Autonomous mobile robot passage control method and device, medium and equipment

Abstract

The invention relates to an autonomous mobile robot passage control method and device, a medium and equipment. The method comprises the steps that in response to the fact that the autonomous mobile robot enters an access control area is recognized, passing environment information is obtained, and the passing environment information comprises first motion information of the autonomous mobile robot, the opening and closing state of a target door body in the access control area and obstacle information in a preset range of the target door body; receiving first voice information of the autonomous mobile robot; inputting the traffic environment information and the first voice information to a target model to obtain a safety assessment result output by the target model, the target model being a large language model; according to the safety evaluation result, a passing control instruction is generated and executed, and the passing control instruction is used for indicating whether the autonomous mobile robot is allowed to pass through the access control area or not.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of computer, in particular, to an autonomous mobile robot passage control method, device, medium and equipment. BACKGROUND

[0002] Autonomous mobile robots are increasingly widely used in medical delivery, logistics transportation and other fields. However, autonomous mobile robots often face the problem of path interruption caused by physical obstacles. For example, when passing through fireproof doors, security doors, or when passing through elevator doors for cross-floor tasks, autonomous mobile robots are often unable to pass through independently due to their mechanical structure and strength. At present, in order to solve the above problems, it is generally necessary to rely on staff to manually open the door for the autonomous mobile robot, which is not efficient and consumes manpower. SUMMARY

[0003] The purpose of the present disclosure is to provide an autonomous mobile robot passage control method, device, medium and equipment.

[0004] In order to achieve the above purpose, according to a first aspect of the present disclosure, an autonomous mobile robot passage control method is provided, the method comprising: in response to identifying that the autonomous mobile robot enters the access control area, obtaining passage environment information, the passage environment information comprising first motion information of the autonomous mobile robot, opening and closing state of a target door body in the access control area and obstacle information within a preset range of the target door body; receiving first voice information of the autonomous mobile robot; inputting the passage environment information and the first voice information into a target model to obtain a safety evaluation result output by the target model, the target model being a large language model; According to the safety evaluation result, a passage control instruction is generated and executed, the passage control instruction being used to indicate whether the autonomous mobile robot is allowed to pass through the access control area.

[0005] Optionally, the method further comprises: in response to the autonomous mobile robot entering the access control area, determining whether there is an autonomous mobile device in the access control area in addition to the autonomous mobile robot; if the autonomous mobile device exists, obtaining second motion information of the autonomous mobile device and second voice information of the mobile device; The inputting the passage environment information and the first voice information into a target model to obtain a safety evaluation result output by the target model comprises: inputting the passing environment information, the first voice information, the second motion information and the second voice information into the target model to obtain a safety evaluation result corresponding to each of the autonomous mobile robot and the autonomous mobile device, each of the safety evaluation results carrying a passing sequence number, the passing sequence number being used to indicate a passing order from the access control area.

[0006] Optionally, the generating a passing control instruction according to the safety evaluation result and performing the passing control instruction comprises: determining whether the passing sequence number of the autonomous mobile robot is a current passing sequence number; in a case where the passing sequence number of the autonomous mobile robot is the current passing sequence number, generating a passing control instruction according to the safety evaluation result and performing the passing control instruction.

[0007] Optionally, the safety evaluation result comprises a first safety level, a second safety level and a third safety level, a safety degree of the first safety level being higher than that of the second safety level, and a safety degree of the second safety level being higher than that of the third safety level. the generating a passing control instruction according to the safety evaluation result and performing the passing control instruction comprises: if the safety evaluation result is the first safety level, generating a first control instruction for indicating to allow the autonomous mobile robot to pass and performing the first control instruction; if the safety evaluation result is the second safety level, generating a second control instruction for indicating to delay the autonomous mobile robot to pass and performing the second control instruction; if the safety evaluation result is the third safety level, generating a third control instruction for indicating to prohibit the autonomous mobile robot to pass and performing the third control instruction.

[0008] Optionally, the generating a first control instruction for indicating to allow the autonomous mobile robot to pass and performing the first control instruction comprises: generating a first control instruction for controlling the target door body to open; sending the first control instruction to a controller of the target door body to trigger the controller to open the target door body.

[0009] Optionally, the generating a second control instruction for indicating to delay the autonomous mobile robot to pass and performing the second control instruction comprises: generating a second control instruction for monitoring whether a target object satisfies a judgment condition, the target object comprising the autonomous mobile robot or the target door body; determining, according to the second control instruction, whether the target object satisfies the judgment condition; in response to determining that the target object satisfies the judgment condition, controlling the target door body to open.

[0010] Optionally, the third control instruction for indicating that the autonomous mobile robot is prohibited to pass is generated and executed, comprising: determining a pass prohibition reason according to the safety evaluation result; generating a third control instruction carrying the pass prohibition reason; sending the third control instruction to the autonomous mobile robot to prohibit the autonomous mobile robot to pass through the access control area.

[0011] According to a second aspect of the present disclosure, an autonomous mobile robot pass control device is provided, comprising: a first acquisition module, configured to acquire pass environment information in response to identifying that an autonomous mobile robot enters an access control area, the pass environment information comprising first motion information of the autonomous mobile robot, an opening and closing state of a target door in the access control area, and obstacle information within a preset range of the target door; a receiving module, configured to receive first voice information of the autonomous mobile robot; a processing module, configured to input the pass environment information and the first voice information into a target model to obtain a safety evaluation result output by the target model, the target model being a large language model; a control module, configured to generate a pass control instruction according to the safety evaluation result and execute the pass control instruction, the pass control instruction being used to indicate whether the autonomous mobile robot is allowed to pass through the access control area.

[0012] According to a third aspect of the present disclosure, a computer readable storage medium is provided, which stores a computer program, the program being executed by a processor to implement the steps of the method according to the first aspect of the present disclosure.

[0013] According to a fourth aspect of the present disclosure, an electronic device is provided, comprising: a memory, which stores a computer program; a processor, configured to execute the computer program in the memory to implement the steps of the method according to the first aspect of the present disclosure.

[0014] Through the above technical solution, when an autonomous mobile robot enters an access control area, it automatically acquires information about the autonomous mobile robot, the access control area's door, and the surrounding environment related to passage, such as the autonomous mobile robot's initial motion information, the door's opening and closing status, and obstacle information near the door. It also receives the autonomous mobile robot's initial voice information and inputs the access control environment information and the initial voice information into a target model. The target model, as a large language model, possesses excellent natural language understanding, reasoning generation, and context modeling capabilities. It can identify the autonomous mobile robot's passage intentions and predict the effectiveness of its passage, thereby assessing the safety level of the autonomous mobile robot's passage in the access control area and outputting a safety assessment result. Based on the safety assessment result output by the target model, it generates access control commands to control the autonomous mobile robot's passage. Therefore, when an autonomous mobile robot enters an access control area, it can automatically acquire a series of information, assess the safety level of the autonomous mobile robot's passage, and then further implement targeted automatic control of the autonomous mobile robot's passage. In this way, it is possible to automatically assist autonomous mobile robots in passing through without any human intervention, while ensuring passage safety, improving the passage efficiency of autonomous mobile robots, and effectively avoiding the interruption of the autonomous mobile robot's path due to physical obstacles.

[0015] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart of an autonomous mobile robot access control method provided according to one embodiment of the present disclosure; Figure 2 This is a block diagram of an autonomous mobile robot access control device provided according to one embodiment of the present disclosure; Figure 3 This is a block diagram illustrating an electronic device according to an exemplary embodiment; Figure 4 This is a block diagram illustrating an electronic device according to another exemplary embodiment. Detailed Implementation

[0017] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0018] Figure 1is a flowchart of an autonomous mobile robot passage control method according to an embodiment of the present disclosure. As shown in Figure 1 The method provided by the present disclosure can include steps 11 to 14.

[0019] In step 11, in response to identifying that the autonomous mobile robot enters the access control area, access environment information is acquired.

[0020] The access environment information can include first motion information of the autonomous mobile robot, an opening and closing state of a target door in the access control area, and obstacle information within a preset range of the target door. The autonomous mobile robot can include, but is not limited to, a bionic mobile robot (such as a robot dog), a service robot (such as a food delivery robot, a security inspection robot, a medical delivery robot, etc.).

[0021] In the present disclosure, the access control area can be a designated area containing the area where the target door is located. For example, an area with the target door as the center and a specified distance as the radius. For another example, a designated square area with the target door as the center. For another example, an area covered by a certain distance on both sides of the target door.

[0022] Optionally, a visual sensor for collecting visual information in the access control area can be provided. The visual sensor can be a camera for collecting a video stream of the access control area. The visual sensor can be set according to actual needs, such as one or more visual sensors set to capture an area that can cover the access control area (or larger than the access control area). For example, if a visual sensor is set for the access control area corresponding to a fire door, the visual sensor can be set on both sides of the fire door. For another example, if a visual sensor is set for a cargo elevator, the visual sensor can be set at the cargo elevator entrance.

[0023] Based on the visual information collected by the visual sensor, it can be identified whether an autonomous mobile robot enters the access control area, and then the subsequent acquisition of the access environment information is triggered.

[0024] By collecting the video stream of the access control area and identifying the video stream, the motion information of the autonomous mobile robot can be determined as the first motion information, and the obstacle information within the preset range of the target door can be determined.

[0025] The motion information of the autonomous mobile robot can include, but is not limited to, attitude information, motion direction, and carried object information of the autonomous mobile robot. For example, the attitude information can be facing the target door, facing away from the target door, etc. For another example, the motion direction can be approaching the target door, moving away from the target door, etc. For another example, the carried object information can be whether to carry goods and the type of the carried goods (such as a medicine box, a express box).

[0026] The obstacle information can include, but is not limited to, static obstacles, dynamic obstacles, movement trends of dynamic obstacles, and the like. The obstacles can include people, articles, and the like.

[0027] Optionally, a preset target recognition algorithm can be used to detect the target of each frame of the collected video stream to identify the target such as the autonomous mobile robot and the obstacle and the posture thereof, and to track the motion of the continuous video frames to obtain the motion trend of the target, and the like. Thus, the first motion information and the obstacle information are determined. For example, the preset target recognition algorithm can be a YOLO algorithm, which is a full name of You Only Look Once, and is a target detection algorithm based on deep learning.

[0028] In some cases, multiple autonomous mobile robots can enter the access control area, and for each autonomous mobile robot, the motion information thereof will be identified by the above method respectively, and the motion information will be associated with the unique identifier of the autonomous mobile robot.

[0029] The opening and closing state of the target door body can be set according to actual needs, such as full opening, half opening, closing, or whether to open, opening direction (e.g., inward opening, outward opening, etc.), opening angle, and the like. For example, the opening and closing state of the target door body can be determined by image recognition. For another example, the controller for controlling the target door body can directly know the opening and closing state of the target door body.

[0030] In step 12, the first voice information of the autonomous mobile robot is received.

[0031] The autonomous mobile robot will issue a language broadcast information when approaching the access control area. The voice broadcast information is usually an audio for requesting communication, which can include the request content and the currently executed task. By performing audio-to-text processing on the voice broadcast information, the first voice information can be obtained.

[0032] The first voice information contains the request information (i.e., the above request content) and the task information (i.e., the currently executed task). For example, the first voice information can be: “Request to open the fire door, delivery task ID: 123”, which can determine that the first voice information is used to request to open the fire door and is used to execute the delivery task with the delivery ID (Identification, Identification) of 123.

[0033] In step 13, the pass-through environment information and the first voice information are input into the target model to obtain a safety evaluation result output by the target model.

[0034] The target model can be a large language model, such as ChatGPT, and the like.

[0035] After obtaining the passing environment information and receiving the first voice information, the two can be input to the target model to evaluate the safety of the current autonomous mobile robot passing the current target door body by using the target model, and obtain a safety evaluation result.

[0036] The target model is a large language model with powerful natural language understanding, reasoning generation and context modeling capabilities. The input prompt words for the target model can be set in advance to instruct the target model to perform safety evaluation according to the requirements and output the safety evaluation result.

[0037] For example, the prompt words can include: robot motion information A1, door state A2, obstacles near the door A3, motion trend A4, robot voice text A5, analyze the robot passing intention, predict the influence after the robot passing according to the robot task, judge whether it can pass safely, and evaluate the passing safety.

[0038] Optionally, the safety evaluation result can include but is not limited to a first safety level, a second safety level and a third safety level. The safety level represented by the first safety level is higher than that represented by the second safety level, and the safety level represented by the second safety level is higher than that represented by the third safety level. In addition, more safety levels can be set according to actual requirements.

[0039] In step 14, a passing control instruction is generated and executed according to the safety evaluation result.

[0040] The passing control instruction can be used to indicate whether the autonomous mobile robot is allowed to pass through the access control area.

[0041] In one possible scenario, there can be multiple objects that need to pass through the access control area at the same time. In this case, a reasonable passing order needs to be set for each object to avoid congestion.

[0042] In one possible implementation, the method provided by the present disclosure can further include the following steps: In response to the autonomous mobile robot entering the access control area, it is determined whether there is an autonomous mobile device in the access control area in addition to the autonomous mobile robot; If there is an autonomous mobile device, obtain the second motion information of the autonomous mobile device and the second voice information of the mobile device; Correspondingly, step 13 can include the following steps: The passing environment information, the first voice information, the second motion information and the second voice information are input to the target model to obtain the safety evaluation result corresponding to each of the autonomous mobile robot and the autonomous mobile device. Each safety evaluation result carries a passing sequence number, which is used to indicate the passing order from the access control area.

[0043] That is, in the case that the autonomous mobile robot enters the access control area, it is determined whether there is currently another autonomous mobile device (for example, another autonomous mobile robot) in the access control area. If there is such an autonomous mobile device, the second motion information and the second voice information of the autonomous mobile device need to be obtained, wherein the second motion information of the autonomous mobile device is similar to the way of determining the motion information of the autonomous mobile robot, and the second voice information of the autonomous mobile device is similar to the first voice information. If there are more than one autonomous mobile device, the second motion information and the second voice information of each autonomous mobile device need to be obtained respectively.

[0044] Based on this, the passing environment information, the first voice information, the second motion information and the second voice information can be input into the target model to obtain the respective safety evaluation results of the autonomous mobile robot and the autonomous mobile device. Each safety evaluation result carries a passing sequence number, which is used to indicate the passing order in the access control area.

[0045] Optionally, an input prompt word for the target model can be set in advance to instruct the target model to perform safety evaluation according to the requirements and output the safety evaluation results.

[0046] For example, the prompt word can include: the motion information of robot B1 is C1, the voice text is D1, the motion information of robot B2 is C2, the voice text is D2, the motion information of robot B3 is C3, the voice text is D3, the door state is E1, there is an obstacle E2 near the door, the motion trend is E3, please analyze the passing intention of each robot, predict the influence after the robot passes according to the robot task, judge whether each robot can pass safely, evaluate the passing safety, and assign a passing order to each robot.

[0047] Therefore, the output result of the target model not only contains the safety evaluation results of the autonomous mobile robot and the autonomous mobile device respectively, but also sets the safest passing order for each of them.

[0048] Based on this, the method provided by the present disclosure can further include the following steps: determine whether the passing sequence number of the autonomous mobile robot is the current passable sequence number; if the passing sequence number of the autonomous mobile robot is the current passable sequence number, execute step 14.

[0049] That is, if there are other autonomous mobile devices waiting to pass in the access control area in addition to the current autonomous mobile robot, since the target model assigns a passing order represented by a passing sequence number to each of them, the passing control instruction for the autonomous mobile robot can be generated and executed if the passing sequence number of the autonomous mobile robot is the current passable sequence number.

[0050] In this way, it can be avoided that multiple objects needing to pass through the access control area pass through at the same time, causing congestion and danger.

[0051] In a possible implementation, a correspondence between different security levels and control strategies can be pre-set, so that after determining the security level corresponding to the autonomous mobile robot according to the security evaluation result, the corresponding control strategy can be determined, and then the passage control instruction is generated and executed based on the control strategy to assist the autonomous mobile robot in passing through. The correspondence between different security levels and control strategies can be pre-set according to actual needs.

[0052] In another possible implementation, step 14 can include the following steps: If the security evaluation result is the first security level, a first control instruction indicating that the autonomous mobile robot is allowed to pass through is generated and executed; If the security evaluation result is the second security level, a second control instruction indicating that the autonomous mobile robot is delayed to pass through is generated and executed; If the security evaluation result is the third security level, a third control instruction indicating that the autonomous mobile robot is prohibited to pass through is generated and executed.

[0053] As described above, the security levels of the first security level, the second security level, and the third security level are decreasing in turn. If it is determined that the autonomous mobile robot passes through the first security level, the security level is high, and the autonomous mobile robot can be allowed to pass through. If it is determined that the autonomous mobile robot passes through the second security level, the security level is medium, and the autonomous mobile robot can be required to wait and then determine whether it can pass through. If it is determined that the autonomous mobile robot passes through the third security level, the security level is low, and the autonomous mobile robot can be refused to pass through.

[0054] In a possible implementation, if the security evaluation result is the first security level, a first control instruction indicating that the autonomous mobile robot is allowed to pass through can be generated and executed.

[0055] Optionally, generating and executing the first control instruction indicating that the autonomous mobile robot is allowed to pass through can include the following steps: generating a first control instruction for controlling the target door body to open; sending the first control instruction to a controller of the target door body to trigger the controller to open the target door body.

[0056] The first control instruction can be used to trigger the target door body to open. For example, if the target door body is a fire door with an electric door lock, the first control instruction can be an instruction for triggering the electric door lock to open. For another example, if the target door body is an elevator, the first control instruction can be an instruction for triggering the elevator to be called to the current floor.

[0057] In addition, the first control instruction can also be used to indicate the opening mode of the target door body, such as one-side door opening, two-side door opening, opening angle, opening duration, etc. For example, the opening angle can be determined according to the volume of the autonomous mobile robot, and the larger the volume, the larger the opening angle. For another example, the opening duration can be determined according to the moving speed of the autonomous mobile robot to determine the duration required to pass through the target door body, and the faster the moving speed, the shorter the opening duration of the target door body.

[0058] After generating the first control instruction, the first control instruction can be sent to the controller of the target door body to trigger the controller to control the opening of the target door body according to the mode indicated by the first control instruction.

[0059] In another possible implementation, if the safety evaluation result is the second safety level, a second control instruction for indicating to delay the passage of the autonomous mobile robot can be generated and executed.

[0060] Optionally, generating and executing the second control instruction for indicating to delay the passage of the autonomous mobile robot can include the following steps: generating a second control instruction for monitoring whether the target object meets the determination condition; determining whether the target object meets the determination condition according to the second control instruction; controlling the opening of the target door body in response to determining that the target object meets the determination condition.

[0061] The target object can include the autonomous mobile robot or the target door body. The determination condition can be flexibly set according to actual needs.

[0062] Optionally, if the target object includes the autonomous mobile robot, steps 11 to 13 can be continuously executed for the autonomous mobile robot to update the safety evaluation result for the autonomous mobile robot until the safety evaluation result is updated to the first safety level, it is determined that the target object meets the determination condition, and the target door body is controlled to open.

[0063] Optionally, if the target object includes the target door body, the obstacles near the target door body can be monitored, and if no obstacles are monitored near the target door body and the state of no obstacles lasts for a specified duration, it can be determined that the target object meets the determination condition, and the target door body is controlled to open.

[0064] In the case of needing to control the opening of the target door body, the opening control of the target door body can be implemented by referring to the method of generating the first control instruction described above, which will not be described here.

[0065] In addition, if the safety evaluation result is the second safety level, voice information (e.g., "please wait, there is a person passing by") for prompting the autonomous mobile robot to wait can be generated to inform the autonomous mobile robot to wait.

[0066] In another possible implementation, if the safety evaluation result is the third safety level, a third control instruction for indicating that the autonomous mobile robot is prohibited to pass through is generated and executed.

[0067] Optionally, generating and executing the third control instruction for indicating that the autonomous mobile robot is prohibited to pass through can include the following steps: determining a passing prohibition reason according to the safety evaluation result; generating the third control instruction carrying the passing prohibition reason; sending the third control instruction to the autonomous mobile robot to prohibit the autonomous mobile robot to pass through the access control area.

[0068] For example, if the safety evaluation result indicates the third safety level, a passing prohibition reason for representing insufficient safety and high risk can be determined. For example, insufficient authority, high safety risk, etc.

[0069] For another example, when the target model outputs the safety evaluation result representing the third safety level, the safety evaluation result can carry a reason for causing the low safety level. In this way, the passing prohibition reason can be extracted from the safety evaluation result.

[0070] After the passing prohibition reason is determined, the third control instruction carrying the passing prohibition reason can be generated and sent to the autonomous mobile robot to inform the autonomous mobile robot and prohibit the autonomous mobile robot to pass through the access control area.

[0071] By the above technical solution, when the autonomous mobile robot enters the access control area, the access environment information related to passing, such as the first motion information of the autonomous mobile robot, the opening and closing state of the door body of the access control area, and the obstacle information near the door body, is automatically obtained. The first voice information of the autonomous mobile robot is received, and the access environment information and the first voice information are input to the target model. The target model is a large language model, has excellent natural language understanding ability, reasoning generation and context modeling ability, can identify the passing intention of the autonomous mobile robot, can predict the effect of the autonomous mobile robot passing, and can evaluate the safety degree of the autonomous mobile robot passing in the access control area as a safety evaluation result output. Then, the passing control instruction is generated according to the safety evaluation result output by the target model, and is used to control the passing of the autonomous mobile robot. Therefore, in the case that the autonomous mobile robot enters the access control area, a series of information can be automatically obtained, the safety degree of the autonomous mobile robot passing can be evaluated, and the passing of the autonomous mobile robot can be further automatically controlled. In this way, the passing assistance of the autonomous mobile robot can be automatically realized without any personnel intervention, the passing safety can be ensured, the passing efficiency of the autonomous mobile robot can be improved, and the situation that the autonomous mobile robot path is interrupted due to physical obstacles can be effectively avoided.

[0072] Figure 2 is a block diagram of an autonomous mobile robot passing control device provided according to an embodiment of the present disclosure. As shown in Figure 2 the device 20 can include: a first obtaining module 21, configured to, in response to identifying that an autonomous mobile robot enters an access control area, obtain access environment information, the access environment information including first motion information of the autonomous mobile robot, an opening and closing state of a target door body in the access control area, and obstacle information within a preset range of the target door body; a receiving module 22, configured to receive first voice information of the autonomous mobile robot; a processing module 23, configured to input the access environment information and the first voice information to a target model to obtain a safety evaluation result output by the target model, the target model being a large language model; a control module 24, configured to generate a passing control instruction according to the safety evaluation result and execute the passing control instruction, the passing control instruction being used to indicate whether to allow the autonomous mobile robot to pass through the access control area.

[0073] Optionally, the device 20 further includes: a determining module, configured to, in response to the autonomous mobile robot entering the access control area, determine whether there is an autonomous mobile device other than the autonomous mobile robot in the access control area; The second acquisition module is configured to acquire second motion information of the autonomous mobile device and second voice information of the mobile device if the autonomous mobile device exists. The processing module 23 comprises: The processing sub-module is configured to input the pass environment information, the first voice information, the second motion information and the second voice information into the target model to obtain a safety evaluation result corresponding to each of the autonomous mobile robot and the autonomous mobile device. Each safety evaluation result carries a pass sequence number, which is used to indicate a pass order from the access control area.

[0074] Optionally, the control module 24 comprises: The first determination sub-module is configured to determine whether the pass sequence number of the autonomous mobile robot is a current passable sequence number. The device 20 is configured to generate a pass control instruction and execute it according to the safety evaluation result if the pass sequence number of the autonomous mobile robot is the current passable sequence number.

[0075] Optionally, the safety evaluation result comprises a first safety level, a second safety level and a third safety level. The safety degree of the first safety level is higher than that of the second safety level, and the safety degree of the second safety level is higher than that of the third safety level. The control module 24 comprises: The first control sub-module is configured to generate a first control instruction indicating that the autonomous mobile robot is allowed to pass and execute it if the safety evaluation result is the first safety level. The second control sub-module is configured to generate a second control instruction indicating that the autonomous mobile robot is delayed to pass and execute it if the safety evaluation result is the second safety level. The third control sub-module is configured to generate a third control instruction indicating that the autonomous mobile robot is prohibited to pass and execute it if the safety evaluation result is the third safety level.

[0076] Optionally, the first control sub-module comprises: The first generation sub-module is configured to generate a first control instruction for controlling the target door body to open. The first sending sub-module is configured to send the first control instruction to a controller of the target door body to trigger the controller to open the target door body.

[0077] Optionally, the second control sub-module comprises: The second generation submodule is used to generate a second control command for monitoring whether the target object meets the judgment conditions, wherein the target object includes the autonomous mobile robot or the target door. The second determining submodule is used to determine whether the target object meets the determination condition according to the second control instruction; The second control submodule is used to control the target door to open in response to determining that the target object meets the judgment condition.

[0078] Optionally, the third control submodule includes: The third determining submodule is used to determine the reason for prohibiting passage based on the security assessment results; The third generation submodule is used to generate a third control command carrying the reason for prohibiting passage; The second sending submodule is used to send the third control command to the autonomous mobile robot to prevent the autonomous mobile robot from passing through the access control area.

[0079] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0080] Based on the same inventive concept, this disclosure also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the autonomous mobile robot access control method provided in any embodiment of this disclosure.

[0081] Based on the same inventive concept, this disclosure also provides an electronic device, comprising: A memory on which computer programs are stored; A processor is configured to execute the computer program in the memory to implement the steps of the autonomous mobile robot access control method provided in any embodiment of this disclosure.

[0082] Figure 3 This is a block diagram illustrating an electronic device 700 according to an exemplary embodiment. Figure 3 As shown, the electronic device 700 may include a processor 701 and a memory 702. The electronic device 700 may also include one or more of a multimedia component 703, an input / output (I / O) interface 704, and a communication component 705.

[0083] The processor 701 is configured to control overall operations of the electronic device 700 to complete all or part of the steps of the autonomous mobile robot passage control method described above. The memory 702 is configured to store various types of data to support operations of the electronic device 700, which can include, for example, instructions for any application or method operating on the electronic device 700, and application-related data, such as contact data, transmitted and received messages, pictures, audio, video, and the like. The memory 702 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk. The multimedia component 703 can include a screen and an audio component. The screen can be, for example, a touch screen, and the audio component is configured to output and / or input audio signals. For example, the audio component can include a microphone configured to receive external audio signals. The received audio signals can be further stored in the memory 702 or transmitted through the communication component 705. The audio component also includes at least one speaker configured to output audio signals. The I / O interface 704 provides an interface between the processor 701 and other interface modules, which can be a keyboard, a mouse, a button, and the like. The buttons can be virtual buttons or physical buttons. The communication component 705 is configured to perform wired or wireless communication between the electronic device 700 and other devices. Wireless communication, such as Wi-Fi, Bluetooth, near field communication (NFC), 2G, 3G, or 4G, or a combination of one or more of them, so the corresponding communication component 705 can include a Wi-Fi module, a Bluetooth module, and an NFC module.

[0084] In an exemplary embodiment, the electronic device 700 can be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic elements for performing the above-described autonomous mobile robot passage control method.

[0085] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, which, when executed by a processor, implement the steps of the above-described autonomous mobile robot passage control method. For example, the computer-readable storage medium can be the above-described memory 702 including program instructions, which can be executed by the processor 701 of the electronic device 700 to complete the above-described autonomous mobile robot passage control method.

[0086] In another exemplary embodiment, a computer program product is also provided, which contains a computer program executable by a processor, which, when executed by the processor, implements the steps of the above-described autonomous mobile robot passage control method.

[0087] Figure 4 is a block diagram of an electronic device 1900 according to an exemplary embodiment. For example, the electronic device 1900 can be provided as a server. Referring to Figure 4 , the electronic device 1900 includes a processor 1922, the number of which can be one or more, and a memory 1932 for storing a computer program executable by the processor 1922. The computer program stored in the memory 1932 can include one or more modules each corresponding to a set of instructions. In addition, the processor 1922 can be configured to execute the computer program to perform the above-described autonomous mobile robot passage control method.

[0088] In addition, the electronic device 1900 can further include a power supply component 1926, which can be configured to perform power management of the electronic device 1900, and a communication component 1950, which can be configured to enable communication of the electronic device 1900, e.g., wired or wireless communication. In addition, the electronic device 1900 can further include an input / output (I / O) interface 1958. The electronic device 1900 can operate based on an operating system stored in the memory 1932, e.g., Windows Server TM , Mac OS X TM , Unix TM , Linux TM , etc.

[0089] In another exemplary embodiment, a computer readable storage medium including program instructions that, when executed by a processor, implement the steps of the autonomous mobile robot passage control method described above is also provided. For example, the computer readable storage medium can be the memory 1932 described above including program instructions that are executable by the processor 1922 of the electronic device 1900 to complete the autonomous mobile robot passage control method described above.

[0090] In another exemplary embodiment, a computer program product containing a computer program executable by a processor, which, when executed by the processor, implements the steps of the autonomous mobile robot passage control method described above is also provided.

[0091] The preferred embodiments of the present disclosure are described in detail above with reference to the accompanying drawings, but the present disclosure is not limited to the specific details in the above-described embodiments. Within the technical concept scope of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all belong to the protection scope of the present disclosure.

[0092] In addition, it should be noted that each specific technical feature described in the above-described specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, various possible combinations are not described again by the present disclosure.

[0093] In addition, various different embodiments of the present disclosure can also be combined in any appropriate manner, as long as it does not deviate from the idea of the present disclosure, it should also be considered as disclosed by the present disclosure.

Claims

1. An autonomous mobile robot passage control method characterized by, The method comprises: in response to identifying that the autonomous mobile robot enters the access control area, obtaining access environment information, the access environment information comprising first motion information of the autonomous mobile robot, an opening and closing state of a target door in the access control area, and obstacle information within a preset range of the target door; receiving first voice information of the autonomous mobile robot; inputting the access environment information and the first voice information into a target model to obtain a safety evaluation result output by the target model, the target model being a large language model; generating and executing an access control instruction according to the safety evaluation result, the access control instruction being used to indicate whether to allow the autonomous mobile robot to pass through the access control area.

2. The method of claim 1, wherein, The method further comprises: in response to the autonomous mobile robot entering the access control area, determining whether there is an autonomous mobile device other than the autonomous mobile robot in the access control area; if there is the autonomous mobile device, obtaining second motion information of the autonomous mobile device and second voice information of the mobile device; the inputting the access environment information and the first voice information into a target model to obtain a safety evaluation result output by the target model comprises: inputting the access environment information, the first voice information, the second motion information and the second voice information into the target model to obtain respective safety evaluation results of the autonomous mobile robot and the autonomous mobile device, each of the safety evaluation results carrying an access sequence number, the access sequence number being used to indicate a passing order through the access control area.

3. The method of claim 2, wherein, the generating and executing an access control instruction according to the safety evaluation result comprises: determining whether the access sequence number of the autonomous mobile robot is a current passable sequence number; in the case that the access sequence number of the autonomous mobile robot is the current passable sequence number, generating and executing an access control instruction according to the safety evaluation result.

4. The method of claim 1, wherein, The safety evaluation result comprises a first safety level, a second safety level and a third safety level, the safety degree of the first safety level being higher than that of the second safety level, and the safety degree of the second safety level being higher than that of the third safety level; the generating and executing an access control instruction according to the safety evaluation result comprises: if the safety evaluation result is the first safety level, generating and executing a first control instruction indicating that the autonomous mobile robot is allowed to pass through; if the safety evaluation result is the second safety level, generating and executing a second control instruction indicating that the autonomous mobile robot is delayed to pass through; if the safety evaluation result is the third safety level, generating and executing a third control instruction indicating that the autonomous mobile robot is prohibited to pass through.

5. The method of claim 4, wherein, the generating and executing a first control instruction indicating that the autonomous mobile robot is allowed to pass through comprises: generating a first control instruction for controlling the target door to open; sending the first control instruction to a controller of the target door to trigger the controller to open the target door.

6. The method of claim 4, wherein, the generating and executing a second control instruction indicating that the autonomous mobile robot is delayed to pass through comprises: generating a second control instruction for monitoring whether a target object meets a determination condition, the target object including the autonomous mobile robot or the target door body; determining whether the target object meets the determination condition according to the second control instruction; in response to determining that the target object meets the determination condition, controlling the target door body to open.

7. The method of claim 4, wherein, The generating a third control instruction for indicating that the autonomous mobile robot is prohibited from passing and executing includes: determining a passing prohibition reason according to the safety evaluation result; generating a third control instruction carrying the passing prohibition reason; sending the third control instruction to the autonomous mobile robot to prohibit the autonomous mobile robot from passing through the access control area.

8. An autonomous mobile robot passage control device characterized by comprising: a passage control device according to any one of claims 1 to 7; and a robot control device configured to control the autonomous mobile robot. The device includes: a first acquisition module configured to acquire passing environment information in response to identifying that the autonomous mobile robot enters the access control area, the passing environment information including first motion information of the autonomous mobile robot, an opening and closing state of a target door body in the access control area, and obstacle information within a preset range of the target door body; a receiving module configured to receive first voice information of the autonomous mobile robot; a processing module configured to input the passing environment information and the first voice information into a target model to obtain a safety evaluation result output by the target model, the target model being a large language model; a control module configured to generate a passing control instruction according to the safety evaluation result and execute the passing control instruction, the passing control instruction being used to indicate whether the autonomous mobile robot is allowed to pass through the access control area.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The program is executed by the processor to implement the steps of the method of any one of claims 1-7.

10. An electronic device, comprising: includes: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the steps of the method of any one of claims 1-7.

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