The invention discloses a method for controlling a robot to pass through an entrance guard or gate machine equipment. The method comprises the steps of: when the robot reaches a range having a pre-setdistance from the equipment, sending a request for passing through the equipment to a server controlling the equipment by the robot; obtaining the state of the equipment by the robot; judging the state of the equipment by the robot; if the equipment is in a locking state, sending the request for passing through the equipment again after waiting for a pre-set time, and, if the equipment is in an idle state, enabling the equipment to be in the locking state, and driving the robot to pass through the equipment; after the robot passes through the equipment, enabling the equipment to be in the idle state. By adoption of locking and unlocking manners, the purpose that multiple robots pass can be achieved; and thus, the technical effect of increasing the robot passing efficiency can be realized.