CN114310896B - Control method of induction door and storage medium - Google Patents
Control method of induction door and storage medium Download PDFInfo
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- CN114310896B CN114310896B CN202111676672.0A CN202111676672A CN114310896B CN 114310896 B CN114310896 B CN 114310896B CN 202111676672 A CN202111676672 A CN 202111676672A CN 114310896 B CN114310896 B CN 114310896B
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Abstract
The application discloses a control method and a storage medium of an induction door, which relate to the application field of automatic robots and comprise the following steps: acquiring a beacon signal; continuously transmitting an infrared door opening signal according to the beacon signal and sending a stop instruction; and acquiring distance information, judging whether the door state is in the door opening state or not according to the distance information, and if the door state is in the door opening state, sending a forward instruction. The robot confirms the infrared signal that opens the door that can trigger induction door according to the beacon signal to through the detection to the distance with judging whether the door is opened, if the door has opened then through induction door. Although the induction door provided with the infrared controller can only be opened, the induction door does not need to be changed, so that the induction door is suitable for indoor upgrading and transformation of the installed induction door, and the change cost is low.
Description
Technical Field
The present disclosure relates to the field of robots, and in particular, to a method for controlling an induction door and a storage medium.
Background
In summer or winter, the temperature of the indoor space is often regulated by an air conditioner, and a barrier door is required to reduce inflow or outflow of cold or hot air. Meanwhile, in order to facilitate people to come in and go out, an induction door with an infrared induction function is usually adopted as the separation door.
With the development of the technology, the intelligent robot can be competent for the indoor material distribution.
However, if the induction door having the infrared induction function is disposed on the moving path of the intelligent robot, the induction door cannot be opened due to the fact that the robot cannot be induced by the induction door, and therefore the robot cannot smoothly perform the distribution work.
Disclosure of Invention
The application provides a control method of an induction door and a storage medium in order to enable a robot to smoothly pass through the induction door.
In a first aspect, the present application provides a control method for an induction door, which adopts the following technical scheme:
a control method of an induction door is applied to an automatic robot and comprises the following steps:
acquiring a beacon signal;
continuously transmitting an infrared door opening signal according to the beacon signal and sending a stop instruction;
collecting distance information, judging whether the door is in a door opening state according to the distance information,
and if the door state is in the door opening state, sending a forward command.
Through adopting above-mentioned technical scheme, the robot confirms the infrared signal of opening the door that can trigger the induction door according to the beacon signal to whether open with the judgement door through the detection to the distance, if the door has opened then through the induction door. Although the induction door provided with the infrared controller can only be opened, the induction door does not need to be changed, so that the induction door is suitable for indoor upgrading and transformation of the installed induction door, and the change cost is low.
Optionally, the beacon signal includes a gate number corresponding to the induction gate;
the method for continuously emitting the infrared door opening signal according to the beacon signal comprises the following steps:
determining the type of the induction door according to the door number;
and determining a corresponding infrared door opening signal according to the type of the induction door, and continuously transmitting the corresponding infrared door opening signal.
Optionally, determining the type of the induction door according to the door number includes the following steps:
judging whether a pass number consistent with a door number can be matched from a preset pass set or not, wherein the preset pass set is used for storing a plurality of pass numbers;
if the pass number consistent with the door number can be matched from the preset pass set, determining the corresponding type of the induction door according to the door number;
and if the pass number consistent with the door number cannot be matched from the preset pass set, determining the corresponding induction door type according to the door number.
Optionally, if the door state is in the door opening state, after the forward command is issued, the method further includes the following steps:
deleting all passage numbers in a preset passage set;
determining a door number to be reached from a preset number set according to the current door number, wherein the number set is used for storing all door numbers on a moving path, and all door numbers in the number set are sequentially arranged according to the moving direction of the moving path information;
and taking the door number to be reached as a communication number and updating the communication number into a preset passing set.
Optionally, the same induction door corresponds to two door numbers, and the two door numbers corresponding to the same induction door correspond to each other;
acquiring a beacon signal, comprising the steps of:
judging whether the door number corresponds to a pre-stored beacon number,
if the door number corresponds to the pre-stored beacon number, transmitting an infrared door-closing signal corresponding to the door number, and emptying the content of the pre-stored beacon number;
and if the door number does not correspond to the pre-stored beacon number, replacing the pre-stored beacon number with the current door number, and executing the step of continuously transmitting the infrared door opening signal according to the beacon signal.
Optionally, the method for acquiring the distance information and determining whether the door state is in the door opening state according to the distance information includes the following steps:
collecting first distance information, collecting second distance information after a preset time,
judging whether the first distance information and the second distance information are consistent,
if the first distance information is consistent with the second distance information, acquiring the second distance information again after a preset time, and judging whether the first distance information is consistent with the second distance information or not until the first distance information is inconsistent with the second distance information;
and if the first distance information is inconsistent with the second distance information, judging that the door is in the door opening state.
Optionally, the beacon signal includes a floor number;
acquiring a beacon signal, comprising the steps of:
it is determined whether the beacon signal contains a floor number,
if the beacon signal contains the floor number, judging whether the number of the floor to be reached is stored,
if the number of the floor to be reached is not stored, determining the number of the floor to be reached according to the preset moving path information and the current floor number and storing the number;
if the number of the floor to be reached exists, judging whether the number of the current floor is consistent with the number of the floor to be reached,
and if the current floor number is consistent with the number of the floor to be reached, deleting the number of the floor to be reached and executing the preset moving path information corresponding to the current floor number.
In a second aspect, the present application provides a computer-readable storage medium storing a computer program that can be loaded by a processor and that can execute any of the above-described methods for controlling an induction gate.
In summary, the present application includes at least one of the following beneficial technical effects: the robot determines an infrared door opening signal capable of triggering the induction door according to the beacon signal, judges whether the door is opened or not by detecting the distance, and passes through the induction door if the door is opened. Although the induction door provided with the infrared controller can only be opened, the induction door does not need to be changed, so that the induction door is suitable for indoor upgrading and transformation of the installed induction door, and the change cost is low.
Drawings
Fig. 1 is an overall flowchart of an embodiment of the present application.
Detailed Description
The present application is described in further detail below with reference to fig. 1.
The embodiment of the application discloses a control method of an induction door, which is applied to an automatic robot. In order to implement the control method, the automatic robot is provided with a distance measuring device and an infrared signal transmitting device besides software and hardware which can automatically move according to preset moving path information. In addition, the induction door controlled by the control method needs to be an induction door provided with an infrared control device, and a beacon needs to be arranged near the induction door, so that the robot can know the position and the type of the induction door in advance. But except the modification, the induction door does not need to be modified, so that the upgrading cost is effectively controlled.
A control method of an induction door, see fig. 1, comprising the steps of:
and S100, acquiring a beacon signal.
The beacon signal is emitted by a beacon installed in the vicinity of the induction door. In this embodiment, the beacon is a low power beacon, e.g., a wireless transmitting device employing bluetooth low energy technology. The low-power beacon can continuously emit short-distance wireless signals outwards for a long time, and can stably and continuously receive the beacon signals when the robot approaches the induction door.
Each beacon stores a number, and the beacon signal transmitted by the beacon is converted from the number of the beacon.
The numbers include door numbers and floor numbers, wherein each door number is stored per beacon, and the floor numbers are stored only in beacons near the elevator doors.
The robot needs to make different processes for a beacon signal with a floor number and a beacon signal without a floor number.
Specifically, the method for acquiring the beacon signal includes the following steps:
and S110, judging whether the beacon signal contains a floor number.
And S120, if the beacon signal contains the floor number, judging whether the number of the floor to be reached is stored.
The robot in the initial state does not store any number of floors to be reached.
If the beacon signal does not include the floor number, step S200 is executed.
And S130, if the number of the floor to be reached is not stored, determining the number of the floor to be reached according to the preset moving path information and the current floor number and storing the number.
If the to-arrive floor number is not stored, it is considered that the robot has not moved to the floor, and therefore, it is necessary to store the to-arrive floor number in the floor number to be arrived next.
And S140, if the number of the floor to be reached exists, judging whether the number of the current floor is consistent with the number of the floor to be reached.
If the number of the floor to be reached is stored, the robot is considered to be transferring between floors, and therefore whether the robot reaches the corresponding floor or not needs to be judged by matching the current floor number with the number of the floor to be reached.
And S150, if the current floor number is consistent with the number of the floor to be reached, deleting the number of the floor to be reached and executing the preset moving path information corresponding to the current floor number.
And S200, continuously transmitting an infrared door opening signal according to the beacon signal and sending a stop instruction.
When the induction door is opened according to the infrared door opening signal, the induction door needs a certain time to complete the door opening action. In the door opening process, the robot is stopped to prevent the robot from colliding with the induction door.
The method for continuously transmitting the infrared door opening signal according to the beacon signal comprises the following steps:
and S210, determining the type of the induction door according to the door number.
The robot stores a comparison table between the door number and the induction door type. After the door number is obtained, the corresponding induction door type can be determined from the comparison table.
And S220, determining a corresponding infrared door opening signal according to the type of the induction door, and continuously transmitting the corresponding infrared door opening signal.
Because the moving path of the robot does not necessarily pass through all the induction doors, if the door number is not limited, the robot can emit corresponding infrared door opening signals to cause the induction doors to open doors mistakenly when receiving the beacon signals. Therefore, limitations also need to be made.
Specifically, the method for determining the type of the induction door according to the door number comprises the following steps:
s221, judging whether the pass number consistent with the door number can be matched from the preset pass set.
The preset pass set is used for storing a plurality of pass numbers. The pass number is a number of a beacon corresponding to a sensor gate through which a movement path preset in the robot passes.
The purpose of judging whether the serial number of the beacon signal can be matched with a consistent pass serial number from a preset pass set is to distinguish whether the induction door corresponding to the currently received beacon signal belongs to the induction door which is required to pass through a preset moving path.
S222, if a pass number consistent with the door number can be matched from a preset pass set, determining a corresponding induction door type according to the door number;
and S223, if the pass number consistent with the door number cannot be matched from the preset pass set, determining the corresponding induction door type according to the door number.
S300, collecting distance information, and judging whether the door is in a door opening state or not according to the distance information.
The distance information is collected by a laser ranging sensor mounted on the robot. The robot comprises at least two laser ranging sensors, wherein the at least two laser ranging sensors are respectively arranged on two sides of the robot, and the directions of all the laser ranging sensors face the advancing direction of the robot.
In one embodiment, the collecting the distance information and judging whether the door state is in the door opening state according to the distance information comprises the following steps:
s310, collecting first distance information, collecting second distance information after a preset time,
s320, judging whether the first distance information is consistent with the second distance information,
s330, if the first distance information is consistent with the second distance information, acquiring the second distance information again after a preset time, and judging whether the first distance information is consistent with the second distance information or not until the first distance information is inconsistent with the second distance information;
and S340, if the first distance information is inconsistent with the second distance information, judging that the door is in the door opening state.
The first distance information is the distance information between the robot and the induction door, which is acquired when the robot starts to send out the infrared door opening signal. The preset time is set by the user, and is generally 1 second. As long as the second distance information does not coincide with the first distance information, it indicates that the sensing door, which was originally blocked in front of the robot, has moved open.
It should be noted that the door state can be judged to be in the door opening state only when the first distance information and the second distance information detected by all the laser ranging sensors are inconsistent, otherwise the door state may be in the opening process, and the robot is still not suitable for moving at this time.
And S400, if the door state is in the door opening state, sending a forward command.
The robot is moved again under the control of the forward command and passes the induction door in the open state. And the robot needs to continuously emit infrared door opening signals in the moving process so as to avoid the situation that the induction door is closed when passing through the induction door.
In one embodiment, if the door state is in the door-open state, after the forward command is issued, the method includes the following steps:
and S410, deleting all the pass numbers in the preset pass set.
And S420, determining the number of the door to be reached from a preset number set according to the current door number.
S430, the number of the door to be reached is taken as a communication number and is updated to a preset passing set.
The preset number set is used for storing a preset door number to be reached, and the door number to be reached is a door number corresponding to an induction door through which the preset moving path information of the robot passes. And the door numbers in the number set are arranged according to the sequence of the preset moving path of the robot.
For a robot which successfully starts the induction door through the infrared door opening signal, the robot is already determined to be at the position of the moving path, and then the next induction door to be passed is determined according to the preset moving path information. Therefore, the communication set does not need to store redundant pass numbers, and the situation that the induction door is opened when the robot passes by the induction door side passing by the auxiliary moving path can be avoided.
Certainly, after the robot is restarted, the preset passing set of the robot is initialized, so that the passing number corresponding to the induction door through which the moving path passes is stored in the passing set again.
In one embodiment, the robot will always emit an infrared door opening signal as soon as the robot starts to emit the infrared door opening signal; even if the robot acquires the beacon signal again, the type of the transmitted infrared door opening signal is only changed according to the beacon signal, and the transmission of the infrared door opening signal is not interrupted.
After the induction door is opened according to the infrared door opening signal, as long as the induction door does not receive the infrared door opening signal any more, namely after the distance between the robot and the induction door exceeds the effective transmission distance of the infrared door opening signal, the induction door is automatically closed.
In one embodiment, the beacons are respectively arranged on two sides of the induction door, the robot opens the induction door according to a beacon signal sent by the beacon at one side of the induction door, and closes the induction door according to a beacon signal sent by the beacon at the other side of the induction door after the robot passes through the induction door, so that the energy consumption of the robot is saved, the induction door can be closed in time, and the interaction time of cold air and hot air at two sides of the induction door is shortened.
In order to realize the control method, a preset pairing database in the robot is modified: so that each induction door corresponds to two door numbers, and the two door numbers corresponding to the same induction door correspond to each other. For example, if the door number stored in the beacon installed at one side of the induction door is 6-1, the door number stored in the beacon installed at the other side of the induction door is 6-2, and the type of the induction door corresponding to the two beacons is type a, the robot transmits an infrared signal corresponding to type a regardless of whether the robot receives 6-1 or 6-2.
In step S100, it is necessary to determine whether the robot has emitted the door open signal or the door close signal by additionally determining whether the door is open or closed.
Specifically, acquiring the beacon signal further includes the following steps:
and S160, judging whether the door number corresponds to a pre-stored beacon number.
And S170, if the door number corresponds to the pre-stored beacon number, transmitting an infrared door closing signal corresponding to the door number, and emptying the content of the pre-stored beacon number.
And S180, if the door number does not correspond to the pre-stored beacon number, replacing the pre-stored beacon number with the current door number, and executing the step of continuously transmitting the infrared door opening signal according to the beacon signal.
The pre-stored beacon number is empty in an initial state, when the robot receives a beacon signal corresponding to an induction door which belongs to a preset moving path and needs to pass for the first time, the beacon signal is inevitably not corresponding to the empty pre-stored beacon signal, so that the pre-stored beacon number is replaced by the current beacon signal, and the working state is determined to be a pre-door state. When the robot passes through the induction door, the robot receives a beacon signal on the other side of the induction door, and the number of the beacon signal necessarily corresponds to the pre-stored beacon signal, so that the working state is determined to be the door back state.
The embodiment of the present application further provides a computer-readable storage medium, which stores a computer program that can be loaded by a processor and execute any one of the above methods for controlling an induction gate.
The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.
Claims (5)
1. A control method of an induction door is characterized by being applied to an automatic robot and comprising the following steps:
acquiring a beacon signal;
continuously transmitting an infrared door opening signal according to the beacon signal and sending a stop instruction;
collecting distance information, and judging whether the door is in a door opening state according to the distance information,
if the door state is in the door opening state, sending a forward instruction;
the beacon signal includes a gate number corresponding to an induction gate;
the method for continuously transmitting the infrared door opening signal according to the beacon signal comprises the following steps:
determining the type of the induction door according to the door number;
determining a corresponding infrared door opening signal according to the type of the induction door, and continuously transmitting the corresponding infrared door opening signal;
determining the type of the induction door according to the door number, comprising the steps of:
judging whether a pass number consistent with a door number can be matched from a preset pass set or not, wherein the preset pass set is used for storing a plurality of pass numbers;
if the pass number consistent with the door number can be matched from the preset pass set, determining the corresponding type of the induction door according to the door number;
if the pass number consistent with the door number cannot be matched from the preset pass set, determining the corresponding type of the induction door according to the door number;
if the door state is in the door opening state, after the forward command is sent, the method further comprises the following steps:
deleting all passage numbers in a preset passage set;
determining a door number to be reached from a preset number set according to the current door number, wherein the number set is used for storing all door numbers on a moving path, and all door numbers in the number set are sequentially arranged according to the moving direction of the moving path information;
and taking the door number to be reached as a communication number and updating the communication number into a preset passing set.
2. A control method of an induction door according to claim 1, characterized in that: the same induction door corresponds to two door numbers, and the two door numbers corresponding to the same induction door correspond to each other;
acquiring a beacon signal, comprising the steps of:
judging whether the door number corresponds to a pre-stored beacon number,
if the door number corresponds to the pre-stored beacon number, transmitting an infrared door-closing signal corresponding to the door number, and emptying the content of the pre-stored beacon number;
and if the door number does not correspond to the pre-stored beacon number, replacing the pre-stored beacon number with the current door number, and executing the step of continuously transmitting the infrared door opening signal according to the beacon signal.
3. The control method of the induction door according to claim 1, wherein the step of collecting distance information and judging whether the door state is in the door-opening state according to the distance information comprises the following steps:
collecting first distance information, collecting second distance information after a preset time,
judging whether the first distance information and the second distance information are consistent,
if the first distance information is consistent with the second distance information, acquiring the second distance information again after a preset time, and judging whether the first distance information is consistent with the second distance information or not until the first distance information is inconsistent with the second distance information;
and if the first distance information is inconsistent with the second distance information, judging that the door is in the door opening state.
4. A control method of an induction door according to claim 1, characterized in that: the beacon signal includes a floor number;
acquiring a beacon signal, comprising the steps of:
it is determined whether the beacon signal contains a floor number,
if the beacon signal contains the floor number, judging whether the number of the floor to be reached is stored,
if the number of the floor to be reached is not stored, determining the number of the floor to be reached according to the preset moving path information and the current floor number and storing the number;
if the number of the floor to be reached exists, judging whether the number of the current floor is consistent with the number of the floor to be reached,
and if the current floor number is consistent with the number of the floor to be reached, deleting the number of the floor to be reached and executing the preset moving path information corresponding to the current floor number.
5. A computer-readable storage medium, characterized in that a computer program is stored which can be loaded by a processor and which executes a method for controlling an induction gate according to any one of claims 1 to 4.
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| CN104898660A (en) * | 2015-03-27 | 2015-09-09 | 中国科学技术大学 | Indoor map building method for improving robot path planning efficiency |
| JP2016059990A (en) * | 2014-09-17 | 2016-04-25 | シャダイ株式会社 | Door opening/closing robot and door opening/closing robot control system |
| CN109236107A (en) * | 2018-11-26 | 2019-01-18 | 上海钛米机器人科技有限公司 | A kind of control method of automatically-controlled door, device, system and storage medium |
| CN113818774A (en) * | 2021-08-05 | 2021-12-21 | 深圳市优必选科技股份有限公司 | Automatic door control method and device and robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20200397936A1 (en) * | 2019-05-21 | 2020-12-24 | ATOM, Inc. | Systems and Methods For Internet-Of-Things (IOT) Robotic Sterilization Device |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016059990A (en) * | 2014-09-17 | 2016-04-25 | シャダイ株式会社 | Door opening/closing robot and door opening/closing robot control system |
| CN104898660A (en) * | 2015-03-27 | 2015-09-09 | 中国科学技术大学 | Indoor map building method for improving robot path planning efficiency |
| CN109236107A (en) * | 2018-11-26 | 2019-01-18 | 上海钛米机器人科技有限公司 | A kind of control method of automatically-controlled door, device, system and storage medium |
| CN113818774A (en) * | 2021-08-05 | 2021-12-21 | 深圳市优必选科技股份有限公司 | Automatic door control method and device and robot |
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