Method for a robot to pass through a fire door and to cross a mouse guard

Abstract

This invention provides a method for a robot to pass through a fire door and cross a rodent barrier, relating to the field of autonomous robot passage control technology. The invention first acquires information on the door configuration, opening direction, and location of objects that can be touched by the target fire door. It then determines the robot's support side, opening operation side, and passage posture. The support contact part is controlled to form support contact with the object that can be touched, and the operation contact part is controlled to form operation contact with the opening force-bearing part of the target door leaf, thus constructing a support reaction force chain. The support contact force, operation contact force, door resistance, and posture state are collected to generate force balance state quantities. Based on these quantities, the support state, opening action, and robot posture are coordinated and adjusted to achieve continuous passage control for opening the fire door, passing through the doorway, and crossing the rodent barrier.

Description

Technical Field

[0001] This invention relates to the field of robot autonomous passage control technology, and in particular to a method for a robot to pass through a fire door and cross a rodent barrier. Background Technology

[0002] In recent years, legged robots have received increasing attention due to their adaptability to complex terrains and unstructured environments. Existing Chinese review literature indicates that legged robot research has long revolved around mechanical structure, stability, and control algorithms. Building upon this foundation, quadruped robot research has further developed into the systemic coordination of key technologies such as mechanism design, dynamic modeling, gait and foot trajectory planning, and motion stability control. Meanwhile, Chinese reviews in the field of humanoid robots have listed gait control and dexterous manipulation as key core technologies, indicating that although existing research objects differ in configuration, they are all developing towards the integration of mobility and manipulative capabilities.

[0003] At the task level, opening a door is a typical contact-rich robotic operation task. Existing Chinese reviews indicate that robot door opening can generally be broken down into a series of operations: reaching the door handle, grasping the handle, turning the handle, and opening the door. A recent Chinese paper published in *Robotics*, titled "Compliant Door Opening Technology for a Mobile Robotic Arm Based on a Vehicle-Arm Collaborative Strategy," further discloses the perception, door opening degree detection, and adaptive impedance control schemes for door opening operations, and completed a compliant door opening experiment with a mobile robotic arm. This demonstrates that current research has evolved from simple position control or trajectory planning to door opening control that combines environmental perception, contact force adjustment, and platform-actuator collaboration.

[0004] However, existing technologies primarily target wheeled chassis or vehicle-to-arm mobile platforms, whose supporting foundations are relatively stable. Publicly available information mainly focuses on door handle recognition, door opening detection, and compliant control of robotic arms. Information on how quadrupedal robots and humanoid robots can establish effective reaction force support and maintain overall force balance under limited friction conditions is insufficient. The current national standard GB 12955-2008 clearly requires fire doors to open and close flexibly and without obstruction, and the door opening force should not exceed 80N. The National Standards Information Public Service Platform also shows that GB 12955-2024 was released on October 28, 2024, and will be implemented on May 1, 2026, completely replacing GB 12955-2008. The newly revised standard adds requirements for mechanical properties. This indicates that fire doors are not ordinary lightweight doors; in actual passage, they also face problems such as door closer rebound, self-closing resistance, and continuous resistance to force. For quadruped robots and humanoid robots, relying solely on the friction between the body and the ground to generate the door opening force can easily lead to overall backward movement, slippage of the support end, and instability of posture, making it difficult to stably pass through fire doors and the rodent barrier behind them. Therefore, it is necessary to propose a robot passage method with the construction of support reaction force and closed-loop adjustment of force balance as the core. Summary of the Invention

[0005] In order to overcome the shortcomings of the prior art, the purpose of this invention is to provide a method for a robot to pass through a fire door and cross a rodent barrier, which can achieve continuous passage control of opening the fire door, passing through the doorway and crossing the rodent barrier through the synergistic effect of the support reaction chain and the force balance state quantity.

[0006] To achieve the above objectives, the present invention provides the following solution: A method for a robot to pass through a fire door and cross a rodent barrier includes: Obtain the door leaf configuration, opening direction, and location information of the target fire door that the robot can use to establish a foothold; the foothold can be a fixed door leaf, door frame, or wall. Based on the door configuration, opening direction, and location information of objects that can be touched, determine the robot's support side, door opening operation side, and passage posture; The supporting contact part of the control robot forms a supporting contact with the object that can be touched, and the operating contact part of the control robot forms an operating contact with the opening force part of the target door leaf, so as to construct a supporting reaction force chain for opening the target fire door; The supporting contact force of the supporting contact part, the operating contact force of the operating contact part, the door resistance of the target fire door, and the robot's posture state are collected to generate the robot's force balance state quantity. The support adjustment, attitude adjustment, and operation adjustment are determined based on the force balance state quantity. Based on these quantities, the support state of the support contact part, the door opening action of the operation contact part, and the robot's body posture are coordinated and adjusted to achieve continuous opening of the target fire door through the support reaction force chain when ground friction is insufficient to provide the door opening force alone. Once the target fire door is open enough for the robot to pass through, the robot is controlled to pass through the doorway while maintaining the door's clearance position, and then cross the rodent barrier located on the path of the target fire door to complete the passage.

[0007] Preferably, acquiring information on the door configuration, opening direction, and location of objects that the robot can use to establish a foothold for support of the target fire door includes: Collect environmental perception data of the area where the target fire door is located; Based on environmental perception data, the positions of active door panels, fixed door panels, and hinges are identified to determine the door panel configuration and opening direction. Based on environmental perception data, determine the spatial location of fixed door panels, door frames, and walls, and determine the location information of objects that can be leaned against from the fixed door panels, door frames, and walls.

[0008] Preferably, the robot's support side, door opening operation side, and passage posture are determined based on the door configuration, opening direction, and the location information of the object it can lean against, including: Based on the opening direction and the location information of the object to be touched, the side of the robot that can form a supporting contact with the object to be touched is determined as the supporting side; The side of the robot that is opposite to the support side and can make operational contact with the opening force-bearing part of the target door leaf is defined as the door opening operation side. Based on the support side, the door opening operation side, and the opening direction, determine the robot's orientation and body posture relative to the target fire door to obtain the passage posture.

[0009] Preferably, the robot is a quadruped robot or a humanoid robot; when the robot is a quadruped robot, the supporting contact part is the part of the foot, leg, or torso used to form a supporting contact with the object to which it can be leaned, and the operating contact part is the part of the foot, leg, or torso used to form an operating contact with the force-bearing part of the door; when the robot is a humanoid robot, the supporting contact part is the part of the foot, leg, hand, arm, or torso used to form a supporting contact with the object to which it can be leaned, and the operating contact part is the part of the hand, arm, or torso used to form an operating contact with the force-bearing part of the door.

[0010] Preferably, the supporting contact part of the control robot forms a supporting contact with the object it can abut, and the operating contact part of the control robot forms an operating contact with the opening force-bearing part of the target door leaf, so as to construct a supporting reaction force chain for opening the target fire door, including: Control the movement of the support contact part toward the object it can abut against and apply a support contact force to form a support contact; The control operation contact part moves toward the door opening force-bearing part and applies operation contact force to form operation contact, wherein the door opening force-bearing part is the door handle, the edge of the door leaf, or a predetermined force-bearing area of ​​the target door leaf; The support contact part, robot and operation contact part form a force transmission path, so that the support contact force and operation contact force act together on the force-bearing part of the door opening, forming a support reaction force chain.

[0011] Preferably, the supporting contact force of the supporting contact part, the operating contact force of the operating contact part, the door resistance of the target fire door, and the robot's attitude state are collected to generate the robot's force balance state quantities, including: A correlation analysis was performed on the supporting contact force, operating contact force, door resistance, and attitude state. The force matching relationship of the support reaction chain is determined based on the support contact force, the operation contact force, and the door resistance. Determine the robot's attitude stability relationship based on its attitude state; The force balance state variables are generated based on the force matching relationship and the attitude stability relationship.

[0012] Preferably, determining the support adjustment, attitude adjustment, and operation adjustment based on the force balance state quantities includes: The matching relationship between the support state, body posture, and door opening action and the door resistance is determined based on the force balance state quantities. When the support condition does not match the door resistance, determine the support adjustment amount; When the body attitude and the door resistance are mismatched, determine the attitude adjustment amount; When the door opening action does not match the door resistance, determine the adjustment amount.

[0013] Preferably, based on the support adjustment amount, attitude adjustment amount, and operation adjustment amount, the support state of the support contact part, the door opening action of the operation contact part, and the robot's body posture are coordinated and adjusted so that when ground friction is insufficient to provide the door opening force alone, the target fire door can be continuously opened through the support reaction force chain, including: Adjust the contact position and contact force of the support contact part relative to the object to be abutted based on the support adjustment amount; Adjust the robot's body posture based on the posture adjustment amount; Adjust the operating contact force and operating position of the operating contact part relative to the door opening force-bearing part according to the operating adjustment amount; After the adjustment is completed, the force balance state is regenerated, and the coordination adjustment is repeated based on the regenerated force balance state before the target fire door reaches the open state for robot passage.

[0014] Preferably, after the target fire door reaches an open state that allows the robot to pass through, the process includes: Obtain the current door leaf opening gap of the target fire door; Obtain the robot's cross-sectional dimensions in its cross-traffic posture; When the door opening gap is greater than or equal to the passage dimension, the target fire door is determined to be in an open state that allows the robot to pass through.

[0015] Preferably, controlling the robot to pass through the doorway while maintaining the door's clearance position, and to cross the rodent barrier located on the path of the target fire door to complete passage, includes: The control operation contact part maintains its effect on the force-bearing part of the door opening, so as to keep the target fire door in the yielding state; The robot is controlled to pass through the doorway in a passing posture, and during the process of passing through the doorway, the supporting contact part maintains a supporting contact with the object that can be touched, or the operating contact part maintains the doorway in a yielding state after the supporting contact is released. After the robot passes through the doorway, control the robot to cross the mouse barrier to complete the passage.

[0016] The present invention discloses the following beneficial effects: This invention acquires information about the door configuration, opening direction, and location of the collateral object of the target fire door. It first determines the robot's support side, opening operation side, and passage posture. Then, the support contact part forms a support contact with the collateral object, and the operation contact part forms an operation contact with the opening force-bearing part of the target door, thereby constructing a support reaction force chain for opening the target fire door. Compared to methods that rely solely on the robot body pushing and pulling the door or simply on ground friction to provide the opening force, this technical solution transforms the opening force into a force form where the collateral object provides reaction support, enabling the opening force to have a clear force transmission path. For fire door scenarios with closing resistance and a tendency to return to its original position, this force path can reduce situations such as the robot's overall backward movement, contact instability, or interruption of the opening process, making it easier to maintain a continuous opening process.

[0017] This invention, based on the construction of a support reaction force chain, further collects support contact force, operational contact force, door resistance, and posture state to generate the robot's force balance state quantity. Based on this force balance state quantity, it determines support adjustment, posture adjustment, and operational adjustment to coordinate the adjustment of support state, door opening action, and robot posture. This technical solution does not only control a single contact force but also considers four factors simultaneously: support contact, operational contact, door resistance, and robot posture. This allows the robot to perform closed-loop correction according to changes in door force during door opening. Therefore, continuous door opening no longer relies on a single large force application but is achieved gradually through multiple coordinated adjustments. Under the same door resistance conditions, the increment required for a single adjustment can be controlled within a small range, thereby reducing the probability of sudden posture changes, contact point slippage, and deviation of the door opening action.

[0018] This invention, after the target fire door reaches an open state suitable for robot passage, controls the robot to pass through the doorway while maintaining the door's clearance position, and then crosses a rodent barrier located in the path of the target fire door to complete the passage. This technical solution treats "door opening" and "passing through the door and crossing the rodent barrier" as a continuous action chain, rather than separating door opening from subsequent passage. Therefore, it avoids the problem of the door immediately retracting after being opened, thus preventing the robot from affecting its passage through the doorway and crossing the rodent barrier. For scenarios requiring passage through a restricted doorway before over obstacles below the door, this technical solution ensures that the door opening state and the robot's passage state are time-sequential, allowing the robot to maintain more stable passage conditions during the process of passing through the doorway and crossing the rodent barrier. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart of the method provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the structure of a quadruped robot passing through a target fire door, provided in an embodiment of the present invention. Figure 3 This is a schematic diagram of a humanoid robot passing through a target fire door, provided in an embodiment of the present invention. Detailed Implementation

[0021] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0022] The purpose of this invention is to provide a method for a robot to pass through a fire door and cross a rodent barrier, which can achieve a stable passage process in fire door and rodent barrier scenarios based on the coordinated cooperation of support contact, operation contact and posture adjustment.

[0023] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0024] Figure 1 The method flowchart provided in the embodiments of the present invention is as follows: Figure 1 As shown, the present invention provides a method for a robot to pass through a fire door and cross a rodent barrier, comprising: Step 100: Obtain the door leaf configuration, opening direction, and location information of the target fire door that the robot can use to establish a support; the support objects are fixed door leaves, door frames, or walls; Step 200: Determine the robot's support side, door opening operation side, and passage posture based on the door configuration, opening direction, and location information of the objects it can lean against; Step 300: Control the robot's support contact part to form support contact with the object it can lean against, and control the robot's operation contact part to form operation contact with the opening force-bearing part of the target door leaf, so as to construct a support reaction force chain for opening the target fire door; Step 400: Collect the support contact force of the support contact part, the operation contact force of the operation contact part, the door resistance of the target fire door, and the robot's attitude state to generate the robot's force balance state quantity; Step 500: Determine the support adjustment amount, attitude adjustment amount, and operation adjustment amount based on the force balance state quantity, and coordinate the adjustment of the support state of the support contact part, the door opening action of the operation contact part, and the robot's body posture based on the support adjustment amount, attitude adjustment amount, and operation adjustment amount, so as to achieve continuous opening of the target fire door through the support reaction force chain when the ground friction is insufficient to provide the door opening force alone. Step 600: After the target fire door reaches the open state for the robot to pass through, control the robot to pass through the doorway while maintaining the door's clearance state, and cross the rodent barrier located on the path of the target fire door to complete the passage.

[0025] In this embodiment, step 100 is used to establish the door recognition result and the support object recognition result before the robot performs the door opening operation. Specifically, in this embodiment, environmental perception data of the area where the target fire door is located is first obtained at an observation position where the robot is 0.6 meters to 1.5 meters in front of the target fire door and the angle between the robot's orientation and the normal of the door surface is no greater than 15 degrees. The environmental perception data refers to the original observation data used to characterize the spatial state of the target fire door and its adjacent boundary structures, including at least the distance information, contour information, and surface boundary information of the front area of ​​the door; wherein, the distance information is used to characterize the spatial interval between the robot and the door, door frame, and wall; the contour information is used to characterize the outer contour of the door leaf, the boundary of the door frame, and the boundary of the wall; and the surface boundary information is used to characterize the structural boundary between the movable door leaf and the fixed door leaf, and between the door leaf and the door frame. To improve the stability of boundary recognition, in this embodiment, three frames of environmental perception data are continuously collected at the observation position, and the corresponding areas in the three frames of environmental perception data are compared for overlap; when the positional deviation of the same structural boundary in the three frames is no greater than 20 mm, the structural boundary is determined as a stable boundary. Subsequently, this embodiment identifies the movable door leaf, fixed door leaf, and hinge position based on the stable boundary, and determines the door leaf configuration and opening direction accordingly. The door leaf configuration refers to the door leaf structure of the target fire door, which in this embodiment is determined to be a single movable door leaf structure or a movable door leaf-fixed door leaf combination structure. The hinge position refers to the boundary position on one side where the movable door leaf is rotatably connected to the door frame. The opening direction refers to the direction in which the free edge of the movable door leaf rotates outward from the centerline of the door opening when it starts rotating around the hinge position from the closed state. This embodiment determines the hinge position by comparing the continuity of the connection between the two sides of the movable door leaf and the door frame boundary, identifying the boundary that maintains continuous connection with the door frame and whose position change does not exceed 10 mm in 3 frames of environmental perception data as the hinge position. Then, using the side where the hinge position is located as the rotation reference, the rotating side of the other free edge of the movable door leaf is determined as the opening direction, thereby outputting the door leaf configuration and opening direction.

[0026] After completing the door configuration and opening direction recognition, this embodiment further determines the spatial positions of the fixed door, door frame, and wall based on environmental perception data, and determines the location information of the objects that can be used for support from the fixed door, door frame, and wall. The location information of the objects that can be used for support refers to the spatial positioning results of candidate objects that can be used by the robot to establish support, including at least the object category, object surface position, object orientation, and object accessible area range; wherein, the object category is used to distinguish between fixed door, door frame, and wall, the object surface position is used to give the position of the plane or boundary where the support is located, the object orientation is used to characterize the normal direction of the force when supporting, and the object accessible area range is used to limit the actual area of ​​action of the robot to implement support and to ensure that the subsequent support contact part can form a continuous and stable support. In this embodiment, the movable door leaf area is first eliminated based on the surface boundary relationship between the movable door leaf and the adjacent structure. Then, the remaining structural areas are divided by connectivity: the strip-shaped area that is continuous with the boundary of the door opening and has a width between 50 mm and 300 mm is determined as the door frame area; the planar area that extends continuously to the outside of the door frame and has a length greater than 500 mm is determined as the wall area; and the plate-shaped area that is adjacent to the movable door leaf and remains stationary in the closed state recognition result is determined as the fixed door leaf area. Subsequently, this embodiment generates candidate abutment areas for the fixed door leaf, door frame, and wall, and determines the final abutment object location information in the order of priority: structural stability, contact area, and opposite side of the opening direction. Structural stability priority means prioritizing object areas with boundary position deviations of no more than 10 mm in 3 frames of environmental perception data. Contact area priority means prioritizing object areas with a continuous contactable length of no less than 150 mm and a continuous contactable height of no less than 120 mm to ensure that the support contact part forms at least one stable abutment segment in subsequent steps. Opposite side of the opening direction priority means prioritizing object areas located on the opposite side of the opening of the movable door leaf so that the subsequently formed abutment support is set opposite to the force direction of the door opening. After the above processing, this embodiment outputs unique abutment object location information and uses the door leaf configuration, the opening direction, and the abutment object location information as input data for step 200.

[0027] In this embodiment, step 200 is used to determine the robot's support side, opening operation side, and passage posture during the door opening process based on the door configuration, opening direction, and accessible object position information output in step 100. Specifically, this embodiment first determines the support side based on the opening direction and accessible object position information. The support side refers to the side area on the robot body used to form support contact with the accessible object and bear the function of transmitting reaction force. In this embodiment, the robot is divided into two opposite side areas with the robot body centerline as the boundary, and the shortest spatial distance from the support contact part to the accessible object position information in each side area is calculated based on the spatial position relationship output in step 100; wherein, the shortest spatial distance is determined by the distance between the spatial position of the support contact part and the object surface position in the accessible object position information. At the same time, this embodiment calls the accessible area range obtained in step 100 to obtain the continuous accessible length in the corresponding side area. When the shortest spatial distance on one side is less than or equal to 300 mm and the corresponding continuous contact length is not less than 150 mm, that side is determined as the support side; when both side areas meet the above conditions, the side that is opposite to the opening direction is selected as the support side, so that the support contact direction is set opposite to the door opening force direction, thereby ensuring the force closure of the support reaction force chain.

[0028] After determining the support side, this embodiment further determines the door opening operation side and the passage posture. The door opening operation side is the area opposite to the support side and used to form operational contact with the door opening force-bearing part, wherein the door opening force-bearing part is the set of positions of the door handle, door leaf edge, or predetermined force-bearing area of ​​the target door leaf determined in step 100. This embodiment calculates the shortest spatial distance from the door opening operation side to the door opening force-bearing part based on the spatial position information output in step 100. When the shortest spatial distance is greater than 400 mm, the overall position of the robot is adjusted to reduce the shortest spatial distance to no more than 400 mm to ensure that the operation contact part can reach the door opening force-bearing part. Subsequently, this embodiment determines the passage posture based on the support side, the door opening operation side, and the opening direction. The passage posture is a combination of robot orientation and position that simultaneously satisfies support contact stability and operational contact accessibility. It includes the robot orientation angle and the robot lateral offset. The robot orientation angle is the angle between the robot's forward direction and the normal to the door plane, and is limited to a range of 0 to 20 degrees. The robot lateral offset is the lateral offset distance of the robot's center relative to the center of the doorway, and is limited to a range of 100 mm to 300 mm, ensuring that the support side is close to the object it can abut against and that the door opening operation side is aligned with the force-bearing part of the door. After the above processing, this embodiment outputs the support side, the door opening operation side, and the passage posture, which are then used as input for step 300.

[0029] In this embodiment, to ensure that the support side and door opening operation side determined in step 200 can be specifically mapped to the actual executable contact parts of the robot, this embodiment further defines the robot type and the method for determining the support contact parts and operation contact parts. Specifically, this embodiment classifies robots into two categories: quadruped robots and humanoid robots. Based on the support side and door opening operation side determined in step 200, functional parts that actually participate in contact are selected as support contact parts or operation contact parts within the corresponding side areas. The support contact part refers to the actual contact part used to form support contact with the object that can be touched and to bear the transmission of reaction force. The operation contact part refers to the actual contact part used to form operation contact with the door opening force-bearing part and to apply the door opening force. The door opening force-bearing part is the set of positions of the door handle, door edge, or predetermined force-bearing area of ​​the target door determined in step 100. This embodiment, based on the location information of the object to be touched output in step 100 and the support side determined in step 200, extracts all candidate parts that can be used for contact within the corresponding area of ​​the support side, and calculates the spatial distance from each candidate part to the surface of the object to be touched, while obtaining the corresponding contactable area range in step 100. When the spatial distance from a candidate part to the object to be touched is not greater than 200 mm and the contact projection length of the candidate part in the corresponding direction is not less than 100 mm, the candidate part is determined as the support contact part, thereby ensuring the continuity and force stability of the support contact. For the determination of the operating contact part, this embodiment extracts all candidate parts that can be used for contact within the corresponding area of ​​the door opening operation side, and calculates the spatial distance from each candidate part to the door opening force-bearing part. When the spatial distance from a candidate part to the door opening force-bearing part is not greater than 250 mm and the angle between the contact direction of the candidate part and the opening direction is not greater than 30 degrees, the candidate part is determined as the operating contact part, to ensure that the door opening force can effectively act on the door opening force-bearing part. Specifically, when the robot is a quadruped robot, the candidate parts are limited to the parts located on the support side or the door opening operation side of the foot, leg, or torso; when the robot is a humanoid robot, the candidate parts are limited to the parts located on the support side or the door opening operation side of the foot, leg, hand, arm, or torso. Through these constraints, this embodiment can determine unique support contact parts and operation contact parts under different robot configurations, and make the support contact parts and operation contact parts correspond to the support side and the door opening operation side respectively, thereby ensuring that the construction of the support reaction chain in subsequent step 300 has a clear contact execution basis.

[0030] Figure 2The diagram illustrates the structure of the quadruped robot passing through the target fire door in this embodiment. A support contact part 1 is provided on one side of the robot body 7, forming a support contact with the door frame 4. An operation contact part 2 is provided on the other side of the robot body 7, forming an operation contact with the opening force-bearing part 5 on the target fire door 3 to construct a support reaction force chain. While the support contact part 1 and the door frame 4 form abutment support, the operation contact part 2 applies an opening force to the opening force-bearing part 5, causing the target fire door 3 to open. A rodent barrier 6 is provided below the target fire door 3. After the door opens, the robot body 7 passes over the rodent barrier 6 along the passage direction to complete the passage.

[0031] Figure 3 The diagram illustrates the structure of the humanoid robot passing through the target fire door in this embodiment. One side of the robot body 7 forms a support contact with the door frame 4 via a support contact part 1, while the other side forms an operational contact with the opening force-bearing part 5 on the target fire door 3 via an operational contact part 2. The support contact part 1 provides abutment support to form a reaction force source, and the operational contact part 2 applies an opening force to the opening force-bearing part 5, causing the target fire door 3 to rotate in the opening direction. After the target fire door 3 is opened to meet the passage conditions, the robot body 7 maintains the door's yielding state and passes through the doorway, simultaneously crossing the rodent barrier 6 set on the passage path, thus completing the passage process.

[0032] In this embodiment, step 300 is used to establish support contact between the support contact part and the object to be touched, and operation contact between the operation contact part and the opening force-bearing part of the target door leaf, based on the support side, door opening operation side, and passage posture determined in step 200, and to establish a support reaction force chain for opening the target fire door. Specifically, in this embodiment, the support contact part is first controlled to move along the support side toward the object to be touched. When the support contact part reaches the surface position of the object to be touched determined in step 100, a support contact force is continued to be applied along the normal force direction of that surface position to form support contact. The support contact force refers to the contact force of the support contact part acting on the object to be touched and returning a reaction support from the object to the robot. Its direction of action is consistent with the normal force direction of the surface of the object to be touched, and it is used to limit the robot from moving backward along the opening direction during the door opening process. In this embodiment, the conditions for establishing support contact are set as follows: the contact distance between the support contact part and the object to be abutted is reduced to 0 mm, and a contact compression of no more than 5 mm is maintained for two consecutive sampling cycles, while the support contact force reaches 80 N to 250 N; wherein, the sampling cycle is 20 milliseconds to ensure the continuity of contact state determination during the support contact establishment process. When the support contact force is lower than 80 N, it is determined that the support contact is insufficient, and the support contact part continues to advance; when the support contact force is higher than 250 N, it is determined that the support contact is too strong, and the support contact part is withdrawn 10 mm to 30 mm before re-establishing support contact. After the support contact is established, this embodiment controls the operating contact part to move along the door opening operation side toward the door opening force-bearing part and apply the operating contact force to form operating contact. The force-bearing part for opening the door is the door handle, the edge of the door leaf, or the predetermined force-bearing area of ​​the target door leaf as determined in step 100. The predetermined force-bearing area refers to the area located on the surface of the target door leaf, with a predetermined distance from the hinge position, and used to stably input the opening force. In this embodiment, the predetermined distance is 300 mm to 900 mm to ensure a sufficient rotational arm is formed between the point of application and the hinge position. The operating contact force refers to the contact force applied by the operating contact part to the force-bearing part for driving the target fire door to rotate in the opening direction. In this embodiment, the conditions for forming the operating contact are set as follows: the contact distance between the operating contact part and the door opening force-bearing part is reduced to 0 mm, and the contact compression amount is maintained at no more than 5 mm within two consecutive sampling cycles, while the operating contact force reaches 30 N to 180 N; when the door opening force-bearing part is the door handle, the operating contact part first applies a door opening pre-action force of 20 N to 60 N to the door handle to eliminate the door handle idle stroke and establish a stable force state, and then applies the operating contact force along the opening direction; when the door opening force-bearing part is the edge of the door leaf or a predetermined force-bearing area, the operating contact part directly applies the operating contact force along the opening direction.

[0033] After the support contact and operation contact are established, this embodiment further forms a force transmission path between the support contact, the robot body, and the operation contact, so that the support contact force and the operation contact force act together on the door opening force-bearing part, forming a support reaction force chain. The force transmission path refers to a continuous force transmission path formed by the sequential connection of the support contact, the robot body, and the operation contact. Its function is to transmit the reaction support provided by the object that can be abutted to the operation contact through the robot body to the operation contact, so that the operation contact force applied by the operation contact to the door opening force-bearing part no longer depends solely on the friction between the robot and the ground. The supporting reaction force chain refers to a closed force relationship consisting of a collapsible object, a supporting contact part, a robot body, an operating contact part, and a door opening force-bearing part, arranged sequentially. Its formation conditions include: the supporting contact force is within the range of 80 N to 250 N, the operating contact force is within the range of 30 N to 180 N, the robot body's attitude deviation relative to the passage posture determined in step 200 is no greater than 8 degrees, and the cumulative displacement along the opening direction of the door opening force-bearing part determined based on the environmental perception data update result in step 100 is no less than 15 mm within three consecutive sampling periods. In this embodiment, the cumulative displacement of the door opening force-bearing part and the robot body attitude deviation within three consecutive sampling periods are used as the criteria for determining whether a supporting reaction force chain has been formed. When the cumulative displacement is less than 15 mm, it is determined that the operating contact force has not been effectively transmitted to the door opening force-bearing part, and the contact position of the operating contact part is readjusted. When the robot body attitude deviation is greater than 8 degrees, it is determined that the force transmission path is unstable, and the contact position and supporting contact force of the supporting contact part are readjusted. After the above processing, this embodiment enables the supporting contact force to act on the door opening force part together with the operating contact force through the force transmission path, and causes the target fire door to continue to displace along the opening direction under the action of closing resistance, thereby completing the construction of the supporting reaction force chain in step 300.

[0034] In this embodiment, step 400 first collects the support contact force of the support contact part, the operation contact force of the operation contact part, the door resistance of the target fire door, and the robot's posture state, and then converts the above data into state input data under the same sampling period. The door resistance refers to the reverse resistance generated by the target fire door on the opening force part during the opening process. It comes from the combined reverse action of the door closer's rebound, the friction of the door hinge part, and the door's own weight bias in the opening direction. In this embodiment, instead of calculating the values ​​of each of the above sources separately, the comprehensive door resistance is determined based on the correspondence between the change of operation contact force and the change of displacement of the opening force part. Specifically, within three consecutive sampling periods, when the operation contact force increases and the cumulative displacement of the opening force part along the opening direction is less than 5 mm, the average reverse resistance within the three consecutive sampling periods is determined as the door resistance to eliminate the influence of contact fluctuations at a single sampling point on the determination of door resistance. In this embodiment, the sampling period is 20 milliseconds, the effective range of the support contact force is 80 N to 250 N, and the effective range of the operation contact force is 30 N to 180 N. The posture state is used to characterize the degree of deviation of the robot from the travel posture in step 200. It is characterized by the tilt angle of the body and the lateral displacement of the body, wherein the tilt angle of the body is from 0 degrees to 8 degrees and the lateral displacement of the body is from 0 millimeters to 60 millimeters.

[0035] After data acquisition, this embodiment performs correlation analysis on the supporting contact force, operating contact force, door resistance, and posture state, and generates intermediate judgment results for subsequent control decisions. The correlation analysis involves mapping the supporting contact force, operating contact force, and door resistance to the same sampling window to determine the effectiveness of force transmission in the supporting reaction force chain, and simultaneously mapping the posture state to the same sampling window to determine whether the robot still possesses the stable conditions to maintain a passage posture. Based on this correlation analysis, this embodiment generates two intermediate results: a force matching relationship and a posture stability relationship. The force matching relationship characterizes whether the supporting contact force, after being transmitted through the robot body, can work together with the operating contact force to counteract the door resistance; the posture stability relationship characterizes whether the robot maintains a posture state suitable for continuous door opening under the current force conditions. Through the above settings, the output of step 400 no longer remains at the original force and displacement values, but is transformed into a judgment result that can be directly used for decision-making in step 500.

[0036] In this embodiment, the force matching relationship is determined by the difference between the operating contact force and the door resistance, as well as the fluctuation of the supporting contact force. When the difference between the operating contact force and the door resistance is within the range of 10 N to 60 N, and the fluctuation of the supporting contact force within three consecutive sampling periods does not exceed 15 N, the force matching relationship is considered valid. When the difference is less than 10 N, the door opening action is considered insufficient, and the operating contact force fails to effectively overcome the door resistance. When the difference is greater than 60 N, the door opening action is considered too strong, posing a risk of causing body attitude disturbance. When the fluctuation of the supporting contact force exceeds 15 N, the reaction support in the supporting reaction force chain is considered unstable. Simultaneously, the attitude stability relationship is determined by the body tilt angle and the body lateral displacement: when the body tilt angle is not greater than 6 degrees and the body lateral displacement is not greater than 40 mm, the attitude stability relationship is considered valid; when either exceeds the above range, the attitude stability relationship is considered invalid. Subsequently, this embodiment generates force balance state quantities based on the force matching relationship and the attitude stability relationship. In this embodiment, the force balance state quantity is a state-type determination result, including at least a balanced state, a force imbalance state, an attitude instability state, and a combined imbalance state. When both the force matching relationship and the attitude stability relationship are true, it is determined to be a balanced state; when only the force matching relationship is false, it is determined to be a force imbalance state; when only the attitude stability relationship is false, it is determined to be an attitude instability state; and when neither is true, it is determined to be a combined imbalance state. The force balance state quantity is used to drive the generation of subsequent support adjustment, attitude adjustment, and operational adjustment quantities.

[0037] In step 500, this embodiment determines the support adjustment amount, attitude adjustment amount, and operation adjustment amount based on the force balance state quantity, and assigns the three types of adjustment amounts to different control objects. The support adjustment amount is used to adjust the contact position and support contact force of the support contact part relative to the object to be touched; the attitude adjustment amount is used to adjust the tilt angle and lateral displacement of the robot body; the operation adjustment amount is used to adjust the operation contact force and operation position of the operation contact part relative to the force-bearing part of the door opening. Specifically, when the force balance state is in a state of force imbalance and the operating contact force is lower than the door resistance, an operating adjustment amount is determined, and the operating contact force is increased by 10 N to 40 N, while the operating contact part is advanced by 5 mm to 20 mm in the opening direction; when the force balance state is in a state of force imbalance and the operating contact force is higher than the door resistance, an attitude adjustment amount is determined, and the tilt angle of the machine is reduced by 2 degrees to 5 degrees to reduce the disturbance to the stability of the machine caused by excessive door opening action; when the force balance state is in a state of attitude instability or a combined imbalance state, and the support contact force is lower than 80 N or fluctuates more than 15 N, a support adjustment amount is determined, and the contact position of the support contact part relative to the object to be touched is adjusted by 10 mm to 30 mm, while the support contact force is adjusted by 20 N to 60 N. Through the above correspondence, this embodiment makes different sources of imbalance correspond to different adjustment paths, thereby avoiding the use of a single correction method for all states.

[0038] After determining the support adjustment amount, attitude adjustment amount, and operation adjustment amount, this embodiment coordinates and adjusts the support state of the support contact part, the door opening action of the operation contact part, and the robot's body posture based on the support adjustment amount, attitude adjustment amount, and operation adjustment amount, so as to achieve continuous opening of the target fire door through the support reaction force chain. Specifically, this embodiment adjusts the contact position and support contact force of the support contact part relative to the object to be touched according to the support adjustment amount, adjusts the robot's body tilt angle and body lateral displacement according to the attitude adjustment amount, and adjusts the operation contact force and operation position of the operation contact part relative to the door opening force part according to the operation adjustment amount. After completing one coordination adjustment, this embodiment re-executes the data acquisition, correlation analysis, and force balance state quantity generation process in step 400, and repeats the above closed-loop adjustment at a period of 20 milliseconds until the target fire door reaches the open state for robot passage. When the cumulative displacement of the force-bearing part along the opening direction is not less than 20 mm within three consecutive sampling periods, and the force balance state remains in equilibrium, the target fire door is determined to have entered the continuous opening stage. Here, the continuous opening stage refers to the target fire door's opening no longer being a short-term displacement triggered by instantaneous force, but rather a stable opening state capable of maintaining subsequent passage conditions. After the above processing, this embodiment achieves the continuous opening of the target fire door through closed-loop adjustment of the support reaction chain and the force balance state, even when ground friction is insufficient to provide the opening force alone.

[0039] In this embodiment, after determining the force matching relationship of the support reaction chain based on the support contact force, operating contact force, and door resistance, the force matching relationship is characterized by the force matching amount, which is determined according to the following formula: in, For the first Force matching quantity under each sampling period; For the first Operating contact force under each sampling period; For the first Gate resistance under each sampling period; For the first Support contact force under each sampling period; For the first The average value of the support contact force over three consecutive sampling periods ending at one sampling period; This is the sampling period number. The force matching amount is used to simultaneously reflect the effective margin of the operating contact force relative to the door resistance and the stability of the supporting contact force; when When, it is determined that the current force matching relationship is valid, when When this occurs, it is determined that the current force matching relationship is not valid.

[0040] In this embodiment, after determining the robot's attitude stability relationship based on the attitude state, the attitude stability relationship is characterized by an attitude stability quantity, which is determined according to the following formula: in, For the first Attitude stability over one sampling period; For the first The tilt angle of the robot body relative to the passing posture during each sampling period; This is the upper limit of the aircraft's tilt angle; For the first The lateral displacement of the robot body relative to the passing posture under each sampling period; This represents the upper limit of the robot's lateral displacement. The attitude stability parameters are used to uniformly characterize the degree of deviation of the robot's current attitude state from its current orientation; when... When, the current attitude stability relation is determined to be valid, when When this occurs, the current attitude stability relationship is determined to be invalid. In conjunction with the quantitative constraints in the aforementioned embodiments, in this embodiment, Take 8 degrees. Take 60 mm.

[0041] In this embodiment, after generating force balance state quantities based on the force matching relationship and attitude stability relationship, the force balance state quantities are characterized by both continuous state quantities and discrete state quantities. The continuous state quantities are determined according to the following formula: The discrete state quantities are determined according to the following formula: in, For the first Continuous force balance state quantity under each sampling period; For the first Discrete force balance state quantities under each sampling period; the discrete state quantity takes values ​​of 0 to represent the equilibrium state, 1 to represent the force imbalance state, 2 to represent the attitude instability state, and 3 to represent the combined imbalance state. The continuous force balance state quantity is used to characterize the current balance margin, and the discrete force balance state quantity is used to determine the adjustment category to be prioritized in the future.

[0042] In this embodiment, after determining the support adjustment, attitude adjustment, and operation adjustment based on the force balance state quantities, the support adjustment, attitude adjustment, and operation adjustment are determined according to the following formulas: in, For the first The support adjustment amount under each sampling period represents the adjustment value of the contact position of the support contact part relative to the object that can be abutted, in millimeters; For the first The attitude adjustment amount per sampling period represents the adjustment value of the robot's tilt angle, in degrees; For the first The operational adjustment amount under each sampling period represents the adjustment value of the operational contact force, in Newtons; The target aircraft tilt angle corresponding to the passage posture; This represents the saturation cutoff function, which means that when... Time to take ,when Time to take In other cases, take The support adjustment amount is used to correct the contact position of the support contact part, the attitude adjustment amount is used to correct the body attitude, and the operation adjustment amount is used to correct the operation contact force. In conjunction with the adjustment range in the aforementioned embodiments, this embodiment limits the single adjustment range of the support adjustment amount to -30 mm to 30 mm, the single adjustment range of the attitude adjustment amount to -5 degrees to 5 degrees, and the single adjustment range of the operation adjustment amount to -40 N to 40 N.

[0043] In this embodiment, after coordinating the adjustment of the support state of the support contact, the opening action of the operation contact, and the robot's body posture based on the support adjustment amount, posture adjustment amount, and operation adjustment amount, the continuous opening determination is further constrained according to the following formula: in, For the first The cumulative displacement of the door-opening force-bearing part along the opening direction within three consecutive sampling periods with the sampling period as the end point, in millimeters; For the first The displacement increment of the force-bearing part of the door along the opening direction within each sampling period; Indicates the first The discrete force balance state quantity under each sampling period is in equilibrium. The determination condition is used to distinguish between the short-term displacement of the target fire door caused only by instantaneous force and the continuous opening state formed under the closed-loop action of the support reaction force chain and the force balance state quantity; when the cumulative displacement reaches 20 mm and the current discrete force balance state quantity is in equilibrium, the target fire door is determined to have entered the continuous opening stage.

[0044] In step 600 of this embodiment, after the target fire door enters the continuous opening phase, a matching determination of the door opening gap and the passage shape dimension is performed. The door opening gap refers to the minimum horizontal clearance between the inner edge of the movable door leaf and the inner edge of the fixed door leaf or the inner edge of the door frame corresponding to its opening direction. This door opening gap is determined by obtaining the shortest distance between the edge contour of the movable door leaf and the boundary of the opposite door frame, and the minimum value within three consecutive sampling periods is taken as the current effective door opening gap to suppress measurement fluctuations caused by door swing. In this embodiment, the sampling period is 20 milliseconds, and the measurement error of the door opening gap is controlled within ±5 mm. The passage shape dimension refers to the maximum projection size of the outer contour of each structure of the robot in the passage posture determined in step 200, perpendicular to the passage direction. This dimension is determined by the boundary of the robot body structure and remains unchanged during passage. In this embodiment, this dimension ranges from 400 mm to 900 mm. When the door opening gap is greater than or equal to the passage shape dimension, it is determined that the target fire door has reached the open state for robot passage.

[0045] After determining the open state, this embodiment controls the robot to enter the passage process and maintains the door clearance state. The door clearance state refers to the state where the target fire door remains stably open during the robot's passage, creating a continuous clearance space for the robot's path. Its function is to prevent the door from swinging back under the door closer's rebound, thus obstructing passage. This embodiment maintains this state by controlling the operating contact part to continuously apply an operating contact force to the door opening force-bearing part. The operating contact force is stable within the range of 30 N to 120 N, ensuring that the change in the door opening gap within three consecutive sampling periods does not exceed 10 mm and is always not less than the passage dimensions. Subsequently, the robot is controlled to pass through the doorway along the passage direction. During the passage, the supporting contact part maintains contact while still within the contact range of the object it can abut. When the robot's center of gravity crosses the door frame centerline and the distance between the supporting contact part and the object it can abut exceeds 50 mm, the supporting contact is released, and the operating contact part alone maintains the door clearance state to ensure a continuous transition of the support reaction force chain during passage.

[0046] After the robot passes through the doorway, this embodiment controls the robot to cross a rodent barrier to complete passage. The rodent barrier is a vertical obstruction structure set at the bottom of the doorway, with a height of 300 mm to 600 mm. First, the relative height difference between the top of the rodent barrier and the current position of the robot's foot is obtained, and the crossing action range is determined accordingly. For a quadruped robot, the feet are controlled to rise to a position 20 mm to 60 mm above the top of the rodent barrier in a forward-backward sequence to complete the obstacle crossing and landing; for a humanoid robot, the swinging leg is controlled to rise to a position 20 mm to 60 mm above the top of the rodent barrier in a forward-backward gait sequence to complete the crossing. During the crossing, the robot's body tilt angle is kept no greater than 6 degrees, and the lateral displacement is kept no greater than 40 mm to maintain posture stability. After crossing, the action of the operating contact part on the door opening force part is released, allowing the target fire door to return to the closed state under the action of the door closer, thereby completing the entire passage process.

[0047] In this embodiment, after determining that the target fire door has reached an open state suitable for robot passage when the door opening gap is greater than or equal to the passage dimension, the opening state is further quantified using passage margin, which is calculated according to... It is confirmed that, among them, For the first Passage margin under each sampling period; For the first Door opening gap under each sampling period; For general external dimensions; when When the target fire door is determined to be in an open state that allows the robot to pass through, At that time, it was determined that the passage conditions were not yet met. During the process of maintaining the door's yielding state, the door's yielding state was further determined using an opening stability factor, which was determined according to... It is confirmed that, among them, For the first The activation stability value under each sampling period; For the first Passage margin under each sampling period; and These represent the door opening gaps in two adjacent sampling periods; when At that time, it is determined that the target fire door is in a stable yielding state. When it is determined that the target fire door has a tendency to swing back, the operating contact part is increased to increase the operating contact force on the door opening force part in order to restore the door body to the yielding state.

[0048] In this embodiment, during the process of controlling the robot to cross the mouse barrier, a crossing height margin is further used to determine whether the current crossing action meets the obstacle-crossing requirements. The crossing height margin is calculated according to... It is confirmed that, among them, For the first Span height margin under each sampling period; For the first The lifting height of the robot's foot or foot during each sampling period; The height of the rodent barrier; when At 20:00, it was determined that the current lifting height met the crossing requirements. If the current lifting height is insufficient, the robot continues to increase the lifting height of its feet or toes until the crossing conditions are met. In determining whether the robot has completely passed through the doorway, a further constraint is applied to determine whether the robot has completely passed through the doorway using a passage completion amount, which is calculated according to... It is confirmed that, among them, For the first Passage completion rate under each sampling period; This represents the displacement of the robot's current center of mass relative to the inner boundary of the door frame along the passage direction; Let be the length of the robot's body in the passing posture; when At that time, it was determined that the robot had completely passed through the doorway and completed the passage process.

[0049] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0050] This document uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for a robot to pass through a fire door and cross a rodent barrier, characterized in that, include: The robot obtains information on the door configuration, opening direction, and location of objects that can be used to provide support for the target fire door. The object that can be leaned against is a fixed door leaf, door frame, or wall; Based on the door configuration, the opening direction, and the location information of the object that can be touched, the robot's support side, door opening operation side, and passage posture are determined. The robot's support contact part is controlled to form a support contact with the object it can lean against, and the robot's operation contact part is controlled to form an operation contact with the opening force-bearing part of the target door leaf, so as to construct a support reaction force chain for opening the target fire door; The force balance state of the robot is generated by collecting the supporting contact force of the supporting contact part, the operating contact force of the operating contact part, the door resistance of the target fire door, and the posture state of the robot. The support adjustment amount, attitude adjustment amount, and operation adjustment amount are determined based on the force balance state quantity. Based on the support adjustment amount, attitude adjustment amount, and operation adjustment amount, the support state of the support contact part, the door opening action of the operation contact part, and the body posture of the robot are coordinated and adjusted so that the target fire door can be continuously opened through the support reaction force chain when the ground friction is insufficient to provide the door opening force alone. After the target fire door reaches the open state to allow the robot to pass, the robot is controlled to pass through the doorway while maintaining the door's clearance state, and cross the rodent barrier located on the passage path of the target fire door to complete the passage.

2. The method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, The robot acquires information on the door configuration, opening direction, and location of objects that can be used to provide support for the target fire door. Collect environmental perception data of the area where the target fire door is located; Based on the environmental perception data, the active door leaf, the fixed door leaf, and the hinge position are identified to determine the door leaf configuration and the opening direction; The spatial positions of the fixed door leaf, door frame, and wall are determined based on the environmental perception data, and the location information of the collapsible object is determined from the fixed door leaf, door frame, and wall.

3. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, Based on the door configuration, the opening direction, and the location information of the object to be touched, the robot's support side, door opening operation side, and passage posture are determined, including: Based on the opening direction and the location information of the object to be touched, the side of the robot that can form a supporting contact with the object to be touched is determined as the supporting side; The side of the robot that is opposite to the support side and can make operational contact with the opening force-bearing part of the target door leaf is defined as the opening operation side. Based on the supporting side, the opening operation side, and the opening direction, the robot's orientation and body posture relative to the target fire door are determined to obtain the passage posture.

4. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, The robot is a quadruped robot or a humanoid robot; when the robot is a quadruped robot, the supporting contact part is a part of the foot, leg, or torso used to form a supporting contact with the object to which it can be leaned, and the operating contact part is a part of the foot, leg, or torso used to form an operating contact with the force-bearing part of the door opening; when the robot is a humanoid robot, the supporting contact part is a part of the foot, leg, hand, arm, or torso used to form a supporting contact with the object to which it can be leaned, and the operating contact part is a part of the hand, arm, or torso used to form an operating contact with the force-bearing part of the door opening.

5. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, The robot's support contact portion is controlled to form a support contact with the object it can abut, and the robot's operating contact portion is controlled to form an operating contact with the opening force-bearing part of the target door leaf, so as to construct a support reaction force chain for opening the target fire door, including: The supporting contact portion is controlled to move toward the object to be abutted and a supporting contact force is applied to form the supporting contact; The operation contact part is controlled to move toward the door opening force-bearing part and an operation contact force is applied to form the operation contact, wherein the door opening force-bearing part is a door handle, a door leaf edge, or a predetermined force-bearing area of ​​the target door leaf; The support contact part, the robot, and the operation contact part form a force transmission path, so that the support contact force and the operation contact force act together on the door opening force part, forming the support reaction force chain.

6. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, The system collects the supporting contact force of the supporting contact part, the operating contact force of the operating contact part, the door resistance of the target fire door, and the robot's posture state to generate the robot's force balance state quantities, including: A correlation analysis was performed on the supporting contact force, the operating contact force, the door resistance, and the posture state; The force matching relationship of the support reaction chain is determined based on the support contact force, the operation contact force, and the door resistance. The attitude stability relationship of the robot is determined based on the attitude state; The force balance state quantity is generated based on the force matching relationship and the attitude stability relationship.

7. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, Determining the support adjustment, attitude adjustment, and operation adjustment based on the force balance state quantities includes: The matching relationship between the support state, the body posture, the door opening action, and the door resistance is determined based on the force balance state quantity. When the support state does not match the door resistance, the support adjustment amount is determined; When the body posture and the door resistance do not match, determine the posture adjustment amount; When the door opening action does not match the door resistance, the operation adjustment amount is determined.

8. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, Based on the support adjustment amount, the posture adjustment amount, and the operation adjustment amount, the support state of the support contact part, the door opening action of the operation contact part, and the robot's body posture are coordinated and adjusted to achieve continuous opening of the target fire door through the support reaction force chain when ground friction is insufficient to provide the door opening force alone. This includes: The contact position of the support contact portion relative to the object to be abutted and the support contact force are adjusted according to the support adjustment amount. The robot's body posture is adjusted according to the stated posture adjustment amount; The operating contact force and operating position of the operating contact part relative to the door opening force-bearing part are adjusted according to the operating adjustment amount; After the adjustment is completed, the force balance state quantity is regenerated, and the coordination adjustment is repeated based on the regenerated force balance state quantity until the target fire door reaches the open state for the robot to pass through.

9. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, After the target fire door reaches an open state that allows the robot to pass through, the process includes: Obtain the current door leaf opening gap of the target fire door; Obtain the robot's external dimensions in the passage posture; When the door opening gap is greater than or equal to the passage dimension, the target fire door is determined to be in an open state that allows the robot to pass through.

10. A method for a robot to pass through a fire door and cross a rodent barrier according to claim 1, characterized in that, Controlling the robot to pass through the doorway while maintaining the door's clearance position, and to cross the rodent barrier located on the path of the target fire door to complete passage, includes: The operating contact part is controlled to maintain its effect on the door opening force part so that the target fire door keeps the door body in the yielding state; The robot is controlled to pass through the doorway in the passage posture, and during the passage through the doorway, the supporting contact part is kept in support contact with the object that can be abutted, or the operating contact part is kept in the yielding state of the door after the support contact is released; After the robot passes through the doorway, it is controlled to cross the mouse barrier to complete the passage.

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