Door body control method, door body control device, storage medium and electronic equipment

Abstract

The invention provides a door body control method, a door body control device, a storage medium and electronic equipment. The door body control method is applied to a first controller, communication protocol connection is established between the first controller and a second controller, and the door body control method comprises the steps that under the condition that the automatic guided vehicle arrives at a first position, the automatic guided vehicle is controlled to stop, a first door stop instruction and a door opening instruction are sent to the second controller, and the second controller controls a target door body to stop; the target door body is controlled to be converted into an open state; under the condition that the opening state meets the preset state, the automatic guided vehicle is controlled to move along the target path so as to pass through the target door body; and under the condition that the automatic guided vehicle reaches the second position, a second door stopping instruction and a door closing instruction are sent to the second controller, and the second controller controls the target door body to stop, feeds back a second instruction and controls the target door body to be converted into a closed state. According to the invention, the problems of manpower dependence, insufficient automation, high cost and low safety when the AGV passes through the door body are solved.

Description

Technical Field

[0001] This application relates to the field of door control technology, and more specifically, to a door control method, a door control device, a storage medium, and an electronic device. Background Technology

[0002] In smart warehouses and automated logistics systems, Automated Guided Vehicles (AGVs) are key equipment for material handling, and their efficient and safe operation is crucial for improving overall operational efficiency. AGV routes are typically defined by magnetic strips or RFID tags, while physical isolation, such as roller shutters, is implemented between different work areas to meet requirements for fire prevention, dust control, insulation, and safety management.

[0003] However, the existing technology for controlling AGVs through doors (such as roller shutters) has significant shortcomings and limitations:

[0004] 1. When the AGV arrives at the roller shutter door, an audible and visual alarm notifies the staff to manually open and close the door. This method is inefficient, lacks automation, and is prone to safety issues and logistics interruptions due to human error, which does not meet the requirements of modern automated logistics systems.

[0005] 2. Through-beam sensor method: Through-beam sensors are installed on both sides of the door. When the AGV enters the sensing area, the roller shutter door is triggered to open. This method is susceptible to interference and may lead to unplanned door opening due to false triggering. It lacks identification of the AGV and cannot achieve two-way communication between the AGV and the roller shutter door, resulting in insufficient security and low automation.

[0006] 3. Add an additional Programmable Logic Controller (PLC) to each roller shutter door to enable signal interaction between the AGV and the roller shutter door via a network. While this improves the level of automation, it increases system costs, and in scenarios with multiple roller shutter doors, the management and maintenance complexity of the PLC also increases.

[0007] The existing technical solutions mentioned above have shortcomings in terms of efficiency, cost, automation level, and safety, especially in the interaction control between AGVs and gates, where there is a lack of efficient, stable, and safe automated solutions. Therefore, there is an urgent need for a gate control method that can overcome the above deficiencies and improve the efficiency and safety of AGVs passing through gates. Summary of the Invention

[0008] The main objective of this application is to provide a door control method, door control device, storage medium, and electronic device to at least address the shortcomings of existing door control methods in terms of reliability, cost, automation, and security.

[0009] To achieve the above objectives, according to one aspect of this application, a door control method is provided, applied to a first controller, wherein a communication protocol connection is established between the first controller and a second controller, the door control method comprising:

[0010] Control the automated guided vehicle to move along a target path, wherein the target path passes through a target gate;

[0011] When the automated guided vehicle reaches a first position on the target path, the automated guided vehicle is controlled to stop and a first stop door command is sent to the second controller. In response to the first command, an open door command is sent to the second controller. The second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from a stopped state to an open state in response to the open door command.

[0012] When the opening state meets the preset state, the automated guided vehicle is controlled to move along the target path to pass through the target gate;

[0013] When the automated guided vehicle reaches the second position on the target path, a second stop door command is sent to the second controller, and a door closing command is sent to the second controller in response to the second command. The second controller controls the target door to stop and responds to the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0014] Optionally, electronic tags are installed at multiple preset locations along the target path, including the first location and the second location. Controlling the automated guided vehicle to stop and sending the first stop command to the second controller includes: identifying the first electronic tag located at the first location; if the first electronic tag is successfully identified, determining whether the communication protocol connection between the first controller and the second controller is normal; if the communication protocol connection is normal, sending the first stop command to the second controller.

[0015] Optionally, when the open state satisfies the preset state, controlling the automated guided vehicle to move along the target path to pass through the target door includes: responding to a door opening signal to control the automated guided vehicle to move along the target path to pass through the target door, wherein the door opening signal is used to indicate that the open state satisfies the preset state, and the second controller responds to an inquiry positioning instruction to feed back the door opening signal, wherein the inquiry positioning instruction is an instruction triggered by the first controller after triggering the first door stop instruction.

[0016] Optionally, controlling the automated guided vehicle (AGV) to stop and controlling the AGV to move along the target path to pass through the target gate includes: generating a first control signal when a first electronic tag located at the first position is detected, the first control signal being used to activate a stop signal so that the AGV stops moving according to the activated stop signal; generating a start signal when the open state satisfies a preset state; and generating a second control signal when the start signal is detected, the second control signal being used to activate a movement signal so that the AGV continues to move and pass through the target gate according to the activated movement signal.

[0017] Optionally, sending the second stop door command to the second controller includes: identifying the second electronic tag located at the second position; and if the second electronic tag is successfully identified, sending the second stop door command to the second controller.

[0018] Optionally, the plurality of preset positions further includes a third position and a fourth position. The third position is a preset position on the target path along the direction of movement of the automated guided vehicle (AGV) before the first position, and the fourth position is a preset position on the target path along the direction of movement of the AGV after the second position. The door control method further includes: when the AGV reaches the third position, identifying a third electronic tag located at the third position, and triggering a first deceleration command if the third electronic tag is successfully identified, so that the second controller responds to the first deceleration command and controls the AGV to move at a first predetermined speed; when the AGV reaches the fourth position, identifying a fourth electronic tag located at the fourth position, and triggering a second deceleration command if the fourth electronic tag is successfully identified, so that the second controller responds to the second deceleration command and controls the AGV to move at a second predetermined speed.

[0019] Optionally, the door control method further includes: receiving a control request and, in response to the control request, controlling the automated guided vehicle to move onto the target path.

[0020] According to another aspect of this application, a door control device is provided, applied to a first controller, wherein a communication protocol connection is established between the first controller and a second controller, comprising:

[0021] The first control module is used to control the automated guided vehicle to move along the target path, wherein the target path passes through the target gate.

[0022] The second sending module is configured to, when the automated guided vehicle reaches a first position on the target path, control the automated guided vehicle to stop and send a first stop door command to the second controller, and in response to the first command, send an open door command to the second controller, wherein the second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from a stopped state to an open state in response to the open door command;

[0023] The second control module is used to control the automated guided vehicle to move along the target path to pass through the target gate when the opening state meets the preset state.

[0024] The second sending module is configured to send a second stop door command to the second controller when the automated guided vehicle reaches a second position on the target path, and to send a door closing command to the second controller in response to the second command. The second controller controls the target door to stop and feeds back the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0025] According to another aspect of this application, a computer-readable storage medium is provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the device where the computer-readable storage medium is located to perform the gate control method.

[0026] According to another aspect of this application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, the one or more programs including methods for performing the gate control method.

[0027] This application provides a door control method that enables the movement control of an automated guided vehicle (AGV) on a target path and the opening and closing control of the door. Specifically, when the AGV reaches the first position on the target path, it automatically stops and sends a stop door command, ensuring that the door is stationary before the opening action is performed, thus avoiding the safety risks that may be caused by line interlocking. After receiving the command, the door controller (i.e., the second controller) feeds back a first command and then sends an opening command in response to the first command, so that the second controller controls the door to open to meet the preset state (e.g., reaching the fully open state). This allows the AGV to continue traveling along the predetermined path after confirming that the door is fully open, thereby eliminating the uncertainty of manual intervention and improving safety and automation levels. Subsequently, when the AGV reaches the second position on the target path, i.e., behind the gate along the direction of movement, a second stop command and a closing command are sent first, ensuring that the gate is stationary before the closing action is performed, thus avoiding the safety risks that may be caused by line interlocking. After receiving the command, the gate controller feeds back the second command and, in response to the second command, sends a closing command, so that the second controller controls the closing process of the gate, realizing automated interaction between the AGV and the gate. By reducing reliance on manual intervention, the reliability and safety of the system are improved, ensuring the automated, efficient, and safe operation of the AGV when passing through the gate. Furthermore, when the AGV reaches the second position on the target path, the automatically sent stop command ensures that the gate stops in time and can be closed after the AGV leaves, avoiding the safety hazards and energy waste caused by the gate remaining open for a long time after the AGV has passed through. This solution ensures efficient collaboration between the AGV and the roller shutter door without relying on additional hardware or a central control system, enhancing the system's reliability and flexibility. Specifically, by establishing a communication protocol between the first and second controllers, stable information exchange is achieved between the AGV (with the first controller) and the door controller (the second controller). The AGV can promptly obtain the door's status, such as whether it is fully open, and thus decide whether to restart operation, ensuring the AGV's safe passage after the door is fully open. This not only improves the level of automation and reduces manual intervention, but also enhances the overall reliability and safety of the system by optimizing the interaction logic between the AGV and the door. The solution eliminates the need for an additional central control system, reducing system complexity and cost, and improving overall reliability and maintenance convenience. In summary, the technical solution of this application effectively solves the problems of reliance on human labor, insufficient automation, high cost, and safety when AGVs pass through roller shutter doors. Attached Figure Description

[0028] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0029] Figure 1 A hardware structure block diagram of a mobile terminal for performing a gate control method according to an embodiment of this application is shown;

[0030] Figure 2 A schematic flowchart of a door control method according to an embodiment of this application is shown;

[0031] Figure 3 The illustration shows a door control method according to an embodiment of this application, in which electronic tags are set at multiple preset positions on the target path;

[0032] Figure 4 A flowchart illustrating another door control method provided according to an embodiment of this application is shown;

[0033] Figure 5 A structural block diagram of a door control device provided according to an embodiment of this application is shown. Detailed Implementation

[0034] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0035] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0037] Existing control schemes for interaction between Automated Guided Vehicles (AGVs) and roller shutter doors generally suffer from low efficiency, high cost, limited automation, and increased safety risks. Manual intervention in opening and closing doors not only slows down the automation process but also easily introduces safety hazards due to operational errors. While through-beam sensors simplify door control, their lack of identification and two-way communication capabilities makes them susceptible to environmental interference, leading to misoperation, and their safety and intelligence levels are insufficient. Adding a separate PLC to improve automation also incurs additional hardware costs. To address the shortcomings of existing door control methods in terms of reliability, cost, automation, and safety, embodiments of this application provide a door control method, a door control device, a storage medium, and an electronic device.

[0038] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

[0039] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 1 This is a hardware structure block diagram of a mobile terminal for a door control method according to an embodiment of the present invention. Figure 1 As shown, a mobile terminal may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. The mobile terminal may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0040] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the door control method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the above-described method. The memory 104 may include high-speed random access memory and non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the aforementioned networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof. The transmission device 106 is used to receive or send data via a network. Specific examples of the aforementioned networks may include wireless networks provided by the mobile terminal's communication provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0041] This embodiment provides a gate control method that runs on a mobile terminal, computer terminal, or similar computing device. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Also, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in a different order than that shown here.

[0042] Figure 2 This is a flowchart of a door control method according to an embodiment of this application. Figure 2 As shown, this method is applied to a first controller, establishing a communication protocol connection between the first controller and a second controller. The method includes the following steps:

[0043] Step S201: Control the automated guided vehicle to move along the target path, wherein the target path passes through the target gate.

[0044] Specifically, in this stage, the AGV is programmed to move along a pre-planned target path. Path planning is typically based on factory layout, task requirements, and obstacle information. The AGV uses its built-in navigation system (such as magnetic strip navigation, laser navigation, or vision navigation) and onboard programmable logic controller (PLC) for autonomous navigation, performing tasks such as material handling according to the predetermined route.

[0045] In step S202, when the automated guided vehicle reaches the first position on the target path, the automated guided vehicle is controlled to stop and a first stop door command is sent to the second controller. In response to the first command, an open door command is sent to the second controller. The second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from the stopped state to the open state in response to the open door command.

[0046] Specifically, when the AGV approaches a door (such as a roller shutter) on its target path, reaching the so-called "first position," it is programmed to stop automatically. This stopping mechanism is achieved through sensors or RFID tag identification on the AGV, ensuring that the AGV waits within a safe distance. Subsequently, the AGV sends a first stop command to the door's controller, i.e., the second controller. Upon receiving the first stop command, the second controller controls the door to stop any movement, ensuring that the door is stationary before it begins to open. After the second controller confirms that the door is stationary, the first controller sends an open command, causing the second controller to execute the door opening action until it is fully open, ready for the AGV to pass through.

[0047] Step S203: When the open state meets the preset state, control the automatic guided vehicle to move along the target path to pass through the target gate.

[0048] Specifically, once the gate is fully opened and reaches the preset opening state (e.g., a gate position or status sensor signal is detected), the AGV's control system receives a feedback signal confirming that the gate is ready for passage. At this point, the AGV continues to move along the target path, safely passing through the gate without human intervention, achieving smooth automated operation.

[0049] In step S204, when the automated guided vehicle reaches the second position on the target path, a second stop door command is sent to the second controller, and a door closing command is sent to the second controller in response to the second command. The second controller controls the target door to stop and feeds back the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0050] Specifically, once the AGV has passed through the gate and moved along the target path to the "second position" (a preset position behind the gate), it automatically stops again and sends a second stop command. This sequence ensures that even if someone manually adjusts the gate's state after it has been opened, the AGV can still ensure the gate stops safely and begins the closing process via commands. After receiving the command, the gate's second controller stops the current movement and sends a second command. The first controller then sends a close command, causing the second controller to control the gate to close until it is completely closed, restoring the isolated state of the work area.

[0051] This embodiment achieves movement control of the automated guided vehicle (AGV) on the target path and opening / closing control of the gate status. Specifically, when the AGV reaches the first position on the target path, it automatically stops and sends a stop gate command, ensuring that the gate is stationary before the opening action is performed, thus avoiding the safety risks that may be caused by line interlocking. After receiving the command, the gate controller (i.e., the second controller) feeds back a first command and, in response to the first command, sends an opening command, so that the second controller controls the gate to open to meet the preset state (e.g., reaching the fully open state). This allows the AGV to continue traveling along the predetermined path after confirming that the gate is in place, thereby eliminating the uncertainty of manual intervention and improving safety and automation levels. Subsequently, when the AGV reaches the second position on the target path, i.e., behind the gate along the direction of movement, a second stop command and a closing command are sent first, ensuring that the gate is stationary before the closing action is performed, thus avoiding the safety risks that may be caused by line interlocking. After receiving the command, the gate controller feeds back the second command and, in response to the second command, sends a closing command, so that the second controller controls the closing process of the gate, realizing automated interaction between the AGV and the gate. By reducing reliance on manual intervention, the reliability and safety of the system are improved, ensuring the automated, efficient, and safe operation of the AGV when passing through the gate. Furthermore, when the AGV reaches the second position on the target path, the automatically sent stop command ensures that the gate stops in time and can be closed after the AGV leaves, avoiding the safety hazards and energy waste caused by the gate remaining open for a long time after the AGV has passed through. This solution ensures efficient collaboration between the AGV and the roller shutter door without relying on additional hardware or a central control system, enhancing the system's reliability and flexibility. Specifically, by establishing a communication protocol between the first and second controllers, stable information exchange is achieved between the AGV (with the first controller) and the door controller (the second controller). The AGV can promptly obtain the door's status, such as whether it is fully open, and thus decide whether to restart operation, ensuring the AGV's safe passage after the door is fully open. This not only improves the level of automation and reduces manual intervention, but also enhances the overall reliability and safety of the system by optimizing the interaction logic between the AGV and the door. The solution eliminates the need for an additional central control system, reducing system complexity and cost, and improving overall reliability and maintenance convenience. In summary, the technical solution of this application effectively solves the problems of reliance on human labor, insufficient automation, high cost, and safety when AGVs pass through roller shutter doors.

[0052] In some optional implementations, electronic tags are installed at multiple preset locations on the target path of the gate. The multiple preset locations of the gate include a first position and a second position of the gate. In step S202 above, controlling the automatic guided vehicle to stop and sending a first stop command to the second controller may include: identifying the first electronic tag located at the first position of the gate, and if the identification of the first electronic tag of the gate is successful, determining whether the communication protocol connection between the first controller and the second controller is normal; if the communication protocol connection is normal, sending a first stop command to the second controller.

[0053] In the above optional implementation, when the Automated Guided Vehicle (AGV) travels to the first position on the target path, the system automatically triggers a stop command by recognizing the first electronic tag located at the first position. This process ensures that the AGV can smoothly decelerate and stop when approaching the door, avoiding potential safety risks caused by high-speed travel. Subsequently, in response to the first command fed back by the second controller, an opening command is automatically triggered. This creates an interval between the triggering of the first stop command and the opening command. The setting of this time interval fully considers the response time and action cycle of the door, ensuring coordination and safety between door opening and the continued travel of the AGV.

[0054] Furthermore, when the open state meets the preset state, controlling the automated guided vehicle to move along the target path to pass through the target door may include: responding to the door opening signal to control the automated guided vehicle to move along the target path to pass through the target door, wherein the door opening signal is used to indicate that the open state meets the preset state, and the second controller responds to the inquiry positioning instruction to feed back the door opening signal, the inquiry positioning instruction being an instruction triggered by the first controller after triggering the first door stop instruction.

[0055] Specifically, after the AGV triggers the first stop command, the subsequent inquiry command allows the second controller to provide feedback on the door's specific status, especially the "door open" signal, indicating that the door is fully open to the preset state. This provides the AGV with a confirmation signal for safe passage through the door. The AGV only continues moving after receiving the "door open" signal and confirming that the roller shutter door's opening state meets the preset conditions, effectively avoiding the risk of collisions with partially open doors and enhancing the safety of the entire automation system. Furthermore, by automatically recognizing and responding to changes in door status and through preset communication and control processes, the AGV ensures the continuity of its tasks. This means that automated movement from one task point to another does not need to be interrupted by door control, improving the smoothness and efficiency of logistics and production processes.

[0056] In some optional implementations, controlling the automated guided vehicle (AGV) to stop and controlling the AGV to move along a target path to pass through a target gate includes: generating a first control signal when a first electronic tag located at a first position on the gate is detected, the gate first control signal being used to activate a stop signal so that the gate AGV stops moving according to the activated gate stop signal; generating a start signal when the gate target gate opening state meets a preset state; and generating a second control signal when the gate start signal is detected, the gate second control signal being used to activate a movement signal so that the gate AGV continues to move and pass through the target gate according to the activated gate movement signal.

[0057] In the above optional implementation, when the Automated Guided Vehicle (AGV) identifies the first electronic tag located at the first position, it immediately generates a first control signal. This signal activates a stop signal, causing the AGV to stop moving according to the signal instruction. Subsequently, the AGV detects the opening status of the target gate. Once it confirms that the gate is open in a preset state, it generates a start signal. At the exact moment the start signal is detected, the AGV generates a second control signal, activating a movement signal. This prompts the AGV to continue moving along the target path according to the activated movement signal, achieving a safe and smooth passage through the target gate. Thus, the electronic tag enables control of the AGV's start and stop actions. Combined with real-time feedback on the gate's status, this ensures the efficiency and safety of the automated process.

[0058] For example, controlling an AGV to move along a target path to pass through a roller shutter door, such as... Figure 3 As shown, a magnetic strip is set on the target path. RFID marker 1 and RFID marker 2 are positioned on the magnetic strip in front of the door along the AGV's movement direction. When the AGV approaches the roller shutter door, it first detects RFID marker 1 (stop and deceleration card), triggering the AGV to slow down and prepare for a safe stop. Next, when the AGV moves further and scans RFID marker 2 (door arrival card), a rising edge pulse signal is immediately generated. This signal indicates that the AGV has reached a specific position in front of the roller shutter door and is also the trigger point for activating the STO signal (stop signal). After the STO signal is set (i.e., becomes active), it interrupts the AGV's RUN signal (i.e., movement signal), the AGV's movement control flag, causing the AGV to stop. At this point, the AGV no longer performs its original path movement task but waits for the roller shutter door's response. After receiving the AGV's instruction, the roller shutter door begins its opening action. Once the door is fully opened to the designated position (i.e., fully open), the roller shutter door controller will send a signal allowing the AGV to proceed. Once this signal is received by the AGV, it triggers the STO signal reset, meaning the STO signal becomes invalid. At this point, the AGV's RUN signal becomes valid again, allowing the AGV to resume movement and continue executing its original task flow.

[0059] In the example above, controlling the temporary stopping of the AGV via the STO signal avoids creating additional parking tasks and simplifies the task management process. Furthermore, the pause and resume mechanism of the RUN signal ensures the continuity of AGV tasks; only one task needs to be established from the pick-up point to the drop-off point, eliminating intermediate breakpoints and improving logistics efficiency and automation. In addition, the entire process does not rely on a central control system, reducing the impact of system failures on AGV operation and increasing operational independence and reliability.

[0060] In the above optional implementation, direct communication between the AGV and the gate controller can also be established through the TCP protocol, which not only eliminates the need for manual intervention in the traditional solution, but also greatly improves the response speed and accuracy, and realizes the seamless connection of access control in the automated logistics system.

[0061] In some optional implementations, sending a second stop command to the second controller includes: identifying a second electronic tag located at a second position on the door, and, if the identification of the second electronic tag on the door is successful, sending a second stop command to the second controller.

[0062] In the above optional implementation, when the Automated Guided Vehicle (AGV) moves to a specific location on the target path, it identifies the electronic tag located at that location, i.e., the second electronic tag, and immediately issues a second stop command upon successful identification, ensuring that the gate is stationary. Subsequently, in response to the second command fed back by the second controller, the AGV automatically triggers a closing command, thereby achieving automatic control of the gate by the AGV after passing through it through communication between the AGV and the gate, without the need for manual intervention. Furthermore, by controlling the interval between triggering the second stop command and the closing command, and by identifying the electronic tag, safe interaction between the AGV and the gate is ensured, effectively avoiding safety hazards caused by human error. This not only improves the operating efficiency of the AGV but also enhances the reliability and safety of the system.

[0063] In some optional embodiments, the multiple preset positions of the gate body also include a third position, which is a preset position on the target path of the gate body located before the first position of the gate body along the moving direction of the gate body automated guided vehicle. The gate body control method further includes: when the gate body automated guided vehicle reaches the third position of the gate body, identifying a third electronic tag located at the third position of the gate body, and triggering a first deceleration command when the third electronic tag of the gate body is successfully identified, so that the second controller responds to the first deceleration command of the gate body and controls the gate body automated guided vehicle to move at a first predetermined speed.

[0064] In the above optional embodiments, the multiple preset positions also include a preset position located on the target path, preceding the first position in the direction of movement of the automated guided vehicle (AGV), referred to as the third position. When the AGV reaches the third position, the system automatically triggers the identification process of the third electronic tag located at that position. Once identification is successful, a first deceleration command is triggered. This command causes the AGV's controller to respond and control the vehicle to move at a first predetermined speed, achieving initial deceleration. By setting a deceleration strategy at the preset third position before approaching the gate, the AGV can be smoothly decelerated, avoiding the impact or material damage that may be caused by sudden stopping. It also provides the necessary preparation time for subsequent interaction with the gate, allowing the AGV to approach the gate in a safer and more controllable manner, ensuring the safety of the entire automated operation process.

[0065] Furthermore, the automated guided vehicle (AGV) can not only automatically decelerate when approaching the gate, but also communicate effectively with the gate, including issuing stop and open commands and inquiring about the gate's position status. This ensures that the gate is accurately opened to the appropriate position before the AGV passes through, thereby reducing reliance on the central control system, improving the system's independence, and greatly enhancing the degree of automation by reducing human intervention.

[0066] In some optional embodiments, the multiple preset positions of the gate body also include a fourth position, which is a preset position on the target path of the gate body located after the second position of the gate body along the moving direction of the gate body automated guided vehicle. The gate body control method further includes: when the gate body automated guided vehicle reaches the fourth position of the gate body, identifying the fourth electronic tag located at the fourth position of the gate body, and triggering a second deceleration command when the fourth electronic tag of the gate body is successfully identified, so that the second controller responds to the second deceleration command of the gate body and controls the gate body automated guided vehicle to move at a second predetermined speed.

[0067] In the above optional implementation, when the automated guided vehicle (AGV) arrives at the fourth position on the target path, following the second position, the system automatically identifies the fourth electronic tag at that position. Upon successful identification, a second deceleration command is triggered. The controller responds to this command, adjusting the AGV to move at a second predetermined speed. This aims to ensure safe deceleration of the AGV after passing through the roller shutter door, preventing collisions or other safety accidents that may be caused by high-speed operation. By precisely controlling the speed of the AGV, not only is workplace safety improved, but logistics efficiency is also increased, avoiding time wastage caused by unnecessary sudden stops or excessively slow travel.

[0068] In possible alternative embodiments, the automated guided vehicle (AGV) can also use other types of sensing devices to replace the function of electronic tags. As long as the timing of arrival at a specific location can be accurately determined, the AGV's movement along the target path and the opening and closing of doors can still be controlled. Furthermore, the choice of communication protocol is not limited to TCP; any protocol that can ensure stable and fast data transmission is acceptable, which provides more possibilities for system integration.

[0069] The door control method in this application embodiment further includes: receiving a control request and, in response to the door control request, controlling the automatic door guide vehicle to move to the door target path.

[0070] For example, upon receiving a control request, an Automated Guided Vehicle (AGV) can autonomously move to the target path without interrupting its ongoing task or relying on direct commands from an external central control system. When the AGV approaches a roller shutter door, it triggers a pre-set deceleration and stopping procedure by reading information from a specific RFID tag.

[0071] This embodiment relates to a specific door control method, such as... Figure 3 and Figure 4 As shown, it includes the following steps:

[0072] The AGV is manually assigned an automated task based on its selected path. The AGV's RUN flag effectively controls its movement along the target path to pass through the roller shutter door. A magnetic strip is set on the target path (magnetic strip path), and RFID marker cards 1 and 2 are placed on the magnetic strip in front of the door along the AGV's direction of movement. When the AGV approaches the roller shutter door, the onboard PLC first detects RFID marker card 1 (stop and deceleration card), triggering the AGV to decelerate and prepare for a safe stop. Next, the AGV moves slowly in front of the door. When the AGV moves further via the onboard PLC and scans RFID marker card 2 (door arrival card), a rising edge pulse signal is immediately generated. This signal indicates that the AGV has reached a specific position in front of the roller shutter door and is also the trigger point for activating the STO signal (stop signal). After the STO signal is set (i.e., becomes active), the AGV's RUN signal (i.e., movement signal) is interrupted, meaning the AGV's RUN flag becomes invalid, causing the AGV to stop moving. At this point, the AGV no longer performs its original path movement task. Instead, it checks whether the communication between its onboard PLC and the roller shutter door controller (i.e., the second controller) via TCP protocol is normal. If it is abnormal, the AGV outputs an alarm signal through the onboard PLC at the stopping point after a period of time, and the onboard PLC and roller shutter door controller are manually checked for connection to the intranet. After successful communication, the alarm signal is reset. If the communication between the AGV's onboard PLC and the roller shutter door controller is normal, the AGV issues a stop command through the onboard PLC. After the roller shutter door controller responds with the first command, the AGV's onboard PLC alternately issues an open command and a query for the door's position. After receiving the AGV's open command, the roller shutter door begins to open. Once the door is fully opened to the specified height (i.e., fully opened), the roller shutter door controller will send a signal allowing the AGV to proceed, i.e., the door is fully opened signal. After the AGV receives this signal, it triggers the reset of the STO signal, making the STO signal invalid. At this point, the AGV's RUN signal becomes valid again, allowing the AGV to continue moving and resume its original task flow. The AGV passes a certain position through the roller shutter door and scans the RFID landmark card 3 (position landmark card), sends a stop command to the roller shutter door controller, and sends a close command after receiving the second command from the roller shutter door. The roller shutter door controller responds to the stop command and the close command in sequence to stop and close the door. At this time, the AGV has passed through the roller shutter door and continues to slow down after scanning the RFID landmark card 4.

[0073] Furthermore, if an anomaly occurs during TCP communication, the AGV will immediately issue an alarm signal, prompting manual intervention to check the network connection status. Once the fault is resolved, normal operation will resume, thus achieving a high degree of automation and collaborative operation between AGV operation and roller shutter door control, significantly improving production efficiency and safety.

[0074] This application also provides a door control device. It should be noted that the door control device of this application can be used to execute the door control method provided in this application. This device is used to implement the above embodiments and preferred embodiments; details already described will not be repeated. As used below, the term "module" can refer to a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0075] The door control device provided in the embodiments of this application will be described below.

[0076] Figure 5 This is a schematic diagram of a door control device according to an embodiment of this application. Figure 5 As shown, the device is applied to the first controller, and a communication protocol connection is established between the first controller and the second controller, including:

[0077] The first control module 10 is used to control the automated guided vehicle to move along a target path, wherein the target path passes through a target gate.

[0078] The first sending module 20 is used to control the automated guided vehicle to stop and send a first stop door command to the second controller when the automated guided vehicle reaches a first position on the target path, and to send an open door command to the second controller in response to the first command. The second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from a stopped state to an open state in response to the open door command.

[0079] The second control module 30 is used to control the automated guided vehicle to move along the target path to pass through the target gate when the preset state is met in the open state.

[0080] The second sending module 40 is used to send a second stop door command to the second controller when the automated guided vehicle reaches a second position on the target path, and to send a door closing command to the second controller in response to the second command. The second controller controls the target door to stop and feeds back the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0081] As an optional solution, the first sending module includes: a first identification submodule, used to identify the first electronic tag located at the first position when the automated guided vehicle moves to the first position; a first judgment submodule, used to determine whether the communication protocol connection between the first controller and the second controller is normal when the first electronic tag is successfully identified; and a first sending submodule, used to send a first stop door command to the second controller when the communication protocol connection is normal.

[0082] As an optional solution, the second control module includes: a first control submodule, used to control the automated guided vehicle to move along the target path to pass through the target door in response to the door opening signal, wherein the door opening signal is used to indicate that the opening state meets the preset state, and the second controller responds to the inquiry position instruction to feed back the door opening signal, the inquiry position instruction being the instruction triggered by the first controller after triggering the first stop instruction.

[0083] As an optional solution, the first sending module and the second control module further include: a first generation submodule, used to generate a first control signal when the first electronic tag located at the first position is detected, the first control signal being used to activate a stop signal so that the automated guided vehicle stops moving according to the activated stop signal; a second generation submodule, used to generate a start signal when the target door is in a preset state; and a third generation submodule, used to generate a second control signal when the start signal is detected, the second control signal being used to activate a movement signal so that the automated guided vehicle continues to move and passes through the target door according to the activated movement signal.

[0084] As an optional solution, the second sending module includes: a second identification submodule, used to identify the second electronic tag located at the second position when the automated guided vehicle moves to the second position; and a second sending submodule, used to send a second stop door command to the second controller when the second electronic tag is successfully identified.

[0085] As an optional solution, the multiple preset positions also include a third position, which is a preset position on the target path that is located before the first position along the direction of movement of the automated guided vehicle. The door control device also includes a third identification submodule, which is used to identify the third electronic tag located at the third position when the automated guided vehicle reaches the third position, and to trigger a first deceleration command when the third electronic tag is successfully identified, so that the second controller responds to the first deceleration command and controls the automated guided vehicle to move at a first predetermined speed.

[0086] As an optional solution, the multiple preset positions also include a fourth position, which is a preset position on the target path following the second position along the direction of movement of the automated guided vehicle. The door control device also includes a fourth identification submodule, which is used to identify the fourth electronic tag located at the fourth position when the automated guided vehicle reaches the fourth position, and to trigger a second deceleration command when the fourth electronic tag is successfully identified, so that the second controller responds to the second deceleration command and controls the automated guided vehicle to move at a second predetermined speed.

[0087] As an optional solution, the gate control device also includes a receiving submodule for receiving control requests and, in response to the control requests, controlling the automated guided vehicle to move onto the target path.

[0088] In this embodiment, when the Automated Guided Vehicle (AGV) reaches the first position on the target path, it automatically stops and sends a stop door command first, ensuring that the door is stationary before the door opening action is performed, thus avoiding the safety risks that may be caused by the line interlock. After receiving the command, the door controller (i.e., the second controller) feeds back the first command and sends an opening command in response to the first command, so that the second controller controls the door to open to meet the preset state (e.g., reach the fully open state), so that the AGV can continue to travel along the predetermined path after confirming that the door is open in place, thereby eliminating the uncertainty of manual intervention and improving safety and automation level. Subsequently, when the AGV reaches the second position on the target path, i.e., behind the gate along the direction of movement, a second stop command and a closing command are sent first, ensuring that the gate is stationary before the closing action is performed, thus avoiding the safety risks that may be caused by line interlocking. After receiving the command, the gate controller feeds back the second command and, in response to the second command, sends a closing command, so that the second controller controls the closing process of the gate, realizing automated interaction between the AGV and the gate. By reducing reliance on manual intervention, the reliability and safety of the system are improved, ensuring the automated, efficient, and safe operation of the AGV when passing through the gate. Furthermore, when the AGV reaches the second position on the target path, the automatically sent stop command ensures that the gate stops in time and can be closed after the AGV leaves, avoiding the safety hazards and energy waste caused by the gate remaining open for a long time after the AGV has passed through. This solution ensures efficient collaboration between the AGV and the roller shutter door without relying on additional hardware or a central control system, enhancing the system's reliability and flexibility. Specifically, by establishing a communication protocol between the first and second controllers, stable information exchange is achieved between the AGV (with the first controller) and the door controller (the second controller). The AGV can promptly obtain the door's status, such as whether it is fully open, and thus decide whether to restart operation, ensuring the AGV's safe passage after the door is fully open. This not only improves the level of automation and reduces manual intervention, but also enhances the overall reliability and safety of the system by optimizing the interaction logic between the AGV and the door. The solution eliminates the need for an additional central control system, reducing system complexity and cost, and improving overall reliability and maintenance convenience. In summary, the technical solution of this application effectively solves the problems of reliance on human labor, insufficient automation, high cost, and safety when AGVs pass through roller shutter doors.

[0089] The gate control device includes a processor and a memory. The first control module, the second sending module, the second control module, and the second sending module are all stored as program units in the memory. The processor executes the program units stored in the memory to achieve the corresponding functions. All of the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0090] The processor contains a kernel, which retrieves the corresponding program units from memory. One or more kernels can be configured, and adjusting kernel parameters enables the automated guided vehicle's movement along the target path and the opening and closing of doors.

[0091] The memory may include non-permanent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0092] This invention provides a computer-readable storage medium that includes a stored program, wherein the program, when running, controls the device containing the computer-readable storage medium to execute the aforementioned gate control method.

[0093] Specifically, the door control methods include:

[0094] Step S201: Control the automated guided vehicle to move along the target path, wherein the target path passes through the target gate.

[0095] Specifically, in this stage, the AGV is programmed to move along a pre-planned target path. Path planning is typically based on factory layout, task requirements, and obstacle information. The AGV uses its built-in navigation system (such as magnetic strip navigation, laser navigation, or vision navigation) and onboard programmable logic controller (PLC) for autonomous navigation, performing tasks such as material handling according to the predetermined route.

[0096] In step S202, when the automated guided vehicle reaches the first position on the target path, the automated guided vehicle is controlled to stop and a first stop door command is sent to the second controller. In response to the first command, an open door command is sent to the second controller. The second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from the stopped state to the open state in response to the open door command.

[0097] Specifically, when the AGV approaches a door (such as a roller shutter) on its target path, reaching the so-called "first position," it is programmed to stop automatically. This stopping mechanism is achieved through sensors or RFID tag identification on the AGV, ensuring that the AGV waits within a safe distance. Subsequently, the AGV sends a first stop command to the door's controller, i.e., the second controller. Upon receiving the first stop command, the second controller controls the door to stop any movement, ensuring that the door is stationary before it begins to open. After the second controller confirms that the door is stationary, the first controller sends an open command, causing the second controller to execute the door opening action until it is fully open, ready for the AGV to pass through.

[0098] Step S203: When the open state meets the preset state, control the automatic guided vehicle to move along the target path to pass through the target gate.

[0099] Specifically, once the gate is fully opened and reaches the preset opening state (e.g., a gate position or status sensor signal is detected), the AGV's control system receives a feedback signal confirming that the gate is ready for passage. At this point, the AGV continues to move along the target path, safely passing through the gate without human intervention, achieving smooth automated operation.

[0100] In step S204, when the automated guided vehicle reaches the second position on the target path, a second stop door command is sent to the second controller, and a door closing command is sent to the second controller in response to the second command. The second controller controls the target door to stop and feeds back the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0101] Specifically, once the AGV has passed through the gate and moved along the target path to the "second position" (a preset position behind the gate), it automatically stops again and sends a second stop command. This sequence ensures that even if someone manually adjusts the gate's state after it has been opened, the AGV can still ensure the gate stops safely and begins the closing process via commands. After receiving the command, the gate's second controller stops the current movement and sends a second command. The first controller then sends a close command, causing the second controller to control the gate to close until it is completely closed, restoring the isolated state of the work area.

[0102] This invention provides an electronic device, which includes a processor, a memory, and a program stored in the memory and executable on the processor. When the processor executes the program, it performs at least the following steps:

[0103] Step S201: Control the automated guided vehicle to move along the target path, wherein the target path passes through the target gate;

[0104] Step S202: When the automated guided vehicle reaches the first position on the target path, the automated guided vehicle is controlled to stop and a first stop door command is sent to the second controller. In response to the first command, an open door command is sent to the second controller. The second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from the stopped state to the open state in response to the open door command.

[0105] Step S203: When the open state meets the preset state, control the automated guided vehicle to move along the target path to pass through the target gate;

[0106] In step S204, when the automated guided vehicle reaches the second position on the target path, a second stop door command is sent to the second controller, and a door closing command is sent to the second controller in response to the second command. The second controller controls the target door to stop and feeds back the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0107] The electronic devices mentioned in this article can be servers, PCs, tablets, mobile phones, etc.

[0108] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing an initialization program having at least the following method steps:

[0109] Step S201: Control the automated guided vehicle to move along the target path, wherein the target path passes through the target gate;

[0110] Step S202: When the automated guided vehicle reaches the first position on the target path, the automated guided vehicle is controlled to stop and a first stop door command is sent to the second controller. In response to the first command, an open door command is sent to the second controller. The second controller controls the target door to stop and feeds back the first command in response to the first stop door command, and controls the target door to change from the stopped state to the open state in response to the open door command.

[0111] Step S203: When the open state meets the preset state, control the automated guided vehicle to move along the target path to pass through the target gate;

[0112] In step S204, when the automated guided vehicle reaches the second position on the target path, a second stop door command is sent to the second controller, and a door closing command is sent to the second controller in response to the second command. The second controller controls the target door to stop and feeds back the second command in response to the second stop door command, and controls the target door to change from a stopped state to a closed state in response to the door closing command. The second position is a preset position located after the first position and the target door in the direction of movement of the automated guided vehicle.

[0113] It is obvious to those skilled in the art that the modules or steps of the present invention described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. They can be implemented using computer-executable program code, and thus can be stored in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those described herein, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0114] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0115] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0116] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0117] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0118] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0119] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0120] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0121] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0122] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0123] 1) When the Automated Guided Vehicle (AGV) reaches the first position on the target path, it automatically stops and sends a stop door command first, ensuring that the door is stationary before the door opening action is performed, thus avoiding the safety risks that may be caused by the line interlock. After receiving the command, the door controller (i.e., the second controller) feeds back the first command and sends an opening command in response to the first command, so that the second controller controls the door to open to meet the preset state (e.g., reaching the fully open state). This allows the AGV to continue to travel along the predetermined path after confirming that the door is in place, thereby eliminating the uncertainty of manual intervention and improving safety and automation level.

[0124] 2) When the AGV reaches the second position on the target path, i.e. behind the gate along the direction of movement, a second stop command and a close command are sent first to ensure that the gate is stationary before the closing action is performed, thus avoiding the safety risks that may be caused by line interlocking. After receiving the command, the gate controller feeds back the second command and sends the close command in response to the second command, so that the second controller controls the closing process of the gate, realizing automated interaction between the AGV and the gate. By reducing the reliance on manual intervention, the reliability and safety of the system are improved, ensuring the automated, efficient and safe operation of the AGV when passing through the gate.

[0125] 3) When the AGV reaches the second position on the target path, the automatically sent stop command enables the door to stop in time and close after the AGV leaves, avoiding the safety hazards and energy waste caused by the door being open for a long time after the AGV passes through.

[0126] 4) This solution ensures efficient collaboration between the AGV and the roller shutter door without relying on additional hardware or a central control system, enhancing the system's reliability and flexibility. Specifically, by establishing a communication protocol between the first and second controllers, stable information exchange is achieved between the AGV (with the first controller) and the door controller (second controller). The AGV can promptly obtain the door's status, such as whether it is fully open, and thus decide whether to restart operation, ensuring the AGV's safe passage after the door is fully open. This not only improves the level of automation and reduces manual intervention, but also enhances the overall reliability and safety of the system by optimizing the interaction logic between the AGV and the door. The solution requires no additional central control system intervention, reducing system complexity and cost, and improving overall reliability and maintenance convenience.

[0127] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A door control method, characterized by, The method is applied to a first controller, a communication protocol connection is established between the first controller and a second controller, and the door control method comprises the following steps: controlling the automatic guided vehicle to move along a target path, wherein the target path passes through a target door body; in a case where the automatic guided vehicle reaches a first position on the target path, controlling the automatic guided vehicle to stop and sending a first door stopping instruction to the second controller, and in response to the first instruction, sending a door opening instruction to the second controller, wherein the second controller controls the target door body to stop in response to the first door stopping instruction and feeds back the first instruction, and controls the target door body to switch from a stop state to an open state in response to the door opening instruction; in a case where the open state meets a preset state, controlling the automatic guided vehicle to move along the target path to pass through the target door body; in a case where the automatic guided vehicle reaches a second position on the target path, sending a second door stopping instruction to the second controller, and in response to the second instruction, sending a door closing instruction to the second controller, wherein the second controller controls the target door body to stop in response to the second door stopping instruction and feeds back the second instruction, and controls the target door body to switch from a stop state to a closed state in response to the door closing instruction, and the second position is a preset position located behind the first position and the target door body in a moving direction of the automatic guided vehicle.

2. The door control method of claim 1, wherein, A plurality of preset positions on the target path are each provided with an electronic tag, and the plurality of preset positions comprise the first position and the second position, controlling the automatic guided vehicle to stop and sending the first door stopping instruction to the second controller comprises the following steps: identifying a first electronic tag located at the first position; in a case where the first electronic tag is successfully identified, judging whether the communication protocol connection between the first controller and the second controller is normal; in a case where the communication protocol connection is normal, sending the first door stopping instruction to the second controller.

3. The door control method of claim 2, wherein, in a case where the open state meets the preset state, controlling the automatic guided vehicle to move along the target path to pass through the target door body comprises the following steps: in response to a door opening in place signal, controlling the automatic guided vehicle to move along the target path to pass through the target door body, wherein the door opening in place signal is used to indicate that the open state meets the preset state, the second controller feeds back the door opening in place signal in response to an inquiry in place instruction, and the inquiry in place instruction is an instruction triggered by the first controller after triggering the first door stopping instruction.

4. The door control method of claim 2, wherein, controlling the automatic guided vehicle to stop, and controlling the automatic guided vehicle to move along the target path to pass through the target door body comprises the following steps: generating a first control signal at a moment when the first electronic tag located at the first position is identified, the first control signal is used to activate a stop signal to make the automatic guided vehicle stop moving according to the activated stop signal; in a case where the open state meets a preset state, generating a start signal; A second control signal is generated at the moment when the start signal is detected, and the second control signal is used to activate a moving signal, so that the automated guided vehicle continues to move according to the activated moving signal and passes through the target door body.

5. The door control method of claim 2, wherein, The second controller is sent the second door stopping instruction, including: A second electronic tag located at the second position is identified; In the case that the second electronic tag is successfully identified, the second door stopping instruction is sent to the second controller.

6. The door control method of claim 2, wherein, The plurality of preset positions further include a third position and a fourth position, the third position being a preset position before the first position along the moving direction of the automated guided vehicle on the target path, and the fourth position being a preset position after the second position along the moving direction of the automated guided vehicle on the target path, and the door control method further includes: In the case that the automated guided vehicle reaches the third position, a third electronic tag located at the third position is identified, and in the case that the third electronic tag is successfully identified, a first deceleration instruction is triggered, so that the second controller controls the automated guided vehicle to move at a first predetermined speed in response to the first deceleration instruction; In the case that the automated guided vehicle reaches the fourth position, a fourth electronic tag located at the fourth position is identified, and in the case that the fourth electronic tag is successfully identified, a second deceleration instruction is triggered, so that the second controller controls the automated guided vehicle to move at a second predetermined speed in response to the second deceleration instruction.

7. The door control method according to any one of claims 1 to 6, characterized by, Further comprising: A control request is received, and in response to the control request, the automated guided vehicle is controlled to move to the target path.

8. A door control device characterized by comprising: Applied to a first controller, a communication protocol connection is established between the first controller and a second controller, and the door control device includes: A first control module is configured to control the automated guided vehicle to move along a target path, wherein the target path passes through a target door body; A second sending module is configured to control the automated guided vehicle to stop and send a first door stopping instruction to the second controller in the case that the automated guided vehicle reaches a first position on the target path, and send an open door instruction to the second controller in response to the first instruction, wherein the second controller controls the target door body to stop and feeds back the first instruction in response to the first door stopping instruction, and controls the target door body to switch from a stopped state to an open state in response to the open door instruction; A second control module is configured to control the automated guided vehicle to move along the target path to pass through the target door body in the case that the open state meets a preset state. The second sending module is configured to send a second door stopping instruction to the second controller when the AGV reaches a second position on the target path, and send a door closing instruction to the second controller in response to the second instruction, wherein the second controller controls the target door body to stop and feeds back the second instruction in response to the second door stopping instruction, and controls the target door body to switch from the stopping state to the closing state in response to the door closing instruction, and the second position is a preset position behind the first position and the target door body in the moving direction of the AGV.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium comprises a stored program, wherein the program controls the device where the computer readable storage medium is located to perform the door body control method of any one of claims 1 to 7 when the program is running.

10. An electronic device, comprising: comprise: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the one or more processors, and the one or more programs comprise a program for executing the door body control method of any one of claims 1 to 7.

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