between the robot and the object in front is not greater than the preset first distance threshold, then it is detected that the distance between the robot and the object in front is greater than a preset second distance threshold, and the second distance threshold is greater than the first distance threshold.
In this embodiment, when the robot detects that the automatic door is opened, the robot controls itself to pass through the automatic door.
In this embodiment of the application, after the robot sends the door opening and closing request to the dry node, the dry node can notify the opening and closing control module of the automatic door to open or close the corresponding automatic door, so that the robot can smoothly pass through the automatic door. And because the dry node only has 2 closed and open states, namely the communication mode of the dry node is simple, the manufacturer for producing the robot does not need to carry out long-time docking development on the robot aiming at the dry node, thereby shortening the development period of the robot and reducing the business cost of the robot.
In some embodiments, the dry node establishes a wired connection with a router, and the robot establishes a wireless connection with the router.
Correspondingly, the step S11 includes:
and sending a door opening and closing request to the dry node through wireless connection.
In this embodiment, the wireless connection includes a connection established by wireless fidelity (WiFi) or bluetooth. Because the robot needs to move frequently, the robot is arranged to be in wireless connection with the router, and the flexibility of the robot movement is improved. Meanwhile, the distance between the dry node and the automatic door is usually short, and the dry node does not need to move, so that the dry node is arranged to establish wired connection with the router, and the stability of data transmitted between the dry node and the router can be ensured.
In some embodiments, the control method of the automatic door further includes:
and sending a door opening and closing request to a server through wireless connection, wherein the server is used for forwarding the door opening and closing request to the trunk node through wired connection, and the server establishes wired connection with the router.
In this embodiment, the server and the trunk node both establish a wired connection with the router, where the wired connection includes a connection established through a network cable. The server stores in advance a correspondence between a unique identifier of the automatic door and an Internet Protocol Address (IP) of the trunk node. After the robot sends a door opening and closing request to the server, the server searches the IP address of the corresponding dry node according to the unique identifier of the automatic door carried by the door opening request, sends the door opening and closing request to the corresponding dry node according to the searched IP address, the dry node generates a corresponding door opening signal according to a door opening instruction of the door opening and closing request, or generates a corresponding door closing signal according to a door closing instruction of the door opening and closing request, sends the door opening signal or the door closing signal to the switch control module, and the switch control module controls the automatic door to be opened or closed. Because the communication between the server and the dry node is wired communication, the stability of data transmitted between the server and the dry node can be ensured. Meanwhile, the server stores the corresponding relation between the unique identifiers of different automatic doors and the IP addresses of the corresponding trunk nodes, so that the robot does not need to store the corresponding relation, and the memory of the robot can be effectively saved.
In some embodiments, the signal corresponding to the door opening command is a continuous signal, or a periodic on-off signal, and the signal corresponding to the door closing command is an off signal.
Here, the on signal and the off signal of the present embodiment are level signals, and for example, the signal for turning on the power supply is an on signal, and the signal for turning off the power supply is an off signal.
In this embodiment, the continuous on signal refers to a signal without an off signal, and the periodic on/off signal refers to a signal including a periodic on signal and a periodic off signal, for example, including a 0.5 second on signal and a 0.5 second off signal, that is, the periodic on/off signal can reflect changes of the on signal and the off signal. The subsequent dry nodes generate corresponding door opening signals according to the door opening instruction, so that the door opening signals generated by the dry nodes are different when the signals corresponding to the door opening instruction are different, the switch control module can perform different control on the automatic door according to the received door opening signals, and the flexibility of the switch control module in controlling the automatic door is improved.
In some embodiments, considering that a subsequent dry node determines a corresponding door opening signal according to a continuous communication signal or a periodic on-off signal, and the periodic on-off signal has better compatibility with an access control system, the robot may store a unique identifier of an automatic door with the access control system in advance, when the robot needs to pass through the automatic door with the access control system, a signal corresponding to a door opening instruction sent by the robot is the periodic on-off signal, and when the robot needs to pass through the automatic door without the access control system, the signal corresponding to the door opening instruction sent by the robot may be the continuous communication signal or the periodic on-off signal.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example two:
fig. 2 shows a flowchart of another control method for an automatic door according to an embodiment of the present application, which is applied to a dry node, and is detailed as follows:
and step S21, receiving a door opening and closing request sent by the robot or the server, wherein the door opening and closing request carries the unique identifier of the automatic door and carries a door opening instruction or a door closing instruction.
The trunk node and the server are respectively connected with the router in a wired mode, for example, the trunk node and the server are respectively connected with the router in a wired mode through network cables.
In this embodiment, the robot establishes a wireless connection with the router, and the dry node receives a door opening and closing request sent by the robot through the wireless connection and receives a door opening and closing request sent by the server through the wired connection. It should be noted that the server sends the door opening and closing request to the corresponding stem node after receiving the door opening and closing request sent by the robot.
When the robot needs to pass through the automatic door, the door opening and closing request received by the dry node carries a door opening instruction, and when the robot passes through the automatic door, the door opening and closing request received by the dry node carries a door closing instruction. The signal corresponding to the door opening instruction is a continuous communication signal, or is a periodic on-off signal, and the signal corresponding to the door closing instruction is an off signal.
Step S22, determining a door opening signal according to the door opening command, or determining a door closing signal according to the door closing command.
In this embodiment, the door opening and closing request is analyzed, and if it is determined that the door opening request carries a door opening instruction, the door opening signal is determined according to the door opening instruction. Otherwise, if the door closing instruction carried by the door opening and closing request is judged, the door closing signal is determined according to the door closing instruction.
In some embodiments, the determining the door opening signal according to the door opening command in step S22 includes:
if the signal corresponding to the door opening instruction is a continuous communication signal, determining the continuous communication signal as the door opening signal; and if the signal corresponding to the door opening instruction is a periodic on-off signal, determining a periodic pulse signal with a corresponding frequency as the door opening signal.
In this embodiment, the trunk node converts the continuous on signal into a continuous on signal, or converts the periodic on/off signal into a periodic pulse signal. And the period corresponding to the periodic pulse signal is equal to the period corresponding to the periodic on-off signal.
In some embodiments, the determining the door-closing signal in step S22 according to the door-closing command includes: and taking an off signal corresponding to the door closing command as a door closing signal.
In this embodiment, because the robot just can inform the dry node to close the automatically-controlled door after passing through the automatically-controlled door, therefore, the dry node only need with a disconnected signal as the signal of closing the door can, that is, the on-off control module only needs to detect disconnected signal and control the automatically-controlled door to close promptly, like this, neither can influence the operation of robot, also can improve the speed of closing the door of automatically-controlled door.
Step S23, sending the door opening signal or the door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, where the switch control module is configured to open the automatic door after receiving the door opening signal, or close the automatic door after receiving the door closing signal.
In this embodiment, if the plurality of nodes determine that the door opening signal is the door opening signal, the door opening signal is sent to the automatic door indicated by the unique identifier of the automatic door, and if the plurality of nodes determine that the door closing signal is the door closing signal, the door closing signal is sent to the automatic door indicated by the unique identifier of the automatic door. Because the automatic door is usually driven by a motor to move on a hanging rail or pushed by the motor to stretch and retract, the opening and the closing of the door are carried out. For example, after receiving the communication signal, the motor immediately controls the door to be opened, and after a preset time (such as 3 seconds) of a non-communication signal (namely an off state), the motor controls the door to be closed, and the dry node is only in 2 states of being closed and being opened, so that the dry node can send the corresponding communication signal and the off signal to the switch control module, and the automatic door can be effectively controlled to be opened and closed.
In this embodiment of the application, after the robot sends the door opening and closing request to the dry node, the dry node can notify the opening and closing control module of the automatic door to open or close the corresponding automatic door, so that the robot can smoothly pass through the automatic door. And because the dry node only has 2 closed and open states, namely the communication mode of the dry node is simple, the manufacturer for producing the robot does not need to carry out long-time docking development on the robot aiming at the dry node, thereby shortening the development period of the robot and reducing the business cost of the robot.
In some embodiments, the dry node establishes a wired connection with a switch control module of the automatic door. If the automatic door is not provided with an access control system, the switch control module is a control module of the automatic door, and if the automatic door is provided with the access control system, the switch control module is a key switch of the access control system of the automatic door.
The trunk node is connected with the switch control modules of the one or more automatic doors through wires, for example, the trunk node is connected with the switch control modules of the one or more automatic doors through wires. If the automatic door is provided with an access control system, the trunk node is connected to a terminal of a key switch of the automatic door; if the automatic door is not provided with an access control system, the dry node is directly connected to a control module of the automatic door. In this embodiment, because the access control system's of automatically-controlled door agreement can not cause the influence to doing the node, consequently, the communication industry of robot and doing the node can not receive the influence of access control system's agreement yet, promptly, the producer of production robot need not to dock the development to the robot to effectively shorten the development cycle of robot and save corresponding business cost.
In order to more clearly describe the control method of the automatic door provided in the embodiment of the present application, a specific application scenario is described below.
Referring to fig. 3, in fig. 3, the communication mode between the machine room router and the robot is wireless communication, the communication modes between the machine room router and the server and between the machine room router and the dry nodes (fig. 3 only shows 2 dry nodes) are wired communication, the first dry node is connected with 3 control panels of the access control systems through electric wires, each access control system is connected with the automatic door through an electric wire, and the second dry node is directly connected with the automatic door through an electric wire.
Supposing that the robot needs to pass through the automatic door 1, the robot sends a door opening and closing request to a server, the door opening and closing request comprises a unique identifier of the automatic door 1 and a door opening instruction, the server searches an IP address of a dry node corresponding to the unique identifier of the automatic door 1 to obtain an IP address of a first dry node, the server sends the door opening and closing request to the searched IP address, the first dry node determines a door opening signal according to the door opening instruction in the door opening and closing request, for example, the determined door opening signal is a periodic pulse signal, the periodic pulse signal is sent to an opening and closing control module of the automatic door 1, and the opening and closing control module of the automatic door 1 controls the automatic door 1 to be opened according to the received periodic pulse signal.
The connection relationship between the dry node and the control board of the gating system can be as shown in fig. 4.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.
Example three:
fig. 5 is a block diagram of a control device of an automatic door according to an embodiment of the present application, which is applied to a robot, and only the portions related to the embodiment of the present application are shown for convenience of description.
Referring to fig. 5, the control device 5 of the automatic door includes:
a door opening and closing request sending module 51, configured to send a door opening and closing request to a dry node, where the door opening and closing request carries a unique identifier of the automatic door and carries a door opening instruction or a door closing instruction, the dry node is configured to send a door opening signal or a door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, the door opening signal is determined according to the door opening instruction, the door closing signal is determined according to the door closing instruction, and the switch control module is configured to open the automatic door after receiving the door opening signal, or is configured to close the automatic door after receiving the door closing signal.
The unique identifier of the automatic door carried by the door opening request can be the name of the automatic door, the serial number of the automatic door, the channel number of the automatic door and the like, and the automatic door can be uniquely identified only by ensuring the name of the automatic door, the serial number of the automatic door or the channel number of the automatic door.
It should be noted that the stem node in this embodiment is a newly added module, and is connected to the switch control modules of one or more automatic doors to notify the one or more switch control modules to open or close the corresponding automatic doors.
In some embodiments, in order to reduce the probability of the robot colliding with the closed automatic door, the robot may reduce the current travel speed before sending a door opening and closing request carrying a door opening instruction to the dry node.
And a movement control module 52, configured to pass through the automatic door if it is detected that the automatic door is opened.
In this embodiment, whether the automatic door is opened or not can be detected by:
if the robot is provided with the camera, and the camera can shoot the scenery in the advancing direction of the robot, the robot can judge whether the automatic door in front is opened or not by analyzing the image shot by the camera.
If the robot is equipped with a distance sensor, the robot may detect whether the automatic door is opened by analyzing the distance between the object in the forward direction of the robot and the robot, for example, when the distance between the robot and the automatic door is not greater than a preset first distance threshold, if the robot is within a preset time (e.g., within 1 second), it is determined that the automatic door in front of the robot is opened if it is detected that the distance between the robot and the object in front is not greater than the preset first distance threshold, then it is detected that the distance between the robot and the object in front is greater than a preset second distance threshold, and the second distance threshold is greater than the first distance threshold.
In this embodiment of the application, after the robot sends the door opening and closing request to the dry node, the dry node can notify the opening and closing control module of the automatic door to open or close the corresponding automatic door, so that the robot can smoothly pass through the automatic door. And because the dry node only has 2 closed and open states, namely the communication mode of the dry node is simple, the manufacturer for producing the robot does not need to carry out long-time docking development on the robot aiming at the dry node, thereby shortening the development period of the robot and reducing the business cost of the robot.
In some embodiments, the dry node establishes a wired connection with a router, and the robot establishes a wireless connection with the router.
Correspondingly, the door opening and closing request sending module 51 is specifically configured to:
and sending a door opening and closing request to the dry node through wireless connection.
The wireless connection includes a connection established via WiFi, bluetooth, or the like.
In some embodiments, the signal corresponding to the door opening command is a continuous signal, or a periodic on-off signal, and the signal corresponding to the door closing command is an off signal.
In some embodiments, considering that a subsequent dry node determines a corresponding door opening signal according to a continuous communication signal or a periodic on-off signal, and the periodic on-off signal has better compatibility with an access control system, the robot may store a unique identifier of an automatic door with the access control system in advance, when the robot needs to pass through the automatic door with the access control system, a signal corresponding to a door opening instruction sent by the robot is the periodic on-off signal, and when the robot needs to pass through the automatic door without the access control system, the signal corresponding to the door opening instruction sent by the robot may be the continuous communication signal or the periodic on-off signal.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example four:
fig. 6 shows a block diagram of a control device of an automatic door according to an embodiment of the present application, which is applied to a dry node, and only shows a part related to the embodiment of the present application for convenience of description.
The control device 6 for the automatic door includes: the system comprises a door opening and closing request receiving module 61, a door opening signal determining module 62 and a door opening signal sending module 63. Wherein:
and the door opening and closing request receiving module 61 is used for receiving a door opening and closing request sent by the robot or the server, wherein the door opening and closing request carries the unique identifier of the automatic door and carries a door opening instruction or a door closing instruction.
The trunk node and the server are respectively connected with the router in a wired mode, for example, the trunk node and the server are respectively connected with the router in a wired mode through network cables.
In this embodiment, the robot establishes a wireless connection with the router, and the dry node receives a door opening and closing request sent by the robot through the wireless connection and receives a door opening and closing request sent by the server through the wired connection. It should be noted that the server sends the door opening and closing request to the corresponding stem node after receiving the door opening and closing request sent by the robot.
And a door opening signal determining module 62, configured to determine a door opening signal according to the door opening instruction, or determine a door closing signal according to the door closing instruction.
A door opening signal sending module 63, configured to send the door opening signal or the door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, where the switch control module is configured to open the automatic door after receiving the door opening signal, or close the automatic door after receiving the door closing signal.
In this embodiment of the application, after the robot sends the door opening and closing request to the dry node, the dry node can notify the opening and closing control module of the automatic door to open or close the corresponding automatic door, so that the robot can smoothly pass through the automatic door. And because the dry node only has 2 closed and open states, namely the communication mode of the dry node is simple, the manufacturer for producing the robot does not need to carry out long-time docking development on the robot aiming at the dry node, thereby shortening the development period of the robot and reducing the business cost of the robot.
In some embodiments, the dry node is in wired connection with a switch control module of the automatic door; if the automatic door is not provided with an access control system, the switch control module is a control module of the automatic door, and if the automatic door is provided with the access control system, the switch control module is a key switch of the access control system of the automatic door.
The trunk node is connected with the switch control modules of the one or more automatic doors through wires, for example, the trunk node is connected with the switch control modules of the one or more automatic doors through wires.
In some embodiments, when determining the door opening signal according to the door opening instruction, the door opening signal determining module is specifically configured to:
if the signal corresponding to the door opening instruction is a continuous communication signal, determining the continuous communication signal as the door opening signal; and if the signal corresponding to the door opening instruction is a periodic on-off signal, determining a periodic pulse signal with a corresponding frequency as the door opening signal.
In this embodiment, the trunk node converts the continuous on signal into a continuous on signal, or converts the periodic on/off signal into a periodic pulse signal. And the period corresponding to the periodic pulse signal is equal to the period corresponding to the periodic on-off signal.
In some embodiments, when determining the door closing signal according to the door closing command, the door opening signal determining module is specifically configured to: and taking an off signal corresponding to the door closing command as a door closing signal.
It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.
Example five:
fig. 7 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 7, the robot 7 of this embodiment includes: at least one processor 70 (only one processor is shown in fig. 7), a memory 71, and a computer program 72 stored in the memory 71 and executable on the at least one processor 70, the steps of any of the various method embodiments described above being implemented when the computer program 72 is executed by the processor 70.
The robot may include, but is not limited to, a processor 70, a memory 71. Those skilled in the art will appreciate that fig. 7 is merely an example of the robot 7, and does not constitute a limitation on the robot 7, and may include more or less components than those shown, or combine some of the components, or different components, such as input and output devices, network access devices, etc.
The Processor 70 may be a Central Processing Unit (CPU), and the Processor 70 may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 71 may in some embodiments be an internal storage unit of the robot 7, such as a hard disk or a memory of the robot 7. In other embodiments, the memory 71 may also be an external storage device of the robot 7, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, which are provided on the robot 7. Further, the memory 71 may also include both an internal storage unit and an external storage device of the robot 7. The memory 71 is used for storing an operating system, an application program, a BootLoader (BootLoader), data, and other programs, such as program codes of the computer program. The memory 71 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
An embodiment of the present application further provides a network device, where the network device includes: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, the processor implementing the steps of any of the various method embodiments described above when executing the computer program.
The embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements the steps in the above-mentioned method embodiments.
The embodiments of the present application provide a computer program product, which when running on a robot, enables the robot to implement the steps in the above method embodiments when executed.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, all or part of the processes in the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium and can implement the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include at least: any entity or device capable of carrying computer program code to a photographing apparatus/terminal apparatus, a recording medium, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), an electrical carrier signal, a telecommunications signal, and a software distribution medium. Such as a usb-disk, a removable hard disk, a magnetic or optical disk, etc. In certain jurisdictions, computer-readable media may not be an electrical carrier signal or a telecommunications signal in accordance with legislative and patent practice.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/network device and method may be implemented in other ways. For example, the above-described apparatus/network device embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implementing, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present application and are intended to be included within the scope of the present application.
Claims (10)
1. A control method of an automatic door is applied to a robot and comprises the following steps:
sending a door opening and closing request to a dry node, wherein the door opening and closing request carries a unique identifier of the automatic door and carries a door opening instruction or a door closing instruction, the dry node is used for sending a door opening signal or a door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, the door opening signal is determined according to the door opening instruction, the door closing signal is determined according to the door closing instruction, and the switch control module is used for opening the automatic door after receiving the door opening signal or closing the automatic door after receiving the door closing signal;
and if the opening of the automatic door is detected, the automatic door is passed through.
2. The control method of an automatic door according to claim 1, wherein the dry node establishes a wired connection with a router, and the robot establishes a wireless connection with the router;
the sending of the door opening and closing request to the dry node comprises:
and sending a door opening and closing request to the dry node through wireless connection.
3. The control method of an automatic door according to claim 1, further comprising:
and sending a door opening and closing request to a server through wireless connection, wherein the server is used for forwarding the door opening and closing request to the trunk node through wired connection, and the server is in wired connection with the router.
4. A method as claimed in any one of claims 1 to 3, wherein the signal corresponding to the door opening command is a continuous signal, or a periodic on/off signal, and the signal corresponding to the door closing command is an off signal.
5. A control method of an automatic door is applied to a dry node and comprises the following steps:
receiving a door opening and closing request sent by a robot or a server, wherein the door opening and closing request carries a unique identifier of an automatic door and carries a door opening instruction or a door closing instruction;
determining a door opening signal according to the door opening instruction, or determining a door closing signal according to the door closing instruction;
and sending the door opening signal or the door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, wherein the switch control module is used for opening the automatic door after receiving the door opening signal or closing the automatic door after receiving the door closing signal.
6. The control method of an automatic door according to claim 5, wherein the stem node establishes a wired connection with a switching control module of the automatic door; if the automatic door does not have an access control system, the switch control module is the control module of the automatic door, and if the automatic door is provided with the access control system, the switch control module is the key switch of the access control system of the automatic door.
7. The method for controlling an automatic door according to claim 4 or 5, wherein the determining a door opening signal according to the door opening command comprises:
if the signal corresponding to the door opening instruction is a continuous communication signal, determining the continuous communication signal as the door opening signal;
and if the signal corresponding to the door opening instruction is a periodic on-off signal, determining a periodic pulse signal with corresponding frequency as the door opening signal.
8. A control device of an automatic door, applied to a robot, comprising:
the system comprises a door opening and closing request sending module, a door opening and closing request sending module and a door closing and opening module, wherein the door opening and closing request sending module is used for sending a door opening and closing request to a dry node, the door opening and closing request carries a unique identifier of an automatic door and carries a door opening instruction or a door closing instruction, the dry node is used for sending a door opening signal or a door closing signal to a switch control module of the automatic door corresponding to the unique identifier of the automatic door, the door opening signal is determined according to the door opening instruction, the door closing signal is determined according to the door closing instruction, and the switch control module is used for opening the automatic door after receiving the door opening signal or closing the automatic door after receiving the door closing signal;
and the movement control module is used for passing through the automatic door if the opening of the automatic door is detected.
9. A robot comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.
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| CN202110895707.3A CN113818774A (en) | 2021-08-05 | 2021-08-05 | Automatic door control method and device and robot |
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| CN202110895707.3A CN113818774A (en) | 2021-08-05 | 2021-08-05 | Automatic door control method and device and robot |
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