CN116149323A - Method, device and equipment for passing through door of robot - Google Patents

Method, device and equipment for passing through door of robot Download PDF

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Publication number
CN116149323A
CN116149323A CN202211721146.6A CN202211721146A CN116149323A CN 116149323 A CN116149323 A CN 116149323A CN 202211721146 A CN202211721146 A CN 202211721146A CN 116149323 A CN116149323 A CN 116149323A
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China
Prior art keywords
target
point
robot
path planning
preset
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CN202211721146.6A
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Chinese (zh)
Inventor
宫明广
何芷露
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Shenzhen Youbihang Technology Co ltd
Ubtech Robotics Corp
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Shenzhen Youbihang Technology Co ltd
Ubtech Robotics Corp
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Priority to CN202211721146.6A priority Critical patent/CN116149323A/en
Publication of CN116149323A publication Critical patent/CN116149323A/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The application is applicable to the technical field of robots, and provides a method, a device and equipment for passing a door of a robot, wherein the method comprises the following steps: acquiring a global path planning point of the robot; acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; acquiring a first target line segment between a first access point and a second access point corresponding to a preset access point; acquiring a target intersection point between a target straight line and a first target line segment; when the target intersection point is positioned on the first target line segment and is positioned on the second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through a preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard. The judging method is simple and accurate, is simple to deploy, has a wide application range, can accurately judge whether the robot needs to pass through the entrance guard or not in any scene, and improves the working efficiency of the robot.

Description

Method, device and equipment for passing through door of robot
Technical Field
The application belongs to the technical field of robots, and particularly relates to a method, a device and equipment for passing a door of a robot.
Background
Today, intelligent equipment is becoming popular, and the entrance guard is used as an important component in security systems, and is widely applied to a large number of robot application scenes such as factories, shops, exhibition halls and the like, so that more convenient and safer guarantee is provided. In the traditional robot door passing method, the robot generally directly starts a door passing process when passing through a door, and passes through an entrance guard. However, in a relatively complex scenario, this method is relatively prone to errors, for example, when the door passing process is started in a place without access control, or when the door passing process is not started in a place with access control. This results in a great reduction in the working efficiency of the robot.
Disclosure of Invention
The embodiment of the application provides a method, a device and equipment for passing a door of a robot, which can solve the technical problems.
In a first aspect, an embodiment of the present application provides a method for passing through a door of a robot, including: acquiring a global path planning point of the robot; acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points; acquiring a first target line segment between a first access point and a second access point corresponding to a preset access point; acquiring a target intersection point between the target straight line and the first target line segment; when the target intersection point is located on the first target line segment and is located on a second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through the preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard.
Further, the obtaining, according to the global path planning point, a target straight line corresponding to a target sub-path of the robot includes: dividing a preset area into a calculation area and a non-calculation area according to a preset division strategy; acquiring a target path planning point contained in the calculation region from the global path planning point; and acquiring a target straight line corresponding to the target sub-path of the robot according to the target path planning point.
Further, the generating the door passing instruction, through the preset door access, includes: acquiring an entry point and an exit point corresponding to the preset access control; controlling the robot to move to the door entry point, and calling a door opening instruction corresponding to the preset door access to execute door opening operation; and controlling the robot to move to the exit point, and calling a door closing instruction corresponding to the preset entrance guard to execute door closing operation.
Further, after the acquiring the target intersection point between the target straight line and the first target line segment, the method further includes: when the target intersection point between the target straight line and the first target line segment is not acquired, the robot is judged not to pass through the preset entrance guard when driving the target sub-path.
Further, after the acquiring the target intersection point between the target straight line and the first target line segment, the method further includes: when the target intersection point is located on the first target line segment and is not located on a second target line segment between the first path planning point and the second path planning point, the robot is judged not to pass through the preset entrance guard when driving the target sub-path.
Further, after the acquiring the target intersection point between the target straight line and the first target line segment, the method further includes: when the robot runs all the target sub-paths, the target paths corresponding to the global path planning points of the robot are judged not to pass through the entrance guard without passing through the preset entrance guard.
In a second aspect, an embodiment of the present application provides a door passing device of a robot, including: the first acquisition unit is used for acquiring global path planning points of the robot; the second acquisition unit is used for acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points; the third acquisition unit is used for acquiring a first target line segment between a first access point and a second access point corresponding to a preset access control; a fourth obtaining unit, configured to obtain a target intersection point between the target straight line and the first target line segment; the first processing unit is used for judging that the robot needs to pass through the preset entrance guard when running the target sub-path when the target intersection point is located on the first target line segment and located on a second target line segment between the first path planning point and the second path planning point, generating an entrance passing instruction and passing through the preset entrance guard.
Further, the second acquisition unit is specifically configured to: dividing a preset area into a calculation area and a non-calculation area according to a preset division strategy; acquiring a target path planning point contained in the calculation region from the global path planning point; and acquiring a target straight line corresponding to the target sub-path of the robot according to the target path planning point.
Further, the first processing unit is specifically configured to: acquiring an entry point and an exit point corresponding to the preset access control; controlling the robot to move to the door entry point, and calling a door opening instruction corresponding to the preset door access to execute door opening operation; and controlling the robot to move to the exit point, and calling a door closing instruction corresponding to the preset entrance guard to execute door closing operation.
Further, the door passing device of the robot further comprises: and the second processing unit is used for judging that the robot does not need to pass through the preset entrance guard when driving the target sub-path when not acquiring the target intersection point between the target straight line and the first target line segment.
Further, the door passing device of the robot further comprises: and the third processing unit is used for judging that the robot does not need to pass through the preset entrance guard when running the target sub-path when the target intersection point is positioned on the first target line segment and is not positioned on a second target line segment between the first path planning point and the second path planning point.
Further, the door passing device of the robot further comprises: and the fourth processing unit is used for judging that the target path corresponding to the global path planning point of the robot does not need to pass through the entrance guard when the robot runs all the target sub-paths.
In a third aspect, an embodiment of the present application provides a door passing device of a robot, including a processor, a memory, and a computer program stored in the memory and executable on the processor, the processor implementing the method according to the first aspect as described above when executing the computer program.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as in the first aspect described above.
In the embodiment of the application, a global path planning point of a robot is obtained; acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points; acquiring a first target line segment between a first access point and a second access point corresponding to a preset access point; acquiring a target intersection point between a target straight line and a first target line segment; when the target intersection point is positioned on the first target line segment and is positioned on the second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through a preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard. By the method, whether the robot needs to pass through the entrance guard before passing through the door can be accurately judged, and whether the passing through process is started or not is judged according to the judging result. The judging method is simple and accurate, is simple to deploy and has a wide application range, and can accurately judge whether the robot needs to pass through the entrance guard or not under any scene, so that the working efficiency of the robot is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a door passing method of a robot according to a first embodiment of the present application;
fig. 2 is a schematic diagram of a global path planning point, a first access point, a second access point and a first target line segment in a method for passing a door of a robot according to a first embodiment of the present application;
fig. 3 is a schematic flowchart of S102 in a door passing method of a robot according to a first embodiment of the present application;
fig. 4 is a schematic view of a door passing device of a robot according to a second embodiment of the present application;
fig. 5 is a schematic view of a door passing device of a robot according to a third 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 configurations, 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 should 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 any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As used in this specification and the appended claims, the term "if" may be interpreted as "when..once" or "in response to a determination" or "in response to detection" depending on the context. Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".
In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
Reference in the 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 application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise. The terms "comprising," "including," "having," and variations thereof mean "including but not limited to," unless expressly specified otherwise.
Referring to fig. 1, fig. 1 is a schematic flow chart of a door passing method of a robot according to a first embodiment of the present application. In this embodiment, the main body of the robot passing method is a passing device of the robot, and the passing device of the robot may be a robot, a personal computer, a server, or a processor, a microprocessor, or the like. The following explanation is made by taking a passing device (hereinafter referred to simply as a device) of a robot as an execution subject of a passing method of the robot, and the device is not particularly limited. The passing method of the robot as shown in fig. 1 may include:
s101: and acquiring a global path planning point of the robot.
The device can acquire the current operation task of the robot, wherein the operation task comprises the position information of the starting point and the position information of the target point corresponding to the current task of the robot. The device obtains a starting point and a target point of the robot from the job task.
After the starting point and the target point are acquired, path planning is started to obtain a global path planning point. The global path planning point is a point which needs to be passed from a starting point to a target point when the robot executes a task. It will be appreciated that the global path planning points are path planning points having a sequence.
In an optional implementation manner, after the starting point and the target point are acquired, path planning is started to directly obtain a plurality of global path planning points; in an alternative embodiment, after the starting point and the target point are acquired, path planning is started to obtain a task path of the robot, and a global path planning point is acquired from the task path, which is not limited herein.
S102: acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points.
And the equipment acquires a target straight line corresponding to the target sub-path of the robot according to the global path planning point. The target straight line is a straight line determined according to a first path planning point and a second path planning point, and the first path planning point and the second path planning point are two adjacent global path planning points.
Specifically, as shown in fig. 2, fig. 2 is a schematic diagram of a global path planning point, a first access point, a second access point and a first target line segment, in fig. 2, a point 1, a point 2, a point 3 and a point 4 are global path planning points, and according to fig. 2, a target sub-path of the robot acquired by the point 1, the point 2, the point 3 and the point 4 is a line segment formed by the point 1-the point 2, the point 2-the point 3 and the point 3-the point 4.
Since the global path planning points are path planning points having an order, the target sub-paths obtained from the global path planning points are also obtained in this order. For example, the points 1, 2, 3 and 4 are global path planning points, and the points 1, 2, 3 and 4 acquire the target sub-paths of the robot as the line segments formed by the points 1-2, 2-3 and 3-4, and the target sub-paths formed by the points 1-3, 2-4 and 1-4 are not acquired.
The target straight line corresponding to the target sub-path is a straight line formed according to the points 1-2, 2-3 and 3-4 respectively.
In an alternative embodiment, efficiency is improved in order to reduce the number of points calculated. Referring to fig. 3, fig. 3 is a schematic flowchart of S102 in a door passing method of a robot according to a first embodiment of the present application, where S102 includes:
s1021: dividing the preset area into a calculation area and a non-calculation area according to a preset division strategy.
S1022: and acquiring a target path planning point contained in the calculation area from the global path planning point.
S1023: and acquiring a target straight line corresponding to the target sub-path of the robot according to the target path planning point.
The device is pre-stored with a preset dividing strategy which is used for dividing the whole preset area of the robot operation. The device divides the preset area into a calculation area and a non-calculation area according to a preset division strategy, and the device can acquire a target straight line corresponding to a target sub-path according to a global path planning point in the calculation area. That is, the global path planning points in the non-computing area are not processed any more, so that computing resources can be saved and efficiency can be improved.
For example, the whole preset area of the robot operation includes an area one, an area two and an area three, wherein the area one and the area two each include a global path planning point, and when the area two has no access control, the area two can be used as a non-calculation area, and the area one can be used as a calculation area.
In addition, the device can also preset the size of the calculation area according to the size information of the entrance guard, and divide the rectangular area according to the position information and the size information of the entrance guard, so that the calculation area containing the entrance guard is obtained.
The equipment acquires a target path planning point contained in the calculation area from the global path planning point, and acquires a target straight line corresponding to a target sub-path of the robot according to the target path planning point. For specific details, reference may be made to the description related to S102, which is not repeated here.
S103: and acquiring a first target line segment between a first access point and a second access point corresponding to the preset access point.
The device acquires a first target line segment between a first access point and a second access point corresponding to a preset access point. The device stores preset access control and corresponding position information and access control points on a map in advance. Two access points are preset for each access control.
As shown in fig. 2, a line segment between an access point a and an access point B in fig. 2 is an access point AB, and the access point a and the access point B are access points corresponding to the access point AB. The access point A and the access point B are respectively a first access point and a second access point corresponding to a preset access point, and a line segment between the access point A and the access point B is a first target line segment between the first access point and the second access point.
S104: and acquiring a target intersection point between the target straight line and the first target line segment.
The device obtains a target intersection point between the target straight line and the first target line segment, as shown in fig. 2, the straight line 1-2 is the target straight line, the line segment AB is the first target line segment, and the intersection point C between the straight line 1-2 and the line segment AB is the target intersection point.
In this embodiment, when the target intersection point between the target straight line and the first target line segment is acquired, because the first target line segment has a length limitation, a situation that the intersection point between the target straight line and the first target line segment does not exist may occur, and when the target intersection point between the target straight line and the first target line segment is not acquired, it is indicated that the target sub-path corresponding to the current target straight line does not need to pass through a preset gate.
S105: when the target intersection point is located on the first target line segment and is located on a second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through the preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard.
The equipment stores judging conditions in advance, and the judging conditions are used for judging whether the robot needs to pass through the entrance guard before passing through the door. When the target intersection point is positioned on the first target line segment and is positioned on the second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through a preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard.
For example, as shown in fig. 2, the straight line 2-3 is a target straight line, the line segment AB is a first target line segment, and the intersection point D between the straight line 2-3 and the line segment AB is a target intersection point. The point D is on the first target line segment AB and is on the second target line segment 2-3 between the first path planning point and the second path planning point, when the robot is judged to pass through a preset entrance guard, an entrance guard instruction is generated, and the robot passes through the preset entrance guard.
In an alternative embodiment, when the target intersection point is located on the first target line segment and is not located on the second target line segment between the first path planning point and the second path planning point, it is determined that the robot does not need to pass through a preset gate inhibition when traveling the target sub-path.
For example, as shown in fig. 2, the straight line 1-2 is a target straight line, the line segment AB is a first target line segment, and the intersection point C between the straight line 1-2 and the line segment AB is a target intersection point. The point C is on the first target line segment AB and is not on the second target line segment 1-2 between the first path planning point and the second path planning point, and the robot is judged not to pass through a preset gate inhibition when the robot runs the target sub-path.
In an alternative embodiment, when the target intersection point between the target straight line and the first target line segment is not acquired, the robot is determined to travel the target sub-path without passing through a preset gate.
When the robot runs all the target sub-paths, the target paths corresponding to the global path planning points of the robot are judged not to pass through the preset entrance guard.
The robot judges that the robot needs to pass through the entrance guard, generates an entrance guard instruction and passes through a preset entrance guard.
Specifically, the device acquires an entry point and an exit point corresponding to a preset access control; when the robot actually runs, the command can be called according to the door opening point and the door closing point of the entrance guard, so that the entrance guard can pass through smoothly. Controlling the robot to move to a door entry point, and calling a door opening instruction corresponding to a preset door access to execute door opening operation; and controlling the robot to move to a door outlet point, and calling a door closing instruction corresponding to the preset door control to execute door closing operation.
In the embodiment of the application, a global path planning point of a robot is obtained; acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points; acquiring a first target line segment between a first access point and a second access point corresponding to a preset access point; acquiring a target intersection point between a target straight line and a first target line segment; when the target intersection point is positioned on the first target line segment and is positioned on the second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through a preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard. By the method, whether the robot needs to pass through the entrance guard before passing through the door can be accurately judged, and whether the passing through process is started or not is judged according to the judging result. The judging method is simple and accurate, is simple to deploy and has a wide application range, and can accurately judge whether the robot needs to pass through the entrance guard or not under any scene, so that the working efficiency of the robot is improved.
It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.
Referring to fig. 4, fig. 4 is a schematic view of a door passing device of a robot according to a second embodiment of the present application. The units included are for performing the steps in the corresponding embodiments of fig. 1, 3. Refer specifically to the description of the corresponding embodiments in fig. 1 and 3. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 4, the passing device 4 of the robot includes:
a first obtaining unit 41, configured to obtain a global path planning point of the robot;
a second obtaining unit 42, configured to obtain a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points;
a third obtaining unit 43, configured to obtain a first target line segment between a first access point and a second access point corresponding to a preset access point;
a fourth obtaining unit 44, configured to obtain a target intersection point between the target straight line and the first target line segment;
the first processing unit 45 is configured to determine that the robot needs to pass through the preset entrance guard when traveling the target sub-path when the target intersection is located on the first target line segment and on a second target line segment between the first path planning point and the second path planning point, and generate an entrance passing instruction, and pass through the preset entrance guard.
Further, the second obtaining unit 42 is specifically configured to:
dividing a preset area into a calculation area and a non-calculation area according to a preset division strategy;
acquiring a target path planning point contained in the calculation region from the global path planning point;
and acquiring a target straight line corresponding to the target sub-path of the robot according to the target path planning point.
Further, the first processing unit 45 is specifically configured to:
acquiring an entry point and an exit point corresponding to the preset access control;
controlling the robot to move to the door entry point, and calling a door opening instruction corresponding to the preset door access to execute door opening operation;
and controlling the robot to move to the exit point, and calling a door closing instruction corresponding to the preset entrance guard to execute door closing operation.
Further, the door passing device 4 of the robot further includes:
and the second processing unit is used for judging that the robot does not need to pass through the preset entrance guard when driving the target sub-path when not acquiring the target intersection point between the target straight line and the first target line segment.
Further, the door passing device 4 of the robot further includes:
and the third processing unit is used for judging that the robot does not need to pass through the preset entrance guard when running the target sub-path when the target intersection point is positioned on the first target line segment and is not positioned on a second target line segment between the first path planning point and the second path planning point.
Further, the door passing device 4 of the robot further includes:
and the fourth processing unit is used for judging that the target path corresponding to the global path planning point of the robot does not need to pass through the entrance guard when the robot runs all the target sub-paths.
Referring to fig. 5, fig. 5 is a schematic view of a door passing device of a robot according to a third embodiment of the present application. As shown in fig. 5, the door passing device 5 of the robot of this embodiment includes: a processor 50, a memory 51 and a computer program 52 stored in the memory 51 and executable on the processor 50, such as a robot gate passing program. The processor 50, when executing the computer program 52, implements the steps in the above-described embodiments of the door passing method of each robot, such as steps S101 to S105 shown in fig. 1. Alternatively, the processor 50 may perform the functions of the modules/units in the above-described apparatus embodiments when executing the computer program 52, for example, the functions of the first processing unit 51 to the third processing unit 55 shown in fig. 5.
By way of example, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 52 in the passing device 5 of the robot. For example, the computer program 52 may be divided into a first acquisition unit, a second acquisition unit, a third acquisition unit, a fourth acquisition unit, and a first processing unit, each unit specifically functioning as follows:
the first acquisition unit is used for acquiring global path planning points of the robot;
the second acquisition unit is used for acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points;
the third acquisition unit is used for acquiring a first target line segment between a first access point and a second access point corresponding to a preset access control;
a fourth obtaining unit, configured to obtain a target intersection point between the target straight line and the first target line segment;
the first processing unit is used for judging that the robot needs to pass through the preset entrance guard when running the target sub-path when the target intersection point is located on the first target line segment and located on a second target line segment between the first path planning point and the second path planning point, generating an entrance passing instruction and passing through the preset entrance guard.
The passing device 5 of the robot may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a robot passing device 5 and does not constitute a limitation of the robot passing device 5, and may include more or less components than illustrated, or may combine certain components, or different components, e.g., the robot passing device 5 may further include an input-output device, a network access device, a bus, etc.
The processor 50 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the passing device 5 of the robot, for example a hard disk or a memory of the passing device 5 of the robot. The memory 51 may be an external storage device of the passing device 5 of the robot, for example, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like provided in the passing device 5 of the robot. Further, the passing device 5 of the robot may further include both an internal storage unit and an external storage device of the passing device 5 of the robot. The memory 51 is used for storing the computer program and other programs and data required for the passing equipment 5 of the robot. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.
The embodiment of the application also provides a network device, which comprises: at least one processor, a memory, and a computer program stored in the memory and executable on the at least one processor, which when executed by the processor performs the steps of any of the various method embodiments described above.
Embodiments of the present application also provide a computer readable storage medium storing a computer program which, when executed by a processor, implements steps that may implement the various method embodiments described above.
Embodiments of the present application provide a computer program product which, when run on a mobile terminal, causes the mobile terminal to perform steps that may be performed in the various method embodiments described above.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application implements all or part of the flow of the method of the above embodiments, and may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, where the computer program, when executed by a processor, may implement the steps of each of the method embodiments described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, 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 device/terminal apparatus, recording medium, computer Memory, read-Only Memory (ROM), random access Memory (RAM, random Access Memory), electrical carrier signals, telecommunications signals, and software distribution media. Such as a U-disk, removable hard disk, magnetic or optical disk, etc. In some jurisdictions, computer readable media may not be electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
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 solution. 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 manners. For example, the apparatus/network device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions in actual implementation, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
The units described as separate units may or may not be physically separate, and units shown 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 may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; 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 scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims (10)

1. A method for passing a door of a robot, comprising:
acquiring a global path planning point of the robot;
acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points;
acquiring a first target line segment between a first access point and a second access point corresponding to a preset access point;
acquiring a target intersection point between the target straight line and the first target line segment;
when the target intersection point is located on the first target line segment and is located on a second target line segment between the first path planning point and the second path planning point, the robot is judged to pass through the preset entrance guard when driving the target sub-path, and an entrance passing instruction is generated and passes through the preset entrance guard.
2. The method for passing a door of a robot according to claim 1, wherein the obtaining a target straight line corresponding to a target sub-path of the robot according to the global path planning point comprises:
dividing a preset area into a calculation area and a non-calculation area according to a preset division strategy;
acquiring a target path planning point contained in the calculation region from the global path planning point;
and acquiring a target straight line corresponding to the target sub-path of the robot according to the target path planning point.
3. The method for passing a door of a robot according to claim 1, wherein the generating the pass command includes:
acquiring an entry point and an exit point corresponding to the preset access control;
controlling the robot to move to the door entry point, and calling a door opening instruction corresponding to the preset door access to execute door opening operation;
and controlling the robot to move to the exit point, and calling a door closing instruction corresponding to the preset entrance guard to execute door closing operation.
4. The method of passing a door of a robot of claim 1, further comprising, after said acquiring a target intersection between said target straight line and said first target line segment:
when the target intersection point between the target straight line and the first target line segment is not acquired, the robot is judged not to pass through the preset entrance guard when driving the target sub-path.
5. The method of passing a door of a robot of claim 4, further comprising, after said acquiring a target intersection between said target straight line and said first target line segment:
when the target intersection point is located on the first target line segment and is not located on a second target line segment between the first path planning point and the second path planning point, the robot is judged not to pass through the preset entrance guard when driving the target sub-path.
6. The method of passing a door of a robot of claim 1, further comprising, after said acquiring a target intersection between said target straight line and said first target line segment:
when the robot runs all the target sub-paths, the target paths corresponding to the global path planning points of the robot are judged not to pass through the entrance guard without passing through the preset entrance guard.
7. A door passing device of a robot, comprising:
the first acquisition unit is used for acquiring global path planning points of the robot;
the second acquisition unit is used for acquiring a target straight line corresponding to a target sub-path of the robot according to the global path planning point; the target straight line is a straight line determined according to the first path planning point and the second path planning point; the first path planning point and the second path planning point are two adjacent global path planning points;
the third acquisition unit is used for acquiring a first target line segment between a first access point and a second access point corresponding to a preset access control;
a fourth obtaining unit, configured to obtain a target intersection point between the target straight line and the first target line segment;
the first processing unit is used for judging that the robot needs to pass through the preset entrance guard when running the target sub-path when the target intersection point is located on the first target line segment and located on a second target line segment between the first path planning point and the second path planning point, generating an entrance passing instruction and passing through the preset entrance guard.
8. The door passing device of a robot according to claim 7, wherein the second acquisition unit is specifically configured to:
dividing a preset area into a calculation area and a non-calculation area according to a preset division strategy;
acquiring a target path planning point contained in the calculation region from the global path planning point;
and acquiring a target straight line corresponding to the target sub-path of the robot according to the target path planning point.
9. A pass-gate device of a robot, comprising: a processor, a memory and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any one of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium, characterized in that the computer readable storage medium stores a computer program which, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
CN202211721146.6A 2022-12-30 2022-12-30 Method, device and equipment for passing through door of robot Pending CN116149323A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211721146.6A CN116149323A (en) 2022-12-30 2022-12-30 Method, device and equipment for passing through door of robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211721146.6A CN116149323A (en) 2022-12-30 2022-12-30 Method, device and equipment for passing through door of robot

Publications (1)

Publication Number Publication Date
CN116149323A true CN116149323A (en) 2023-05-23

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211721146.6A Pending CN116149323A (en) 2022-12-30 2022-12-30 Method, device and equipment for passing through door of robot

Country Status (1)

Country Link
CN (1) CN116149323A (en)

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