CN117001654A - Robot gate passing method and device and computer equipment - Google Patents
Robot gate passing method and device and computer equipment Download PDFInfo
- Publication number
- CN117001654A CN117001654A CN202210468517.8A CN202210468517A CN117001654A CN 117001654 A CN117001654 A CN 117001654A CN 202210468517 A CN202210468517 A CN 202210468517A CN 117001654 A CN117001654 A CN 117001654A
- Authority
- CN
- China
- Prior art keywords
- gate
- target robot
- robot
- deceleration
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 238000004891 communication Methods 0.000 claims abstract description 47
- 238000004590 computer program Methods 0.000 claims description 24
- 230000001133 acceleration Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 238000012545 processing Methods 0.000 description 3
- 230000009467 reduction Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000013500 data storage Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 229910021389 graphene Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Abstract
The application is applicable to the technical field of robots, and provides a robot gate passing method, which comprises the following steps: the robot digital processor acquires the running state information of the target robot, and determines a deceleration area and a buffer area according to the movable path of the target robot and the state information of the target robot; when the target robot is monitored to travel to a deceleration area, the travel speed of the robot is reduced to a preset speed, and a communication connection request is continuously sent to a gate; when the target robot is monitored to travel to the buffer area, the target robot is controlled to send a gate opening instruction to a gate machine, and the target robot is controlled to pass through the gate at a preset speed. According to the method, the buffer area and the deceleration area of the target robot near the gate are determined, the target robot is decelerated to a preset speed in the deceleration area, and a gate opening instruction is sent to the gate in the buffer area, so that the target robot can pass through the gate at the preset speed, and the target robot can smoothly and stably pass through the gate.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a method and a device for a robot gate passing machine.
Background
With the continuous development of robotics, tasks such as automatic delivery by robots have been used in many buildings. The robot needs to pass through various types of gates in the process of executing tasks. However, when the robot is not accurate in the operation speed and the operation angle at the gate entrance, the robot cannot smoothly pass through the gate.
Disclosure of Invention
The embodiment of the application provides a robot gate passing method and device, which can solve the problem that a robot cannot stably pass through a gate for various reasons.
In a first aspect, an embodiment of the present application provides a robot brake passing method, including:
in a possible implementation manner of the first aspect, operation state information of the target robot is obtained, where the operation state information includes operation speed information and pose information; determining a deceleration area according to the movable path map of the target robot, the running speed information and the running speed information, and determining a buffer area according to the deceleration area; when the target robot is monitored to run to the deceleration area, controlling the target robot to run at a preset speed and sending a communication connection request to a gate; when the target robot is monitored to travel to a buffer area, a communication connection result between the target robot and the gate is obtained, and the target robot is controlled to send a gate opening instruction to the gate according to the communication connection result, so that the gate is opened after the gate receives the gate opening instruction; and controlling the target robot to pass through the gate.
In a possible implementation manner of the first aspect, the determining a deceleration area according to the map of the feasible path of the target robot, the running speed information, and the running speed information includes: acquiring a target robot travelable path from a travelable path map, and determining a deceleration region starting line from the target robot travelable path; determining a deceleration distance according to the running speed information; and determining a deceleration region according to the pose information, the deceleration distance and the deceleration region starting line.
In a possible implementation manner of the first aspect, the determining a buffer area according to the deceleration area includes: extracting a deceleration region ending line from the deceleration region, and taking the deceleration region ending line as a buffer region starting line; acquiring gate coordinates from the movable map, and determining a buffer area termination line according to the gate coordinates; and determining a buffer area according to the buffer area starting line and the buffer area ending line.
In a possible implementation manner of the first aspect, the acquiring the operation state information of the target robot includes: acquiring positioning information of the target robot; when the target robot is monitored to travel to the deceleration area, the target robot is controlled to run at a preset speed and send a communication connection request to a gate, and the method comprises the following steps: judging whether the target robot is positioned in the deceleration area according to the positioning information; and if the target robot is positioned in the deceleration area, the speed of the target robot is reduced to a preset speed in the deceleration area, and the target robot continuously sends a communication connection request to a gate.
In a possible implementation manner of the first aspect, the obtaining a communication connection result between the target robot and the gate when the target robot is monitored to travel to a buffer area, and controlling the target robot to send a gate opening instruction to the gate according to the communication connection result, so that the gate opens the gate after receiving the gate opening instruction includes: acquiring the target robot positioning; if the target robot is positioned in the buffer area, detecting whether a connection channel is established between the target robot and the gate; and if the target robot and the gate have established a connection channel, controlling the target robot to send a gate opening instruction to the gate so that the gate opens the gate after receiving the gate opening instruction.
In a possible implementation manner of the first aspect, the method further includes: and if the connection channel is not established between the target robot and the gate, controlling the target robot to stop moving, continuously sending a connection request to the gate until the robot and the gate establish the connection channel, and controlling the robot to send a gate opening instruction to the gate.
In a possible implementation manner of the first aspect, the controlling the robot to send a brake-off command to the brake includes: and controlling the target robot to continuously send a brake opening instruction to the brake so as to keep the brake in an open state.
In a second aspect, an embodiment of the present application provides a robot brake device, including: the information acquisition module is used for acquiring the running state information of the target robot, wherein the running state information comprises running speed information and pose information; the area determining module is used for determining a deceleration area according to the movable path map of the target robot, the running speed information and determining a buffer area according to the deceleration area; the request sending module is used for controlling the target robot to run at a preset speed and sending a communication connection request to a gate when the target robot is monitored to run to the deceleration area; the command sending module is used for obtaining a communication connection result between the target robot and the gate when the target robot is monitored to run to a buffer area, and controlling the target robot to send a gate opening command to the gate according to the communication connection result so that the gate can open the gate after receiving the gate opening command; and the operation control module is used for controlling the target robot to pass through the gate.
In a third aspect, an embodiment of the present application provides a terminal device, where the terminal device includes a memory and a processor, the memory storing a computer program, and the processor when executing the computer program implements the following steps, including: acquiring running state information of a target robot, wherein the running state information comprises running speed information and pose information; determining a deceleration area according to the movable path map of the target robot, the running speed information and the running speed information, and determining a buffer area according to the deceleration area; when the target robot is monitored to run to the deceleration area, controlling the target robot to run at a preset speed and sending a communication connection request to a gate; when the target robot is monitored to travel to a buffer area, a communication connection result between the target robot and the gate is obtained, and the target robot is controlled to send a gate opening instruction to the gate according to the communication connection result, so that the gate is opened after the gate receives the gate opening instruction; and controlling the target robot to pass through the gate.
In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having a computer program stored thereon, the computer program when executed by a processor performing the steps comprising: acquiring running state information of a target robot, wherein the running state information comprises running speed information and pose information; determining a deceleration area according to the movable path map of the target robot, the running speed information and the running speed information, and determining a buffer area according to the deceleration area; when the target robot is monitored to run to the deceleration area, controlling the target robot to run at a preset speed and sending a communication connection request to a gate; when the target robot is monitored to travel to a buffer area, a communication connection result between the target robot and the gate is obtained, and the target robot is controlled to send a gate opening instruction to the gate according to the communication connection result, so that the gate is opened after the gate receives the gate opening instruction; and controlling the target robot to pass through the gate.
In a fifth aspect, an embodiment of the present application provides a computer program product, which, when run on a terminal device, causes the terminal device to perform the robot brake method according to any one of the first aspects above.
It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.
Compared with the prior art, the embodiment of the application has the beneficial effects that: the robot digital processor acquires the running speed information and the pose information of the target robot, determines a deceleration area according to the movable path map, the running speed information and the pose information of the target robot, and determines a buffer area according to the deceleration area; when the target robot is monitored to travel to the deceleration area, the target robot is controlled to run at a preset speed and send a communication connection request to the gate, and when the target robot is monitored to travel to the buffer area and the connection channel between the target robot and the gate is established, the target robot is controlled to send a gate opening instruction to the gate and control the target robot to pass through the gate. According to the method, the buffer area and the deceleration area of the target robot near the gate are determined, the target robot is decelerated to a preset speed in the deceleration area, and a gate opening instruction is sent to the gate in the buffer area, so that the target robot can pass through the gate at the preset speed, and the target robot can smoothly and stably pass through the gate.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a diagram of an application environment of a robot brake method according to an embodiment of the present application;
FIG. 2 is a flow chart of a robot brake passing method according to an embodiment of the application;
FIG. 3 is a flow chart illustrating a deceleration zone determination step in an embodiment of the present application;
FIG. 4 is a flowchart illustrating a buffer area determination step according to an embodiment of the present application;
FIG. 5 is a flow chart illustrating the steps of sending a request according to an embodiment of the present application;
FIG. 6 is a flow chart of a robot brake passing method according to another embodiment of the application;
fig. 7 is a schematic structural diagram of a robot brake device according to an embodiment of the present application;
fig. 8 is a schematic structural diagram of a terminal device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The robot gate passing method provided by the embodiment of the application can be applied to an application environment shown in figure 1. Wherein the robot digital processor 102 communicates with the gate 104 via a network. The data storage system can store data that the robot digital processor needs to process. The data storage system may be integrated on the digital processor 102 or may be located on the cloud or other network server. The robot digital processor 102 acquires the running state information of the target robot, wherein the state information comprises running speed information and pose information; determining a deceleration area and a buffer area according to the movable path of the target robot and the state information of the target robot; when the target robot is monitored to travel to a deceleration area, the travel speed of the robot is reduced to a preset speed, and a communication connection request is continuously sent to a gate; when the target robot is monitored to travel to the buffer area, the target robot is controlled to send a gate opening instruction to the gate 104, so that the gate 104 opens a gate after receiving the gate opening instruction; the control target robot passes through the gate 104 at a preset speed. The robot digital processor is integrated in the target robot and is used for collecting the running state data of the target robot, processing the running state data and controlling the running of the target robot.
Fig. 2 is a schematic flow chart of a device generating step according to an embodiment of the present application.
In one embodiment, as shown in fig. 2, a robot gate passing method is provided, and the method is applied to the digital processor 102 of fig. 1 for illustration, and includes the following steps:
s202, acquiring running state information of the target robot, wherein the state information comprises running speed information and pose information.
The running state information of the target robot comprises running speed information and pose information of the robot, and specifically, the pose information comprises running direction information and positioning information of the robot.
Specifically, the robot digital processor acquires the running speed information of the target robot through a speed sensor on the target robot, and also can acquire the positioning information and the running direction information of the target robot in real time through a positioning chip of the target robot.
S204, determining a deceleration area according to the movable path map of the target robot, the running speed information and the pose information, and determining a buffer area according to the deceleration area.
Wherein the movable route map of the target robot defines the running area of all running robots, and the movable route map is composed of a plurality of movable routes. The movable path of the target robot refers to a possible travel route of the target robot planned in the movable path map, and the movable path map is stored in a digital processor of each robot.
The deceleration area is an area for the target robot to reduce the current speed to a preset speed; the buffer area is an area for the target robot to establish a connection channel with the gate.
Specifically, the robot digital processor extracts the operation speed and the operation direction of the target robot from the operation state information obtained in S202. Firstly, a robot digital processor calculates the deceleration distance of a deceleration area according to the running speed of a target robot, then selects a deceleration starting line on a movable path of the target robot, and determines a deceleration area and a deceleration area ending line according to the deceleration starting line and the deceleration distance. And taking the deceleration region ending line as a buffer region starting line, acquiring gate coordinates from the drivable path map, taking a straight line parallel to the horizontal axis passing through the gate coordinates as a buffer region ending line, and determining a buffer region according to the buffer region starting line and the buffer region ending line.
S206, when the target robot is monitored to travel to the deceleration area, reducing the travel speed of the robot to a preset speed and sending a communication connection request to a gate.
Specifically, the robot digital processor acquires positioning information of the target robot, and judges whether the target robot is located in a deceleration area according to the positioning information. When the robot digital processor judges that the target robot is positioned in the deceleration area, the real-time speed of the target robot is reduced to a preset speed by a certain acceleration, and a communication connection request is continuously sent to the gate in the deceleration area.
S208, when the target robot is monitored to run to a buffer area, a communication connection result between the target robot and the gate is obtained, and the target robot is controlled to send a gate opening instruction to the gate according to the communication connection result, so that the gate is opened after the gate receives the gate opening instruction.
Wherein, the opening command is used for indicating the gate to open the gate. The duration of the gate opening can be set by a gate manager.
Specifically, the robot digital processor acquires positioning information of the target robot, judges whether the target robot is located in a buffer area according to the positioning information, and judges whether the target robot establishes a connection channel with the gate. If the target robot is located in the buffer area and a connection channel is established between the target robot and the gate, sending a gate opening instruction to the gate
S210, controlling the target robot to pass through the gate.
When the gate receives a gate opening instruction sent by the robot digital processor, the gate is opened, and the robot digital processor controls the target robot to pass through the opened gate at a preset speed.
According to the robot passing method, the robot digital processor acquires the running speed information and the pose information of the target robot, determines the deceleration area according to the movable path map, the running speed information and the pose information of the target robot, determines the buffer area according to the deceleration area, controls the target robot to run at a preset speed and send a communication connection request to the gate when the target robot is monitored to run to the deceleration area, and controls the target robot to send a gate opening instruction to the gate and control the target robot to pass through the gate when the target robot is monitored to run to the buffer area and the connection channel between the target robot and the gate is established. According to the method, the buffer area and the deceleration area of the target robot near the gate are determined, the target robot is decelerated to a preset speed in the deceleration area, and a gate opening instruction is sent to the gate in the buffer area, so that the target robot can pass through the gate at the preset speed, and the target robot can smoothly and stably pass through the gate.
Fig. 3 is a flowchart illustrating a deceleration region determination procedure according to an embodiment of the present application.
In one embodiment, as shown in fig. 3, the determining a deceleration area according to the movable path map of the target robot, the operation speed information, and the operation speed information includes:
s302, acquiring a target robot travelable path from a travelable path map, and determining a deceleration region starting line from the target robot travelable path.
The movable path map is stored in the robot digital processor in advance, and the movable path of the target robot is one of the movable paths in the movable path map.
The step of confirming the starting line of the deceleration area is as follows: firstly, determining a preset speed of a target robot when the target robot passes through a brake, then acquiring the average running speed and the average braking acceleration of the target robot, calculating the average deceleration distance of the target robot according to the average running speed and the average braking acceleration of the target robot, and adding a preset distance to the average deceleration distance to obtain a first distance. The method comprises the steps of obtaining gate coordinates on a movable path map, taking the ordinate of a gate as an initial line, and setting a first distance from the initial line as a deceleration area initial line.
Specifically, the gate coordinates and the average speed and average acceleration determination-position deceleration region start line of the target robot are acquired from the movable path map.
S304, determining the deceleration distance according to the running speed information.
Firstly, the current speed of the target robot is obtained from the running speed information of the target robot, the robot digital processor obtains the braking acceleration of the target robot, the deceleration time of the target robot from the current speed to the preset speed is calculated according to the braking acceleration, and the deceleration distance is calculated according to the deceleration time.
S306, determining a deceleration region according to the pose information, the deceleration distance and the deceleration region starting line.
It will be appreciated that the robot digital processor determines a deceleration zone ending line at a deceleration distance from the deceleration zone along the direction of travel of the target robot, and then determines the area surrounded by the deceleration zone starting line and the deceleration zone ending line on the target robot-feasible path as the deceleration zone.
In this embodiment, the robot digital processor determines the deceleration area according to the running direction, the deceleration distance and the deceleration area starting line of the target robot, so that the target robot passes through the gate at a preset speed, and the problem that the target robot drops due to the fact that the speed of the target robot passing through the gate is high, and the goods carried by the target robot collide with the gate greatly is avoided.
FIG. 4 is a flowchart illustrating a buffer area determination step according to an embodiment of the present application.
In addition, in one embodiment, as shown in fig. 4, the determination of the buffer area is associated with the determination of the deceleration area, that is, the determination of the buffer area according to the deceleration area includes:
s402, extracting a deceleration region ending line from the deceleration region, and taking the deceleration region ending line as a buffer region starting line.
Specifically, the end line of the deceleration region is extracted from the deceleration region obtained in S306, and the deceleration region end line is taken as the buffer region start line.
S404, acquiring gate coordinates from the movable map, and determining a buffer area termination line according to the gate coordinates.
Specifically, the gate coordinates are obtained from the movable map, and the ordinate line of the gate coordinates is used as the buffer area termination line.
S406, determining a buffer area according to the buffer area starting line and the buffer area ending line.
And determining an area surrounded by a buffer area starting line and a buffer area ending line as a buffer area on the movable path of the target robot.
In this embodiment, the buffer area is determined on the drivable path, and the buffer area is used for establishing a connection channel between the target robot and the gate and then sending a gate opening instruction to the gate, so as to ensure that the gate has received the gate opening instruction sent by the target robot when the target robot runs in front of the gate, thereby enabling the target robot to smoothly pass through the gate.
FIG. 5 is a flow chart illustrating the request sending step according to an embodiment of the present application.
In one embodiment, as shown in fig. 5, the acquiring the operation state information of the target robot includes:
s502, acquiring positioning information of the target robot.
Because the running state information of the target robot contains the real-time positioning information of the target robot, the target robot needs to acquire the real-time positioning information of the target robot before decelerating.
When the target robot is monitored to travel to the deceleration area, the target robot is controlled to run at a preset speed and send a communication connection request to a gate, and the method comprises the following steps:
s504, judging whether the target robot is positioned in the deceleration area according to the positioning information. And comparing the positioning information of the target robot with the deceleration area, and judging whether the target robot is positioned in the deceleration area.
S506, if the target robot is located in the deceleration area, the speed of the target robot is reduced to a preset speed in the deceleration area, and the target robot continuously sends a communication connection request to a gate.
If the judgment result obtained in S504 is that the target robot is located in the deceleration area, the speed of the target robot is reduced to the preset speed, then it is detected whether a connection channel is established between the target robot and the gate, and if the connection channel is established between the target robot and the gate, only the target robot is controlled to reduce the speed to the preset speed in the deceleration area.
In this embodiment, the robot digital processor determines whether the target robot is located in the deceleration area according to the real-time positioning information of the target robot, and starts to establish a connection channel with the gate in the deceleration area, thereby saving time and improving the efficiency of the target robot passing through the gate compared with the connection channel attempting to establish with the gate after the target robot travels around the gate
In one embodiment, when it is monitored that the target robot travels to the buffer area and the target robot and the gate have established a connection channel, controlling the target robot to send a gate opening instruction to the gate so that the gate opens the gate after receiving the gate opening instruction, includes: acquiring the target robot positioning; if the target robot is positioned in the buffer area, detecting whether a connection channel is established between the target robot and the gate; and if the target robot and the gate have established a connection channel, controlling the target robot to send a gate opening instruction to the gate so that the gate opens the gate after receiving the gate opening instruction. And if the connection channel is not established between the target robot and the gate, controlling the target robot to stop moving, continuously sending a connection request to the gate until the robot and the gate establish the connection channel, and controlling the robot to send a gate opening instruction to the gate. In the embodiment, the buffer area and the deceleration area of the target robot near the gate are determined, the target robot is decelerated to a preset speed in the deceleration area, and a gate opening instruction is sent to the gate in the buffer area, so that the target robot can pass through the gate at the preset speed, and the success rate of the target robot passing through the gate is improved.
FIG. 6 is a flow chart of a robot brake passing method according to another embodiment of the application.
In one embodiment, as shown in fig. 6, a robot gate passing method is provided, comprising the steps of:
s1, the robot digital processor analyzes the movable path map information to obtain the coordinates, the orientation, the stopping area distance and the decelerating area distance of the gate.
S2, when the digital processor of the robot detects that the target robot is located in the deceleration zone, the target robot is controlled to be decelerated to a specified speed from the current running speed, and the brake control board is connected through Bluetooth in an attempt mode, the deceleration is to prevent objects on the robot from falling off in the stopping zone, meanwhile, the robot is connected in advance, and the time consumption of connecting Bluetooth in the stopping zone is reduced.
S3, when the digital processor of the robot detects that the target robot is located in the stop zone, detecting whether the target robot has established Bluetooth connection with the gate control board, sending a gate opening instruction through Bluetooth, and continuing to pass through the gate after returning is obtained; if the connection is not established, stopping in the stopping area to continue to try to connect.
S4, the robot continuously sends a brake opening command and continuously moves towards the direction of a brake point, and the robot passes through the brake, so that the brake is kept in an open state.
S5, when the robot leaves the stop zone after the gate, sending a gate closing instruction, and disconnecting Bluetooth to enable the robot to be started. The gate passes through.
In this embodiment, the buffer area and the deceleration area of the target robot near the gate are determined, the target robot is decelerated to a preset speed in the deceleration area, and a gate opening command is sent to the gate in the buffer area, so that the target robot can pass through the gate at the preset speed, and the target robot can smoothly and stably pass through the gate.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a robot teaching device for realizing the robot teaching method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitations in the embodiments of the robot teaching device or devices provided below may be referred to the limitations of the robot teaching method above, and will not be repeated here.
Fig. 7 is a schematic structural diagram of a robot brake device according to an embodiment of the present application.
In one embodiment, as shown in fig. 7, a robotic passing device 700 is provided, comprising: the system comprises an information acquisition module 702, a region determination module 704, a request sending module 706, an instruction sending module 708 and an operation control module, wherein:
the information acquisition module 702 is configured to acquire operation state information of the target robot, where the state information includes operation speed information and pose information.
And the area determining module 704 is used for determining a deceleration area according to the movable path map of the target robot, the running speed information and determining a buffer area according to the deceleration area.
And the request sending module 706 is configured to control the target robot to run at a preset speed and send a communication connection request to a gate when it is monitored that the target robot runs to the deceleration area.
The instruction sending module 708 is configured to obtain a communication connection result between the target robot and the gate when it is monitored that the target robot travels to the buffer area, and control the target robot to send a gate opening instruction to the gate according to the communication connection result, so that the gate opens the gate after receiving the gate opening instruction.
And a running control module 710 for controlling the target robot to pass through the gate.
According to the robot passing device, the robot digital processor acquires the running speed information and the pose information of the target robot, determines the deceleration area according to the movable path map, the running speed information and the pose information of the target robot, determines the buffer area according to the deceleration area, controls the target robot to run at a preset speed and send a communication connection request to the gate when the target robot is monitored to run to the deceleration area, acquires a communication connection result between the target robot and the gate when the target robot is monitored to run to the buffer area, and controls the target robot to send a gate opening instruction to the gate according to the communication connection result, so that the gate is opened after the gate is received, and when the target robot is monitored to run to the buffer area and the connection channel is established between the target robot and the gate, the target robot is controlled to send the gate opening instruction to the gate, and the target robot is controlled to pass through the gate. According to the method, the buffer area and the deceleration area of the target robot near the gate are determined, the target robot is decelerated to a preset speed in the deceleration area, and a gate opening instruction is sent to the gate in the buffer area, so that the target robot can pass through the gate at the preset speed, and the target robot can smoothly and stably pass through the gate.
In one embodiment, the region determination module 704 includes: the first initial line determining submodule is used for acquiring a target robot drivable path from a drivable path map and determining a deceleration area initial line from the target robot drivable path; the distance determination submodule is used for acquiring a target robot travelable path from a travelable path map and determining a deceleration area starting line from the target robot travelable path; and the deceleration region determining submodule is used for determining a deceleration region according to the pose information, the deceleration distance and the deceleration region starting line.
The region determination module 704 further includes: a second start line determination submodule for extracting a deceleration region end line from the deceleration region and taking the deceleration region end line as a buffer region start line; the termination line determining submodule is used for acquiring gate coordinates from the movable map and determining a buffer area termination line according to the gate coordinates; and the buffer area determining submodule is used for determining a buffer area according to the buffer area starting line and the buffer area ending line.
The information acquisition module 702 is further configured to acquire positioning information of the target robot; the request sending module further comprises: the judging sub-module is used for judging whether the target robot is positioned in the deceleration area according to the positioning information; and the speed reduction sub-module is used for reducing the speed of the target robot to a preset speed in the speed reduction area and enabling the target robot to continuously send a communication connection request to a gate if the target robot is positioned in the speed reduction area.
The instruction sending module 708 includes: the detection sub-module is used for detecting whether the target robot and the gate establish a connection channel or not when the target robot is monitored to travel to a buffer area; and the sending submodule is used for controlling the target robot to send a gate opening instruction to the gate if the target robot and the gate have established a connection channel, so that the gate is opened after the gate receives the gate opening instruction.
The instruction sending module 708 is further configured to control the target robot to pass through the buffer area at the preset speed and continuously send a brake opening instruction to the brake if it is detected that the communication connection between the target robot and the brake is established.
The instruction sending module 710 is further configured to control the target robot to continuously send a brake opening instruction to the brake, so that the brake is kept in an open state.
Each module in the robot teaching device described above may be implemented in whole or in part by software, hardware, or a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is for storing path trajectory data. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a robot teaching method.
It will be appreciated by those skilled in the art that the structure shown in FIG. 7 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of: acquiring running state information of the target robot, wherein the state information comprises running speed information and pose information; determining a deceleration area and a buffer area according to the movable path of the target robot and the state information of the target robot; when the target robot is monitored to travel to the deceleration area, reducing the travel speed of the robot to a preset speed and continuously sending a communication connection request to a gate; when the target robot is monitored to run to a buffer area, the target robot is controlled to send a gate opening instruction to a gate machine, so that the gate machine opens a gate after receiving the gate opening instruction; and controlling the target robot to pass through the gate at the preset speed.
In one embodiment, the processor when executing the computer program further performs the steps of: acquiring a target robot travelable path from a travelable path map, and determining a deceleration region starting line from the target robot travelable path; determining a deceleration distance according to the running speed information; and determining a deceleration region according to the pose information, the deceleration distance and the deceleration region starting line.
In one embodiment, the processor when executing the computer program further performs the steps of: extracting a deceleration region ending line from the deceleration region, and taking the deceleration region ending line as a buffer region starting line; acquiring gate coordinates from the movable map, and determining a buffer area termination line according to the gate coordinates; and determining a buffer area according to the buffer area starting line and the buffer area ending line.
In one embodiment, the processor when executing the computer program further performs the steps of: acquiring positioning information of the target robot; when the target robot is monitored to travel to the deceleration area, the robot travel speed is reduced to a preset speed and a communication connection request is continuously sent to a gate, and the method comprises the following steps: judging whether the target robot is positioned in the deceleration area according to the positioning information; and if the target robot is positioned in the deceleration area, the speed of the target robot is reduced to a preset speed in the deceleration area, and the target robot continuously sends a communication connection request to a gate.
In one embodiment, the processor when executing the computer program further performs the steps of: when the target robot is monitored to travel to a buffer area, detecting whether a connection channel is established between the target robot and the gate; and if the target robot and the gate have established a connection channel, controlling the target robot to send a gate opening instruction to the gate so that the gate opens the gate after receiving the gate opening instruction.
In one embodiment, the processor when executing the computer program further performs the steps of: and if the connection channel is not established between the target robot and the gate, controlling the target robot to stop moving, continuously sending a connection request to the gate until the robot and the gate establish the connection channel, and controlling the robot to send a gate opening instruction to the gate.
In one embodiment, the processor when executing the computer program further performs the steps of: and controlling the target robot to continuously send a brake opening instruction to the brake so as to keep the brake in an open state.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor implements the robot passgate method.
In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, implements the robot passgate method.
The user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (10)
1. A method of robot passing a gate, the method comprising:
acquiring running state information of a target robot, wherein the running state information comprises running speed information and pose information;
determining a deceleration area according to the movable path map of the target robot, the running speed information and the pose information, and determining a buffer area according to the deceleration area;
When the target robot is monitored to run to the deceleration area, controlling the target robot to run at a preset speed and sending a communication connection request to a gate;
when the target robot is monitored to travel to a buffer area, a communication connection result between the target robot and the gate is obtained, and the target robot is controlled to send a gate opening instruction to the gate according to the communication connection result, so that the gate is opened after the gate receives the gate opening instruction;
and controlling the target robot to pass through the gate.
2. The robot brake passing method according to claim 1, wherein the determining a deceleration area based on the runable path map of the target robot, the running speed information, and the running speed information includes:
acquiring a target robot travelable path from a travelable path map, and determining a deceleration region starting line from the target robot travelable path;
determining a deceleration distance according to the running speed information;
and determining a deceleration region according to the pose information, the deceleration distance and the deceleration region starting line.
3. A robot brake method according to claim 2, wherein said determining a buffer zone from said deceleration zone comprises:
Extracting a deceleration region ending line from the deceleration region, and taking the deceleration region ending line as a buffer region starting line;
acquiring gate coordinates from the movable map, and determining a buffer area termination line according to the gate coordinates;
and determining a buffer area according to the buffer area starting line and the buffer area ending line.
4. The robot brake passing method of claim 1, wherein the acquiring the operation state information of the target robot includes:
acquiring positioning information of the target robot;
when the target robot is monitored to travel to the deceleration area, the target robot is controlled to run at a preset speed and send a communication connection request to a gate, and the method comprises the following steps:
judging whether the target robot is positioned in the deceleration area according to the positioning information;
and if the target robot is positioned in the deceleration area, the speed of the target robot is reduced to a preset speed in the deceleration area, and the target robot continuously sends a communication connection request to a gate.
5. The robot gate crossing method of claim 1, wherein the acquiring a communication connection result between the target robot and the gate when the target robot is monitored to travel to a buffer area, and controlling the target robot to send a gate opening instruction to the gate according to the communication connection result, so that the gate opens the gate after receiving the gate opening instruction, comprises:
When the target robot is monitored to travel to a buffer area, detecting whether a connection channel is established between the target robot and the gate;
and if the target robot and the gate have established a connection channel, controlling the target robot to send a gate opening instruction to the gate so that the gate opens the gate after receiving the gate opening instruction.
6. A robotic gate method as claimed in claim 5, the method further comprising:
and if the connection channel is not established between the target robot and the gate, controlling the target robot to stop moving, continuously sending a connection request to the gate until the robot and the gate establish the connection channel, and controlling the robot to send a gate opening instruction to the gate.
7. The robot brake passing method of claim 6, wherein the controlling the robot to send a brake-off command to the brake comprises:
and controlling the target robot to continuously send a brake opening instruction to the brake so as to keep the brake in an open state.
8. A robotic passing brake apparatus, the apparatus comprising:
the information acquisition module is used for acquiring the running state information of the target robot, wherein the running state information comprises running speed information and pose information;
The area determining module is used for determining a deceleration area according to the movable path map of the target robot, the running speed information and determining a buffer area according to the deceleration area;
the request sending module is used for controlling the target robot to run at a preset speed and sending a communication connection request to a gate when the target robot is monitored to run to the deceleration area;
the command sending module is used for obtaining a communication connection result between the target robot and the gate when the target robot is monitored to run to a buffer area, and controlling the target robot to send a gate opening command to the gate according to the communication connection result so that the gate can open the gate after receiving the gate opening command;
and the operation control module is used for controlling the target robot to pass through the gate.
9. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method according to any of claims 1 to 7 when executing the computer program.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210468517.8A CN117001654A (en) | 2022-04-29 | 2022-04-29 | Robot gate passing method and device and computer equipment |
| PCT/CN2023/091454 WO2023208167A1 (en) | 2022-04-29 | 2023-04-28 | Robot passing method, and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210468517.8A CN117001654A (en) | 2022-04-29 | 2022-04-29 | Robot gate passing method and device and computer equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117001654A true CN117001654A (en) | 2023-11-07 |
Family
ID=88562309
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210468517.8A Pending CN117001654A (en) | 2022-04-29 | 2022-04-29 | Robot gate passing method and device and computer equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117001654A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983783A (en) * | 2018-08-03 | 2018-12-11 | 上海有个机器人有限公司 | A kind of robot movement speed control method and system, storage medium and terminal |
| CN111360802A (en) * | 2020-03-03 | 2020-07-03 | 上海有个机器人有限公司 | Control method and system for robot to pass through gate |
| CN112017351A (en) * | 2020-07-22 | 2020-12-01 | 中国建设银行股份有限公司 | Self-propelled robot door-passing control method, system, device and storage medium |
| US20210046650A1 (en) * | 2019-08-18 | 2021-02-18 | Cobalt Robotics Inc. | Elevator interactions by mobile robot |
| WO2021180060A1 (en) * | 2020-03-11 | 2021-09-16 | 杭州海康威视数字技术股份有限公司 | Channel gate control method, apparatus and system |
| CN114217623A (en) * | 2021-12-14 | 2022-03-22 | 北京云迹科技股份有限公司 | Method and device for robot to pass through gate |
-
2022
- 2022-04-29 CN CN202210468517.8A patent/CN117001654A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983783A (en) * | 2018-08-03 | 2018-12-11 | 上海有个机器人有限公司 | A kind of robot movement speed control method and system, storage medium and terminal |
| US20210046650A1 (en) * | 2019-08-18 | 2021-02-18 | Cobalt Robotics Inc. | Elevator interactions by mobile robot |
| CN111360802A (en) * | 2020-03-03 | 2020-07-03 | 上海有个机器人有限公司 | Control method and system for robot to pass through gate |
| WO2021180060A1 (en) * | 2020-03-11 | 2021-09-16 | 杭州海康威视数字技术股份有限公司 | Channel gate control method, apparatus and system |
| CN112017351A (en) * | 2020-07-22 | 2020-12-01 | 中国建设银行股份有限公司 | Self-propelled robot door-passing control method, system, device and storage medium |
| CN114217623A (en) * | 2021-12-14 | 2022-03-22 | 北京云迹科技股份有限公司 | Method and device for robot to pass through gate |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11654899B2 (en) | Method and apparatus for avoidance control of vehicle, electronic device and storage medium | |
| CN111015656A (en) | Control method and device for robot to actively avoid obstacle and storage medium | |
| CN111736595A (en) | Control method, system and device for ship running track and storage medium | |
| WO2021169104A1 (en) | Signal data processing method, system, computer device, and storage medium | |
| WO2023071700A1 (en) | Automatic driving-based data processing method and apparatus | |
| CN113753078B (en) | Obstacle track prediction method and device, electronic equipment and automatic driving vehicle | |
| CN111039113A (en) | Elevator running state determining method, device, equipment and medium | |
| CN116252817A (en) | Automatic driving lane change decision method, device, equipment and storage medium | |
| CN117001654A (en) | Robot gate passing method and device and computer equipment | |
| JP2009264841A (en) | Object detector | |
| CN117388870A (en) | Truth value generation method, device and medium applied to laser radar perception model | |
| CN110647146B (en) | Unmanned vehicle control method and device, computer equipment and storage medium | |
| CN115872248A (en) | Control method, device, system, equipment and storage medium for robot to enter elevator | |
| CN116343169A (en) | Path planning method, target object motion control device and electronic equipment | |
| CN112529953B (en) | Elevator space state judgment method and device and storage medium | |
| CN115352435A (en) | Parking memory method, parking memory device, electronic equipment and storage medium | |
| CN110497906A (en) | Control method for vehicle, device, equipment and medium | |
| CN115206122B (en) | Track display method and device, storage medium and computer equipment | |
| CN110450168B (en) | Robot and autonomous navigation method, device and storage medium thereof | |
| CN116534058A (en) | Vehicle running control method and device, vehicle and storage medium | |
| CN116461510A (en) | Vehicle control method, device, equipment and medium | |
| CN114219832B (en) | Face tracking method and device and computer readable storage medium | |
| CN113515122B (en) | Robot, robot welcome path planning method and device and readable storage medium | |
| CN117022253A (en) | Vehicle control method, device, electronic equipment and storage medium | |
| CN117420818A (en) | Method and device for controlling movement of robot, storage medium and electronic device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |