CN115016459A

CN115016459A - Method for controlling movement from mobile device, mobile device and storage medium

Info

Publication number: CN115016459A
Application number: CN202210487957.8A
Authority: CN
Inventors: 袁懿; 陈汉荣; 张永胜
Original assignee: Shenzhen Pudu Technology Co Ltd
Current assignee: Shenzhen Pudu Technology Co Ltd
Priority date: 2022-05-06
Filing date: 2022-05-06
Publication date: 2022-09-06

Abstract

The application is applicable to the technical field of robot control, and provides a method for controlling self-moving equipment to move, the self-moving equipment and a storage medium, wherein the method comprises the following steps: controlling the self-moving equipment to move to a door control area corresponding to the current door, and acquiring the states of other doors, wherein when the front door is a door which the self-moving equipment needs to pass through at present, the other doors are doors other than the current door in the multi-stage doors; when at least one other door in the multi-stage doors is closed, controlling the current door to be opened; and controlling the self-moving equipment to pass through the current front door when the current front door is confirmed to be opened. In this application, can realize controlling from mobile device and pass under the known condition of the condition of opening of a plurality of doors that set up in succession, help two areas that the guarantee is separated by the multistage door not to be linked together.

Description

Method for controlling movement from mobile device, mobile device and storage medium

Technical Field

The application belongs to the technical field of robot control, and particularly relates to a method for controlling self-moving equipment to move, the self-moving equipment and a storage medium.

Background

With the development and progress of scientific technology, the use of self-moving equipment is more and more common, for example, more and more users select to use robots for automatic delivery of articles. In some application scenarios, the self-moving device needs to move through the multi-level gates arranged in series to achieve the movement between the isolation area and the outside, and therefore a solution for achieving the movement of the self-moving device through the multi-level gates is needed.

However, how to move the self-moving apparatus through the multi-stage doors which are continuously provided is not described in the related art at present. If the self-moving equipment is improperly controlled, two areas separated by the multi-level door are easily communicated, so that the isolation function of the multi-level door is damaged, and in some isolation scenes, the isolation area can be even polluted.

Disclosure of Invention

The embodiment of the application provides a method for controlling self-moving equipment to move, self-moving equipment and a storage medium, which are used for avoiding that areas on two sides of a multi-level door are communicated when the self-moving equipment passes through the multi-level door.

A first aspect of an embodiment of the present application provides a method for controlling movement of a mobile device, which is applied to a scene of a multi-level door, the multi-level door is disposed in a transition region that connects a first region and a second region, the transition region is provided with a plurality of gated regions, and each gated region corresponds to one of the multi-level doors, and the method includes: controlling the self-moving equipment to move to a door control area corresponding to the current door, and acquiring the states of other doors, wherein when the front door is a door which the self-moving equipment needs to pass through at present, the other doors are doors other than the current door in the multi-stage doors; when at least one other door in the multi-stage doors is closed, controlling the current door to be opened; and controlling the self-moving equipment to pass through the current front door when the current front door is confirmed to be opened.

In some embodiments, the method further comprises: broadcasting area occupation information when the mobile equipment drives into the transition area, wherein the area occupation information is used for indicating that the transition area is occupied; upon exiting the transition area from the mobile device, area release information is broadcast indicating that the transition area is released.

In some embodiments, controlling the current door to open when the state of at least one other door of the plurality of doors is closed comprises: and controlling the current front door to be opened when the adjacent door of the current door is closed.

In some embodiments, controlling the current door opening comprises: sending a door opening instruction to the door control equipment of the current front door, wherein the door opening instruction is used for triggering the door control equipment to open the current front door; after controlling the self-moving device to pass through the current front door, the method further comprises: and sending a door closing instruction to the door control equipment, or sending the door closing instruction to the door control equipment after the target equipment passes through the current door under the condition that other target equipment to pass through the current door is determined.

In some embodiments, the sending of the door opening instruction to the door control device of the current door comprises: if a plurality of target devices are arranged in the door control area of the current front door, determining a first target device used for sending a door opening instruction and a second target device used for sending a door closing instruction from the plurality of target devices; and sending a door opening instruction to the door control equipment through the first target equipment.

In some embodiments, determining, from a plurality of target devices, a first target device for sending a door open command and a second target device for sending a door close command, comprises: respectively determining the passing sequence of each target device according to the driving related information of each target device, and determining a first target device and a second target device from a plurality of target devices according to the passing sequence of each target device; wherein the driving-related information includes at least one of: the driving direction, priority information corresponding to the driving direction, the driving speed and the distance between the current door.

In some embodiments, before controlling the movement from the mobile device to the gating region corresponding to the current gate, the method further comprises: detecting whether a transition sub-region corresponding to the current door is occupied or not, wherein the transition sub-region is a must-pass region part going to the current front door in the transition region; under the condition that a transition sub-region corresponding to the current door is occupied, controlling the self-moving equipment not to enter a door control region of the current door temporarily; and controlling the self-moving equipment to enter the door control area of the current door under the condition that the transition sub-area corresponding to the current door is not occupied.

In some embodiments, the method further comprises: when the state of each other door in the multi-stage door is open, a door closing instruction is sent to the door control equipment corresponding to a target door in all other doors, and when the closing of the target door is detected, the front door is controlled to be opened, and the door closing instruction is used for triggering the door control equipment corresponding to the target door to close the target door.

A second aspect of the embodiments of the present application provides an apparatus for controlling movement from a mobile device, which is applied to a scene of a multi-level door, the multi-level door is disposed in a transition region that connects a first region and a second region, the transition region is provided with a plurality of gated regions, each gated region corresponds to one of the multi-level doors, and the apparatus includes:

the information acquisition unit is used for controlling the self-moving equipment to move to a door control area corresponding to the current door and acquiring the states of other doors, wherein when the front door is a door which the self-moving equipment needs to pass through at present, the other doors are doors except the current door in the multi-stage doors;

the first control unit is used for controlling the current door to be opened when at least one other door in the multi-stage doors is closed;

and a second control unit for controlling the self-moving apparatus to pass through the current front door when it is confirmed that the current front door is opened.

A third aspect of embodiments of the present application provides a self-moving device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of the method for controlling movement of the self-moving device provided in the first aspect when executing the computer program.

A fourth aspect of embodiments of the present application provides a computer-readable storage medium, which stores a computer program, and the computer program, when executed by a processor, implements the steps of the method for controlling movement from a mobile device provided in the first aspect.

A fifth aspect of embodiments of the present application provides a computer program product, which, when run on a self-moving device, causes the self-moving device to execute any one of the above-mentioned methods for controlling movement of the self-moving device.

The method for controlling the self-moving equipment to move, the self-moving equipment and the storage medium provided by the embodiment of the application have the following beneficial effects: under the condition that the self-moving equipment is located in a door control area of a current door through which the self-moving equipment passes, the self-moving equipment is controlled to pass from the current door by analyzing the opening condition of the current door and the opening conditions of other doors, so that the self-moving equipment can be controlled to pass under the condition that the opening conditions of a plurality of doors are known, and the two areas separated by the multi-stage doors are favorably prevented from being communicated.

It is understood that the beneficial effects of the second aspect to the fifth aspect can be referred to the related description of the first aspect, and are not described herein again.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a system architecture diagram of a method for controlling movement from a mobile device by an application according to an embodiment of the present application;

fig. 2 is a flowchart illustrating a method for controlling movement from a mobile device according to an embodiment of the present application;

FIG. 3 is a schematic diagram illustrating an effect of multiple autonomous mobile devices needing to pass through a transition area according to an embodiment of the present application;

FIG. 4 is a schematic diagram of a positional relationship among a current door, a forward door and a backward door according to an embodiment of the present disclosure;

FIG. 5 is a schematic diagram illustrating an effect of a relative position relationship between a plurality of target devices according to an embodiment of the present application;

fig. 6 is a schematic flowchart of a process for controlling a self-moving device to enter a gated area of a current door according to an embodiment of the present disclosure;

fig. 7 is a flowchart illustrating another method for controlling movement from a mobile device according to an embodiment of the present application;

fig. 8 is a schematic structural diagram of an apparatus for controlling movement from a mobile device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a self-moving device according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to" determining "or" in response to detecting ". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

Furthermore, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used for distinguishing between descriptions and not necessarily for describing a relative importance or importance.

Reference throughout this specification to "one embodiment" or "some embodiments," or the like, means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the present application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," or the like, in various places throughout this specification are not necessarily all referring to the same embodiment, but rather "one or more but not all embodiments" unless specifically stated otherwise. The terms "comprising," "including," "having," and variations thereof mean "including, but not limited to," unless expressly specified otherwise.

In order to explain the technical means of the present application, the following examples are given below.

Fig. 1 is a system architecture diagram of a method for controlling movement from a mobile device by an application according to an embodiment of the present application. As shown in fig. 1, the system architecture may include self-moving devices 1-3, a gating apparatus, and a plurality of sequentially arranged gates (three gates are taken as an example in fig. 1). The three-stage gates provided in series are a gate 101, a gate 102, and a gate 103, respectively. Three stages of gates arranged in series separate zone 1 from zone 2.

The door control device is used for controlling the opening and closing of each door in the multi-stage doors, for example, the door control device may be a device for controlling each door in the multi-stage doors together, that is, the multi-stage doors may be controlled by one door control device. Or the door control apparatus may include a door control device for each door, such as door control device 104-door control device 106.

As shown in fig. 1, a door control device 104 may be used to control the opening and closing of door 101, a door control device 105 may be used to control the opening and closing of door 102, and a door control device 106 may be used to control the opening and closing of door 103.

It should be noted that the method for controlling the movement of the self-moving device provided by the present embodiment is generally executed by any one of the self-moving device 1-the self-moving device 3. It should be understood that the number of self-moving devices, door control devices, and doors in fig. 1 are merely illustrative. There may be any number of self-moving devices, door control devices, and doors, as desired for an implementation. In addition, each gate may correspond to a gate control device, one gate may be controlled by one gate control device, or a plurality of gates may be controlled by one gate control device.

With reference to fig. 2, an embodiment of the present application provides a method for controlling movement of a mobile device, which is applied to a scenario of a multi-level door, where the multi-level door is disposed in a transition region connecting a first region and a second region, the transition region is provided with a plurality of gated regions, and each gated region corresponds to one of the multi-level doors, and the method includes:

step 201, controlling the mobile device to move to a gating area corresponding to the current gate, and acquiring states of other gates.

The current door is a door which is required to pass through the mobile equipment at present, and the other doors are doors except the current door in the multi-stage doors. The multi-stage door generally includes a plurality of doors, for example, two doors, three doors, and the like. The present embodiment does not limit the number of gates included in the multi-stage gate. The current door is typically the door to be passed through. The current front door belongs to the multi-stage door.

The first area and the second area are generally two areas separated by the multi-stage gate, and in practice, the first area may be an isolation area, and the second area may be an outside area.

In practice, each of the above-described multi-level gates may have a gated area. For each door, the door control area of the door is generally an area obtained by extending a preset distance from the position of the door to the inner side and the outer side of the door respectively. In practical applications, when a mobile device passes through a certain door, the mobile device usually reaches one side of the door control area of the door, and then travels to the other side of the door control area, so as to be far away from the door.

In practice, the self-moving device may determine whether the self-moving device moves to the gating area of the current door by detecting the distance between the self-moving device and the current door in real time during the moving process.

In a case where it is determined that the self-moving apparatus is located in the door control area of the current door, the self-moving apparatus may acquire the states of the other doors of the multi-stage door. In practice, the state of the door usually includes both open and closed conditions.

As an example, the self-moving device may send information for inquiring the opening condition to the gate control devices respectively corresponding to the doors, so as to obtain the states of the doors. Or sending the information of inquiring the opening condition from the mobile equipment to the door control equipment commonly serving all the doors so as to acquire the states of all the doors.

As another example, the self-moving device may send information to other self-moving devices at other doors in the multi-level door, enabling the status of the other doors to be obtained from the other self-moving devices at the other doors. The other self-moving devices are self-moving devices other than the self-moving device described above.

And step 202, controlling the current front door to be opened when at least one other door in the multi-stage doors is closed.

Here, in the multi-stage door, if there is another door in a closed state, the self-moving apparatus may control the current front door to be opened so that the self-moving apparatus passes through the current front door. For example, the automatic release of the self-moving device by the door control device can be realized by sending a pass instruction to the door control device of the current front door, wherein the pass instruction is used for controlling the door control device corresponding to the current front door to open the current front door, and close the current front door after the door control device is opened for a preset time length. Therefore, one door can be always in a closed state, and two areas separated by the multi-stage door are not communicated.

In practical applications, when the current door is closed and each of the other doors in the multi-stage doors is open, the self-moving device may temporarily not pass through the current door. In this way, it is ensured that the two areas separated by the multi-stage door are not communicated.

And step 203, controlling the self-moving equipment to pass through the current front door when the current front door is confirmed to be opened.

Here, the self-moving apparatus may determine whether the current door is opened by detecting a distance between the self-moving apparatus and the current door. In the case where the current door is open, the self-moving apparatus may move through the current door.

According to the method provided by the embodiment, when the self-moving equipment is located in the door control area of the current door through which the self-moving equipment passes, the self-moving equipment is controlled to pass through the current door by analyzing the opening and closing conditions of the current front door and the opening and closing conditions of other doors, so that the self-moving equipment can be controlled to pass through under the condition that the opening and closing conditions of a plurality of doors are known, and the two areas separated by the multi-stage doors are not communicated.

In some optional implementations of this embodiment, the method for controlling movement from a mobile device may further include the following steps: when the state of each other door in the multi-stage door is open, sending a door closing instruction to the door control device corresponding to the target door in all other doors, and controlling the front door to be opened when the target door is detected to be closed.

Wherein the target door may be any one of various other doors in the multi-stage door. The door closing instruction is used for triggering the door control equipment corresponding to the target door to close the target door.

Here, in a case where all the other doors are opened, the self-moving device may transmit a door closing instruction to the door control device corresponding to the target door so that the target door is closed. After detecting that the target door is closed, the self-moving device may request the door control device corresponding to the current front door to open the current front door so that the self-moving device passes through the current front door. As an example, the self-moving device may detect whether the target door is closed by sending information inquiring whether the target door is closed to the door control device corresponding to the target door. The embodiment can realize timely and accurate control of the self-moving equipment to pass through the current front door.

In a possible embodiment of the present application, the method for controlling movement from a mobile device in this embodiment may further include, before step 201: and broadcasting the area occupation information when the mobile equipment drives into the transition area, wherein the area occupation information is used for indicating that the transition area is occupied.

Wherein, the region occupation information is used for notifying that the transition region is occupied.

Here, in the case where it is determined that the self-moving apparatus enters the transition area, the self-moving apparatus may transmit the above-mentioned area occupancy information to other self-moving apparatuses in the form of broadcasting. Therefore, other self-moving devices can accurately know that the transition region is occupied, so that waiting is carried out, and the control of orderly passing through the multi-stage door by each self-moving device needing to pass through the multi-stage door is facilitated.

In a possible embodiment of the present application, after step 203, the method for controlling movement from a mobile device in this embodiment may further include: upon exiting the transition area from the mobile device, area release information is broadcast indicating that the transition area is released.

Wherein the area release information is used for notifying that the transition area is released.

Here, the self-mobile device may broadcast the area release information to other self-mobile devices when the self-mobile device exits the transition area, so that the other self-mobile devices may accurately know that the transition area is released, may end the waiting, and enter the transition area. And the control of respective mobile devices to pass through the multi-stage door in order is facilitated. In practice, the self-moving device sends the area occupation information and the area release information to other self-moving devices in a broadcasting mode, which is beneficial to realizing the rapid transmission of messages, thereby realizing that each self-moving device efficiently and orderly passes through the multi-stage door.

Fig. 3 is a schematic diagram illustrating an effect that a plurality of self-moving devices need to pass through a transition area according to an embodiment of the present application. In fig. 3, the multi-stage door includes three doors, i.e., a door 301, a door 302, and a door 303, each having a spacing distance therebetween, and the spacing distance between adjacent doors is not limited in this application. The multi-stage door separates the area 1 from the area 2, the area 1 can be correspondingly provided with a waiting area 1, and the area 2 can be correspondingly provided with a waiting area 2. As shown in fig. 3, there are two self-moving devices that need to pass through the transition area, namely self-moving device 1 and self-moving device 2. The zone occupancy information may be broadcast when entering a transition zone from the mobile device 1. In this way, the self-moving apparatus 2 can wait in the waiting area 1 outside the transition area. In addition, the area release information may be broadcast when exiting the transition area from the mobile device 1. In this way, the self-moving device 2 can end the waiting, leave the waiting area 1 and enter the transition area.

It is noted that in some application scenarios, only one self-moving device may be present in the transition region. In the application scenario, the self-mobile device entering the transition area notifies other self-mobile devices that the transition area is occupied through broadcasting the area occupancy information, and at this time, other self-mobile devices need to wait and cannot enter the transition area.

In other application scenarios, a plurality of self-moving devices may be present in the transition area at the same time. In the application scenario, the transition region is divided into a plurality of transition sub-regions by the multi-level gate, and the region occupancy information may notify the situation of the specifically occupied transition sub-region in the transition region, that is, only one self-moving device may appear in each transition sub-region in the transition region at most. In the application scenario, the self-mobile device entering a certain transition sub-area may notify other self-mobile devices that the transition sub-area is occupied by broadcasting the area occupancy information. At this time, other self-mobile devices that need to enter the transition sub-area need to wait and cannot enter the transition sub-area. It can be understood that, in this application scenario, in order to ensure that the two areas separated by the multi-stage door are not communicated, in the transition area, it is necessary to always ensure that at least one of the multi-stage doors is closed.

In practice, in a scenario where multiple self-moving devices may be present in the transition area at the same time, before the self-moving devices enter the transition area, it is usually determined whether there are other self-moving devices in the transition area opposite to the traveling direction of the self-moving device. If the transition sub-area is occupied, the self-mobile device may not enter the transition sub-area for the moment no matter whether the transition sub-area which needs to be entered currently is occupied or not. If not, the self-mobile device can enter the transition sub-area when the transition sub-area which needs to be entered currently is not occupied. In this way, the high-efficiency and orderly passing of the multi-stage door by the self-moving equipment can be guaranteed.

In some implementations, the broadcasting the area occupancy information may include broadcasting the area occupancy information to at least one of a co-directional device and a reverse directional device. The same-direction device is usually another self-moving device in the same traveling direction as the self-moving device. The opposing device is typically another self-moving device that is opposite in direction of travel from the self-moving device.

Here, by transmitting the area occupancy information to other self-moving devices in different traveling directions, it is possible to inform other self-moving devices corresponding to the traveling directions of waiting for entering the multi-stage door, thereby controlling the number of self-moving devices in the transition area.

In practical applications, the specific broadcast of the area occupancy information to which other mobile devices is associated with the size of the transition area. For example, if the transition area is small, the area occupancy information may be broadcast to the peer device and the peer device at the same time, and only one of the self-mobile devices may pass through the transition area at a time, and only after the self-mobile device passes through the transition area, the other self-mobile devices may enter the transition area.

The embodiment can realize that the control of each self-moving device which needs to pass through the multi-stage door efficiently and orderly passes through the multi-stage door, thereby being beneficial to improving the control efficiency of the self-moving device.

In an optional implementation manner of some embodiments, controlling the current door to be opened when the state of at least one other door in the multi-stage doors is closed includes: and controlling the current front door to be opened when the adjacent door of the current door is closed.

Wherein the adjacent door comprises at least one of: a forward gate, a reverse gate. The forward door is adjacent to the current door in a driving direction of the self-moving device, and the backward door is adjacent to the current door in a driving reverse direction of the self-moving device.

Fig. 4 is a schematic diagram of a positional relationship among a current front door, a forward door, and a reverse door according to an embodiment of the present application. As shown in fig. 4, the multi-level door includes three doors, i.e., a door 401, a door 402, and a door 403, each having a spacing distance therebetween, and the spacing distance between adjacent doors is not limited in this application. The multi-level gate separates zone 1 from zone 2. In practical applications, the region 1 may be an isolation region, and the region 2 may be an external environment. In fig. 4, the traveling direction of the self-moving apparatus 1 is from the door 401 to the door 402, and in this case, the door 402 is the current front door, the door 403 is the forward door, and the door 401 is the backward door with respect to the self-moving apparatus 1. In addition, referring to fig. 4, the adjacent door of the door 401 is a door 402, the adjacent doors of the door 402 are a door 401 and a door 403, and the adjacent door of the door 403 may be a door 402.

Here, when the adjacent door is in the closed state, the self-moving device is controlled to be communicated from the current door, and two areas separated by the multi-level door control area can be further ensured not to be communicated.

In an alternative implementation of some embodiments, controlling the current door opening includes: and sending a door opening instruction to the door control equipment of the current door.

After controlling the self-moving device to pass through the current front door, the method further comprises: and sending a door closing instruction to the door control equipment, or sending the door closing instruction to the door control equipment after the target equipment passes through the current door under the condition that other target equipment to pass through the current door is determined.

The door opening instruction is used for triggering door control equipment of the current front door to open the current front door. The door closing command is used for triggering the door control equipment of the current front door to close the current front door.

The target device may include other self-moving devices to pass through the current door and be located in the gating area of the current door. It should be noted that the target device may be another self-moving device in the same traveling direction as the self-moving device, or may be another self-moving device in the opposite traveling direction to the self-moving device.

In practice, a door control apparatus corresponding to a current door is generally an apparatus for controlling the current door to be opened or closed. In practical application, one gate control device may control one gate correspondingly, or one gate control device may control a plurality of gates correspondingly.

Here, when the state of the current front door is closed and there are other doors in the closed state among the multi-stage doors, the self-moving apparatus may transmit a door opening instruction to the door control apparatus of the current front door so that the current front door is opened.

After the self-moving device travels through the current door, the self-moving device may send a door closing command to the door control device of the current door to close the current door. In practical applications, before the door closing instruction is sent from the mobile device to the door control device of the current front door, whether a target device needing to pass through the current front door exists can be judged. As one example, an autonomous mobile device may interact with other autonomous mobile devices over a network to determine whether a target device is present. In the case where the target device is present, the self-moving device may not transmit the door closing instruction to the door control device of the current door for the moment. In the case where the target device is not present, the self-moving device may perform sending of a door closing instruction to the door control device of the current door. This implementation mode can realize further improving the control efficiency to the mobile device through carrying out accurate effective control to each door in the multi-stage door.

In an optional implementation manner of some embodiments, the sending the door opening instruction to the door control device of the current door may include: if a plurality of target devices are arranged in the door control area of the current front door, determining a first target device used for sending a door opening instruction and a second target device used for sending a door closing instruction from the plurality of target devices; and sending a door opening instruction to the door control equipment through the first target equipment.

The target device may include other self-moving devices and the self-moving device to be passed through the current door and located in the door control area of the current door.

The first target device is a target device for sending a door opening instruction. The second target device is a target device for sending a door closing command.

Here, when a plurality of target devices exist in the gated area of the current gate, the self-moving device may select the first target device and the second target device from the plurality of target devices. For example, the first target device and the second target device may be randomly selected. Or selecting the target device closest to the current gate as the first target device, and selecting the target device farthest from the current gate as the second target device.

It should be noted that before the second target device issues the door closing command, it may be determined whether there is a target device that does not pass through the current door. For example, the second target device may interact with other target devices over the network to determine whether there are target devices that do not pass through the current door. In the case where there is a target device that does not pass through the current door, the second target device may temporarily not send a door closing instruction to the door control device of the current door. In the case where there is no target device that does not pass through the current door, the second target device may perform sending of a door closing instruction to the door control device of the current door.

It should be noted that, when a plurality of target devices exist in the door control area of the current door, one target device is selected from the plurality of target devices to send the door opening instruction, and one target device is selected to send the door closing instruction. The control method is beneficial to realizing more efficient and orderly control of a plurality of self-moving equipment which need to pass through the multi-stage door, thereby further improving the control efficiency of the self-moving equipment.

In some implementations, the determining, from among the plurality of target devices, a first target device for sending a door opening instruction and a second target device for sending a door closing instruction may include: and determining a first target device and a second target device from the plurality of target devices according to the passing sequence of the target devices.

Wherein the driving-related information includes at least one of: the driving direction, priority information corresponding to the driving direction, the driving speed and the distance between the current door. In practice, the self-moving apparatus may set one priority information for each traveling direction in advance. For example, in conjunction with fig. 1, the priority of the traveling direction from zone 1 to zone 2 may be set to a high priority, and the priority of the traveling direction from zone 2 to zone 1 may be set to a low priority.

Here, the self-moving device may sort all the target devices by using the driving related information of each target device, thereby obtaining the passing order of each target device. For example, the target devices corresponding to the high priority directions may be ranked further forward, and then the target devices corresponding to the high traveling speeds may be ranked further forward.

It should be noted that the order of the target devices may be different or the same. For example, multiple target devices may pass through the current door at the same time. In practical application, for target devices in the same driving direction, the faster the target devices can pass through the current front door, the higher the ranking of the target devices is, collision and blocking can be prevented, and the target devices can pass through the current front door orderly and efficiently, so that the control efficiency of the self-moving device is further improved.

After obtaining the passing order of each target device, the self-moving device may select the first target device and the second target device according to the passing order of each target device. In practice, it is common to select the first-ranked target device as the first target device and the last-ranked target device as the second target device. When the passing sequence of each target device is the same, one target device can be selected as a first target device, and one target device can be selected as a second target device.

Fig. 5 is a schematic diagram illustrating an effect of a relative position relationship between multiple target devices according to an embodiment of the present application. As shown in fig. 5, the multi-stage door includes three doors, i.e., a door 501, a door 502, and a door 503, wherein the doors are spaced apart from each other, and the spacing between adjacent doors is not limited in the present application. The multi-level gate separates zone 1 from zone 2. In practical applications, the region 1 may be an isolation region, and the region 2 may be an external environment. Referring to fig. 5, if the current front door is the door 502, the target devices in the gating area of the current front door are: self-moving device 1, self-moving device 2, and self-moving device 3. By combining the driving related information of each target device, the passing order of each target device can be determined as follows: from mobile device 3-from mobile device 1-from mobile device 2. At this time, it may be that the self-moving apparatus 3 is taken as the first target apparatus, and the self-moving apparatus 2 is taken as the second target apparatus.

In this embodiment, the running related information of each target device is used to rank the target devices, and then the first target device and the second target device are selected based on the ranking result, which is more practical. In practical application, the target devices in the same driving direction can generally pass through the current front door faster and are ranked further ahead, so that the target devices can pass through the current front door orderly and efficiently, and the control efficiency of the self-moving device is further improved.

In an optional implementation manner of some embodiments, before controlling the mobile device to move to the gating area corresponding to the current gate, the method for controlling the mobile device to move may further include the following steps 601 to 603. Fig. 6 is a schematic flowchart of a process for controlling a self-moving device to enter a gated area of a current door according to an embodiment of the present disclosure.

Step 601, detecting whether the transition sub-region corresponding to the current door is occupied.

And the transition sub-area corresponding to the current door is a must-pass area part going to the current door in the transition area. Referring to fig. 4, the traveling direction of the self-moving apparatus 1 is from the area 2 to the area 1, and when the front door is the door 402, the transition sub-area corresponding to the door 402 is the area between the door 401 and the door 402, and for convenience of description, the area between the door 401 and the door 402 is referred to as the area a. In practice, for each door, the door control area on the side of the transition sub-area corresponding to the door belongs to the transition sub-area corresponding to the door. For example, the gating area corresponding to the gate 402 is an area obtained by extending the position of the gate 402 to the direction of the gate 401 and the direction of the gate 403 by a preset distance, and for the self-moving device 1, the transition sub-area corresponding to the gate 402 is the area a, and at this time, the gating area on the side of the area a corresponding to the gate 402 belongs to the area a.

Here, it may be detected whether the transition sub-area of the current door is occupied before the self-moving device enters the gated sub-area of the current door.

In practice, the self-moving device may detect whether the transition sub-region corresponding to the current door is occupied by receiving the region occupancy information sent by other self-moving devices in the transition sub-region. In practical applications, the area occupancy information sent from the mobile device in the transition sub-area corresponding to a certain door may indicate that the transition sub-area corresponding to the certain door is occupied.

Step 602, controlling the self-moving device to temporarily not enter the door control area of the current door under the condition that the transition sub-area corresponding to the current door is occupied.

Here, in the case where the transition sub-area corresponding to the current door is occupied, the self-moving apparatus may control the self-moving apparatus not to enter the gating area of the current door for the time being.

And step 603, controlling the self-moving equipment to enter the door control area of the current door under the condition that the transition sub-area corresponding to the current door is not occupied.

Here, in the case where the transition sub-area corresponding to the current door is unoccupied, the self-moving device may control the self-moving device to enter the gating area of the current door.

In practical applications, before entering the transition area, it is usually determined whether there are other self-moving devices in the transition area opposite to the traveling direction of the self-moving device. If the transition sub-region corresponding to the current door is occupied, the self-moving device can control the self-moving device to temporarily not enter the door control region of the current door. If the current door is not occupied, the self-moving device can control the self-moving device to enter the door control area of the current door under the condition that the transition sub-area corresponding to the current door is not occupied.

In this embodiment, the self-moving device may determine whether to enter the gating area of the current front door based on the occupancy of the transition sub-area of the current front door to be passed through, and may ensure that only one self-moving device passes through between every two doors or between a door and an isolated area at a time, which is beneficial to further ensure that two areas separated by the multi-level door are not communicated. In case the area 1 is a special isolation area, such as an infection isolation area, the potential risk of virus transmission due to the co-location of multiple devices in the same space can be avoided.

Referring to fig. 7, fig. 7 is a flowchart illustrating another implementation of a method for controlling movement from a mobile device according to an embodiment of the present application. As shown in fig. 7, in the method for controlling movement from a mobile device in this embodiment, the execution subject may be a robot, and the application scenario is that the robot enters an isolation area from the outside. In this application scenario, the isolation region may be a first region, and the outside may be a second region. The method for controlling the movement from the mobile device in this embodiment may include the following steps 701 to 710.

In step 701, the robot is located outside.

Wherein, the robot is the self-moving device.

In step 702, the robot determines whether the transition zone is occupied. If occupied, go to step 703, otherwise go to step 704.

In step 703, the robot enters a waiting area to wait.

Here, in order to prevent excessive self-moving devices from entering the multi-level doors at the same time, waiting areas may be provided in two areas partitioned by the multi-level doors, so that the number of self-moving devices in the transition area at the same time can be controlled. In connection with fig. 3, one waiting area 1 may be provided at the area 1, and another waiting area 2 may be provided at the area 2. In fig. 3, the area 1 may be a first area, i.e., an isolation area, and the area 2 may be a second area, i.e., an external area.

At step 704, the robot enters a gated area of the automatic door.

Here, the multi-stage door may have a plurality of doors, and each door may be an automatic door. Each automatic door can correspond to a door control area. When the robot enters a door control area of an automatic door, the robot can interact with the door control equipment of the automatic door to open or close the door.

Step 705, the robot sends a door open command and waits for a door to open.

In step 706, the robot determines whether the current automatic door has been opened. If it is already open, step 707 is executed, otherwise step 705 is executed.

And step 707, the robot passes through and leaves the current gating area of the automatic door, and sends a door closing instruction to wait for closing the door.

Here, when the robot travels through the door control area of the automatic door, a door closing command may be transmitted to the door control device of the automatic door.

At step 708, the robot determines whether the automatic door has been closed. If closed, go to step 709, otherwise go to step 707.

Step 709, the robot determines whether there is a next automatic door, if yes, step 704 is executed, and the above steps 704-709 are repeated. If not, go to step 710.

Here, the robot may notify that the transition area is occupied by broadcasting to other robots in the course of performing the above-described steps 704 to 709.

At step 710, the robot passes through a multi-level door.

At this time, the robot finishes passing through the multi-stage door from the outside to the isolation area, and at this time, the robot can inform the transition area that the transition area is released in a broadcasting mode.

Example four

Fig. 8 shows a block diagram of an apparatus 800 for controlling movement from a mobile device according to an embodiment of the present application, which corresponds to the method for controlling movement from a mobile device according to the foregoing embodiment, and only shows portions related to the embodiment of the present application for convenience of description.

Referring to fig. 8, the apparatus applied to a scenario of a multi-level gate disposed at a transition region connecting a first region and a second region, the transition region being provided with a plurality of gate control regions, each gate control region corresponding to one of the multi-level gates, includes:

an information obtaining unit 801, configured to control the mobile device to move to a door control area corresponding to a current door, and obtain states of other doors, where a front door is a door that the mobile device needs to pass through currently, and the other doors are doors other than the current door in the multiple doors;

a first control unit 802, configured to control a current door to be opened when at least one other door in the multi-stage doors is closed;

a second control unit 803 for controlling the self-moving apparatus to pass through the current front door upon confirming that the current front door has been opened.

In some embodiments, the apparatus further comprises a first information sending unit and a second information sending unit (not shown in the figures). The mobile device comprises a first information sending unit, a second information sending unit and a second information sending unit, wherein the first information sending unit is used for broadcasting area occupation information when the mobile device drives into a transition area, and the area occupation information is used for indicating that the transition area is occupied. And a second information sending unit for broadcasting area release information when the transition area is exited from the mobile device, the area release information indicating that the transition area is released.

In some embodiments, the first control unit 802 is specifically configured to: and controlling the current front door to be opened when the adjacent door of the current door is closed.

In some embodiments, the first control unit 802, controlling the current door to open, includes: and sending a door opening instruction to the door control equipment of the current front door, wherein the door opening instruction is used for triggering the door control equipment to open the current front door. The device also comprises an instruction sending unit, which is used for sending a door closing instruction to the door control equipment after the self-moving equipment is controlled to pass through the current front door, or sending the door closing instruction to the door control equipment after the target equipment to pass through the current door under the condition that other target equipment to pass through the current front door is determined.

In some embodiments, the sending of the door opening instruction to the door control device of the current door in the first control unit 802 includes: if a plurality of target devices are arranged in the door control area of the current front door, a first target device used for sending a door opening instruction and a second target device used for sending a door closing instruction are determined from the plurality of target devices. And sending a door opening instruction to the door control equipment through the first target equipment.

In some embodiments, determining, in the first control unit 802, a first target device for sending a door opening instruction and a second target device for sending a door closing instruction from a plurality of target devices includes: and determining a first target device and a second target device from the plurality of target devices according to the passing sequence of the target devices. Wherein the driving-related information includes at least one of: the driving direction, priority information corresponding to the driving direction, the driving speed and the distance between the current door.

In some embodiments, the apparatus further comprises an area detection unit, a first execution unit and a second execution unit (not shown in the figures). And the region detection unit is used for detecting whether the transition sub-region corresponding to the current door is occupied or not, and the transition sub-region is a necessary region part going to the current door in the transition region. And the first execution unit is used for controlling the self-moving equipment not to enter the door control area of the current door temporarily under the condition that the transition sub-area corresponding to the current door is occupied. And the second execution unit is used for controlling the self-mobile equipment to enter the door control area of the current door under the condition that the transition sub-area corresponding to the current door is not occupied.

In some embodiments, the device further comprises a third control unit. And the third control unit is used for sending a door closing instruction to the door control equipment corresponding to the target door in all other doors when the state of each other door in the multistage doors is opened, and controlling the front door to be opened when the door closing of the target door is detected, wherein the door closing instruction is used for triggering the door control equipment corresponding to the target door to close the target door.

The device provided by the embodiment controls the self-moving equipment to pass through the current door by analyzing the opening and closing conditions of the current front door and the opening and closing conditions of other doors under the condition that the self-moving equipment is in the door control area of the current door to be passed through by the self-moving equipment, so that the self-moving equipment can be controlled to pass through under the condition that the opening and closing conditions of a plurality of doors are known, and the two areas separated by the multi-stage doors are not communicated.

It should be noted that, for the information interaction, execution process, and other contents between the above-mentioned devices/units, the specific functions and technical effects thereof are based on the same concept as those of the embodiment of the method of the present application, and specific reference may be made to the part of the embodiment of the method, which is not described herein again.

Fig. 9 is a schematic structural diagram of a self-moving device 900 according to an embodiment of the present application. As shown in fig. 9, the self-moving apparatus 900 of this embodiment includes: at least one processor 901 (only one processor is shown in fig. 9), a memory 902, and a computer program 903 stored in the memory 902 and operable on the at least one processor 901, such as a program that controls movement from a mobile device. The steps in any of the various method embodiments described above are implemented when the computer program 903 is executed by the processor 901. The steps in the various embodiments of the method of controlling movement from a mobile device described above are implemented when the processor 901 executes the computer program 903. The processor 901, when executing the computer program 903, implements the functions of the various modules/units in the various device embodiments described above, such as the functions of the units 801 to 803 shown in fig. 8.

Illustratively, the computer program 903 may be divided into one or more modules/units, which are stored in the memory 902 and executed by the processor 901 to complete the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing certain functions, which are used to describe the execution of the computer program 903 in the mobile device 900. For example, the computer program 903 may be divided into an information obtaining unit, a first control unit, and a second control unit, and specific functions of each unit are described in the foregoing embodiments, and are not described herein again.

The self-moving device 900 may be a server, a desktop computer, a tablet computer, a cloud server, a mobile terminal, and other computing devices. The self-moving device 900 may include, but is not limited to, a processor 901, a memory 902. Those skilled in the art will appreciate that fig. 9 is merely an example of a self-moving device 900 and is not intended to be limiting of the self-moving device 900, and that it may include more or less components than those shown, or some of the components may be combined, or different components, e.g., the self-moving device may also include input-output devices, network access devices, buses, etc.

The Processor 901 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The storage 902 may be from an internal storage unit of the mobile device 900, such as from a hard disk or memory of the mobile device 900. The memory 902 may also be an external storage device from the mobile device 900, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) Card, Flash memory Card (Flash Card), etc. provided on the mobile device 900. Further, the memory 902 may also include both internal and external storage devices from the mobile device 900. The memory 902 is used for storing computer programs and other programs and data required from the mobile device. The memory 902 may also be used to temporarily store data that has been output or is to be output.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules, so as to perform all or part of the functions described above. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. For the specific working processes of the units and modules in the system, reference may be made to the corresponding processes in the foregoing method embodiments, which are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus/mobile device and method may be implemented in other ways. For example, the above-described apparatus/mobile device embodiments are merely illustrative, and for example, a module or a unit may be divided into only one logical function, and may be implemented in other ways, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated module, if implemented in the form of a software functional unit and sold or used as a separate product, may be stored in a computer readable storage medium. The computer readable storage medium may be non-volatile or volatile. Based on such understanding, all or part of the flow in the method of the embodiments described above can be realized by a computer program, which can be stored in a computer readable storage medium and can realize the steps of the embodiments of the methods described above when the computer program is executed by a processor. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable storage medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable storage medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable storage media that does not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present application, and they should be construed as being included in the present application.

Claims

1. A method for controlling movement from a mobile device, applied to a scenario of a multi-level door, the multi-level door being disposed in a transition region connecting a first region and a second region, the transition region being provided with a plurality of gated regions, each gated region corresponding to one of the multi-level doors, the method comprising:

controlling the self-moving equipment to move to a door control area corresponding to a current door, and acquiring states of other doors, wherein the current front door is a door which the self-moving equipment needs to pass through at present, and the other doors are doors other than the current door in the multi-stage doors;

when the state of at least one other door in the multistage doors is closed, controlling the current door to be opened;

and controlling the self-moving equipment to pass through the current front door when the current front door is confirmed to be opened.

2. The method of controlling movement from a mobile device of claim 1, further comprising:

broadcasting area occupation information when the self-mobile equipment drives into the transition area, wherein the area occupation information is used for indicating that the transition area is occupied;

broadcasting area release information when the self-mobile device exits the transition area, the area release information indicating that the transition area is released.

3. The method of claim 1, wherein controlling the current door to open when the status of at least one other door of the plurality of doors is closed comprises: and when the state of the adjacent door of the current front door is closed, controlling the current door to be opened.

4. The method of controlling movement from a mobile device according to claim 1, wherein said controlling said current door to open comprises: sending a door opening instruction to the door control equipment of the current front door, wherein the door opening instruction is used for triggering the door control equipment to open the current front door;

after the controlling the self-moving device to pass through the current front door, the method further comprises: and sending a door closing instruction to the door control equipment, or sending the door closing instruction to the door control equipment after the target equipment passes through the current front door under the condition that other target equipment to pass through the current front door is determined.

5. The method for controlling the movement from the mobile device according to claim 4, wherein the sending of the door opening instruction to the door control device of the current door comprises:

if a plurality of target devices are located in the door control area of the current front door, determining a first target device used for sending the door opening instruction and a second target device used for sending the door closing instruction from the plurality of target devices;

and sending the door opening instruction to the door control equipment through the first target equipment.

6. The method of claim 5, wherein determining, from the plurality of target devices, a first target device for sending the door open command and a second target device for sending the door close command comprises:

determining a passing order of each target device according to the driving related information of each target device, and determining the first target device and the second target device from the plurality of target devices according to the passing order of each target device;

wherein the driving-related information includes at least one of: the driving direction, priority information corresponding to the driving direction, the driving speed and the distance between the current front door.

7. The method of any one of claims 1-6, wherein prior to the controlling the mobile device moving to the gated area corresponding to the current gate, the method further comprises:

detecting whether a transition sub-region corresponding to the current door is occupied or not, wherein the transition sub-region is a must-pass region part going to the current door in the transition region;

controlling the self-moving equipment to temporarily not enter a gating area of the current door under the condition that a transition sub-area corresponding to the current door is occupied;

and controlling the self-moving equipment to enter the door control area of the current front door under the condition that the transition sub-area corresponding to the current front door is not occupied.

8. The method of any of claims 1-6, wherein the method further comprises:

when the state of each other door in the multistage door is open, sending a door closing instruction to the door control equipment corresponding to a target door in all other doors, and when the target door is detected to be closed, controlling the current door to be opened, wherein the door closing instruction is used for triggering the door control equipment corresponding to the target door to close the target door.

9. A self-moving device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of controlling movement of the self-moving device according to any one of claims 1 to 8 when executing the computer program.

10. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, carries out the method of controlling movement from a mobile device according to any one of claims 1 to 8.