CN114293844A - Robot, method and system for establishing movable fence - Google Patents
Robot, method and system for establishing movable fence Download PDFInfo
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- CN114293844A CN114293844A CN202111628537.9A CN202111628537A CN114293844A CN 114293844 A CN114293844 A CN 114293844A CN 202111628537 A CN202111628537 A CN 202111628537A CN 114293844 A CN114293844 A CN 114293844A
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Abstract
The invention relates to the technical field of artificial intelligence, in particular to a robot, a method and a system for establishing a movable fence; the system for establishing the movable fence comprises a robot and a cloud server, wherein the cloud server is in communication connection with the robot and is used for dispatching the robot to establish the movable fence; the method comprises the following steps: receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information; moving to a target position corresponding to the fence position information according to the fence position information; and adjusting the posture of the first robot at the target position according to the fence state information to construct a movable fence, wherein the posture is used for releasing or forbidding passing through the target road section enclosed by the fence. The state of the movable fence can be controlled by arranging the robot with adjustable posture, so that the basic functions of the fence are realized; and the robot can automatically move to a target position under the scheduling of the cloud server, so that the movable fence can be quickly established and transferred, and the geographic position limitation is removed.
Description
Technical Field
The invention relates to the technical field of artificial intelligence, in particular to a robot, a method and a system for establishing a movable fence.
Background
The passage gate is a passage blocking device (passage management equipment) used for managing the flow of people and regulating the entrance and exit of pedestrians and managing the entrance and exit of vehicles, and is mainly applied to a subway gate system, a charging ticket gate system, a park entrance and exit and a community entrance and exit, so that a paid area and a non-paid area are formed, or a restricted area and a non-restricted area are formed. The most basic and most core functions of the intelligent control system are to determine whether to allow the vehicle to pass through according to specific conditions, such as license plate numbers, access cards, passports, passwords, face data, body temperature, fingerprints and the like, so that the rapid passing can be realized based on the acquired data, and the passing speed is accelerated.
However, the existing gateway gate needs to be fixedly arranged in a certain place when in use, so that the existing gateway gate is limited by geographical positions and cannot meet the requirement of temporarily building a limited area. For example, need build a nucleic acid check point temporarily to installation passageway floodgate restriction discrepancy, and traditional passageway floodgate needs fixed mounting, and not only the installation needs certain time, need demolish again after the short time moreover, and the installation is demolishd very inconveniently, and is with high costs, and intelligent degree is low.
Disclosure of Invention
The invention provides a robot, a method and a system for establishing a movable fence, and aims to solve the technical problems that in the prior art, the setting of a channel gate is limited by geographic positions and the intelligence degree is low.
In order to solve the above technical problem, one technical solution adopted by the embodiment of the present invention is: a method for establishing a movable fence is provided, which is applied to a first robot and comprises the following steps: receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information; moving to a target position corresponding to the fence position information according to the fence position information; and adjusting the posture of the first robot at the target position according to the fence state information to construct a movable fence, wherein the posture is used for releasing or forbidding passing through a target road section enclosed based on the fence.
In some embodiments, the first robot includes a swing arm, and adjusting a pose of the first robot at a target location according to the fence status information to construct a movable fence, the pose being used to clear or prohibit passage of a target road segment enclosed based on the fence, including: when the fence state information indicates that the target road section is in a release state, adjusting the swing arm state of the first robot at the target position, and setting the swing arm state to be in a vertical state or a retraction state, wherein the vertical state or the retraction state is used for releasing the target road section enclosed by the fence; when the fence state information indicates that the target road section is in a no-pass state, adjusting the swing arm state of the first robot at the target position, and setting the swing arm state to be in a transverse state or an extending state, wherein the transverse state or the extending state is used for preventing the target road section which is enclosed by the fence from passing.
In some embodiments, the method further comprises: identifying identification information of a moving object close to the fence through the first robot, and determining target fence state information according to the identification information; and adjusting the swing arm state of the first robot according to the target fence state information so as to allow the moving object to pass or forbid passing through the target road section.
In some embodiments, adjusting the arm swing state of the first robot to clear or prohibit the moving object from passing through the target road segment according to the target fence state information comprises: when the target fence state information indicates that the target road section is in a release state, adjusting the swing arm state of the first robot, and setting the swing arm state to be in a vertical state or a retraction state, wherein the vertical state or the retraction state is used for releasing the target road section enclosed by the fence; acquiring the width of the moving object in the target road section; if the width is larger than a preset width value, controlling the first robot to move out of the target position, and avoiding the moving object to pass through the target path; when the target fence state information indicates that the target road section is in a no-pass state, adjusting the swing arm state of the first robot, and setting the swing arm state to be in a transverse state or an extending state, wherein the transverse state or the extending state is used for preventing the target road section which is surrounded by the fence from passing; acquiring a movement intention of the moving object; and if the movement intention is to forcibly pass through the target road section, controlling the first robot to resist the forced passing of the mobile object.
In some embodiments, the method further comprises: recording the number and the type of the moving objects passing through the target road section; and limiting the moving objects passing through the target road section according to the number and the types of the moving objects.
In some embodiments, the limiting the moving objects passing through the target road segment according to the number and the type of the moving objects comprises: and when the type of the moving object is human and the number of the human is greater than a preset value, limiting the moving object passing through the target road section, and scheduling at least one auxiliary robot to plan and dredge the moving object passing through the target road section.
In some embodiments, the method further comprises: when the width of the target road section is larger than the preset road width, scheduling at least one auxiliary robot to go to the target position; the first robot is in communication connection with the at least one auxiliary robot respectively and controls the at least one auxiliary robot to be matched with the first robot in posture, and the at least one auxiliary robot and the first robot are arranged on the target road section, so that the at least one auxiliary robot and the first robot construct the movable fence.
In some embodiments, the method further comprises: when the residual electric quantity of the first robot is lower than the preset electric quantity, scheduling at least one auxiliary robot to move to the target position to take over the work task of the first robot; after handing over the job task, first robot goes to and fills electric pile position and carries out the automation and charge.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: providing a robot comprising at least one processor and a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method as described above.
In order to solve the above technical problem, another technical solution adopted by the embodiment of the present invention is: the system for establishing the movable fence comprises the robot and the cloud server, wherein the cloud server is in communication connection with the robot, and is used for dispatching the robot to establish the movable fence.
Different from the conditions of the prior related art, in the robot, the method and the system for establishing the movable fence, the state of the movable fence can be controlled by arranging the robot with adjustable posture, so that the basic functions of the fence are realized; and the robot can move to the target position by oneself under the dispatch of high in the clouds server, realizes the quick establishment and the transfer of movable rail to remove geographical position's restriction, promote intelligent degree, satisfy diversified demand.
Drawings
One or more embodiments are illustrated in drawings corresponding to, and not limiting to, the embodiments, in which elements having the same reference number designation may be represented as similar elements, unless specifically noted, the drawings in the figures are not to scale.
Fig. 1 is a schematic diagram of a system for establishing a movable fence according to embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a hardware structure of a robot provided in embodiment 1 of the present invention;
fig. 3 is a schematic flow chart of a method for establishing a movable fence according to embodiment 2 of the present invention;
fig. 4 is a schematic structural view of a movable fence provided in embodiment 2 of the present invention;
FIG. 5 is a flow chart illustrating the detailed steps of step 203 in FIG. 4;
fig. 6 is a flowchart illustrating a method for establishing a movable fence according to embodiment 3 of the present invention;
FIG. 7 is a flowchart illustrating the detailed steps of step 305 in FIG. 6;
fig. 8 is a flowchart illustrating a method for establishing a movable fence according to embodiment 4 of the present invention;
fig. 9 is a schematic flowchart of a method for establishing a movable fence according to embodiment 5 of the present invention;
fig. 10 is a flowchart illustrating a method for establishing a movable fence according to embodiment 6 of the present invention;
FIG. 11 is a flowchart illustrating the detailed steps of step 607 in FIG. 10;
fig. 12 is a flowchart illustrating another detailed step of step 607 in fig. 10.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
It should be noted that, if not conflicted, the various features of the embodiments of the invention may be combined with each other within the scope of protection of the invention. Additionally, while functional block divisions are performed in the device diagrams, with logical sequences shown in the flowcharts, in some cases, the steps shown or described may be performed in a different order than the block divisions in the device diagrams, or the flowcharts.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Example 1
Fig. 1 is a schematic view of a system for establishing a movable fence according to embodiment 1 of the present invention, as shown in fig. 1, the system 100 for establishing a movable fence includes a cloud server 110 and a robot 120, the cloud server 110 is connected to the robot 120 in a communication manner, and the cloud server 110 is configured to schedule the robot 120 to establish a movable fence. The robot 120 is a robot 120 that can move arbitrarily on the ground, and the robot 120 is in communication connection with the cloud server 110 through a network, as shown in fig. 4, and includes a first robot 121 and an auxiliary robot 122.
Fig. 2 is a schematic diagram of a hardware structure of a robot according to embodiment 1 of the present invention, as shown in fig. 2, the robot 120 includes at least one processor 123 and a memory 124, where, for example, one of the processors 123 is shown, the memory 124 is communicatively connected to the at least one processor 123, and the processor 123 and the memory 124 may be connected by a bus or in another manner, and in the figure, the connection by the bus is shown as an example.
The memory 124 stores instructions executable by the at least one processor 123 to enable the at least one processor 123 to perform the method of establishing a moving fence of the method embodiments.
The memory 124, which is a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as program instructions/modules corresponding to the method for establishing a movable fence in the embodiment of the present invention. The processor 123 executes various functional applications and data processing of the terminal device by running the nonvolatile software programs, instructions and modules stored in the memory 124, that is, the method for establishing a movable fence according to the embodiment of the method is implemented.
The memory 124 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 124 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some embodiments, the memory 124 may optionally include the memory 124 remotely located from the processor 123, and these remote memories 124 may be connected to terminal devices over a network. Networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The one or more modules are stored in the memory 124 and, when executed by the one or more processors 123, perform the method of establishing a moving fence in method embodiments, e.g., performing method steps 201-203 of fig. 3.
The robot 120 can execute the method for establishing the movable fence provided by the method embodiment, and has corresponding functional modules and beneficial effects of the execution method. For technical details that are not described in detail in the embodiment of the robot 120, reference may be made to the method for establishing a movable fence provided in the embodiment of the method.
The cloud server 110 is in communication connection with the robot 120, the cloud server 110 receives at least one instruction and information sent by the robot 120, analyzes and processes the instruction and the information, and sends a feedback instruction and feedback information to at least one robot 120, and the cloud server 110 may be a single server or a server cluster.
In the system 100 for establishing a movable fence according to the embodiment of the present invention, the robot 120 capable of adjusting the posture is provided to control the state of the movable fence, so as to implement the basic functions of the fence; and the robot 120 can move to a target position by itself under the scheduling of the cloud server 110, so that the movable fence can be quickly established and transferred, the geographic position limitation is removed, the intelligent degree is improved, and diversified requirements are met.
Example 2
Fig. 3 is a flowchart of a method for establishing a movable fence according to embodiment 2 of the present invention, where the method is applied to the first robot 121, and with reference to fig. 3 and fig. 4, the method includes:
201: and receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information.
The dispatching instruction is sent to the first robot 121 by the cloud server 110 through a network, and the first robot 121 analyzes the dispatching instruction to obtain the fence position information and the fence state information; including, but not limited to, the internet, an intranet, a local area network, a mobile communications network, and combinations thereof.
The fence state information comprises a release state and a no-pass state, and the release state and the no-pass state are generally defaulted to the no-pass state.
202: and moving to a target position corresponding to the fence position information according to the fence position information.
The first robot 121 plans a path according to the fence position information and the current position of the first robot to obtain a first path, and moves to a card setting position where the fence needs to be set according to the first path, wherein the card setting position is a target position.
203: and adjusting the posture of the first robot 121 at the target position according to the fence state information to construct a movable fence, wherein the posture is used for controlling release or forbidding passage of a target road section enclosed by the fence.
As shown in fig. 4, after the first robot 121 reaches the position of the set card, the first robot 121 can adjust its posture, so as to control the passing state of the entire movable fence, and allow or restrict passing of people and/or vehicles (or smart mobile devices) passing by. The target road section is an access road section needing to be restricted from passing, and a card setting position is arranged on the target road section. In some embodiments, a first robot of the present application is disposed in the access section, and the first robot acts as a fence to enclose a portion of the area for forming a restricted area. For example, the first robot 121 of the present application is disposed in an access section of a community, so that the community can be enclosed to form a restricted area, and an unrestricted area is outside the community. Alternatively, in a square, a plurality of robots 120 may temporarily build a confined area by enclosing each other.
As shown in fig. 5, adjusting the posture of the first robot 121 at the target position according to the fence state information to construct a movable fence, where the posture is used to pass or forbid passage of a target road segment enclosed by the fence, specifically includes:
2031: when the fence state information indicates that the target road segment is in a release state, adjusting a swing arm state of the first robot 121 at the target position, and setting the swing arm state to be in a vertical state or a retracted state, where the vertical state or the retracted state is used for releasing the target road segment enclosed by the fence;
2032: when the fence state information indicates that the target road section is in a no-pass state, adjusting a swing arm state of the first robot 121 at the target position, and setting the swing arm state to be a horizontal state or an extended state, where the horizontal state or the extended state is used for preventing the target road section surrounded by the fence from passing.
The posture adjustment manner of the first robot 121 includes, but is not limited to, the following two ways:
1. the swing arm is a rod, one end of the rod is arranged on the body of the first robot 121 through a rotating motor, and the rotating motor drives the rod to rotate when rotating and can rotate to a horizontal state to intercept passing people and/or vehicles or rotate to a vertical state to allow passing people and/or vehicles to pass.
2. The swing arm is a telescopic fence, one end of the telescopic fence is arranged on the body of the first robot 121, the other end of the telescopic fence can be controlled to extend or retract by adjusting an included angle between two connecting rods hinged to each other in the telescopic fence, and when the other end of the telescopic fence extends, people and/or vehicles passing through the telescopic fence are intercepted; when the other end of the telescopic fence is retracted, passing people and/or vehicles are allowed to pass.
Example 3
Fig. 6 is a flowchart of a method for establishing a movable fence according to embodiment 3 of the present invention, which is applied to the first robot 121, and with reference to fig. 6 and 7, the method includes:
301: and receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information.
302: and moving to a target position corresponding to the fence position information according to the fence position information.
303: and adjusting the posture of the first robot 121 at the target position according to the fence state information to construct a movable fence, wherein the posture is used for controlling release or forbidding passage of a target road section enclosed by the fence.
304: identifying, by the first robot 121, identification information of a moving object close to the fence, and determining target fence state information according to the identification information.
The mobile objects may be individuals or groups, that is, the number of mobile objects may be one or more. The following description will be specifically made taking a moving object as an individual example. Also, the type of the moving object includes a human, a vehicle, or a smart mobile device, and in some other embodiments, the moving object may be an animal.
Specifically, the first robot 121 is provided with at least one of a camera, a microphone, an infrared temperature measurement sensor, and a card reader.
The camera is configured to acquire identification information of the moving object, for example: a face image of a person, a whole body image of a person, a license plate image of a vehicle, an image of a two-dimensional code, and the like. The image acquired of the moving object may be an entire image of the moving object or a partial image of the moving object. In order to improve the accuracy of data extraction, images of the moving object from a plurality of different angles may be acquired, for example, a long-distance overall image, a short-distance partial image, and the like of the moving object may be acquired.
Specifically, for extracting the face feature information in the face image, the face feature information of the moving object may be acquired by a three-dimensional face feature point extraction algorithm or the like. In practical environments, the face images of the same person under different lighting and postures may have apparent differences, and the differences are usually larger than the differences of different persons under almost the same lighting and postures. The single two-dimensional image is inevitably influenced by illumination, background and posture expression, the extraction precision is greatly limited, and the three-dimensional data has the characteristics of no illumination and no posture change, so that the facial feature extraction precision can be effectively improved. The three-dimensional face characteristic point extraction algorithm comprises the following steps: 1. and establishing a three-dimensional face model based on the two-dimensional initial image. For example, a three-dimensional face model is established by a visual method, and the process comprises the steps of establishing a general three-dimensional face mesh model; then extracting the characteristics of the human face from the human face images of different viewpoints, namely marking corresponding human face characteristic points such as the canthus, the mouth corner, the nose tip and the like on different human face images; next, calculating the position of the three-dimensional space point of the human face characteristic point by using a visual method, and using the position to deform a general three-dimensional human face mesh model so as to establish a geometric model of the human face of the moving object; and finally, synthesizing a texture image of the specific face by using the multi-viewpoint face image and performing texture mapping, thereby establishing a realistic face three-dimensional model of the moving object. 2. According to the extraction method of the face structure and the face features and the extraction steps of the feature contour lines in the face three-dimensional modeling, the method comprises the following steps: image segmentation, contour line extraction and accurate positioning are carried out to obtain facial feature information of the moving object.
The face feature point extraction algorithm and the like may be configured in advance in a terminal device, for example, the first robot 121. In some embodiments, in order to increase the speed of extracting the facial feature information of the mobile object, the first robot 121 may also perform extraction of the facial feature information of the mobile object through a facial feature point extraction algorithm or the like downloaded from the cloud server 110 through a network. As will be understood by those skilled in the art, when a face feature point extraction algorithm or the like is downloaded from the cloud server 110 via a network, the first robot 121 only needs to extract face feature information by means of the algorithm, and does not need to learn samples, so that the computational pressure of the first robot 121 is greatly reduced, and the speed of extracting the face feature information of a moving object is increased. After learning of the samples and learning of more samples, the process of training the correction model is carried out in a server or a cloud server, and the samples are trained by utilizing the strong cloud computing capacity of the cloud server.
The microphone is used for acquiring identification information of the moving object, such as: and sound information. And converting the sound wave into voiceprint information by extracting the characteristic points of the waveform of the sound wave in the sound information.
The card reader is used for collecting identification information of a communication certificate card, for example: data information of the pass card.
The first robot 121 extracts and analyzes data based on the identification information, and can determine whether the moving object is legal by comparing the data with data prestored in the cloud, and if the moving object is legal, the fence state information is changed to the release state; otherwise, the fence state information is kept in the no-pass state.
The infrared temperature measurement sensor is used for detecting identification information of a moving object, for example: body temperature; the first robot 121 compares the body temperature with a pre-stored temperature range, the body temperature within a certain temperature range (for example, 35-38 degrees centigrade) is determined as a normal body temperature, and if the body temperature value in the mark information falls within the range, the fence state information is changed to the release state; otherwise, the fence state information is kept in the no-pass state, an alarm is triggered, the image information of the mobile object is collected, and the image information is uploaded to the cloud server 110.
It is understood that the analysis process of the identification information may be local to the first robot 121, or may be local to the cloud server 110; or the first robot 121 performs preliminary processing on the identification information, and then sends the processed identification information to the cloud server 110 for further processing.
305: and adjusting the swing arm state of the first robot 121 according to the target fence state information to allow the moving object to pass or prohibit the moving object from passing through the target road section.
As shown in fig. 7, the specific steps include:
3051: when the target fence state information indicates that the target road section is in a release state, adjusting the swing arm state of the first robot 121, and setting the swing arm state to be in a vertical state or a retracted state, where the vertical state or the retracted state is used for releasing the target road section surrounded by the fence.
3052: and acquiring the width of the moving object in the target road section.
3053: and if the width is larger than the preset width value, controlling the first robot 121 to move out of the target position, and avoiding the moving object to pass through the target path.
When the size of the moving object is too large, for example, when the moving object is a truck, even if the swing arm state of the first robot 121 is the vertical state or the retracted state, the truck cannot pass through the target road segment, and at this time, the first robot 121 needs to leave the target position to allow the truck to pass through. The preset width value may be set to a maximum length of the swing arm.
3054: when the target fence state information indicates that the target road section is in a no-pass state, adjusting the swing arm state of the first robot 121, and setting the swing arm state to be in a horizontal state or an extended state, where the horizontal state or the extended state is used for preventing the target road section surrounded by the fence from passing.
3055: and acquiring the movement intention of the moving object.
The detection of the moving object can be realized by at least one of a camera, an infrared temperature sensor, a microphone and a card reader, or can be realized by combining a plurality of sensors, and when passing people and/or vehicles do not meet the passing conditions, the moving object is determined to be an illegal moving object; and if the illegal moving object approaches the movable fence and is less than a certain distance away from the movable fence, determining that the moving intention of the moving object is forced to pass.
3056: and if the movement intention is to forcibly pass through the target road section, controlling the first robot 121 to resist the forced passing of the mobile object.
The movable fence is used for limiting passing, and in the actual use process, people can follow the passing rule of the movable fence, but the forced passing situation is inevitable. When the moving object is forced to pass through the target road section enclosed by the fence, the first robot 121 prevents the moving object from passing through by changing the position and/or posture.
For example, the first robot 121 is a rotary swing arm that rotates downward to stop when the moving object attempts to drill from below the swing arm; when the moving object tries to pass over the swing arm, the swing arm rotates upwards to stop; when the moving object attempts to bypass the first robot 121, the first robot 121 moves its position to be blocked.
For example, the first robot 121 is a telescopic swing arm, and when the moving object attempts to bypass the first robot 121, the first robot 121 moves its own position to block it.
It can be understood that: for the moving object forced to pass through, the video information of the moving object can be recorded, and the video shooting can be carried out through a camera or the recording can be carried out through other means; and when the mobile object is detected to be illegal, a camera or other sensors can be turned on for prerecording.
Example 4
Fig. 8 is a flowchart of a method for establishing a movable fence according to embodiment 4 of the present invention, where the method is applied to the first robot 121, and referring to fig. 8, the method includes:
401: and receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information.
402: and moving to a target position corresponding to the fence position information according to the fence position information.
403: and adjusting the posture of the first robot 121 at the target position according to the fence state information to construct a movable fence, wherein the posture is used for controlling release or forbidding passage of a target road section enclosed by the fence.
404: and when the width of the target road section is larger than the preset road width, scheduling at least one auxiliary robot 122 to go to the target position.
When the card setting position is wider than the preset road width, the preset road width may be understood as the maximum width that can be intercepted by a single first robot 121, and the single first robot 121 cannot establish a movable fence at the target position, for example, at a gate of a park or a cell, or directly establish a movable fence on a road; at this time, a plurality of robots 120 are scheduled to jointly establish the movable fence, for example, at least one auxiliary robot 122 is called again on the basis of scheduling one first robot 121.
405: the first robot 121 is respectively in communication connection with the at least one auxiliary robot 122, and controls the at least one auxiliary robot 122 to cooperate with the first robot 121 in posture, and the at least one auxiliary robot 122 and the first robot 121 are arranged in the target road segment, so that the at least one auxiliary robot 122 and the first robot 121 construct the movable fence.
After the first robot 121 and the at least one auxiliary robot 122 reach the target position, the movable fences are jointly established, and respective arrangement positions need to be adjusted to avoid mutual interference, ensure the intercepting effect of the movable fences, and avoid that the interception cannot be really realized due to the occurrence of vacant positions. It is therefore necessary to establish a communication link between the robots 120 to communicate their respective position information with each other.
After acquiring the respective position information, the robot 120 needs to calculate according to the target road segment and the width of the target road segment, and acquire the respective specific target addresses, thereby generating respective pose adjustment signals, and exchange the pose adjustment signals with each other, that is, send the pose adjustment signals to each other.
The robots 120 perform position adjustment according to the pose adjustment signals, so that the robots 120 are arranged along the extending direction of the line to be locked of the target road section, or arranged on the ground along the direction perpendicular to the road; and the distance between each robot 120 is proper, so that not only can no leak occur on the blocking line, but also the interference between the adjacent robots 120 is avoided.
It is understood that the robots 120 in the jointly established movable fences can be controlled independently of each other, enabling multiple channels of the movable fences; two robots 120 may also be used to form a tunnel, thereby widening the tunnel for vehicles to pass through.
Example 5
Fig. 9 is a flowchart of a method for establishing a movable fence according to embodiment 5 of the present invention, which is applied to the first robot 121, and with reference to fig. 9, the method includes:
501: and receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information.
502: and moving to a target position corresponding to the fence position information according to the fence position information.
503: and adjusting the posture of the first robot 121 at the target position according to the fence state information to construct a movable fence, wherein the posture is used for controlling release or forbidding passage of a target road section enclosed by the fence.
504: when the remaining power of the first robot 121 is lower than the preset power, at least one auxiliary robot 122 is scheduled to move to the target location to take over the work task of the first robot 121.
The robot 120 is powered by a battery, and when the electric quantity of the battery is insufficient, the robot 120 needs to leave a card setting position and find another robot 120 with the sufficient electric quantity of the battery for replacement. Specifically, the first robot 121 sends an electric quantity prompt instruction with low remaining electric quantity to the cloud server 110, and the cloud server 110 sends a scheduling instruction to the auxiliary robot 122 with sufficient electric quantity nearby, so that the auxiliary robot 122 moves to the target position, and the replacement of the first robot 121 with low electric quantity is completed.
It is understood that the power prompt command with low remaining power may be replaced with a damage command that the first robot 121 is damaged. The first robot 121 may be damaged during use and cannot work normally, and another normal auxiliary robot 122 may be called to replace the damaged first robot through the damage instruction, so as to ensure normal work of the movable fence.
505: after handing over the work task, the first robot 121 goes to a charging pile position for automatic charging.
The first robot 121, whose remaining power is lower than a preset power, plans a path according to the position of the charging pile and its current position to obtain a second path, and moves to the vicinity of the charging pile according to the second path to perform charging.
Example 6
Fig. 10 is a flowchart of a method for establishing a movable fence according to embodiment 6 of the present invention, where the method is applied to the first robot 121, and with reference to fig. 10 and fig. 11, the method includes:
601: and receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information.
602: and moving to a target position corresponding to the fence position information according to the fence position information.
603: and adjusting the posture of the first robot 121 at the target position according to the fence state information to construct a movable fence, wherein the posture is used for controlling release or forbidding passage of a target road section enclosed by the fence.
604: identifying, by the first robot 121, identification information of a moving object close to the fence, and determining target fence state information according to the identification information.
605: and adjusting the swing arm state of the first robot 121 according to the target fence state information to allow the moving object to pass or prohibit the moving object from passing through the target road section.
606: and recording the number and the type of the mobile objects passing through the target road section.
When the moving object passes through the movable fence, identification information needs to be detected, and identification information is recognized according to the identification information, such as a face image of a person, a whole body image of the person, a license plate image of a vehicle, a pass card, an image of a two-dimensional code and the like, so that statistics of the moving object can be completed.
When the identification information is the body temperature, the moving object can be analyzed through a camera or other sensors, and the identity information is recognized, so that the recording is completed.
When the access information only needs to count the number of people or vehicles, the number of times of passing through the movable fence in the release state can be directly counted without identifying identity information; it will be appreciated that the pathway through which vehicles pass should be separated from the pathway through which pedestrians pass, thereby facilitating statistics and also increasing the safety of pedestrian passage.
607: and limiting the moving objects passing through the target road section according to the number and the types of the moving objects.
According to the number and types of the moving objects entering and exiting the target road section, whether the bearing capacity of the target road section is exceeded or not can be calculated.
For example, the target road section is an access road section of a park, the park has only 100 parking spaces, but at this time, according to statistics, if the number of vehicles left in the park reaches 100, the park is in a non-receivable state, the vehicles are rejected to enter the park, and the situation that the parking spaces are full can be prompted; when vehicles are driven out of the park, namely the number of the remaining vehicles in the park does not reach 100, the park returns to a standby state.
For another example, the target section is an access section of a park, the carrying capacity of the park is 2000 persons, but at this time, according to statistics, if the tourists staying in the park already have 2000 persons, the park is in a non-reception state, the tourists are refused to enter, and the excessive tourists in the park are prompted; when the tourists leave from the park, namely the tourists staying in the park do not reach 2000 persons at the moment, the park returns to the receivable state.
Further, as shown in fig. 11, step 607 includes:
6071: when the type of the moving object is human and the number of human is greater than a preset value, limiting the number of human passing through the target road section, and scheduling at least one auxiliary robot 122 to plan and groom the human passing through the target road section.
Alternatively, as shown in fig. 12, step 607 includes:
6072: when the type of the moving object is the intelligent mobile device and the number of the intelligent mobile devices is greater than a preset value, limiting the number of the intelligent mobile devices passing through the target road section, and scheduling at least one auxiliary robot 122 to plan and dredge the intelligent mobile devices passing through the target road section. The preset value can be set according to the characteristics of the limited area enclosed by the fence, and the larger the area of the limited area is, the larger the preset value can be set.
Counting the number of passing people and vehicles through the movable fence, and when the movable fence is arranged at an opening of a closed area, such as a gate of a park, a gate of a factory and the like, counting the number of people and vehicles in the closed area through the movable fence, namely the number of moving objects in a preset range; if the number of people or vehicles in the preset range is too large, that is, the number of people or vehicles exceeds the preset threshold, the robot 120 of the movable fence sends a command to be scheduled to the cloud server 110, and the cloud server 110 analyzes the received multiple commands to be scheduled and feeds scheduling information back to the auxiliary robot 122; the auxiliary robot 122 receives the scheduling information, and prompts people or vehicles within the preset range to leave according to the suggested path, i.e., planning and evacuating, so as to avoid accidents caused by the bearing capacity exceeding the preset range, or emergency evacuation after the accidents occur, and avoid secondary accidents.
According to the method for establishing the movable fence, by establishing the communication connection between the cloud server 110 and the robot 120, the robot 120 can be controlled to automatically move and control the state of the movable fence, the intelligent degree is improved, an automatic fence system is realized, and the movable fence can be quickly established and transferred; and communication connection can also be established between the robots 120, so that cooperative work between the robots 120 and position correction between the robots 120 can be realized, the flexibility of the robots 120 is enhanced, the use effect of the movable fence is enhanced, and diversified requirements are met.
Example 7
Embodiments of the present invention provide a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform a method of establishing a moving fence. For example, method steps 201 through 203 in fig. 3 are performed.
Example 8
Embodiments of the present invention provide a non-transitory computer-readable storage medium storing computer-executable instructions for causing a computer to perform a method for establishing a moving fence. For example, method steps 201 through 203 in fig. 3 are performed.
It should be noted that the above-described device embodiments are merely illustrative, wherein the modules described as separate parts may or may not be physically separate, and the parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that the embodiments may be implemented by software plus a general hardware platform, and may also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes in the methods for implementing the embodiments may be implemented by hardware associated with computer program instructions, and the programs may be stored in a computer readable storage medium, and when executed, may include processes of the embodiments of the methods as described. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; within the idea of the invention, also technical features in the above embodiments or in different embodiments may be combined, steps may be implemented in any order, and there are many other variations of the different aspects of the invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, it will 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; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A method for establishing a movable fence, applied to a first robot, the method comprising:
receiving a scheduling instruction, wherein the scheduling instruction comprises fence position information and fence state information;
moving to a target position corresponding to the fence position information according to the fence position information;
and adjusting the posture of the first robot at the target position according to the fence state information to construct a movable fence, wherein the posture is used for releasing or forbidding passing through a target road section enclosed based on the fence.
2. The method of claim 1, the first robot comprising a swing arm, wherein adjusting a pose of the first robot at a target location for passing or disallowing passage of a target segment enclosed based on the fence to construct a portable fence according to the fence status information comprises:
when the fence state information indicates that the target road section is in a release state, adjusting the swing arm state of the first robot at the target position, and setting the swing arm state to be in a vertical state or a retraction state, wherein the vertical state or the retraction state is used for releasing the target road section enclosed by the fence;
when the fence state information indicates that the target road section is in a no-pass state, adjusting the swing arm state of the first robot at the target position, and setting the swing arm state to be in a transverse state or an extending state, wherein the transverse state or the extending state is used for preventing the target road section which is enclosed by the fence from passing.
3. The method of claim 1, further comprising:
identifying identification information of a moving object close to the fence through the first robot, and determining target fence state information according to the identification information;
and adjusting the swing arm state of the first robot according to the target fence state information so as to allow the moving object to pass or forbid passing through the target road section.
4. The method of claim 3, wherein adjusting the arm swing status of the first robot to clear or prohibit the moving object from passing the target road segment according to the target fence status information comprises:
when the target fence state information indicates that the target road section is in a release state, adjusting the swing arm state of the first robot, and setting the swing arm state to be in a vertical state or a retraction state, wherein the vertical state or the retraction state is used for releasing the target road section enclosed by the fence;
acquiring the width of the moving object in the target road section;
if the width is larger than a preset width value, controlling the first robot to move out of the target position, and avoiding the moving object to pass through the target path;
when the target fence state information indicates that the target road section is in a no-pass state, adjusting the swing arm state of the first robot, and setting the swing arm state to be in a transverse state or an extending state, wherein the transverse state or the extending state is used for preventing the target road section which is surrounded by the fence from passing;
acquiring a movement intention of the moving object;
and if the movement intention is to forcibly pass through the target road section, controlling the first robot to resist the forced passing of the mobile object.
5. The method of claim 3, further comprising:
recording the number and the type of the moving objects passing through the target road section;
and limiting the moving objects passing through the target road section according to the number and the types of the moving objects.
6. The method of claim 5, wherein restricting the mobile objects passing through the target road segment according to the number and type of the mobile objects comprises:
and when the type of the moving object is human and the number of the human is greater than a preset value, limiting the moving object passing through the target road section, and scheduling at least one auxiliary robot to plan and dredge the moving object passing through the target road section.
7. The method of claim 1, further comprising:
when the width of the target road section is larger than the preset road width, scheduling at least one auxiliary robot to go to the target position;
the first robot is in communication connection with the at least one auxiliary robot respectively and controls the at least one auxiliary robot to be matched with the first robot in posture, and the at least one auxiliary robot and the first robot are arranged on the target road section, so that the at least one auxiliary robot and the first robot construct the movable fence.
8. The method of claim 1, further comprising:
when the residual electric quantity of the first robot is lower than the preset electric quantity, scheduling at least one auxiliary robot to move to the target position to take over the work task of the first robot;
after handing over the job task, first robot goes to and fills electric pile position and carries out the automation and charge.
9. A robot, comprising:
at least one processor; and the number of the first and second groups,
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of any one of claims 1 to 8.
10. A system for creating a portable enclosure, the system comprising:
the robot of claim 9; and
the cloud server is in communication connection with the robot and used for dispatching the robot to establish the movable fence.
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Cited By (1)
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| CN115019499A (en) * | 2022-07-15 | 2022-09-06 | 赵春江 | Multifunctional enclosure wall control system and method |
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