Method, system and equipment for controlling robot to enter and exit from garage, robot and medium

Abstract

The invention discloses a control method, system and device for a robot to go in and out of a garage, the robot and a medium, and relates to the field of automatic control. A charging pile sends a door opening instruction to instruct the garage to open a garage door when detecting that a charging task is finished, and meanwhile receives garage door state information indicating the position of the garage door to determine the position of the garage door; a garage exit signal is emitted when the garage door reaches the opening position, and the robot can drive away from the garage when receiving the garage exit signal emitted by the charging pile; when the garage door is opened to a certain degree, the charging pile can indicate the robot to drive away from the garage through the garage-out signal. By establishing signal transmission between the garage and the charging pile and between the charging pile and the robot, linkage control over entering and exiting of the robot from the garage and opening and closing of the garage door is achieved, and therefore the abnormal conditions such as collision caused by incomplete opening of the garage door under the condition that the robot drives away from the garage are avoided; and the safety and reliability of the robot in the garage entering and exiting process are ensured.

Description

Technical Field

[0001] The present invention relates to the field of automatic control, and in particular to a control method, system, electronic equipment and medium for a robot to enter and exit a garage. Background Art

[0002] At present, in order to increase the life of the charging pile and avoid the impact of factors such as weather on the life of the charging pile and charging safety, some charging piles are equipped with closed garages outside, and the charging piles are set inside the garage. In this case, after charging is completed, the robot needs to leave the garage, and it takes a certain amount of time for the garage door to open. It is possible that the robot has moved out of the garage before the garage door is fully opened, causing the robot to collide with the garage. How to avoid such collisions and ensure the safety of the robot when leaving the garage has become a technical problem that needs to be solved at present. Summary of the invention

[0003] The purpose of the present invention is to provide a control method, system, device, robot and medium for a robot to enter and exit a garage. By establishing signal transmission between the garage and a charging pile and between the charging pile and the robot, linkage control of the robot's entry and exit of the garage and the opening and closing of the garage door can be achieved, thereby avoiding abnormal situations such as collision caused by the garage door not being fully opened when the robot leaves the garage, thereby ensuring the safety and reliability of the robot in the process of entering and exiting the garage.

[0004] In order to solve the above technical problems, the present invention provides a first control method for a robot to enter and exit a garage, comprising:

[0005] When the charging pile detects that the charging task is finished, the charging pile sends a door opening instruction to the garage, and the door opening instruction is used to instruct the garage to control the garage door to open;

[0006] The charging pile receives garage door status information sent by the garage, where the garage door status information is used to indicate the position of the garage door;

[0007] If the garage door status information indicates that the garage door has reached an open position, the charging pile transmits an exit signal, so that the robot leaves the garage after receiving the exit signal.

[0008] Optionally, the charging pile transmits the outbound signal through a positioning device of the charging pile;

[0009] The positioning device is also used to transmit a positioning signal so that the robot can determine the relative position of the robot and the charging pile according to the positioning signal.

[0010] Optionally, the positioning device of the charging pile is an infrared transmitting tube, the robot is provided with an infrared receiving tube, and the outbound signal is an infrared coded signal;

[0011] The charging pile transmits the outbound signal through a positioning device of the charging pile, including:

[0012] The charging pile transmits the infrared coding signal through the infrared transmitting tube, so that the robot receives the infrared coding signal through the infrared receiving tube.

[0013] Optionally, also include:

[0014] When the charging pile detects that a charging task has started, the charging pile sends a door closing instruction to the garage, where the door closing instruction is used to instruct the garage to control the garage door to close.

[0015] Optionally, also include:

[0016] The charging pile detects a heartbeat signal sent by the garage;

[0017] In the case where the heartbeat signal is not detected, when the charging pile detects that the charging task is completed, the charging pile directly transmits the out-of-warehouse signal.

[0018] In order to solve the above technical problems, the present invention also provides a second control method for a robot to enter and exit a garage, comprising:

[0019] When the robot meets the charging end condition, the robot moves the target distance to separate the charging end of the robot from the charging end of the charging pile. When the charging end of the robot is separated from the charging end of the charging pile, the charging task is completed, so that the charging pile sends a door opening command to the garage, and the door opening command is used to instruct the garage to control the garage door to open;

[0020] The robot receives an exit signal emitted by the charging pile, and leaves the garage according to the exit signal, wherein the exit signal is emitted by the charging pile after determining that the garage door reaches an open position.

[0021] In order to solve the above technical problems, the present invention also provides a third method for controlling a robot to enter and exit a garage, comprising:

[0022] The garage receives a door opening instruction sent by the charging pile, and controls the garage door of the garage to open according to the door opening instruction, wherein the door opening instruction is sent by the charging pile when the charging task is detected to be finished;

[0023] The garage sends garage door status information to the charging pile, and the garage door status information is used to indicate the position of the garage door, so that the charging pile transmits an exit signal when determining that the garage door reaches the open position, and the exit signal is used to instruct the robot to leave the garage.

[0024] Optionally, also include:

[0025] The garage detects a heartbeat signal sent by the charging pile;

[0026] When the heartbeat signal is not detected, the garage controls the garage door to remain in the open position.

[0027] In order to solve the above technical problems, the present invention also provides a control system for a robot to enter and exit a garage, comprising a garage, a charging pile and a robot, wherein the garage is communicatively connected with the charging pile;

[0028] The charging pile is used to execute the steps of the first method for controlling the robot to enter and exit the garage;

[0029] The robot is used to perform the steps of the second method for controlling the robot to enter and exit the garage;

[0030] The garage is used to execute the steps of the third method for controlling the robot to enter and exit the garage.

[0031] In order to solve the above technical problems, the present invention further provides an electronic device, comprising:

[0032] Memory for storing computer programs;

[0033] A processor is used to execute the computer program to implement the steps of the control method for the robot to enter and exit the garage as described above.

[0034] In order to solve the above technical problems, the present invention further provides a robot, comprising:

[0035] Memory for storing computer programs;

[0036] A processor is used to execute the computer program to implement the steps of the control method for the robot to enter and exit the garage as described above.

[0037] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method for the robot entering and exiting the garage as described above are implemented.

[0038] The present invention provides a control method for a robot to enter and exit a garage. When the charging pile detects that the charging task is finished, it sends a door opening command to instruct the garage to open the garage door. At the same time, it receives garage door status information indicating the position of the garage door to determine the position of the garage door, and transmits a depot signal when the garage door reaches the open position. When the robot receives the depot signal transmitted by the charging pile, it will leave the garage; when the garage door is ensured to be opened to a certain extent, the charging pile will use the depot signal to instruct the robot to leave the garage. By establishing signal transmission between the garage and the charging pile and between the charging pile and the robot, the linkage control of the robot entering and exiting the garage and the opening and closing of the garage door is realized, thereby avoiding abnormal situations such as collision caused by the garage door not being fully opened when the robot leaves the garage, and ensuring the safety and reliability of the robot in the process of entering and exiting the garage.

[0039] The present invention also provides two other control methods for robots entering and exiting a garage, a control system for robots entering and exiting a garage, electronic equipment, a robot, and a computer-readable storage medium, which have the same beneficial effects as the above-mentioned control method for robots entering and exiting a garage. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the prior art and the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A schematic flow chart of a first method for controlling a robot to enter and exit a garage provided by the present invention;

[0042] Figure 2 A schematic flow chart of a second method for controlling a robot to enter and exit a garage provided by the present invention;

[0043] Figure 3 A schematic diagram of the position change of the robot provided by the present invention when charging and when charging is finished;

[0044] Figure 4 A schematic flow chart of a third method for controlling a robot to enter and exit a garage provided by the present invention;

[0045] Figure 5 The present invention provides a schematic structural diagram of an electronic device. DETAILED DESCRIPTION

[0046] The core of the present invention is to provide a control method, system, equipment, robot and medium for a robot to enter and exit a garage. By establishing signal transmission between the garage and the charging pile and between the charging pile and the robot, the linkage control of the robot entering and exiting the garage and the opening and closing of the garage door is realized, thereby avoiding abnormal situations such as collision caused by the garage door not being fully opened when the robot leaves the garage, and ensuring the safety and reliability of the robot entering and exiting the garage.

[0047] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Please refer to Figure 1 , Figure 1 The present invention provides a flow chart of a first method for controlling a robot to enter and exit a garage. To solve the above technical problems, the present invention provides a method for controlling a robot to enter and exit a garage, comprising:

[0049] S11: When the charging pile detects that the charging task is completed, the charging pile sends a door opening command to the garage, and the door opening command is used to instruct the garage to control the garage door to open;

[0050] It is not difficult to understand that when the robot needs to leave the garage, the robot needs to first disconnect the charging connection with the charging pile to stop charging, and then continue to drive in the direction of the garage door to leave the garage. Therefore, the charging pile of the charging pile can judge whether the robot has the need to leave the garage according to whether the robot stops charging, that is, whether the charging task is completed, so as to cooperate with the process of controlling the garage door. The charging pile can judge whether the robot stops charging in a variety of ways, and this application does not make special restrictions here; the charging pile generally connects the robot to be charged through the charging electrode to establish a conductive charging circuit, so as to charge the robot. Therefore, the charging pile can judge whether the robot stops charging by the connection status of the charging electrode or the conductive status of the charging circuit. Specifically, it can be determined whether the charging electrode is in a conductive charging circuit by detecting current or voltage, and the detection result of the current or voltage detection module connected in series with the charging electrode can directly reflect whether the charging circuit in which the charging electrode is located is conductive or not.

[0051] It is understandable that once the robot stops charging, it means that the robot needs to leave the garage. At this time, the charging pile needs to send a door opening command to the garage. After receiving the door opening command, the garage will control the garage door to open, so that the robot can leave the garage with the garage door open. The specific type and implementation method of the door opening command are not particularly limited in this application, and can be implemented by computer instructions or control signals.

[0052] S12: The charging pile receives garage door status information sent by the garage, where the garage door status information is used to indicate the position of the garage door;

[0053] It is not difficult to understand that although the garage has already controlled the garage door to open when receiving the door opening command, it takes a certain amount of time to open the garage door, and the robot itself has a certain height and volume. When the garage door is opened to a certain extent, the robot can safely leave the garage without collision. Therefore, during the opening process of the garage door, the charging pile needs to judge whether the robot can safely leave the garage according to the position of the garage door. Therefore, the garage will send the garage door status information to the charging pile, so that the charging pile can determine the position of the garage door in real time according to the garage door status information; when the garage door is opened to a certain extent, the charging pile determines that the current garage door has been opened to a degree that can ensure the robot's safe departure, and then transmits a warehouse exit signal to instruct the robot to leave the garage. In this application, the opening position of the garage door that can ensure that the robot can safely leave the garage without collision will be determined according to the actual situation of the robot. Therefore, when the charging pile determines that the garage door has reached the opening position according to the garage door status information, it will transmit a warehouse exit signal.

[0054] It should be noted that the opening position can be the minimum opening degree of the garage door that can ensure that the robot can safely leave the garage without collision, which is determined according to the size of the robot and the setting form of the garage door; it can also be the corresponding position when the garage door is fully opened. It only needs to be a position greater than this minimum opening degree to ensure that the robot can safely leave the garage. Therefore, there are many ways to select the specific opening position. For example, when the garage door is implemented in the form of a rolling door, since the start of the rolling door is achieved by rolling up the door curtain from bottom to top, when determining the opening position, it is necessary to determine the minimum height of the garage door that can ensure that the robot can safely leave the garage without collision. This height needs to be determined based on the height of the robot itself and needs to be slightly greater than the height of the robot; or the opening position can be directly set to the height corresponding to the garage door after it is fully opened. The specific implementation method of the opening position and the garage door status information is not particularly limited in this application. The garage door status information can be implemented by computer instructions, control signals, etc. The garage can provide real-time feedback of the degree of opening of the garage door to the charging pile, and define the feedback information as the garage door status information when the garage door opens to the open position. It can also provide feedback of the garage door status information to the charging pile after the garage door opens to the open position. There are many ways to return the garage door status information, and this application does not make any special restrictions here. There are also many ways to judge and detect the degree of opening of the garage door. Sensors can be used to detect the position of a specific part of the garage door. Once the specific part reaches a preset position, it means that the garage door has been opened to the open position. If the opening of the garage door is driven by a motor, it can also be achieved by judging whether the number of revolutions of the motor or the rotation time of the motor reaches a preset value, etc. This application does not make any special restrictions here.

[0055] S13: If the garage door status information indicates that the garage door has reached the open position, the charging pile transmits an exit signal, so that the robot leaves the garage after receiving the exit signal.

[0056] It is understandable that the charging pile can inform the robot that it can start the movement operation of leaving the garage by sending an exit signal. The specific type and implementation method of the exit signal are not particularly limited in this application and can be implemented through computer instructions and other methods.

[0057] It should be noted that the robot will not move out of the garage before receiving the exit signal, that is, after the robot disconnects the charging connection with the charging pile, it can stop moving or move to a pre-set safe position and wait for the instruction of the charging pile until it receives the exit signal, at which time the robot will start the movement process of leaving the garage. This application does not make any special restrictions on the actions of the robot between stopping charging and starting to leave the garage, and only needs to ensure the safety of the robot.

[0058] It is not difficult to understand that the execution subjects of step S11, step S12, and step S13 are all charging piles, which can be specifically charging pile controllers set in the charging piles, and can be directly reused to control the charging controller in the charging piles; the signal transmission of the garage can be implemented by a garage controller set in the garage to control the opening and closing of the garage door. In order to facilitate the implementation of the entire control process, a communication connection is pre-established between the garage and the charging pile to facilitate the reception and transmission of signals. This communication connection can be a wired connection or a wireless connection. For example, the garage and the charging pile are connected via a serial port wired connection, such as a universal asynchronous receiver / transmitter (UART) and the like. The specific type and implementation method of this communication connection are not specifically limited in this application. The specific type and implementation method of the charging pile, garage, robot, and garage door are not specifically limited in this application, and can be set and adjusted according to the actual application scenario.

[0059] The present invention provides a control method for a robot to enter and exit a garage. When the charging pile detects that the charging task is finished, it sends a door opening command to instruct the garage to open the garage door. At the same time, it receives garage door status information indicating the position of the garage door to determine the position of the garage door, and transmits a depot signal when the garage door reaches the open position. When the robot receives the depot signal transmitted by the charging pile, it will leave the garage. When the charging pile ensures that the garage door is opened to a certain extent, the charging pile will use the depot signal to instruct the robot to leave the garage. By establishing signal transmission between the garage and the charging pile and between the charging pile and the robot, the linkage control of the robot entering and exiting the garage and the opening and closing of the garage door is realized, thereby avoiding abnormal situations such as collision caused by the garage door not being fully opened when the robot leaves the garage, and ensuring the safety and reliability of the robot in the process of entering and exiting the garage.

[0060] Based on the above embodiments:

[0061] As an optional embodiment, the charging pile transmits a depot signal through a positioning device of the charging pile;

[0062] The positioning device is also used to transmit a positioning signal so that the robot can determine the relative position of the robot and the charging pile according to the positioning signal.

[0063] Considering that the robot has not only the application scenario of leaving the garage, but also the application scenario of entering the garage, in order to facilitate the robot to enter the garage at any time, after the robot leaves the garage, the garage will control the garage door to always remain in the open position, that is, after the robot leaves the garage, the garage door always remains open. When the robot needs to enter the garage, it can directly enter through the open garage door. During the robot's entry, the robot needs to determine the relative position between itself and the charging pile to accurately move to the charging pile for charging. Therefore, a positioning device can be added to the charging pile. The positioning device can help the robot determine the relative position between itself and the charging pile by transmitting a positioning signal. At the same time, considering that when the robot leaves the garage, the outbound signal sent by the charging pile also needs to be transmitted to the robot to indicate the movement of the robot, so the transmission of the outbound signal can also be directly realized by this positioning device.

[0064] Furthermore, the charging pile can send a positioning signal through a positioning device to help the robot determine the relative position between itself and the charging pile in real time. The robot adjusts its moving direction and moving distance according to this relative position until it reaches the charging position of the charging pile and connects with the charging pole of the charging pile, thereby entering the charging process. Once the robot starts charging, the charging pile can determine that the robot has completed the process of entering the garage. At this time, a door closing command can be sent to the garage. The garage can control the garage door to close after receiving the door closing command. The specific types and implementation methods of the positioning signal and the door closing command are not particularly limited in this application, and can be implemented by computer instructions or control signals.

[0065] Specifically, the positioning device can output a positioning signal to help the robot determine the relative position between itself and the charging pile, making it convenient for the robot to charge. The present application implements the function of the charging pile transmitting an out-of-warehouse signal by reusing the positioning device, so that the robot and the charging pile do not need to set up a wireless communication module for communication, thus saving costs.

[0066] As an optional embodiment, the positioning device of the charging pile is an infrared transmitting tube, the robot is provided with an infrared receiving tube, and the outbound signal is an infrared coded signal;

[0067] The charging pile transmits a signal for leaving the warehouse through the positioning device of the charging pile, including:

[0068] The charging pile transmits the infrared coding signal through the infrared transmitting tube so that the robot can receive the infrared coding signal through the infrared receiving tube.

[0069] It is understandable that the positioning device can be specifically implemented by means of infrared equipment, and therefore can be implemented by setting an infrared transmitting tube on the charging pile and an infrared receiving tube on the robot. In this case, the charging pile will implement the outbound signal by means of an infrared coded signal, thereby realizing the control process of the charging pile over the robot, and the executor of this step of transmitting the infrared coded signal is the charging pile. The number and location of the infrared transmitting tube and the infrared receiving tube can be adjusted according to the actual application situation and the signal coverage range, and this application does not make any special restrictions here.

[0070] As a specific embodiment, in order to ensure the signal coverage between the charging pile and the robot, the infrared transmitting tube in the charging pile can be arranged in sequence from left to right to arrange four infrared transmitting tubes 1, 2, 3, and 4 on the charging side. The robot is similar to two infrared receiving tubes 5 and 6, which can receive the infrared signal sent by the charging pile. When the garage space is small and the robot is limited by space in the garage, the signal coverage of infrared transmitting tubes 2 and 3 can usually cover the entire garage. At this time, infrared transmitting tubes 2 and 3 can be used to transmit infrared coded signals. Therefore, the specific number and location of infrared transmitting tubes and infrared receiving tubes can be adjusted and set according to the actual application conditions such as the size of the garage space.

[0071] Specifically, the control process of the robot by the charging pile can be realized by setting an infrared transmitting tube and an infrared receiving tube on the robot and the charging pile respectively, ensuring that the robot can accurately and effectively receive the out-of-garage signal, thereby realizing a safe and reliable process of leaving the garage.

[0072] As an optional embodiment, it also includes:

[0073] When the charging pile detects that the charging task has started, the charging pile sends a door closing command to the garage, and the door closing command is used to instruct the garage to control the garage door to close.

[0074] It is not difficult to understand that the robot not only has the application scenario of driving out of the garage, but also has the application scenario of driving into the garage. The robot needs to drive into the garage for charging. After entering the garage, the robot will move to the vicinity of the charging pile, reach the charging position near the charging pile, and connect with the charging pole of the charging pile to enter the charging process. Once the robot starts charging, the charging pile can determine that the robot has completed the process of entering the garage. At this time, a door closing command can be sent to the garage. The garage can control the garage door to close after receiving the door closing command, thereby avoiding collisions when the robot enters the garage. The specific type and implementation method of the door closing command are not particularly limited in this application, and can be implemented by computer instructions or control signals.

[0075] As a specific embodiment, in the application scenario of the robot driving into the garage, when the robot determines that it needs to drive into the garage, the robot receives the infrared signal emitted by the charging pile to determine the relative position of the robot relative to the charging pile, and then adjusts the robot's posture and moves toward the charging pile to achieve docking between the robot and the charging pole of the charging pile. When the charging pile detects the start of the charging task, that is, the charging pile starts to charge the robot, the charging pile sends a door closing command to the garage, and the garage controls the garage door to close according to the door closing command.

[0076] Specifically, after the robot drives into the garage, the charging pile can also determine whether the robot has entered the garage based on the charging status of the robot, thereby controlling the closing of the garage door through the garage, so that the garage door can remain closed when the robot is charging in the garage, thereby ensuring the safety of the robot when entering the garage.

[0077] As an optional embodiment, it also includes:

[0078] The charging pile detects the heartbeat signal sent by the garage;

[0079] If no heartbeat signal is detected, when the charging pile detects that the charging task is completed, the charging pile directly transmits a departure signal.

[0080] It is not difficult to understand that in order to ensure the accurate implementation of the entire control process, a heartbeat signal can be pre-set to realize the heartbeat detection between the charging pile and the garage. The garage will send a heartbeat signal in real time under normal working conditions. In this embodiment, the execution subject of these steps is the charging pile. For the charging pile, if it can receive the heartbeat signal sent by the garage, it means that the garage is working normally and the charging pile is normally set in the garage. At this time, it can jump to step S11 and execute subsequent steps S12 and S13 to control the robot to leave the garage. When the charging pile cannot receive the heartbeat signal sent by the garage, it means that there is an abnormality in the garage, which may be that the charging pile itself is not set in the garage. At this time, when the charging pile determines that the robot stops charging, it will directly jump to step S13, that is, directly send a warehouse exit signal to control the robot to leave the garage.

[0081] As a specific embodiment, the charging pile can perform heartbeat detection with the garage. If the charging pile does not detect the heartbeat information sent by the garage, it is determined that there is no garage outside the charging pile. At this time, in the robot driving out scene, the robot's charging pole piece docks with the charging pole piece of the charging pile for charging. When the robot determines that it needs to drive out of the garage, the robot first moves the target distance to separate the robot from the charging pole piece of the charging pile, and the charging is completed. When the charging pile determines that charging is completed, it encodes the infrared signal to obtain an infrared coded signal, which directly indicates that the garage is not installed. The robot directly drives away from the charging pile according to the infrared coded signal.

[0082] Specifically, heartbeat detection can be used to determine whether the charging pile is set in the garage, and different operations can be performed according to different heartbeat detection results to control the robot to safely leave the garage, so that the control method of the robot entering and exiting the garage can be applicable to different scenarios, thereby improving the flexibility of the entire control method.

[0083] Please refer to Figure 2 , Figure 2 This is a flow chart of the second method for controlling a robot to enter and exit a garage provided by the present invention; please refer to Figure 3 , Figure 3 The schematic diagram of the position change of the robot provided by the present invention during charging and when charging is finished; To solve the above technical problems, the present invention also provides another control method for the robot to enter and exit the garage, including:

[0084] S21: When the robot meets the charging end condition, the robot moves the target distance to separate the charging end of the robot from the charging end of the charging pile. When the charging end of the robot is separated from the charging end of the charging pile, the charging task is completed, so that the charging pile sends a door opening command to the garage. The door opening command is used to instruct the garage to control the garage door to open;

[0085] S22: The robot receives the exit signal emitted by the charging pile, and leaves the garage according to the exit signal. The exit signal is emitted by the charging pile after determining that the garage door has reached the open position.

[0086] It can be understood that the executor of this step in this embodiment is a robot. When the robot needs to leave the garage, it first needs to stop charging, that is, disconnect the charging connection between itself and the charging pile to inform the charging pile of its need to leave the garage. During the charging process, the robot forms a conductive charging circuit by contacting the charging pole of the charging pile. Therefore, disconnecting the charging connection between the robot and the charging pile can achieve separation from the charging pole by moving the robot a short distance, thereby stopping charging. The target distance that the robot needs to move to stop charging is a shorter distance relative to leaving the garage, and it only needs to separate from the charging pole, such as Figure 3 As shown, Figure 3 A schematic diagram showing the position change of the robot from the charging state to the stop charging state after moving the target distance. The target distance is a very short distance, and this distance must be less than the shortest straight-line distance between the robot and the garage door to avoid the robot colliding with the garage door when stopping charging. The specific implementation method of the robot stopping charging can be set and adjusted according to its specific charging method. When the robot is charging by contacting the charging electrode, the robot can stop charging by moving the target distance first, which is simple, effective and easy to implement.

[0087] As a specific embodiment, in the application scenario where the robot drives out of the garage, the charging electrode of the robot is docked with the charging electrode of the charging pile for charging. When the robot determines that it needs to drive out of the garage, the robot first moves the target distance to separate the robot from the charging electrode of the charging pile. At this time, the robot is still in the garage, but the charging is finished. When the charging pile determines that the charging is finished, it sends a door opening command to the garage, and the garage controls the garage door to open according to the door opening command. During the door opening process, the garage monitors whether the garage door is fully opened. The garage can send garage door status information to the charging pile. If the garage door status information indicates that the garage door is fully opened, the charging pile encodes the infrared signal and transmits the encoded infrared coded signal through the infrared transmitting tube of the charging pile. When the robot receives the infrared coded signal, it determines that the garage door is fully opened. At this time, the robot can be controlled to move outside the garage to drive out of the garage.

[0088] For an introduction to the second method for controlling the robot to enter and exit a garage provided by the present invention, please refer to the embodiment of the method for controlling the robot to enter and exit a garage described above, and the present invention will not go into details here.

[0089] Please refer to Figure 4 , Figure 4 The present invention provides a flow chart of a third method for controlling a robot to enter and exit a garage. To solve the above technical problems, the present invention also provides a method for controlling a robot to enter and exit a garage, comprising:

[0090] S31: The garage receives a door opening command sent by the charging pile, and controls the garage door to open according to the door opening command. The door opening command is sent by the charging pile when it detects that the charging task is finished;

[0091] S32: The garage sends garage door status information to the charging pile. The garage door status information is used to indicate the position of the garage door, so that the charging pile transmits an exit signal when it determines that the garage door reaches the open position. The exit signal is used to instruct the robot to leave the garage.

[0092] For an introduction to the third method for controlling the robot to enter and exit a garage provided by the present invention, please refer to the above-mentioned embodiment of the method for controlling the robot to enter and exit a garage, and the present invention will not elaborate on it here.

[0093] As an optional embodiment, it also includes:

[0094] The garage detects the heartbeat signal sent by the charging pile;

[0095] In the event that no heartbeat signal is detected, the garage control garage door remains in the open position.

[0096] It can be understood that the executor of these steps in the present embodiment is the garage. Considering that the charging pile itself may have abnormalities during the control process, and the control process may be abnormal due to communication connection or other factors, there may be errors in the control of the robot by the charging pile at this time. Therefore, the heartbeat detection between the charging pile and the garage needs to be realized by the sending and receiving of heartbeat signals between the charging pile and the garage. That is, while the charging pile receives the heartbeat signal sent by the garage, it will also send a heartbeat signal to the garage in real time. The garage will also determine whether it has received the heartbeat signal sent by the charging pile. If so, it means that the entire control method can be implemented normally, and the garage waits for the instruction of the charging pile to control the garage door; if not, it means that there is an abnormality in the current control process. At this time, in order to ensure the safety of the robot, the garage will control the garage door to always remain in the open position. The preferred embodiment is to control the garage door to always remain in a fully open state.

[0097] Specifically, when there is an abnormality in the communication between the garage and the charging pile, the garage can promptly control the garage door to keep it open, thereby effectively avoiding the situation where the robot collides with the garage door due to abnormal conditions, further ensuring the safety of the robot.

[0098] In order to solve the above technical problems, the present invention also provides a control system for a robot to enter and exit a garage, comprising a garage, a charging pile and a robot, wherein the garage is communicatively connected with the charging pile;

[0099] The charging pile is used to execute the steps of the first method for controlling the robot to enter and exit the garage;

[0100] The robot is used to perform the steps of the second method for controlling the robot to enter and exit the garage;

[0101] The garage is used to execute the steps of the third method for controlling the robot to enter and exit the garage.

[0102] For an introduction to a control system for a robot entering and exiting a garage provided by the present invention, please refer to the embodiment of the control method for a robot entering and exiting a garage described above, and the present invention will not be repeated here.

[0103] Please refer to Figure 5 , Figure 5 The present invention provides a schematic diagram of the structure of an electronic device. To solve the above technical problems, the present invention also provides an electronic device, including:

[0104] A memory 21, used for storing computer programs;

[0105] The processor 22 is used to execute the computer program to implement the steps of the control method for the robot to enter and exit the garage as described above.

[0106] Among them, the processor 22 may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor 22 can be implemented in at least one hardware form of DSP (Digital Signal Processor), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor 22 may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit; the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor 22 may integrate a GPU (graphics processing unit), which is responsible for rendering and drawing the content to be displayed on the display screen. In some embodiments, the processor 22 may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0107] The memory 21 may include one or more computer-readable storage media, which may be non-transitory. The memory 21 may also include a high-speed random access memory, and a non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory 21 is at least used to store the following computer program, wherein, after the computer program is loaded and executed by the processor 22, the relevant steps of the control method for the robot to enter and exit the garage disclosed in any of the aforementioned embodiments can be implemented. In addition, the resources stored in the memory 21 may also include an operating system and data, etc., and the storage method may be short-term storage or permanent storage. Among them, the operating system may include Windows, Unix, Linux, etc. The data may include, but is not limited to, data of the control method for the robot to enter and exit the garage, etc.

[0108] In some embodiments, the electronic device may further include a display screen, an input and output interface, a communication interface, a power supply, and a communication bus.

[0109] It can be understood by those skilled in the art that Figure 5 The structure shown in the figure does not constitute a limitation on the electronic device, and may include more or fewer components than shown in the figure.

[0110] For an introduction to an electronic device provided by the present invention, please refer to the embodiment of the control method for a robot to enter and exit a garage, and the present invention will not be described in detail here.

[0111] In order to solve the above technical problems, the present invention further provides a robot, comprising:

[0112] Memory for storing computer programs;

[0113] A processor is used to execute the computer program to implement the steps of the third method for controlling the robot to enter and exit the garage as described above.

[0114] Among them, the processor may include one or more processing cores, such as a 4-core processor, an 8-core processor, etc. The processor can be implemented in at least one hardware form of DSP (Digital Signal Processor), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). The processor may also include a main processor and a coprocessor. The main processor is a processor for processing data in the awake state, also known as a central processing unit; the coprocessor is a low-power processor for processing data in the standby state. In some embodiments, the processor may integrate a GPU (graphics processing unit), which is responsible for rendering and drawing the content that needs to be displayed on the display screen. In some embodiments, the processor may also include an AI (Artificial Intelligence) processor, which is used to process computing operations related to machine learning.

[0115] The memory may include one or more computer-readable storage media, which may be non-transitory. The memory may also include high-speed random access memory, and non-volatile memory, such as one or more disk storage devices, flash memory storage devices. In this embodiment, the memory is at least used to store the following computer program, wherein, after the computer program is loaded and executed by the processor, the relevant steps of the control method for the robot to enter and exit the garage disclosed in any of the aforementioned embodiments can be implemented. In addition, the resources stored in the memory may also include an operating system and data, etc., and the storage method may be short-term storage or permanent storage. Among them, the operating system may include Windows, Unix, Linux, etc. The data may include, but is not limited to, data of the control method for the robot to enter and exit the garage, etc.

[0116] For an introduction to an electronic device provided by the present invention, please refer to the embodiment of the control method for a robot to enter and exit a garage, and the present invention will not be described in detail here.

[0117] In order to solve the above technical problems, the present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the control method for a robot entering and exiting a garage as described above are implemented.

[0118] It is understandable that if the method in the above embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium to execute all or part of the steps of the method described in each embodiment of the present application. Specifically, the computer-readable storage medium may include but is not limited to any type of disk, including a floppy disk, an optical disk, and a mobile hard disk, or any type of medium or device suitable for storing instructions, data, etc., and the present application does not make any special restrictions here.

[0119] For an introduction to a computer-readable storage medium provided by the present invention, please refer to the above-mentioned embodiment of the control method for a robot to enter and exit a garage, and the present invention will not be repeated here.

[0120] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. It should also be noted that in this specification, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements includes not only those elements, but also other elements that are not explicitly listed, or also include elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements.

[0121] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling a robot to enter and exit a garage, characterized in that: include: When the charging pile detects that the charging task is finished, the charging pile sends a door opening instruction to the garage, and the door opening instruction is used to instruct the garage to control the garage door to open; The charging pile receives garage door status information sent by the garage, where the garage door status information is used to indicate the position of the garage door; If the garage door status information indicates that the garage door has reached an open position, the charging pile transmits an exit signal, so that the robot leaves the garage after receiving the exit signal.

2. The control method for a robot to enter and exit a garage as claimed in claim 1, characterized in that: The charging pile transmits the outbound signal through the positioning device of the charging pile; The positioning device is also used to transmit a positioning signal so that the robot can determine the relative position of the robot and the charging pile according to the positioning signal.

3. The control method for a robot to enter and exit a garage as claimed in claim 2, characterized in that: The positioning device of the charging pile is an infrared transmitting tube, the robot is provided with an infrared receiving tube, and the outbound signal is an infrared coded signal; The charging pile transmits the outbound signal through a positioning device of the charging pile, including: The charging pile transmits the infrared coding signal through the infrared transmitting tube, so that the robot receives the infrared coding signal through the infrared receiving tube.

4. The control method for a robot to enter and exit a garage as claimed in claim 1, characterized in that: Also includes: When the charging pile detects that a charging task has started, the charging pile sends a door closing instruction to the garage, where the door closing instruction is used to instruct the garage to control the garage door to close.

5. The method for controlling a robot to enter and exit a garage according to any one of claims 1 to 4, characterized in that: Also includes: The charging pile detects a heartbeat signal sent by the garage; In the case where the heartbeat signal is not detected, when the charging pile detects that the charging task is completed, the charging pile directly transmits the out-of-warehouse signal.

6. A method for controlling a robot to enter and exit a garage, characterized in that: include: When the robot meets the charging end condition, the robot moves the target distance to separate the charging end of the robot from the charging end of the charging pile. When the charging end of the robot is separated from the charging end of the charging pile, the charging task is completed, so that the charging pile sends a door opening command to the garage, and the door opening command is used to instruct the garage to control the garage door to open; The robot receives an exit signal emitted by the charging pile, and leaves the garage according to the exit signal, wherein the exit signal is emitted by the charging pile after determining that the garage door reaches an open position.

7. A method for controlling a robot to enter and exit a garage, characterized in that: include: The garage receives a door opening instruction sent by the charging pile, and controls the garage door of the garage to open according to the door opening instruction, wherein the door opening instruction is sent by the charging pile when the charging task is detected to be finished; The garage sends garage door status information to the charging pile, and the garage door status information is used to indicate the position of the garage door, so that the charging pile transmits an exit signal when determining that the garage door reaches the open position, and the exit signal is used to instruct the robot to leave the garage.

8. The control method for a robot to enter and exit a garage as claimed in claim 7, characterized in that: Also includes: The garage detects a heartbeat signal sent by the charging pile; When the heartbeat signal is not detected, the garage controls the garage door to remain in the open position.

9. A control system for a robot to enter and exit a garage, characterized in that: It includes a garage, a charging pile and a robot, wherein the garage is communicatively connected with the charging pile; The charging pile is used to perform the steps of the method for controlling the robot to enter and exit the garage as claimed in any one of claims 1 to 5; The robot is used to perform the steps of the method for controlling the robot to enter and exit the garage as claimed in claim 6; The garage is used to execute the steps of the method for controlling a robot to enter and exit a garage as described in claim 7 or 8.

10. An electronic device, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program to implement the steps of the method for controlling the robot to enter and exit the garage as described in any one of claims 1 to 5.

11. A robot, characterized in that: include: Memory for storing computer programs; A processor is used to execute the computer program to implement the steps of the method for controlling the robot to enter and exit the garage as claimed in claim 6.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for controlling a robot to enter and exit a garage as described in any one of claims 1 to 5 are implemented.

Images