Door opening area obtaining method, robot and robot door passing method

Abstract

The invention relates to a door opening area obtaining method, a robot and a robot door passing method. The method comprises the steps that in the moving process of a robot, a target door corresponding to the robot is obtained; a door line of the target door is obtained, the door opening direction of the target door is obtained, and the door line of the target door is used for distinguishing the inner side and the outer side of the target door and corresponds to the width of the target door; and the door opening area of the target door is obtained according to the door line of the target door and the door opening direction of the target door, so that the robot avoids the door opening area of the target door when the target door is opened or closed. On the basis of the method and the device, the door opening areas of the passing doors are obtained to correspondingly obtain the avoidance areas of the robot for each passing door, so that the robot can effectively avoid in the door opening process of the passing doors, and the motion smoothness of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a door opening area acquisition method, a robot and a robot door passing method. Background Art

[0002] Indoor mobile robots such as nursing machines, service machines, and sweepers need to frequently cross doors in many scenarios during actual application. Before the robot passes through the door, if the door is closed, it needs to open the door. During the door opening process, if the robot is too close to the door, it may affect the door opening action. In practice, the robot cannot grasp the distance from the door well to avoid interfering with the door opening action. Therefore, it is necessary to set the robot's avoidance area to prevent the robot from interfering with the normal opening of the door. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a door opening area acquisition method, a robot and a robot door passing method.

[0004] The technical solution adopted by the present invention to solve the technical problem is: construct a door opening area acquisition method, which is applied to a robot; the method comprises:

[0005] During the movement of the robot, obtaining a target door corresponding to the robot;

[0006] Obtaining a door line of the target door and an opening direction of the target door, wherein the door line of the target door is used to distinguish the inner and outer sides of the target door and corresponds to the width of the target door;

[0007] The door opening area of ​​the target door is acquired according to the door line of the target door and the door opening direction of the target door, so that the robot avoids the door opening area of ​​the target door when the target door is opening or closing.

[0008] Preferably, in the door opening area acquisition method of the present invention, acquiring the door opening area of ​​the target door according to the door line of the target door and the door opening direction of the target door comprises:

[0009] A fan-shaped area formed by rotating the door line of the target door by a preset angle in the door opening direction of the target door is the door opening area of ​​the target door; or

[0010] A square area formed in the door opening direction of the target door with the door line of the target door as an edge is the door opening area of ​​the target door.

[0011] Preferably, the door opening area acquisition method of the present invention further includes:

[0012] Based on the working area corresponding to the robot, obtain the door lines of all the passage doors;

[0013] According to the door line of the passage door, generating a corresponding first mark in the work map corresponding to the work area;

[0014] The acquiring the gate line of the target gate includes: acquiring the gate line of the target gate according to the first mark.

[0015] Preferably, the door opening area acquisition method of the present invention further includes:

[0016] Based on the working area corresponding to the robot, obtaining the opening directions of all the passage doors;

[0017] Generating a corresponding second mark in a work map corresponding to the work area according to the door line of the pass door and the door opening direction of the pass door;

[0018] The acquiring the opening direction of the target door includes: acquiring the opening direction of the target door according to the second mark.

[0019] Preferably, in the door opening area acquisition method of the present invention, acquiring the door line of the target door includes:

[0020] Obtaining a boundary line formed by a door panel of the target door and the ground;

[0021] Obtaining the switch state of the target door;

[0022] When the target door is in a closed state, the intersection line is used as the door line of the target door;

[0023] When the target door is in an open state, the position of the boundary line when the working area of ​​the robot is divided during the process of the boundary line rotating around its two end points is obtained as the door line of the target door.

[0024] Preferably, the door opening area acquisition method of the present invention further includes:

[0025] When the target door is in a half-open state, the position of the boundary line when the working area of ​​the robot is divided during the process of rotating around the end point close to the obstacle is obtained as the door line of the target door.

[0026] Preferably, in the door opening area acquisition method of the present invention, acquiring the door opening direction of the target door includes:

[0027] Obtaining the switch state of the target door;

[0028] When the target door is in an open state, the door panel position of the target door is acquired, so as to acquire the door opening direction of the target door according to the door panel position of the target door.

[0029] Preferably, in the door opening area acquisition method of the present invention, the acquiring the door panel position of the target door to acquire the door opening direction of the target door according to the door panel position of the target door includes:

[0030] Obtaining the positional relationship between the door panel of the target door and the door line of the target door, and taking the side of the door line of the target door where the door panel of the target door is located as the door opening direction of the target door; or

[0031] The intersection line formed by the door panel of the target door and the ground is obtained, and the positional relationship between the intersection line and the door line of the target door is obtained, and the side of the door line of the target door where the intersection line is located is the opening direction of the target door.

[0032] Preferably, the door opening area acquisition method of the present invention further includes:

[0033] When the target door is in a closed state, an initial door opening area corresponding to the target door is set according to the door line of the target door;

[0034] Before the robot enters the initial door opening area, the target door is controlled to enter an open state, and when the target door is in the open state, the door panel position of the target door is obtained to obtain the door opening direction of the target door according to the door panel position of the target door.

[0035] Preferably, in the door opening area acquisition method of the present invention, setting the initial door opening area corresponding to the target door according to the door line of the target door comprises:

[0036] On both sides of the door line of the target door, square areas with the door line of the target door as sides are respectively obtained as the initial door opening areas.

[0037] Preferably, the door opening area acquisition method of the present invention further includes:

[0038] A third mark corresponding to the target door is generated according to the door opening area of ​​the target door, so that when the robot recognizes the target door again, the door opening area of ​​the target door is acquired according to the third mark.

[0039] The present invention also constructs a robot, comprising a memory and a processor;

[0040] The memory is used to store computer programs;

[0041] The processor is configured to execute the computer program to implement the above method.

[0042] The present invention also constructs a robot door-passing method, which is applied to the robot as described above;

[0043] During the movement of the robot, a target door corresponding to the robot is obtained, and an opening area of ​​the target door is obtained;

[0044] Before the robot enters the door opening area, identifying the switch state of the target door;

[0045] When the target door is in an open state, driving the robot to pass through the target door;

[0046] When the target door is in a closed state, the target door is driven to open.

[0047] The implementation of the door opening area acquisition method, robot and robot door passing method of the present invention has the following beneficial effects: by acquiring the door opening area of ​​the access door, the robot's avoidance area for each access door is correspondingly acquired, so that the robot can effectively avoid during the door opening process of the access door, thereby improving the smoothness of the robot's movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The present invention will be further described below with reference to the accompanying drawings and embodiments, in which:

[0049] Figure 1 is a program flow chart of an embodiment of a method for acquiring a door opening area of ​​the present invention;

[0050] Figure 2 is a schematic diagram of an embodiment of a door opening area obtained by a door opening area obtaining method of the present invention;

[0051] Figure 3 1 is a schematic diagram of an embodiment of a door opening area obtained by a door opening area obtaining method of the present invention;

[0052] Figure 4 is a program flow chart of another embodiment of the door opening area acquisition method of the present invention;

[0053] Figure 5 is a program flow chart of another embodiment of the door opening area acquisition method of the present invention;

[0054] Figure 6 is a program flow chart of another embodiment of the door opening area acquisition method of the present invention;

[0055] Figure 7 is a program flow chart of another embodiment of the door opening area acquisition method of the present invention;

[0056] Figure 8 is a program flow chart of another embodiment of the door opening area acquisition method of the present invention;

[0057] Fig. 9 It is a program flow chart of another embodiment of the door opening area acquisition method of the present invention. DETAILED DESCRIPTION

[0058] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described in detail with reference to the accompanying drawings.

[0059] like Figure 1 As shown, an embodiment of a method for acquiring a door opening area of ​​the present invention is disclosed. Figure 1 In the embodiment of a door opening area acquisition method of the present invention shown, the following steps are specifically included: S1. During the movement of the robot, the target door corresponding to the robot is acquired; S2. The door line of the target door is acquired, and the door opening direction of the target door is acquired, wherein the door line of the target door is used to distinguish the inner and outer sides of the target door, and corresponds to the width of the target door; S3. The door opening area of ​​the target door is acquired according to the door line of the target door and the door opening direction of the target door, so that the robot avoids the door opening area of ​​the target door when the target door is opening or closing.

[0060] Based on the above step S1, during the movement of the robot, the door that the robot is about to cross can be obtained based on the movement path of the robot, that is, the target door that the robot should currently cross. The process of obtaining the target door can be based on the navigation map during the movement of the robot, that is, the location of the door is marked with attributes in the navigation map, and the robot predicts the location of the door to be reached based on the movement path to obtain the corresponding target door. The process of obtaining the target door can also be based on real-time recognition during the movement of the robot. The recognition process can be implemented based on existing recognition technology, such as through visual recognition or through induction signal recognition, and the specific method selected is not limited here.

[0061] Based on step S2, after the target door can be determined, the door line of the target door is obtained. Among them, the door line of the target door is used to distinguish the inner and outer sides of the target door, and can be understood as a virtual dividing line segment, whose length corresponds to the width of the target door. For example, in practice, the door line is parallel to the threshold of the target door or the bottom of the door frame and has the same or similar width. In the specific process, the robot crosses the door line to achieve crossing from one side of the target door to the other side of the target door. At the same time, it is also necessary to obtain the opening direction of the target door. Among them, the opening direction of the target door corresponds to the position of the door line. Only after the position of the door line is determined, the corresponding opening direction is meaningful. It can be understood that the opening direction of the target door is the rotation direction formed relative to the position of the door line.

[0062] Based on step S3, after the door line and the door opening direction of the target door are obtained, the door opening area of ​​the target door can be obtained according to the door line and the door opening direction. It can be understood that during the door opening and closing process of the target door, the door panel of the target door will rotate in the door opening area. During the actual working process, the robot can avoid the door opening area when the target door is opening, so as to avoid interfering with the opening or closing of the door. Effective avoidance of the robot is achieved.

[0063] like Figure 2 As shown, in one embodiment of a method for acquiring a door opening area of ​​the present invention, in step S3, the door opening area of ​​the target door is acquired according to the door line of the target door and the door opening direction of the target door, including: taking the door line of the target door as the radius, the fan-shaped area 120 formed by rotating the door opening direction of the target door by a preset angle is the door opening area of ​​the target door. Specifically, after obtaining the door line and the door opening direction of the target door, wherein the door line can be indicated by the line segment 110 in 4, one end of the door line is fixed, and the other end is rotated along the door opening direction to form the door opening area of ​​the target door. Among them, the rotation angle of the door line can be based on the attribute device of the door. For example, for most doors, the sector formed by rotating the door line by about 90 degrees can correspond to the door opening area of ​​the door. In some special cases, the angle of rotation of the door line may be greater than 90 degrees or less than 90 degrees. The rotation angle can also be judged based on whether the door line encounters obstacles such as walls during the rotation process.

[0064] like Figure 3 As shown, in one embodiment of a method for acquiring a door opening area of ​​the present invention, in step S3, the door opening area of ​​the target door is acquired according to the door line of the target door and the door opening direction of the target door, including: taking the door line of the target door as the side, a square area 130 formed in the door opening direction of the target door is the door opening area of ​​the target door. Specifically, after obtaining the door line and the door opening direction of the target door, where the door line can be indicated by the line segment 110 in 4, a square area 130 can be directly constructed with the door line as the side length on one side of the door opening direction of the door line, and the positive direction area 130 is the door opening area of ​​the door.

[0065] like Figure 4As shown, in one embodiment of a method for acquiring a door opening area of ​​the present invention, it also includes: S01, based on the working area corresponding to the robot, acquiring the door lines of all passage doors; S02, generating a corresponding first mark in the working map corresponding to the working area according to the door lines of the passage doors. In the above step S2, acquiring the door line of the target door includes: acquiring the door line of the target door according to the first mark. Specifically, all passage doors corresponding to the working area can be acquired according to the working area of ​​the robot, and the corresponding door line can be acquired for each passage door. A first mark is generated in the working map corresponding to the working area according to the door line, and the door line of the passage door is identified by the first mark. In a specific embodiment, in the working map display interface corresponding to the robot's work, a first mark for representing the door line of the passage door is generated according to the actual door line of the passage door. While the robot performs a task according to the working map, it can obtain the corresponding target door according to the working map, and then obtain the door line of the target door according to the first mark. In a specific embodiment, the first mark can be generated by an external trigger signal. For example, the user generates a corresponding line segment in the work map display area according to the actual position of the access door, and uses the line segment as the first mark to mark the door line of the access door.

[0066] like Figure 5As shown, in one embodiment of a method for acquiring a door opening area of ​​the present invention, it also includes: S03, based on the working area corresponding to the robot, acquiring the door opening direction of all access doors; S04, generating a corresponding second mark in the working map corresponding to the working area according to the door line of the access door and the door opening direction of the access door; in the above-mentioned step S2, acquiring the door opening direction of the target door includes: acquiring the door opening direction of the target door according to the second mark. Specifically, all access doors corresponding to the working area can be acquired according to the working area of ​​the robot, and the corresponding door opening direction can be acquired for each access door. A second mark is generated in the working map corresponding to the working area according to the door opening direction of each access door, and the door opening direction of the access door is identified by the second mark. Because the door opening direction of the access door is a relative direction, in the specific process, it is necessary to refer to the first mark to generate the second mark. In a specific embodiment, in the work map display interface corresponding to the robot work, for each door line of the passage door corresponding to the first mark, a second mark for indicating the door opening direction of the passage door is generated according to the actual door opening direction of the passage door. When the robot performs the task according to the work map, after obtaining the door line of the passage door, it then obtains the door opening direction of the target door according to the second mark. In a specific embodiment, the second mark can be generated by an external trigger signal. For example, the user generates a corresponding arc segment or mark point in the work map display area according to the actual door opening direction of the passage door, and marks the door opening direction of the passage door with the arc segment or mark point as the second mark. The process of judging the door opening direction of the passage door according to the second mark also needs to be judged based on the first mark. For example, when the second mark is on a certain side of the first mark, the side corresponding to the second mark is the door opening direction of the passage door.

[0067] like Figure 6As shown, in an embodiment of the method for acquiring the door opening area of ​​the present invention, acquiring the door line of the target door includes: S21A, acquiring the boundary line formed by the door panel of the target door and the ground; S22A, acquiring the switch state of the target door; S23A, when the target door is in a closed state, the boundary line is used as the door line of the target door; S24A, when the target door is in an open state, the position of the robot's working area being divided during the rotation of the boundary line around its two endpoints is obtained as the door line of the target door. Specifically, the process of acquiring the door line of the target door can be triggered by the robot. In the process of the robot performing the task, the door panel of the passage door is identified, and the boundary line formed on the ground is obtained according to the door panel of the passage door. The recognition process can be implemented based on existing recognition technology, such as through visual recognition or through induction signal recognition, and the specific method selected is not limited here. That is, as long as the door panel can be judged and the recognition result of the boundary line can be obtained. And the switch state of the target door is judged. Similarly, the judgment process can be implemented based on existing recognition technology, such as through visual recognition or through induction signal recognition, and the specific method selected is not limited here. That is, as long as the switch state of the door panel can be determined. For example, when the door is fully open, both ends and the midpoint of the door panel are close to the obstacle; when the door is fully closed, both ends of the door panel are close to the obstacle, but the midpoint is not close to the obstacle; when the door is half-open, only one end of the door panel is close to the obstacle. When it can be determined that the passage door is in a closed state, the defined boundary line is the door line of the target door. When the target door is determined to be in an open state, one of the two endpoints of the boundary line can be used as a fixed point to rotate the other endpoint. When the end point rotation process is summarized, when the robot's working area is divided, that is, the boundary line divides the current robot's connected working area into a disconnected working area, the position of the current boundary line is determined as the door line of the target door.

[0068] On the basis of the above, Figure 7 As shown, in an embodiment of the method for acquiring the door opening area of ​​the present invention, acquiring the door line of the target door also includes: S25A, when the target door is in a semi-open state, acquiring the position of the intersection line when the robot's working area is divided during the process of rotating around the end point close to the obstacle as the door line of the target door. When it can be determined that the target door is in a semi-open state, one of the two end points of the intersection line that is closer to the obstacle is selected as a fixed point, and the other end point is rotated. During the process of rotating the end points, when the robot's working area is divided, that is, the intersection line divides the current connected working area of ​​the robot into a disconnected working area, the position of the current intersection line is determined as the door line of the target door.

[0069] like Figure 8As shown, in one embodiment of the door opening area acquisition method of the present invention, in step S2, the door opening direction of the target door is obtained, including: S21B, obtaining the switch state of the target door; S22B, when the target door is in an open state, obtaining the door panel position of the target door, so as to obtain the door opening direction of the target door according to the door panel position of the target door. Specifically, after obtaining the door line of the target door, the switch state of the target door can be judged. When the target door is in a normally open state, the door panel of the target door can be identified, the door panel position can be obtained, and the door opening direction of the current target door can be judged according to the obtained door panel position. Among them, the robot's recognition process of the door panel can be implemented based on existing recognition technology, such as through visual recognition or through induction signal recognition, and the specific method selected is not limited here. That is, as long as the door panel can be judged and the recognition result of the door panel can be obtained, it can be used.

[0070] Furthermore, the position of the door panel of the target door is obtained to obtain the door opening direction of the target door according to the position of the door panel of the target door, including: obtaining the positional relationship between the door panel of the target door and the door line of the target door, and taking the side of the door line of the target door where the door panel of the target door is located as the door opening direction of the target door. In the specific process of obtaining the door opening direction of the passage door, on both sides of the door line of the target door, the side where the door panel of the target door is located is the door opening direction of the target door. That is, it can be understood that the door panel of the passage door can only rotate along the door opening direction, so the direction of the door line of the passage door toward the door panel of the passage door is the door opening direction of the passage door.

[0071] Furthermore, the position of the door panel of the target door is obtained, so as to obtain the door opening direction of the target door according to the position of the door panel of the target door, including: obtaining the intersection line formed by the door panel of the target door and the ground, obtaining the positional relationship between the intersection line and the door line of the target door, and taking the side of the door line of the target door where the intersection line is located as the door opening direction of the target door. In the specific process of obtaining the door opening direction of the passage door, when identifying the door panel of the passage door, the intersection line formed on the ground is obtained according to the door panel of the passage door. The recognition process can be implemented based on existing recognition technology, such as through visual recognition or through induction signal recognition, and the specific method selected is not limited here. That is, as long as the door panel can be judged and the recognition result of the intersection line can be obtained. In the specific process of obtaining the door opening direction of the passage door, on both sides of the door line of the target door, the side where the intersection line is located is the door opening direction of the target door.

[0072] like Figure 8As shown, in one embodiment of the method for acquiring the door opening area of ​​the present invention, it also includes: S23B, when the target door is in a closed state, the initial door opening area corresponding to the target door is set according to the door line of the target door; S24B, before the robot enters the initial door opening area, the target door is controlled to enter an open state, and when the target door is in an open state, the door panel position of the target door is obtained to obtain the door opening direction of the target door according to the door panel position of the target door. Specifically, based on the above, when the target door is determined to be in a closed state, there is no way to directly obtain the door opening direction of the target door according to the state of the current door panel. However, a larger initial door opening area can be set based on the door line of the target door, that is, as long as the robot is not in the initial door opening area, even if the door opening direction of the target door cannot be confirmed, it will not affect the door opening process of the target door. Before the robot enters the initial door opening area, the passage door is controlled to start the door opening action and enter the open state. Then the door opening direction of the target door is obtained according to the above step S22B.

[0073] In a specific implementation, the initial door opening area corresponding to the target door is set according to the door line of the target door; including: on both sides of the door line of the target door, a square area with the door line of the target door as an edge is obtained as the initial door opening area. Specifically, when setting the initial door opening area, it can be set on both sides of the door line of the target door. By setting the square with the door line of the target door as an edge, no matter which direction the target door faces, the door opening will not exceed the initial door opening area.

[0074] like Fig. 9 As shown, the door opening area acquisition method of the present invention further includes: S4, generating a third mark corresponding to the target door according to the door opening area of ​​the target door, so that when the robot recognizes the target door again, the door opening area of ​​the target door is acquired according to the third mark. Specifically, after the door opening area of ​​the target door is acquired, the door opening area of ​​the target door can be marked, so that when the robot recognizes the target door again during the task execution, the door opening area of ​​the target door is directly acquired according to the obtained third mark, so as to avoid when avoidance is required.

[0075] In addition, a robot of the present invention may also include a memory and a processor; the memory is used to store a computer program; the processor is used to execute the computer program to implement the above method. Specifically, according to an embodiment of the present invention, the process described with reference to the flowchart above can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed by the robot and executed to perform the above functions defined in the method of the embodiment of the present invention.

[0076] In addition, a robot door-passing method of the present invention is applied to the robot described above; specifically comprising: A1, during the movement of the robot, obtaining the target door corresponding to the robot and obtaining the door-opening area of ​​the target door; A2, before the robot enters the door-opening area, identifying the switch state of the target door; A3, when the target door is in an open state, driving the robot to pass through the target door; A4, when the target door is in a closed state, driving the target door to open the door. That is, the robot can obtain the door-opening area of ​​the target door through the above process. Before the robot enters the corresponding door-opening area, the door-opening state of the target door is first judged. When the target door is in an open state, it can directly pass through. When the target door is in a closed state, the target door is driven to open the door. The driving of the target door to open the door can be triggered by the robot, or the robot can generate an alarm message to prompt the user to generate a corresponding drive signal for triggering.

[0077] It can be understood that the above embodiments only express the preferred implementation modes of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the patent scope of the present invention. It should be pointed out that, for ordinary technicians in this field, the above technical features can be freely combined without departing from the concept of the present invention, and several deformations and improvements can be made, which all belong to the protection scope of the present invention. Therefore, all equivalent changes and modifications made to the scope of the claims of the present invention should belong to the coverage of the claims of the present invention.

Claims

1. A method for obtaining a door opening area, characterized in that: Applied to a robot; the method comprises: During the movement of the robot, obtaining a target door corresponding to the robot; Obtaining a door line of the target door and obtaining an opening direction of the target door, wherein the door line of the target door is used to distinguish the inner and outer sides of the target door and corresponds to the width of the target door; The door opening area of ​​the target door is acquired according to the door line of the target door and the door opening direction of the target door, so that the robot avoids the door opening area of ​​the target door when the target door is opening or closing.

2. The door opening area acquisition method according to claim 1, characterized in that: The acquiring the door opening area of ​​the target door according to the door line of the target door and the door opening direction of the target door comprises: A fan-shaped area formed by rotating the door line of the target door by a preset angle in the door opening direction of the target door is the door opening area of ​​the target door; or A square area formed in the door opening direction of the target door with the door line of the target door as an edge is the door opening area of ​​the target door.

3. The method for obtaining the door opening area according to claim 1, characterized in that: The method further comprises: Based on the working area corresponding to the robot, obtain the door lines of all the passage doors; According to the door line of the passage door, generating a corresponding first mark in the work map corresponding to the work area; The acquiring the gate line of the target gate includes: acquiring the gate line of the target gate according to the first mark.

4. The method for obtaining the door opening area according to claim 3, characterized in that: The method further comprises: Based on the working area corresponding to the robot, obtaining the opening directions of all the passage doors; Generating a corresponding second mark in a work map corresponding to the work area according to the door line of the pass door and the door opening direction of the pass door; The acquiring the opening direction of the target door includes: acquiring the opening direction of the target door according to the second mark.

5. The method for obtaining a door opening area according to claim 1, characterized in that: The step of obtaining the gate line of the target gate includes: Obtaining a boundary line formed by a door panel of the target door and the ground; Obtaining the switch state of the target door; When the target door is in a closed state, the intersection line is used as the door line of the target door; When the target door is in an open state, the position of the boundary line when the working area of ​​the robot is divided during the process of the boundary line rotating around its two end points is obtained as the door line of the target door.

6. The door opening area acquisition method according to claim 5, characterized in that: The method further comprises: When the target door is in a half-open state, the position of the boundary line when the working area of ​​the robot is divided during the process of rotating around the end point close to the obstacle is obtained as the door line of the target door.

7. The door opening area acquisition method according to claim 1, characterized in that: The obtaining the opening direction of the target door includes: Obtaining the switch state of the target door; When the target door is in an open state, the door panel position of the target door is acquired, so as to acquire the door opening direction of the target door according to the door panel position of the target door.

8. The method for obtaining the door opening area according to claim 7, characterized in that: The acquiring the door panel position of the target door to acquire the door opening direction of the target door according to the door panel position of the target door includes: Obtaining the positional relationship between the door panel of the target door and the door line of the target door, and taking the side of the door line of the target door where the door panel of the target door is located as the door opening direction of the target door; or The intersection line formed by the door panel of the target door and the ground is obtained, and the positional relationship between the intersection line and the door line of the target door is obtained, and the side of the door line of the target door where the intersection line is located is the opening direction of the target door.

9. The method for acquiring the door opening area according to claim 7, characterized in that: The method further comprises: When the target door is in a closed state, an initial door opening area corresponding to the target door is set according to the door line of the target door; Before the robot enters the initial door opening area, the target door is controlled to enter an open state, and when the target door is in the open state, the door panel position of the target door is obtained to obtain the door opening direction of the target door according to the door panel position of the target door.

10. The door opening area acquisition method according to claim 9, characterized in that: The step of setting an initial door opening area corresponding to the target door according to the door line of the target door comprises: On both sides of the door line of the target door, square areas with the door line of the target door as sides are respectively obtained as the initial door opening areas.

11. The method for acquiring a door opening area according to claim 1, characterized in that: The method further comprises: A third mark corresponding to the target door is generated according to the door opening area of ​​the target door, so that when the robot recognizes the target door again, the door opening area of ​​the target door is acquired according to the third mark.

12. A robot, characterized in that: including memory and processor; The memory is used to store computer programs; The processor is configured to execute the computer program to implement the method according to any one of claims 1 to 11.

13. A robot door-passing method, characterized in that: Applicable to the robot as claimed in claim 12; During the movement of the robot, a target door corresponding to the robot is obtained, and an opening area of ​​the target door is obtained; Before the robot enters the door opening area, identifying the switch state of the target door; When the target door is in an open state, driving the robot to pass through the target door; When the target door is in a closed state, the target door is driven to open.

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