Robot control method, controller, robot and storage medium

Abstract

The invention discloses a robot control method, a controller, a robot and a storage medium. The robot is provided with an infrared emitter. The control method comprises the steps that the distance between the robot and the infrared induction door is obtained; whether the distance between the robot and the infrared induction door is smaller than a first preset distance or not is judged; under the condition that the distance between the robot and the infrared induction door is smaller than a first preset distance, an infrared emitter of the robot is controlled to emit an infrared signal simulating human body infrared rays, so that the infrared induction door recognizes the infrared signal and is opened; whether the infrared induction door is opened or not is judged, and if yes, the robot is controlled to pass through the infrared induction door. Under the condition that the distance between the robot and the infrared induction door is smaller than the first preset distance, the infrared emitter emits the infrared signal simulating human body infrared rays, the infrared induction door can recognize the infrared signal emitted by the robot and is automatically opened, the door opening action does not need to be manually executed, and the working efficiency of the robot is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and more specifically, to a robot control method, a controller, a robot, and a storage medium. Background Art

[0002] A robot may encounter an automatic induction door during its movement. When the robot approaches the automatic door, it is necessary to open the automatic induction door so that the robot can pass through the automatic induction door quickly and stably.

[0003] In the related art, an infrared induction door can be used as an automatic door. The infrared induction door includes a corresponding pyroelectric infrared sensor. When a person approaches the infrared induction door, the pyroelectric infrared sensor can recognize the infrared rays radiated by the person, and the infrared induction door automatically opens.

[0004] However, when the robot approaches the infrared induction door, the infrared induction door cannot recognize the robot, and it is necessary to manually perform the door-opening action, which wastes manpower and reduces the working efficiency of the robot. Summary of the Invention

[0005] Embodiments of the present invention provide a robot control method, a controller, a robot, and a storage medium.

[0006] The robot control method provided by the embodiments of the present invention is used for a robot, and the robot is provided with an infrared emitter. The control method includes: obtaining the distance between the robot and the infrared induction door; determining whether the distance between the robot and the infrared induction door is less than a first preset distance; when the distance between the robot and the infrared induction door is less than the first preset distance, controlling the infrared emitter of the robot to emit an infrared signal simulating human infrared rays so that the infrared induction door recognizes the infrared signal and opens; determining whether the infrared induction door is opened, and if it is opened, controlling the robot to pass through the infrared induction door.

[0007] In some embodiments, the robot control method further includes: when it is determined that the infrared induction door is not opened, controlling the robot to approach the infrared induction door by a second preset distance, adjusting the emission power of the infrared emitter, controlling the infrared emitter to emit an infrared signal simulating human infrared rays according to the adjusted emission power, and returning to the step of determining whether the infrared induction door is opened.

[0008] In some embodiments, controlling the infrared emitter of the robot to emit an infrared signal simulating human infrared rays includes: controlling the infrared emitter to emit the infrared signal according to a preset emission power change strategy so that the energy of the infrared signal changes dynamically.

[0009] In some embodiments, the robot includes a distance sensor. Determining whether the infrared induction door is open includes: controlling the distance sensor to emit a distance detection signal for detecting the distance between the robot and an obstacle; obtaining the distance between the robot and the obstacle detected by the distance sensor; determining that the infrared induction door is not open when the distance between the robot and the obstacle is less than or equal to the distance between the robot and the infrared induction door; and determining that the infrared induction door is open when the distance between the robot and the obstacle is greater than the distance between the robot and the infrared induction door.

[0010] In some embodiments, after controlling the robot to pass through the infrared induction door, it further includes: controlling the infrared emitter to stop emitting the infrared signal and controlling the distance sensor to stop emitting the distance detection signal.

[0011] In some embodiments, the wavelength of the infrared signal is within the wavelength range of the infrared rays emitted by the human body.

[0012] An embodiment of the present invention provides a controller, which includes a memory and a processor. The memory is configured to store a computer program, and when the processor executes the computer program, it implements the control method of any of the above embodiments.

[0013] An embodiment of the present invention provides a robot, which includes the controller and the infrared emitter of the above embodiment. The infrared emitter is used to emit an infrared signal simulating the infrared rays of the human body under the control of the controller.

[0014] In some embodiments, the robot further includes a distance sensor. The distance sensor is used to emit a distance detection signal under the control of the controller and detect the distance between the robot and an obstacle using the distance detection signal.

[0015] An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium is used to store a computer program, and when the computer-readable storage medium is executed, it implements the control method of any of the above embodiments.

[0016] An embodiment of the present invention provides a robot control method, a controller, a robot, and a storage medium. The robot is provided with an infrared emitter, and the control method includes: obtaining the distance between the robot and an infrared induction door; determining whether the distance between the robot and the infrared induction door is less than a first preset distance; when the distance between the robot and the infrared induction door is less than the first preset distance, controlling the infrared emitter of the robot to emit an infrared signal simulating human body infrared rays, so that the infrared induction door can identify the infrared signal and open; determining whether the infrared induction door is opened, and if it is opened, controlling the robot to pass through the infrared induction door.

[0017] When the distance between the robot and the infrared induction door is less than the first preset distance, the infrared emitter emits an infrared signal simulating human body infrared rays, and the infrared induction door can identify the infrared signal emitted by the robot and automatically open, eliminating the need for manual door-opening operations and improving the working efficiency of the robot.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of the embodiments in conjunction with the accompanying drawings, where:

[0020] Figure 1 is a schematic flowchart of the control method according to the embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of the robot according to the embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of the infrared detector according to the embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of the infrared induction door according to the embodiment of the present invention;

[0024] Figure 5 is a spectrogram of the infrared signal according to the embodiment of the present invention;

[0025] Figure 6 is a spectrogram of the infrared signal according to the embodiment of the present invention;

[0026] Figure 7 is a schematic diagram of the robot according to the embodiment of the present invention;

[0027] Figure 8 is a schematic flowchart of the working process of the robot according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] Embodiments of the present invention will be described in detail below. The embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary only for explaining the present invention and should not be construed as limiting the present invention.

[0029] During the movement of the robot, it may encounter an automatic induction door. When the robot moves close to the automatic door, the automatic induction door needs to be opened so that the robot can pass through the automatic induction door quickly and stably.

[0030] In the related art, an infrared induction door can be used as the automatic door. The infrared induction door includes a corresponding pyroelectric infrared sensor. When a human body approaches the infrared induction door, the pyroelectric infrared sensor can recognize the infrared rays radiated by the human body, and the infrared induction door automatically opens.

[0031] However, when the robot approaches the infrared induction door, the infrared induction door cannot recognize the robot, and manual door opening operation is required, which wastes manpower and reduces the working efficiency of the robot.

[0032] Refer to Figure 1 and Figure 2 , an embodiment of the present invention provides a control method for a robot 100. The robot 100 is provided with an infrared emitter 20, and the control method includes:

[0033] Step S10: Obtain the distance between the robot 100 and the infrared induction door 200;

[0034] Step S20: Determine whether the distance between the robot 100 and the infrared induction door 200 is less than a first preset distance;

[0035] Step S30: When the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, control the infrared emitter 20 of the robot 100 to emit an infrared signal simulating human body infrared rays, so that the infrared induction door 200 can recognize the infrared signal and open;

[0036] Step S40: Determine whether the infrared induction door 200 is opened. If it is opened, control the robot 100 to pass through the infrared induction door 200.

[0037] In some embodiments, the control method can be implemented by a controller 10, that is to say, the controller 10 is used to implement the control method.

[0038] The controller 10 includes a memory and a processor. The memory is configured to store a computer program, and the processor can implement the control method when executing the computer program. Specifically, the processor may be composed of chips or circuits with data processing functions such as CPLD (Complex Programmable Logic Device), FPGA (Field Programmable Gate Array), MCU (Micro Control Unit), PLC (Programmable Logic Controller 10), and CPU (Central Processing Unit). The memory may be one or more of ROM (Read Only Memory), RAM (Random Access Memory), magnetic disk, or optical disc.

[0039] Of course, in other embodiments, the control method may also be implemented by other devices or equipment, and is not limited to being implemented by the controller 10. The controller 10 may not be dedicated to implementing the control method of the embodiments of the present invention, but may implement other functions and methods.

[0040] An embodiment of the present invention also provides a robot 100. In some embodiments, the robot 100 includes a controller 10 and an infrared emitter 20. The controller 10 is used to implement the control method, and the infrared emitter 20 is used to emit an infrared signal simulating human body infrared under the control of the controller 10.

[0041] Specifically, in step S10 and step S20, the controller 10 can obtain the distance between the robot 100 and the infrared induction door 200 in real time, and determine whether the robot 100 is approaching the infrared induction door 200 according to the distance between the robot 100 and the infrared induction door 200.

[0042] When the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, it is determined that the robot 100 is approaching the infrared induction door 200.

[0043] The first preset distance may be Lm. The distance L between the robot 100 and the infrared induction door 200 obtained by the controller 10 can be compared with the preset distance Lm. When the obtained distance L between the robot 100 and the infrared induction door 200 is greater than the preset distance Lm, it can be considered that the distance between the robot 100 and the infrared induction door 200 is relatively far. At this time, the controller 10 can determine that the robot 100 is far from the infrared induction door 200. When the obtained distance L between the robot 100 and the infrared induction door 200 is less than or equal to the preset distance Lm, it can be considered that the distance between the robot 100 and the infrared induction door 200 is relatively close. At this time, the controller 10 can determine that the robot 100 is approaching the infrared induction door 200.

[0044] In step S30, when the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, the distance between the robot 100 and the infrared induction door 200 is relatively close. At this time, the robot 100 is controlled to emit an infrared signal that simulates human body infrared rays, so that the infrared induction door 200 can identify the infrared signal and open.

[0045] The infrared induction door includes an infrared detector. An infrared detector is a device that converts an infrared signal into other physical quantities for output. An infrared signal is an electromagnetic wave signal with a wavelength between visible light and microwaves, which is not detectable by the human eye. An infrared detector can be used to convert the infrared signal into other physical quantities that can be detected and measured, and then the intensity of the infrared signal radiation can be measured according to the physical quantity output by the infrared detector. The infrared detector can convert the detected infrared signal into a corresponding electrical signal output based on the thermal effect and photoelectric effect of the infrared signal.

[0046] Refer to Figure 3 , the infrared detector can have a specific detection area 300. The infrared signal emitted within the detection area 300 can be recognized by the infrared detector, and when the infrared detector recognizes the infrared signal emitted within the detection area 300, it will output a corresponding electrical signal. For example, when a human body moves within the detection area 300, the infrared signal emitted by the human body can be recognized by the infrared detector and a corresponding electrical signal is output.

[0047] Before the robot 100 moves into the detection area 300, the controller 10 inside the robot 100 can control the infrared emitter 20 to start working, so that the robot 100 continuously emits infrared rays within the detection area 300 to control the opening of the infrared induction door 200.

[0048] Refer to Figure 4 , the detection area 300 of the infrared induction door can be a rectangular area with a length of 2m and a width of 0.5m in front of the infrared induction door 200. The first preset distance can be set to 0.5m. When the distance between the robot 100 and the infrared induction door 200 is 0.5m, the controller 10 determines that the robot 100 is approaching the infrared induction door 200. At this time, the controller 10 controls the infrared emitter 20 to emit an infrared signal to control the opening of the infrared induction door 200.

[0049] The infrared detector of the infrared induction door 200 can be a passive infrared sensor (PIR). The passive infrared sensor is used to recognize the infrared signal radiated by the human body. The infrared emitter 20 simulates human body infrared rays, so that the passive infrared sensor can recognize the infrared signal emitted by the infrared emitter 20.

[0050] The infrared induction door 200 further includes an electric motor and a motor controller 10. The motor controller 10 determines whether the infrared detector recognizes the infrared signal emitted within the detection area 300 based on the signal output by the infrared detector. When the motor controller 10 determines that the infrared detector recognizes the infrared signal, the motor controller 10 controls the electric motor to run forward, transmits the forward power to the synchronous belt, and then the synchronous belt transmits the forward power to the suspension system to open the door leaf, so that the infrared induction door opens. When it is necessary to control the infrared induction door 200 to close, the motor controller 10 controls the motor to move in the reverse direction, transmits the reverse power to the synchronous belt, and then the synchronous belt transmits the reverse power to the suspension system to close the door leaf, so that the infrared induction door closes.

[0051] In this way, when the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, the infrared ray emitter 20 emits an infrared signal simulating human body infrared rays, and the infrared induction door 200 can recognize the infrared signal emitted by the robot 100 and automatically open, eliminating the need for manual door opening operations and improving the working efficiency of the robot 100.

[0052] In step S40, if the generated infrared signal is recognized by the infrared induction door 200, the infrared induction door 200 opens, and the robot 100 can move and pass through the infrared induction door 200.

[0053] In some embodiments, the control method further includes: when it is determined that the infrared induction door 200 is not open, controlling the robot 100 to approach the infrared induction door 200 by a second preset distance, adjusting the emission power of the infrared ray emitter 20, controlling the infrared ray emitter 20 to emit an infrared signal simulating human body infrared rays according to the adjusted emission power, and returning to the step of determining whether the infrared induction door 200 is open.

[0054] Specifically, when the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, if the generated infrared signal cannot be recognized by the infrared induction door 200 and the infrared induction door 200 is not open, the robot 100 cannot pass through the infrared induction door 200. At this time, the infrared ray emitter 20 emits an infrared signal again until the infrared induction door 200 recognizes the infrared signal.

[0055] When the infrared induction door 200 is not open, the robot 100 can be controlled to approach the infrared induction door 200 by a second preset distance. The second preset distance is smaller than the first preset distance to prevent the robot 100 from directly colliding with the infrared induction door 200 when the infrared induction door 200 is not open. The robot 100 approaching the infrared induction door 200 by the second preset distance makes the robot 100 closer to the infrared induction door 200, ensuring that the position of the infrared signal generated by the robot 100 is within the detection area 300 of the infrared induction door 200.

[0056] After the robot 100 approaches the infrared induction door 200 by a second preset distance, the controller 10 adjusts the transmission power of the infrared emitter 20, and further adjusts the energy of the infrared signal emitted by the infrared emitter 20. The controller 10 adjusts the transmission power of the infrared emitter 20 based on the human body infrared rays. Therefore, the adjusted infrared signal is close to the human body infrared rays, which can increase the possibility that the infrared induction door 200 recognizes the infrared signal and opens.

[0057] In some embodiments, step S30, controlling the infrared emitter 20 of the robot 100 to emit an infrared signal simulating human body infrared rays, includes: controlling the infrared emitter 20 to emit an infrared signal according to a preset transmission power change strategy, so that the energy of the infrared signal changes dynamically.

[0058] Specifically, when the human body moves within the detection area 300, the infrared signal emitted by the human body can be recognized by the pyroelectric infrared sensor and corresponding electrical signals are output. When the human body moves within the detection area 300, based on the different positions of the human body, the energy of the infrared signal emitted by the human body changes dynamically.

[0059] In order to better simulate the infrared signal emitted by the human body, the infrared signal emitted by the infrared emitter 20 can be an infrared signal with dynamically changing energy, and the dynamically changing energy is consistent with the dynamically changing energy of the infrared rays emitted when the human body moves, making it easier for the pyroelectric infrared sensor to recognize the emitted infrared signal.

[0060] The energy of the infrared signal emitted by the infrared rays can be made to change dynamically by dynamically adjusting the working power of the infrared emitter 20. Figure 5 It can be the spectrogram of the infrared signal emitted by the infrared emitter 20. Figure 5 The abscissa is the wavelength of the infrared signal, and the ordinate is the emissivity of the infrared signal.

[0061] When the wavelengths of the infrared signals are the same, the greater the working power of the infrared emitter 20, the higher the emissivity of the infrared signal, and the greater the energy of the infrared signal.

[0062] When the robot 100 approaches the infrared induction door 200, the controller 10 can control the working power of the infrared emitter 20 to change dynamically, so that the emissivity of the infrared signal emitted by the infrared emitter 20 changes dynamically, that is, the energy of the infrared signal changes dynamically, and the dynamic change of the energy of the infrared signal is consistent with the dynamic change of the energy of the infrared signal emitted when the human body moves. At this time, the infrared signal that the pyroelectric infrared sensor can recognize is the same as the infrared signal emitted when the human body moves, and the infrared induction door 200 opens.

[0063] For example, the infrared emitter 20 can vary periodically according to a preset transmission power. During a cycle of the transmission power variation of an infrared emitter 20, the transmission power of the infrared emitter 20 can increase gradually or decrease gradually. The transmission power of the infrared emitter 20 can also vary in time segments. For example, within the first time period T1, the transmission power of the infrared emitter 20 is the first power P1, and the energy of the corresponding infrared signal is the first energy W1. Within the second time period T2 after the first time period T1, the transmission power of the infrared emitter 20 is the first power P2, and the energy of the corresponding infrared signal is the first energy W2. Within the third time period T3 after the second time period T2, the transmission power of the infrared emitter 20 is the first power P3, and the energy of the corresponding infrared signal is the first energy W3.

[0064] In some embodiments, the wavelength of the infrared signal is within the wavelength range of the infrared rays emitted by the human body.

[0065] Specifically, the human body has a constant body temperature, generally at 37 degrees, and the human body continuously emits infrared signals with a wavelength of about 10 μm. The pyroelectric infrared sensor is set based on detecting the human body radiation, so the pyroelectric infrared sensor is very sensitive to infrared signals with a wavelength of about 10 μm. After the pyroelectric infrared sensor recognizes an infrared signal with a wavelength of about 10 μm, the pyroelectric infrared sensor emits a specific pulse signal to the motor controller 10, and the motor controller 10 controls the electric motor to run forward, and the infrared induction door 200 opens.

[0066] The infrared signal can be enhanced by a Fresnel filter and then focused on the pyroelectric infrared sensor. The Fresnel filter can filter infrared signals of specific wavelengths, allowing infrared signals with a wavelength of about 10 μm to be emitted to the pyroelectric infrared sensor and preventing infrared signals of other wavelengths from entering the pyroelectric infrared sensor.

[0067] Figure 6 It can be the spectrogram of the infrared signal passing through the Fresnel filter. Figure 6 The abscissa is the wavelength of the infrared signal, and the ordinate is the conversion rate of the infrared signal. The Fresnel filter can filter out infrared signals with wavelengths less than 5.5 μm and wavelengths greater than 14 μm, allowing infrared signals with wavelengths of 5.5 - 14 μm to be emitted to the pyroelectric infrared sensor.

[0068] The infrared signal emitted by the infrared emitter 20 can simulate the infrared signal emitted by the human body. The infrared signal can pass through the Fresnel filter and be emitted to the pyroelectric infrared sensor and be recognized by the pyroelectric infrared sensor. The infrared signal emitted by the infrared emitter 20 can be an infrared signal with a wavelength of about 10 μm, such as an infrared signal with a wavelength of 5.5 - 14 μm.

[0069] Reference Figure 7 , in some embodiments, the robot 100 includes a distance sensor. The distance sensor is configured to emit a distance detection signal under the control of the controller 10, and detect the distance between the robot 100 and an obstacle using the distance detection signal.

[0070] Reference Figure 8 , determining whether the infrared induction door 200 is open includes:

[0071] Controlling the distance sensor to emit a distance detection signal, where the distance detection signal is used to detect the distance between the robot 100 and an obstacle;

[0072] Obtaining the distance between the robot 100 and an obstacle detected by the distance sensor;

[0073] When the distance between the robot 100 and the obstacle is less than or equal to the distance between the robot 100 and the infrared induction door 200, it is determined that the infrared induction door 200 is not open;

[0074] When the distance between the robot 100 and the obstacle is greater than the distance between the robot 100 and the infrared induction door 200, it is determined that the infrared induction door 200 is open.

[0075] The robot 100 may further include a control host 40. The control host 40 may be communicatively connected to the navigation system of the robot 100 and obtain the distance between the robot 100 and the infrared induction door 200 from the navigation system of the robot 100. During the operation of the robot 100, the navigation system of the robot 100 is always on, and the control host 40 can obtain the distance between the robot 100 and the infrared induction door 200 in real time.

[0076] Specifically, when the distance between the robot 100 and the infrared induction door 200 is less than a first preset distance, the distance sensor starts to work. The distance detection signal emitted by the distance sensor is used to detect the distance between the robot 100 and an obstacle.

[0077] The distance sensor can emit a distance detection signal in the direction of the infrared induction door 200. If the infrared induction door 200 is not open, the door leaf of the infrared induction door 200 is an obstacle. At this time, the distance between the robot 100 and the obstacle is less than or equal to the distance between the robot 100 and the infrared induction door 200, and it can be determined that the infrared induction door 200 is not open.

[0078] When there are other obstacles between the robot 100 and the infrared induction door 200, the distance between the robot 100 and the obstacle will also be less than or equal to the distance between the robot 100 and the infrared induction door 200, and the controller 10 will also determine that the infrared induction door 200 is not open, and the robot 100 cannot pass through the infrared induction door 200.

[0079] When the distance sensor is unable to detect the distance between the robot 100 and the obstacle, or the detected distance is greater than the distance between the robot 100 and the infrared induction door 200, it can be considered that there is no obstacle between the robot 100 and the infrared induction door 200, the infrared induction door 200 is in an open state, and the robot 100 can move and pass through the infrared induction door 200.

[0080] Refer to Figure 8 , in some embodiments, after controlling the robot 100 to pass through the infrared induction door 200, it further includes: controlling the infrared emitter 20 to stop emitting infrared signals, and controlling the distance sensor to stop emitting distance detection signals.

[0081] After the robot 100 moves and passes through the infrared induction door 200, the infrared induction door 200 closes. At this time, there is no need to activate the distance sensor to determine whether the infrared induction door 200 is open, nor to emit infrared signals to open the infrared induction door 200. The infrared emitter 20 and the distance sensor can stop working, which is beneficial to reducing the load of the robot 100 during operation and beneficial to the battery life of the robot 100.

[0082] In some embodiments, the distance sensor can be a distance sensor with the model number DYP-A02YYTW-V2.0, and the measurement distance of the distance sensor is 3 cm to 4.5 m. Whether the infrared induction door 200 is open can be determined based on the distance detected by the distance sensor.

[0083] In some embodiments, the radiation sources of the infrared signals can include the actinic range, the hot-object range, the calorific range, and the warm range.

[0084] Among them, the actinic range can also be called the "photochemical reaction zone". The actinic range is the rays generated by incandescent objects such as light bulbs and the sun, and the rays range from the visible light domain to the infrared domain. The hot-object range is the heat rays generated by non-incandescent objects such as electric irons and other electric heaters. The calorific range can also be called the "non-photochemical reaction zone", which is the heat rays generated by boiling hot water or hot steam pipes. The warm range is the heat rays generated by the human body, animals, or geothermal heat.

[0085] The infrared emitter 20 can include an infrared source. Different infrared sources can be set for the radiation sources of the infrared signals to generate infrared signals. For example, an incandescent lamp can be set as the infrared source for the actinic range, and a carbon rod resistance heating wire can be set as the infrared source for the hot-object range.

[0086] The infrared source can also be a Micro Electro Mechanical Systems (MEMS) infrared source. The MEMS infrared source consists of a micro electro mechanical system and an infrared emitting material. The micro electro mechanical system is a miniature system that integrates mechanical components, an optical system, a driving component, and an electronic control system into an integrated unit. The working principle of the MEMS infrared source is that the micro electro mechanical system controls the temperature of the infrared emitting material to control its light emission intensity and spectrum, causing the infrared emitting material to emit different infrared signals.

[0087] In some embodiments, the controller 10 can be a single-chip microcomputer. The model of the single-chip microcomputer can be GD32F310F4P6TR. The controller 10 is responsible for implementing the interaction function of the infrared induction door 200 and communicating with the control host 40 to enable the robot 100 to pass through the infrared induction door 200.

[0088] An embodiment of the present invention provides a computer-readable storage medium. The computer-readable storage medium is used to store a computer program, and when the computer-readable storage medium is executed, it implements the control method of any of the above embodiments.

[0089] Specifically, the storage medium can be various media such as a ROM (read-only memory), a RAM (random access memory), a magnetic disk, or an optical disc that can store a computer program.

[0090] An embodiment of the present invention provides a control method, a controller 10, a robot 100, and a storage medium. The robot 100 is provided with an infrared emitter 20. The control method includes: obtaining the distance between the robot 100 and the infrared induction door 200; determining whether the distance between the robot 100 and the infrared induction door 200 is less than a first preset distance; when the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, controlling the infrared emitter 20 of the robot 100 to emit an infrared signal simulating human body infrared rays so that the infrared induction door 200 can identify the infrared signal and open; determining whether the infrared induction door 200 is open, and if it is open, controlling the robot 100 to pass through the infrared induction door 200.

[0091] When the distance between the robot 100 and the infrared induction door 200 is less than the first preset distance, the infrared emitter 20 emits an infrared signal simulating human body infrared rays. The infrared induction door 200 can identify the infrared signal emitted by the robot 100 and automatically open, eliminating the need for manual door-opening operations and improving the working efficiency of the robot 100.

[0092] In the description of this specification, the descriptions referring to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials, or characteristics described in connection with the embodiments or examples are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0093] In addition, the term "connection" should be understood in a broad sense. For example, it may include fixed connection, may also include detachable connection, or integral connection; it may include direct connection, may also be indirectly connected through an intermediate medium, and may also include the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0094] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0095] Any process or method description shown in the flowchart or described in other ways herein can be understood as representing a module, segment, or part of the code including one or more executable instructions for implementing a specific logical function or process. And the scope of the preferred embodiments of the present invention includes additional implementations, where the functions can be executed in a substantially simultaneous manner or in the reverse order according to the functions involved, rather than in the order shown or discussed, which should be understood by those skilled in the technical field to which the embodiments of the present invention belong.

[0096] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A robot control method, characterized in that, The robot is provided with an infrared emitter, and the control method includes: Obtaining the distance between the robot and the infrared induction door; Judging whether the distance between the robot and the infrared induction door is less than a first preset distance; When the distance between the robot and the infrared induction door is less than the first preset distance, controlling the infrared emitter of the robot to emit an infrared signal simulating human body infrared rays, so that the infrared induction door can identify the infrared signal and open; Judging whether the infrared induction door is open. If it is open, controlling the robot to pass through the infrared induction door.

2. The control method according to claim 1, characterized in that The method further includes: When it is judged that the infrared induction door is not open, controlling the robot to approach the infrared induction door by a second preset distance, adjusting the emission power of the infrared emitter, controlling the infrared emitter to emit an infrared signal simulating human body infrared rays according to the adjusted emission power, and returning to the step of judging whether the infrared induction door is open.

3. The control method according to claim 1, characterized in that, The controlling the infrared emitter of the robot to emit an infrared signal simulating human body infrared rays includes: Controlling the infrared emitter to emit the infrared signal according to a preset emission power change strategy, so that the energy of the infrared signal changes dynamically.

4. The control method according to claim 1, characterized in that The robot includes a distance sensor; The judging whether the infrared induction door is open includes: Controlling the distance sensor to emit a distance detection signal, and the distance detection signal is used to detect the distance between the robot and an obstacle; Obtaining the distance between the robot and the obstacle detected by the distance sensor; When the distance between the robot and the obstacle is less than or equal to the distance between the robot and the infrared induction door, determining that the infrared induction door is not open; When the distance between the robot and the obstacle is greater than the distance between the robot and the infrared induction door, determining that the infrared induction door is open.

5. The control method according to claim 3, wherein After the controlling the robot to pass through the infrared induction door, it further includes: Controlling the infrared emitter to stop emitting the infrared signal, and controlling the distance sensor to stop emitting the distance detection signal.

6. The control method according to any one of claims 1-5, characterized in that, The wavelength of the infrared signal is within the wavelength range of the infrared rays emitted by the human body.

7. A controller, characterized in that, The controller includes a memory and a processor. The memory is configured to store a computer program, and when the processor executes the computer program, the control method according to any one of claims 1-6 is implemented.

8. A robot, characterized in that, The robot includes the controller and the infrared emitter according to claim 7; The infrared emitter is used to emit an infrared signal simulating human body infrared rays under the control of the controller.

9. The robot according to claim 8, characterized in that, The robot further includes a distance sensor; The distance sensor is used to emit a distance detection signal under the control of the controller, and use the distance detection signal to detect the distance between the robot and an obstacle.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, and when the computer-readable storage medium is executed, the control method according to any one of claims 1-6 is implemented.

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