CN111090565B - Robot historical behavior playback method and system - Google Patents
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Abstract
The invention discloses a robot historical behavior playback method and a robot historical behavior playback system, which comprise the following steps: the robot control terminal collects original operation data, classifies the operation data according to data attributes, adds auxiliary information to each frame of classified data to form target classification data, and then sends the target classification data to a database; the database receives the target classification data, classifies and stores the target classification data according to the data attributes and the accessory information, and forms keywords for inquiring the historical behaviors of the robot; and the history playback terminal receives a user instruction containing the keywords, and calls corresponding target classification data according to the keywords of the user instruction to display the target classification data. The invention can realize high-efficiency, accurate and comprehensive playback of historical behaviors by classifying and storing the operation data of the robot; meanwhile, historical operating data can be presented in the form of 2D images, 3D images and/or data tables, the presentation mode is rich, control is convenient, and diversified requirements of users are met.
Description
[ technical field ] A method for producing a semiconductor device
The invention relates to the field of robots, in particular to a method and a system for replaying historical behaviors of a robot.
[ background of the invention ]
For a certain robot in operation, relevant information such as behaviors, states and data of the robot can be checked by adopting a real-time monitoring method. However, when the number of the operating robots is large, the distribution is wide, or the network environment is poor, the real-time monitoring method consumes a lot of manpower and material resources, and the effect is not good. In addition, when the robot is in a stable operation state and an error is a small-probability event, the real-time monitoring is a product maintenance mode with high payment and low return. For the disadvantages of the real-time monitoring method, when designing a robot operation and management system, the system is required to have a playback capability of historical behaviors, that is, the system is required to play back related information such as behaviors, states, data and the like of a certain robot in a certain operation time when needed (such as error correction and debugging). The general system usually realizes the playback of historical behaviors by means of a log system, namely, log information is inserted into a functional node according to a certain grade and granularity in the system development process, and log contents are printed according to controllable options in the system operation process. The log mode is simple and flexible, but the presentation form (text) is relatively single, only partial behaviors and states can be covered, and support such as run-time dependent data cannot be provided. When the robot runs in a behavior or state with incomplete log coverage, the robot running system is often rearranged after log content or options are readjusted, so that historical behaviors cannot be reproduced in time, and even the scene is damaged inadvertently, so that the behaviors cannot be reproduced.
[ summary of the invention ]
The invention provides a robot historical behavior playback method and system, which solve the technical problems.
The technical scheme for solving the technical problems is as follows: a robot historical behavior playback method comprises the following steps:
and 3, receiving a user instruction containing the keywords by the history playback terminal, and calling corresponding target classification data according to the keywords of the user instruction for display.
In a preferred embodiment, the step 1 specifically comprises the following steps:
s101, collecting original operation data, and dividing the original operation data into first classified data with different data attributes according to a main body forming the original operation data;
s102, adding a timestamp and a corresponding task number to each frame of first classified data to generate second classified data;
s103, adding version numbers to each frame of second classified data to generate target classified data, wherein the version numbers are used for forming calling combinations of multiple types of data with different data attributes;
s104, temporarily storing the target classification data in a local database of the robot control system, when the data volume of the local database reaches a preset threshold value or the robot is in an idle state, commanding the robot to operate to an area with good network signals, uploading the target classification data to a cloud database, and deleting the target classification data temporarily stored in the local database.
In a preferred embodiment, the step 2 specifically includes the following steps:
s201, receiving the target classification data by a database;
s202, storing the target classification data in a corresponding data table according to the data attribute and the auxiliary information;
s203, taking the time stamp and the task number as a first key word for selecting a playback period, and taking the version number as a second key word for realizing data frame alignment;
and S204, managing the target classification data according to a preset data storage amount and preset data storage time.
In a preferred embodiment, the step 3 specifically includes the following steps:
s301, the history playback terminal receives a user instruction containing keywords, and queries in the database according to the keywords in the user instruction to obtain corresponding target classification data;
s302, displaying corresponding target classification data by adopting a 2D view, a 3D view and/or a data table, and responding to touch operation aiming at a display interface to control displayed contents.
In a preferred embodiment, the controlling the displayed content specifically includes: adjusting the playing speed, further intercepting the playing segments and/or displaying and controlling the data elements of various data attributes in the playing process.
A second aspect of the embodiments of the present invention provides a robot historical behavior playback system, including a robot control terminal, a database, and a historical playback terminal,
the robot control terminal is used for collecting original operation data, classifying the original operation data according to data attributes, adding auxiliary information to each frame of classified data to form target classification data, and then sending the target classification data to a database when preset conditions are met;
the database is used for receiving the target classification data, classifying and storing the target classification data according to data attributes and accessory information, and forming keywords for inquiring the historical behaviors of the robot;
the history playback terminal is used for receiving a user instruction containing keywords and calling corresponding target classification data according to the keywords of the user instruction for display.
In a preferred embodiment, the robot control terminal specifically includes:
the data acquisition module is used for acquiring original operation data;
the system comprises a first classification module, a second classification module and a third classification module, wherein the first classification module is used for classifying original operation data into first classification data with different data attributes according to a main body forming the original operation data;
the second classification module is used for adding a timestamp and a corresponding task number to each frame of first classification data to generate second classification data;
the third classification module is used for adding version numbers to each frame of second classification data to generate target classification data, and the version numbers are used for forming calling combinations of multiple types of data with different data attributes;
and the control module is used for temporarily storing the target classification data in a local database of the robot control system, instructing the robot to operate to a network signal better area to upload the target classification data to a cloud database when the data volume of the local database reaches a preset threshold value or the robot is in an idle state, and deleting the target classification data temporarily stored in the local database.
In a preferred embodiment, the database comprises:
a data receiving module for receiving the target classification data;
the storage module is used for storing the target classification data in a corresponding data table according to the data attribute and the auxiliary information;
the key word generation module is used for taking the time stamp and the task number as first key words for selecting the playback time period and taking the version number as second key words for realizing data frame alignment;
and the management module is used for managing the target classification data according to a preset data storage amount and preset data storage time.
In a preferred embodiment, the history playback terminal includes:
the query module is used for receiving a user instruction containing keywords, and querying the database according to the keywords in the user instruction to obtain corresponding target classification data;
and the display module is used for displaying the corresponding target classification data by adopting a 2D view, a 3D view and/or a data table, and responding to the touch operation aiming at the display interface to control the displayed content.
In a preferred embodiment, the display module is specifically configured to adjust a playing speed of the display content, further intercept a playing segment, and/or display and control data elements of various data attributes in a playing process in response to a touch operation on the display interface.
The invention provides a robot historical behavior playback method and a robot historical behavior playback system, which have the following beneficial effects:
(1) the operation data of the robot is classified and stored, so that the efficient, accurate and comprehensive historical behavior playback is realized;
(2) the historical operating data can be presented in the form of 2D images, 3D images and/or data tables, the presentation mode is rich, control is convenient, and diversified requirements of users can be met.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
[ description of the drawings ]
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic flowchart of a robot historical behavior playback method provided in embodiment 1;
FIG. 2 is a schematic diagram of first classification data in a robot historical behavior playback method provided in embodiment 1;
FIG. 3 is a diagram showing second classification data in the robot historical behavior playback method provided in embodiment 1;
FIG. 4 is a schematic diagram of object classification data in the robot historical behavior playback method provided in embodiment 1;
fig. 5 is a schematic structural diagram of a robot historical behavior playback system provided in embodiment 2.
[ detailed description ] embodiments
In order to make the objects, technical solutions and advantageous effects of the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be understood that the detailed description and specific examples, while indicating the preferred embodiment of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is a schematic flowchart of a robot historical behavior playback method provided in embodiment 1, and as shown in fig. 1, the method includes the following steps:
After the three-time classification of the original operation data is completed by the robot control terminal, the data can only be temporarily stored in the robot control system because the storage space of the robot is limited and the robot is mainly used for robot behavior function control, when the data volume of the local database reaches a preset threshold value or the robot is in an idle state, the robot is instructed to operate to an area with good network signals to upload the target classification data to the cloud database, and the target classification data temporarily stored in the local database is deleted to vacate the storage space.
s201, receiving the target classification data by a database;
s202, storing the target classification data in a corresponding data table according to the data attribute and the auxiliary information;
s203, taking the time stamp and the task number as a first key word for selecting a playback period, and taking the version number as a second key word for realizing data frame alignment;
and S204, managing the target classification data according to a preset data storage amount and preset data storage time.
s301, the historical playback terminal takes a database as a background data source thereof, provides the ability of selecting playback targets, time periods and themes externally, receives a user instruction containing keywords, and queries in the database according to the keywords in the user instruction to acquire corresponding target classification data;
s302, displaying corresponding target classification data by adopting a 2D view, a 3D view and/or a data table, responding to touch operation aiming at a display interface, adjusting the playing speed, further intercepting playing segments and/or displaying and controlling data elements of various data attributes and the like in the playing process, and finally realizing efficient and accurate playback of the historical behaviors of the robot.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
Fig. 5 is a schematic structural diagram of a robot historical behavior playback system provided in embodiment 5, as shown in fig. 5, including a robot control terminal 100, a database 200 and a historical playback terminal 300,
the robot control terminal 100 is configured to collect original operation data, classify the original operation data according to data attributes, add auxiliary information to each classified frame of data to form target classification data, and send the target classification data to a database when a preset condition is met;
the database 200 is used for receiving the target classification data, classifying and storing the target classification data according to data attributes and accessory information, and forming keywords for inquiring the historical behaviors of the robot;
the history playback terminal 300 is configured to receive a user instruction including a keyword, and call and display corresponding target classification data according to the keyword of the user instruction.
In a preferred embodiment, the robot control terminal 100 specifically includes:
a data acquisition module 101, configured to acquire original operating data;
a first classification module 102, configured to classify original operating data into first classified data with different data attributes according to a main body forming the original operating data;
the second classification module 103 is configured to add a timestamp and a corresponding task number to each frame of the first classification data, and generate second classification data;
the third classification module 104 is configured to add a version number to each frame of second classification data to generate target classification data, where the version number is used to form a call combination of multiple types of data with different data attributes;
the control module 105 is configured to temporarily store the target classification data in a local database of the robot control system, instruct the robot to operate in a network signal better area to upload the target classification data to a cloud database when the data amount of the local database reaches a preset threshold or the robot is in an idle state, and delete the target classification data temporarily stored in the local database.
In a preferred embodiment, the database 200 specifically includes:
a data receiving module 201, configured to receive the target classification data;
a storage module 202, configured to store the target classification data in a corresponding data table according to the data attribute and the auxiliary information;
the keyword generation module 203 is configured to use the timestamp and the task number as a first keyword for selecting a playback period, and use the version number as a second keyword for implementing data frame alignment;
the management module 204 is configured to manage the target classification data according to a preset data storage amount and a preset data storage time.
In a preferred embodiment, the history playback terminal 300 specifically includes:
the query module 301 is configured to receive a user instruction including a keyword, perform query in the database according to the keyword in the user instruction, and acquire corresponding target classification data;
the display module 302 is configured to display the corresponding target classification data by using a 2D view, a 3D view and/or a data table, and control the displayed content in response to a touch operation on the display interface.
In a preferred embodiment, the display module 302 is specifically configured to adjust a playing speed of the display content, further intercept a playing segment, and/or display and control data elements of various data attributes in the playing process, such as a laser distance and a laser intensity, in response to a touch operation on the display interface.
The invention provides a full-flow robot historical behavior playback method and system based on data classification of a front-end robot control terminal, organization and alignment of a middle-end database and calling and displaying of a rear-end historical playback terminal, wherein the method comprises the following steps:
1) and the front-end robot control terminal realizes data classification. The robot control terminal classifies data generated in the operation process of the robot control terminal at different levels and angles, attaches information such as a timestamp, a task number and a version number to each frame of data, and stores the data into a database system located at the local or cloud of the robot at a proper time;
2) the middle database is organized and aligned. After receiving the operation data pushed by the robot control terminal, the database system stores the data in each data table according to the data attribute and the accessory information of the data, selects keywords by taking a timestamp and a task number as historical playback time, and takes a version number as a data frame alignment keyword;
3) and calling and displaying by the back-end history playback terminal. When a developer or an operation and maintenance person needs to replay the behavior of the robot within a certain time period, the serial number and the replay time period of the robot can be selected from the historical replay system, and then historical behavior data of each robot are read from the database system, and efficient and accurate historical behavior replay is realized by matching with the replay option.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. The specific names of the functional units and modules are only for convenience of distinguishing from each other and are not used for limiting the protection scope of the application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and method steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The invention is not limited solely to that described in the specification and embodiments, and additional advantages and modifications will readily occur to those skilled in the art, so that the invention is not limited to the specific details, representative apparatus, and illustrative examples shown and described herein, without departing from the spirit and scope of the general concept as defined by the appended claims and their equivalents.
Claims (10)
1. A robot historical behavior playback method is characterized by comprising the following steps:
step 1, a robot control terminal collects original operation data, divides the original operation data into first classified data with different data attributes according to a main body forming the original operation data, then adds a timestamp and a corresponding task number to each frame of the first classified data to generate second classified data, adds a version number to each frame of the second classified data to generate target classified data, and then sends the target classified data to a database when a preset condition is met; the version number is used for forming a calling combination of multiple types of data with different data attributes;
step 2, a database receives the target classification data, classifies and stores the target classification data according to data attributes and accessory information, and forms keywords for inquiring the historical behaviors of the robot;
and 3, receiving a user instruction containing the keywords by the history playback terminal, and calling corresponding target classification data according to the keywords of the user instruction for display.
2. The method for replaying historical behaviors of a robot according to claim 1, wherein the step 1 of sending the target classification data to a database when a preset condition is satisfied specifically comprises the following steps:
temporarily storing the target classification data in a local database of a robot control system, commanding the robot to operate to an area with good network signals to upload the target classification data to a cloud database when the data volume of the local database reaches a preset threshold value or the robot is in an idle state, and deleting the target classification data temporarily stored in the local database.
3. The robot historical behavior playback method according to claim 2, wherein the step 2 specifically comprises the steps of:
s201, receiving the target classification data by a database;
s202, storing the target classification data in a corresponding data table according to the data attribute and the auxiliary information;
s203, taking the time stamp and the task number as a first key word for selecting a playback period, and taking the version number as a second key word for realizing data frame alignment;
and S204, managing the target classification data according to a preset data storage amount and preset data storage time.
4. A robot historical behavior playback method according to any one of claims 1-3, wherein the step 3 specifically comprises the steps of:
s301, the history playback terminal receives a user instruction containing keywords, and queries in the database according to the keywords in the user instruction to obtain corresponding target classification data;
s302, displaying corresponding target classification data by adopting a 2D view, a 3D view and/or a data table, and responding to touch operation aiming at a display interface to control displayed contents.
5. The robot historical behavior playback method of claim 4, wherein controlling the displayed content specifically comprises: adjusting the playing speed, further intercepting the playing segments and/or displaying and controlling the data elements of various data attributes in the playing process.
6. A robot historical behavior playback system is characterized by comprising a robot control terminal, a database and a historical playback terminal,
the robot control terminal is used for collecting original operation data, dividing the original operation data into first classified data with different data attributes according to a main body forming the original operation data, adding a timestamp and a corresponding task number to each frame of the first classified data, and generating second classified data; the system comprises a database, a first classification data set, a second classification data set and a database, wherein the first classification data set is used for storing first classification data, and the second classification data set is used for storing second classification data; the version number is used for forming a calling combination of multiple types of data with different data attributes;
the database is used for receiving the target classification data, classifying and storing the target classification data according to data attributes and accessory information, and forming keywords for inquiring the historical behaviors of the robot;
the history playback terminal is used for receiving a user instruction containing keywords and calling corresponding target classification data according to the keywords of the user instruction for display.
7. The robot historical behavior playback system of claim 6, wherein the robot control terminal specifically comprises:
the data acquisition module is used for acquiring original operation data;
the system comprises a first classification module, a second classification module and a third classification module, wherein the first classification module is used for classifying original operation data into first classification data with different data attributes according to a main body forming the original operation data;
the second classification module is used for adding a timestamp and a corresponding task number to each frame of first classification data to generate second classification data;
the third classification module is used for adding version numbers to each frame of second classification data to generate target classification data, and the version numbers are used for forming calling combinations of multiple types of data with different data attributes;
and the control module is used for temporarily storing the target classification data in a local database of the robot control system, instructing the robot to operate to a network signal better area to upload the target classification data to a cloud database when the data volume of the local database reaches a preset threshold value or the robot is in an idle state, and deleting the target classification data temporarily stored in the local database.
8. The robotic historical behavior playback system of claim 7, wherein the database comprises:
a data receiving module for receiving the target classification data;
the storage module is used for storing the target classification data in a corresponding data table according to the data attribute and the auxiliary information;
the key word generation module is used for taking the time stamp and the task number as first key words for selecting the playback time period and taking the version number as second key words for realizing data frame alignment;
and the management module is used for managing the target classification data according to a preset data storage amount and preset data storage time.
9. The robot historical behavior playback system according to any one of claims 6 to 8, wherein the historical playback terminal includes:
the query module is used for receiving a user instruction containing keywords, and querying the database according to the keywords in the user instruction to obtain corresponding target classification data;
and the display module is used for displaying the corresponding target classification data by adopting a 2D view, a 3D view and/or a data table, and responding to the touch operation aiming at the display interface to control the displayed content.
10. The system according to claim 9, wherein the display module is specifically configured to adjust a playing speed of the display content, further intercept a playing segment, and/or display and control data elements of various data attributes during the playing process in response to a touch operation on the display interface.
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