阅读说明：本技术 一种辅助机器人通过电动门的方法及系统 (Method and system for assisting robot to pass through electric door ) 是由 赖志林 周江涛 陈桂芳 林良伟 于 2020-11-17 设计创作，主要内容包括：本发明公开了一种辅助机器人通过电动门的方法及系统,包括调度管理系统、若干台机器人、若干个环境识别装置、与环境识别装置数量相对应的自动门控制装置,所述调度管理系统分别和所述环境识别装置、自动门控制装置、机器人建立通信,每个所述自动门控制装置和一个电动门连接,所述环境识别装置设置在电动门的顶部。本发明可辅助机器人快速通过电动门,能实现多台机器人排队通过电动门,提高机器人通过电动门的速率。(The invention discloses a method and a system for assisting a robot to pass through an electric door, and the method and the system comprise a dispatching management system, a plurality of robots, a plurality of environment recognition devices and automatic door control devices corresponding to the number of the environment recognition devices, wherein the dispatching management system is respectively communicated with the environment recognition devices, the automatic door control devices and the robots, each automatic door control device is connected with one electric door, and the environment recognition devices are arranged at the tops of the electric doors. The invention can assist the robot to quickly pass through the electric door, can realize that a plurality of robots queue to pass through the electric door, and improves the speed of the robot passing through the electric door.)

1. A method of assisting a robot in passing through a motorized door, comprising: the method comprises the following steps:

s1, the robot moves towards the electric door and reports the real-time position of the robot to a scheduling management system;

s2, the environment recognition device recognizes the environment state information in the front and back limited range of the electric door and reports the environment state information to a scheduling management system;

s3, when the robot moves to a position 10m away from the electric door, the dispatching management system identifies the ID number of the electric door, and judges whether the electric door meets the passing condition or not according to the environmental state information of the electric door, if so, the step S4 is executed, and if not, the step S5 is executed;

s4, the dispatching management background sends a passing instruction to the robot to control the robot to pass through the electric door;

and S5, the scheduling management background sends a pause instruction to the robot, controls the robot to stop outside the electrically operated gate to wait until the electrically operated gate meets the passing condition, and sends a passing instruction to the robot to control the robot to pass through the electrically operated gate.

2. The method of assisting a robot in passing through a power door of claim 1, wherein: in step S5, when multiple robots stop outside the electric door for waiting, the scheduling management system controls the robots to stop outside the electric door at equal intervals in sequence according to the sequence of the arrival times of the robots to wait until the electric door meets the passing condition, and controls the robots to sequentially pass through the electric door in sequence.

3. The method of assisting a robot in passing through a power door of claim 2, wherein: the steps of the environment recognition means described in step S2 for recognizing the environmental state information within the front-rear limited range of the electric door are as follows:

s21, respectively acquiring environment image data in a front and rear limited range of the automatic door by using a front camera and a rear camera, and sending the environment image data to a processor;

s22, the processor receives the environment image data, whether obstacles exist in a front and rear limited range of the automatic door or not is analyzed according to the environment image data, if not, the step S21 is executed, and if yes, the step S23 is executed;

and S23, the processor analyzes whether the size of the obstacle exceeds a preset threshold value, if not, the obstacle is judged to be in a first state, the first state information is sent to the dispatching management system, and if so, the obstacle is judged to be in a second state, and the second state information is sent to the dispatching management system.

4. A method of assisting a robot in passing through a power door according to claim 3, wherein: if no obstacle exists in the front and rear limited range of the automatic door or the size of the obstacle does not exceed a preset threshold value, the electric door accords with the passing condition, and if the obstacle exists in the front and rear limited range of the electric door and the size of the obstacle exceeds the preset threshold value, the electric door does not accord with the passing condition.

5. The method of assisting a robot in passing through a power door of claim 4, wherein: when the robot is about to pass through the electrically operated gate, the dispatching management system sends an instruction for opening the electrically operated gate to the controller, the controller receives the instruction for opening the electrically operated gate to control the electrically operated door pushing device to open the electrically operated gate, and the voice unit is controlled to broadcast prompt voice about the fact that the robot is about to pass through the electrically operated gate.

6. The method of assisting a robot in passing through a power door of claim 5, wherein: after the robot passes through the electric door, the dispatching management system sends an instruction for closing the electric door to the controller, and the controller receives the instruction to control the electric door pushing device to close the electric door and control the voice unit to broadcast prompt voice about the closing of the electric door.

7. The method of assisting a robot in passing through a power door of claim 6, wherein: when the electric door pusher opens or closes the electric door, the photoelectric sensor detects whether the electric door is opened or closed in place, and sends the opening or closing in-place state information of the electric door to the dispatching management system through the controller.

8. The method of assisting a robot in passing through a power door of claim 7, wherein: the limited range described in step S2 is 5 m.

9. A system for assisting a robot to pass through an electric door is characterized in that: the system comprises a dispatching management system, a plurality of robots, a plurality of environment recognition devices and automatic door control devices corresponding to the environment recognition devices in number, wherein the dispatching management system is respectively communicated with the environment recognition devices, the automatic door control devices and the robots, each automatic door control device is connected with one electric door, and the environment recognition devices are arranged at the tops of the electric doors.

10. The system of claim 9, wherein the system is configured to assist a robot in moving through a power door, and further comprising: the environment recognition device comprises a processor, a front camera and a rear camera, the processor is connected with the dispatching management system through a communication unit, the processor is respectively connected with the front camera and the rear camera which are respectively arranged at the top of the automatic door, used for identifying the environmental state before and after the automatic door, the automatic door control device comprises a controller, an electric door pushing device, a voice unit and a photoelectric sensor, the controller is connected with the dispatching management system through a communication unit, the controller is respectively connected with the electric door pushing device, the voice unit and the photoelectric sensor, the electric door pushing device is connected with the automatic door, the photoelectric sensor is arranged at the top of the electric door and used for detecting whether the electric door is opened or closed in place, and the voice unit is used for broadcasting prompt voice.

Technical Field

The invention relates to the technical field of robots, in particular to a method and a system for assisting a robot to pass through an electric door.

Background

The indoor distribution robot usually adopts a local point-to-point communication mode when passing through the automatic door, the robot informs the electric door controller to open the electric door, after the electric door is opened, the electric door controller feeds back a door opening signal to the robot, and after the robot receives the door opening signal, the robot passes through the electric door. The mode lacks effectual means and detects the environment in advance, can not control the management to the automatically-controlled door in advance, and lacks the management to the different door directions of crossing of many robots, leads to crossing a door inefficiency, when the pedestrian pushes away the goods and also passes through the automatically-controlled door when just the robot when passing through the automatically-controlled door in addition, takes place to block up near the automatically-controlled door easily.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provide a method and a system for assisting a robot to pass through an electric door, which can assist the robot to quickly pass through the electric door, can realize that a plurality of robots queue to pass through the electric door and improve the speed of the robot passing through the electric door.

The invention is realized by the following technical scheme: a method of assisting a robot in passing through a power door, the method comprising the steps of:

s1, the robot moves towards the electric door and reports the real-time position of the robot to a scheduling management system;

s2, the environment recognition device recognizes the environment state information in the front and back limited range of the electric door and reports the environment state information to a scheduling management system;

s3, when the robot moves to a position 10m away from the electric door, the dispatching management system identifies the ID number of the electric door, and judges whether the electric door meets the passing condition or not according to the environmental state information of the electric door, if so, the step S4 is executed, and if not, the step S5 is executed;

s4, the dispatching management background sends a passing instruction to the robot to control the robot to pass through the electric door;

and S5, the scheduling management background sends a pause instruction to the robot, controls the robot to stop outside the electrically operated gate to wait until the electrically operated gate meets the passing condition, and sends a passing instruction to the robot to control the robot to pass through the electrically operated gate.

Further: in step S5, when multiple robots stop outside the electric door for waiting, the scheduling management system controls the robots to stop outside the electric door at equal intervals in sequence according to the sequence of the arrival times of the robots to wait until the electric door meets the passing condition, and controls the robots to sequentially pass through the electric door in sequence.

Further: the steps of the environment recognition means described in step S2 for recognizing the environmental state information within the front-rear limited range of the electric door are as follows:

s21, respectively acquiring environment image data in a front and rear limited range of the automatic door by using a front camera and a rear camera, and sending the environment image data to a processor;

s22, the processor receives the environment image data, whether obstacles exist in a front and rear limited range of the automatic door or not is analyzed according to the environment image data, if not, the step S21 is executed, and if yes, the step S23 is executed;

and S23, the processor analyzes whether the size of the obstacle exceeds a preset threshold value, if not, the obstacle is judged to be in a first state, the first state information is sent to the dispatching management system, and if so, the obstacle is judged to be in a second state, and the second state information is sent to the dispatching management system.

Further: if no obstacle exists in the front and rear limited range of the automatic door or the size of the obstacle does not exceed a preset threshold value, the electric door accords with the passing condition, and if the obstacle exists in the front and rear limited range of the electric door and the size of the obstacle exceeds the preset threshold value, the electric door does not accord with the passing condition.

Further: when the robot is about to pass through the electrically operated gate, the dispatching management system sends an instruction for opening the electrically operated gate to the controller, the controller receives the instruction for opening the electrically operated gate to control the electrically operated door pushing device to open the electrically operated gate, and the voice unit is controlled to broadcast prompt voice about the fact that the robot is about to pass through the electrically operated gate.

Further: after the robot passes through the electric door, the dispatching management system sends an instruction for closing the electric door to the controller, and the controller receives the instruction to control the electric door pushing device to close the electric door and control the voice unit to broadcast prompt voice about the closing of the electric door.

Further: when the electric door pusher opens or closes the electric door, the photoelectric sensor detects whether the electric door is opened or closed in place, and sends the opening or closing in-place state information of the electric door to the dispatching management system through the controller.

Further: the limited range described in step S2 is 5 m.

The utility model provides a system for auxiliary robot passes through electrically operated gate, includes dispatch management system, a plurality of robot, a plurality of environment recognition device, with the corresponding automatic door controlling means of environment recognition device quantity, dispatch management system respectively with environment recognition device, automatic door controlling means, robot establish communication, every the automatic door controlling means is connected with an electrically operated gate, the environment recognition device sets up the top at the electrically operated gate.

Further: the environment recognition device comprises a processor, a front camera and a rear camera, the processor is connected with the dispatching management system through a communication unit, the processor is respectively connected with the front camera and the rear camera which are respectively arranged at the top of the automatic door, used for identifying the environmental state before and after the automatic door, the automatic door control device comprises a controller, an electric door pushing device, a voice unit and a photoelectric sensor, the controller is connected with the dispatching management system through a communication unit, the controller is respectively connected with the electric door pushing device, the voice unit and the photoelectric sensor, the electric door pushing device is connected with the automatic door, the photoelectric sensor is arranged at the top of the electric door and used for detecting whether the electric door is opened or closed in place, and the voice unit is used for broadcasting prompt voice.

The invention has the beneficial effects that:

compared with the prior art, in the process that the robot moves to the electric door, whether obstacles exist in a front and rear limited range of the electric door is detected and identified through the environment identification device, if no obstacle exists, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if an obstacle exists, whether the size of the analyzed obstacle exceeds a preset threshold value is judged, if the size of the obstacle does not exceed the preset threshold value, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if the size of the obstacle exceeds the preset threshold value, the dispatching management system controls the robot to stop outside the electric door to wait for the obstacle to pass through the electric door, then the robot is controlled to pass through the electric door, and therefore the environment identification device is utilized to collect the environment state information of the front and rear sides of the electric door in advance, when the robot moves to a position 10m away from the electric door, whether the robot is controlled to pass through the electric door or not is determined according to the environment state information, so that the blockage caused by the collision between goods pushed by the robot and the walking route of the robot is avoided, when a plurality of robots all need to pass through the electric door, the robots are controlled to sequentially stop at the front and the back of the electric door at equal intervals and at equal intervals according to the sequence of the arrival time of the robots and sequentially pass through the electric door, so that the plurality of robots can sequentially pass through the electric door, the cross interference is avoided, the environment recognition device recognizes the robots entering the front and the back of the electric door in advance as barriers, the mutual blockage of two robots in opposite directions can be avoided when passing through the electric door, the detection and management of the environment states at the front and the back of the electric door are realized in advance, the different door passing directions of the plurality of robots are managed, the speed of the robot passing through the electric door is improved.

Drawings

FIG. 1 is a flow chart of a method of assisting a robot in passing through a motorized door in accordance with the present invention;

FIG. 2 is a flowchart illustrating an environment recognition apparatus recognizing environment status information according to the present invention;

FIG. 3 is an architecture diagram of the system for assisting a robot in passing through a power door according to the present invention;

FIG. 4 is an architecture diagram of the environment recognition device of the present invention;

FIG. 5 is an architectural view of an automatic door control apparatus of the present invention;

FIG. 6 is a schematic view of the installation positions of the front camera and the electric door pusher of the present invention;

FIG. 7 is a flow chart of multiple robots queuing through a motorized door;

fig. 8 is a flow chart of multiple robots moving in opposite directions queuing to pass through a power gate.

Description of reference numerals: 1-an electric door, 21-a front camera, 22-a rear camera, 3-a robot parking waiting position, 4-a limited range and 5-an electric door pusher.

Detailed Description

Referring to fig. 1 and 2, the present invention provides a method for assisting a robot to pass through a power door, comprising the steps of:

s1, the robot moves towards the electric door and reports the real-time position of the robot to a scheduling management system.

And S2, the environment recognition device recognizes the environment state information in the front and back limited range of the electric door and reports the environment state information to the scheduling management system.

Specifically, the limited range is 5m, and the limited range can be set according to the walking speed of the robot passing through the electric door and the optimal passing time without causing congestion. The environment recognition device recognizes the environment state information in the limited range of the front and the back of the electric door as follows:

and S21, the front camera and the rear camera respectively acquire environment image data in a front-rear limited range of the automatic door and send the environment image data to the processor.

And S22, the processor receives the environment image data, analyzes whether the automatic door has obstacles in a front and rear limited range or not according to the environment image data, if not, executes a step S21, and if so, executes a step S23.

And S23, the processor analyzes whether the size of the obstacle exceeds a threshold value, if not, the processor is judged to be in a first state and sends the first state information to the scheduling management system, and if so, the processor is judged to be in a second state and sends the second state information to the scheduling management system.

Specifically, the maximum value of the preset threshold value may be set to the width of the electric door minus the minimum width required for the robot to pass through.

If no obstacle exists in the front and rear limited range of the automatic door or the size of the obstacle does not exceed a preset threshold value, the electric door accords with the passing condition, and if the obstacle exists in the front and rear limited range of the electric door and the size of the obstacle exceeds the preset threshold value, the electric door does not accord with the passing condition.

And S3, when the robot moves to a position 10m away from the electric door, the dispatching management system identifies the ID number of the electric door, judges whether the electric door meets the passing condition or not according to the environmental state information of the electric door, if so, the step S4 is carried out, and if not, the step S5 is carried out.

And S4, the dispatching management background sends a passing instruction to the robot to control the robot to pass through the electric door.

And S5, the scheduling management background sends a pause instruction to the robot, controls the robot to stop outside the electrically operated gate to wait until the electrically operated gate meets the passing condition, and then sends a passing instruction to the robot, and controls the robot to pass through the electrically operated gate.

When the robot is about to pass through the electrically operated gate, the dispatching management system sends an instruction for opening the electrically operated gate to the controller, the controller receives the instruction for opening the electrically operated gate to control the electrically operated door pushing device to open the electrically operated gate, and the voice unit is controlled to broadcast prompt voice about the fact that the robot is about to pass through the electrically operated gate.

After the robot passes through the electric door, the dispatching management system sends an instruction for closing the electric door to the controller, and the controller receives the instruction to control the electric door pushing device to close the electric door and control the voice unit to broadcast prompt voice about the closing of the electric door.

When the electric door pusher opens or closes the electric door, the photoelectric sensor detects whether the electric door is opened or closed in place, and sends the opening or closing in-place state information of the electric door to the dispatching management system through the controller.

When a plurality of robots stop outside the electrically operated gate for waiting, the dispatching management system controls the robots to stop outside the electrically operated gate at equal intervals in sequence according to the sequence of the arrival time of the robots to wait until the electrically operated gate meets the passing condition, and controls the robots to sequentially pass through the electrically operated gate in sequence. In the process that the robot stops waiting outside the electric door, when the environment recognition device recognizes that no obstacle exists in the front and back limited range of the electric door, the dispatching management system sends an instruction for opening the electric door to the automatic door control device, the automatic door control device receives the instruction for opening the electric door and broadcasts the voice prompt that the robot is about to pass through the electric door, in the process that the robot is about to pass through the electric door, the dispatching management system acquires environment state information recognized by the environment recognition device every 1s, and if the electric door meets the passing condition, the robot is controlled to pass through the electric door. After the former robot passes through the electric door, the latter robot moves forward, and so on, so that the robot waiting outside the electric door sequentially passes through the electric door (as shown in fig. 7 and 8).

Referring to fig. 3 to 6, the architecture diagram of an embodiment of a system for assisting a robot to pass through an electric door according to the present invention includes a scheduling management system, a plurality of robots, a plurality of environment recognition devices, and automatic door control devices corresponding to the number of the environment recognition devices, where the scheduling management system establishes communication with the environment recognition devices, the automatic door control devices, and the robots, respectively, each of the automatic door control devices is connected with one electric door, and the environment recognition device is disposed on the top of the electric door.

The environment recognition device comprises a processor, a front camera and a rear camera, the processor is connected with the dispatching management system through a communication unit, the processor is respectively connected with the front camera and the rear camera which are respectively arranged at the top of the automatic door, used for identifying the environmental state before and after the automatic door, the automatic door control device comprises a controller, an electric door pushing device, a voice unit and a photoelectric sensor, the controller is connected with the dispatching management system through a communication unit, the controller is respectively connected with the electric door pushing device, the voice unit and the photoelectric sensor, the electric door pushing device is connected with the automatic door, the photoelectric sensor is arranged at the top of the electric door and used for detecting whether the electric door is opened or closed in place, and the voice unit is used for broadcasting prompt voice.

An environment recognition device and an automatic door control device are arranged at the top of the electric door, a dispatching management system is respectively communicated with the environment recognition device, the automatic door control device and the robot, in the process that the robot moves towards the electric door, whether obstacles exist in a front and back limited range of the electric door is detected and recognized through the environment recognition device, if no obstacle exists, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if an obstacle exists, whether the size of the analyzed obstacle exceeds a preset threshold value is judged, if the size of the obstacle does not exceed the preset threshold value, the dispatching management system sends an electric door opening instruction to the automatic door control device to open the electric door, then the robot is controlled to pass through the electric door, if the size of the obstacle exceeds the preset threshold value, the dispatching management system controls the robot to stop outside the electric door to wait for the obstacle to pass through the electric door, the robot is controlled to pass through the electric door, so that the environmental state information of the front and the back of the electric door is collected in advance by using the environmental recognition device, when the robot moves to a position 10m away from the electric door, whether the robot is controlled to pass through the electric door is determined according to the environmental state information, the blockage caused by the collision between goods pushed by the robot and the walking route of the robot is avoided, when a plurality of robots all need to pass through the electric door, the robots are controlled to sequentially stop at intervals and equidistantly outside 5m in front of and behind the electric door according to the sequence of the arrival time of the robots and sequentially pass through the electric door, the plurality of robots can sequentially pass through the electric door to avoid cross interference, the environment recognition device recognizes the robots entering the limited range in front of and behind the electric door in advance as obstacles, and the mutual congestion of two robots traveling in opposite directions can be avoided when passing through the electric door, the detection management of the environmental states of the front and the back of the electric door is realized, the different door passing directions of a plurality of robots are managed, and the speed of the robots passing through the electric door is improved.

The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.