CN111590574A - Anti-theft method and system for high-intelligence robot - Google Patents
Anti-theft method and system for high-intelligence robot Download PDFInfo
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- CN111590574A CN111590574A CN202010415346.3A CN202010415346A CN111590574A CN 111590574 A CN111590574 A CN 111590574A CN 202010415346 A CN202010415346 A CN 202010415346A CN 111590574 A CN111590574 A CN 111590574A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/06—Safety devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Abstract
The invention relates to the technical field of robot anti-theft, in particular to a high-intelligent robot anti-theft method, which comprises the following steps: step S1, judging whether the robot is in a motion posture; step S2, when the high intelligent robot is in a motion posture, acquiring a real-time action planning instruction and real-time action execution information of the robot; step S3, judging whether the real-time action execution information and the real-time action planning instruction are in accordance, and sending an alarm instruction when the real-time action execution information and the real-time action planning instruction are not in accordance; and step S4, when the robot is in a static state, judging whether the robot is in a preset stop position, if so, performing anti-theft protection on the high-intelligent robot through gravity sensing of the stop position, and if not, performing self-planning of a route to the nearest stop position by the robot. This technical scheme beneficial effect lies in can all-roundly realizing the high intelligent robot operation and shutting down the theftproof safety in each stage, promotes safety protection, prevents that high intelligent robot is stolen.
Description
Technical Field
The invention relates to the technical field of anti-theft of high-intelligence robots, in particular to an anti-theft method and system of a high-intelligence robot.
Background
Aiming at the rapid and variable and increasing complexity requirements of modern industry, in addition to flexible manufacturing, computer integrated manufacturing, fine production and parallel engineering, in a production unit for future industrial application, a high-intelligent robot is required to repeatedly work without tiredness, and can be fused into a manufacturing system as a programmable and reconfigurable manufacturing unit which is highly flexible, open and has a friendly man-machine interaction function.
With the development of the current society, the highly intelligent robot gradually enters the visual field of people, but when people hurt the highly intelligent robot (such as stolen or demolished) while the highly intelligent robot is convenient for the daily life of people, how should the highly intelligent robot realize protection? At present, many high-intelligent robot manufacturers often ignore the protection of the high-intelligent robot when various functions of customer requirements are met, so that the high-intelligent robot is caused to be damaged in the outside, the service life of the high-intelligent robot is greatly shortened, and great loss is brought to customers.
Disclosure of Invention
Aiming at the problems in the prior art, the anti-theft method for the highly intelligent robot is provided, and the specific technical scheme is as follows:
the invention relates to a high intelligent robot anti-theft method, the high intelligent robot includes a environment perception device, a posture perception device, a path navigation device, an action planning device and an alarm device, the high intelligent robot automatically navigates and plans the task according to the external control instruction;
the method comprises the following steps:
step S1, judging whether the highly intelligent robot is in a motion posture through the posture sensing device:
if yes, go to step S2;
if not, go to step S4;
step S2, when the high intelligent robot is in a motion posture, acquiring a real-time navigation plan and a real-time position of the high intelligent robot based on a control instruction through the environment sensing device and the path navigation device; and is
Acquiring a real-time action planning instruction and real-time action execution information of the high-intelligent robot based on the control instruction through the attitude sensing device and the action planning device;
step S3, determining whether the real-time position matches the real-time navigation plan, and determining whether the real-time action execution information matches the real-time action plan command:
if yes, returning to the step S3;
if the real-time position does not accord with the real-time navigation plan or the real-time action execution information does not accord with the real-time action plan, first alarm information is issued through an alarm device;
step S4, when the high intelligent robot is in a static attitude, whether the high intelligent robot is in a preset stop position is judged through the environment sensing device:
if yes, ending the process;
if not, controlling the high-intelligent robot to move to the nearest stop position through the path navigation device, and then returning to the step S2;
be provided with a gravity induction system in the stall position for detect the gravity change that stops at the high intelligent robot of stall position, and issue second alarm information when the gravity change is in one and predetermine the scope.
Preferably, according to the anti-theft method for the high-intelligent robot, each high-intelligent robot and each stop position are remotely connected with a police cloud, and the first alarm information and the second alarm information are remotely transmitted to the police cloud.
Preferably, the anti-theft method for the high-intelligent robot further comprises an emergency stop control device;
in step S3, when the alarm device issues the first alarm information, the emergency stop control device controls the highly intelligent robot to perform emergency stop and lock.
Preferably, the high-intelligent robot anti-theft method is characterized in that the attitude sensing device comprises an inertial measurement unit, and whether the real-time action execution information conforms to the real-time action planning instruction or not is judged by detecting the attitude offset in the horizontal direction.
Preferably, in the method for preventing the highly intelligent robot from being stolen, in step S3, a first preset threshold and a second preset threshold are respectively set;
when the offset of the real-time position and the real-time navigation plan is larger than a first preset threshold value, judging that the real-time position does not accord with the real-time navigation plan;
and when the offset of the real-time action execution information and the real-time action planning instruction is larger than a second preset threshold, judging that the real-time action execution information is not in accordance with the real-time action planning instruction.
Preferably, the anti-theft method for the highly intelligent robot is characterized in that a ground lock is arranged at a shutdown position and is in a lifting normally-open state;
the ground lock is provided with a monitoring device, and when the high intelligent robot is detected to be close to the ground lock, the ground lock is controlled to fall and close.
Preferably, the maximum value of the preset range is less than or equal to the overall mass of the high-intelligent robot;
the minimum value of the preset range is larger than the quality of any detachable complete part of the high-intelligent robot.
The invention has the advantages that through the technical scheme, the safety anti-theft monitoring is respectively carried out from multiple directions such as real-time navigation monitoring, real-time posture monitoring, shutdown gravity sensing and the like, the anti-theft safety of the high-intelligent robot in each stage such as operation, shutdown and the like can be realized in an all-around manner, the safety protection is improved, and the high-intelligent robot is prevented from being stolen to cause huge economic loss.
Drawings
FIG. 1 is a flow chart of the steps of a high-intelligent robot anti-theft method of the invention;
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The invention is further described with reference to the following drawings and specific examples, which are not intended to be limiting.
Aiming at the problems in the prior art, the anti-theft method and the anti-theft system for the highly intelligent robot are provided, and the specific technical scheme is as follows:
the invention relates to a high intelligent robot anti-theft method, the high intelligent robot includes a environment perception device, a posture perception device, a path navigation device, an action planning device and an alarm device, the high intelligent robot automatically navigates and plans the task according to the external control instruction;
the anti-theft method comprises the following steps:
step S1, judging whether the highly intelligent robot is in a motion posture through the posture sensing device:
if yes, go to step S2;
if not, go to step S4;
step S2, when the high intelligent robot is in a motion posture, acquiring a real-time navigation plan and a real-time position of the high intelligent robot based on a control instruction through the environment sensing device and the path navigation device; and is
Acquiring a real-time action planning instruction and real-time action execution information of the high-intelligent robot based on the control instruction through the attitude sensing device and the action planning device;
step S3, determining whether the real-time position matches the real-time navigation plan, and determining whether the real-time action execution information matches the real-time action plan command:
if yes, returning to the step S3;
if the real-time position does not accord with the real-time navigation plan or the real-time action execution information does not accord with the real-time action plan, first alarm information is issued through an alarm device;
step S4, when the high intelligent robot is in a static attitude, whether the high intelligent robot is in a preset stop position is judged through the environment sensing device:
if yes, ending the process;
if not, controlling the high-intelligent robot to move to the nearest stop position through the path navigation device, and then returning to the step S2;
be provided with a gravity induction system in the stall position for detect the gravity change that stops at the high intelligent robot of stall position, and issue second alarm information when the gravity change is in one and predetermine the scope.
In a preferred embodiment of the present invention, the high-intelligent robot is monitored for safety and theft prevention from multiple directions, such as real-time navigation monitoring, real-time attitude monitoring, shutdown gravity sensing, etc., wherein: the real-time navigation monitoring and the real-time attitude monitoring avoid that the high-intelligent robot is forcibly stolen by lawbreakers through external force in the completely autonomous operation process through the attitude sensing technology of the positioning technology; and the gravity sensing of the stop position ensures that the high-intelligent robot cannot be disassembled and stolen in the stop process.
According to the high-intelligent robot anti-theft method, each high-intelligent robot and each stop position are remotely connected with a police cloud terminal, and the first alarm information and the second alarm information are remotely transmitted to the police cloud terminal.
As a preferred embodiment, the anti-theft method for the high-intelligent robot is characterized in that the high-intelligent robot further comprises an emergency stop control device;
in step S3, when the alarm device issues the first alarm information, the emergency stop control device controls the highly intelligent robot to perform emergency stop and lock.
In a preferred embodiment of the invention, when the alarm device issues the first alarm information, the high-intelligent robot synchronously controls each moving mechanism to perform emergency stop and locking, so as to prevent the robot from deviating from the established track to run under the action of external force and being stolen.
In a preferred embodiment, the high-intelligent robot anti-theft method includes that the attitude sensing device includes an inertial measurement unit, and whether the real-time action execution information conforms to the real-time action planning instruction is judged by detecting an attitude offset in the horizontal direction.
In another preferred embodiment of the present invention, the posture positioning device of the highly intelligent robot includes, but is not limited to, an inertial measurement unit, which quantifies the offset of the highly intelligent robot during the motion execution process by establishing the XY coordinate axes in the horizontal direction, so as to facilitate the algorithmic visual detection.
In a preferred embodiment, in step S3, a first preset threshold and a second preset threshold are respectively set;
when the offset of the real-time position and the real-time navigation plan is larger than a first preset threshold value, judging that the real-time position does not accord with the real-time navigation plan;
and when the offset of the real-time action execution information and the real-time action planning instruction is larger than a second preset threshold, judging that the real-time action execution information is not in accordance with the real-time action planning instruction.
In another preferred embodiment of the invention, in consideration of the fact that the actual error of the high-intelligent robot in the actual operation process is difficult to avoid, the corresponding first preset threshold and the second preset threshold are set, and only when the offset is greater than the two preset thresholds, it means that the robot has a theft risk, and the occurrence of frequent false alarm is avoided.
As a preferred embodiment, the high-intelligent robot anti-theft method is characterized in that a ground lock is arranged at a shutdown position and is in a rising normally-open state;
the ground lock is provided with a monitoring device, and when the high intelligent robot is detected to be close to the ground lock, the ground lock is controlled to fall and close.
In another preferred embodiment of the invention, the stop position is further provided with an automatic ground lock, which is in a normally-open state of lifting at ordinary times to prevent other vehicles or objects from occupying the stop position, and can automatically retract and descend for closing when the high-intelligent robot is detected to arrive.
As a preferred embodiment, the method for preventing the high-intelligent robot from being stolen is characterized in that the maximum value of the preset range is less than or equal to the overall quality of the high-intelligent robot;
the minimum value of the preset range is larger than the quality of any detachable complete part of the high-intelligent robot.
In conclusion, through the technical scheme, safety anti-theft monitoring is carried out from multiple directions such as real-time navigation monitoring, real-time posture monitoring and shutdown gravity sensing, anti-theft safety of high-intelligent robots in all stages such as operation and shutdown can be achieved in an all-around mode, safety protection is improved, and huge economic loss caused by the fact that the high-intelligent robots are stolen is prevented.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention.
Claims (7)
1. The anti-theft method for the highly intelligent robot is characterized in that the highly intelligent robot comprises an environment sensing device, an attitude sensing device, a path navigation device, an action planning device and an alarm device, and the highly intelligent robot autonomously performs navigation and task planning according to an external control instruction;
the method comprises the following steps:
step S1, judging whether the high intelligent robot is in a motion posture through the posture sensing device:
if yes, go to step S2;
if not, go to step S4;
step S2, when the high-intelligent robot is in a motion posture, acquiring a real-time navigation plan and a real-time position of the high-intelligent robot based on the control instruction through the environment sensing device and the path navigation device; and is
Acquiring a real-time action planning instruction and real-time action execution information of the high-intelligent robot based on the control instruction through the attitude sensing device and the action planning device;
step S3, determining whether the real-time position matches the real-time navigation plan, and determining whether the real-time action execution information matches the real-time action planning instruction:
if yes, returning to the step S3;
if the real-time position does not accord with the real-time navigation plan or the real-time action execution information does not accord with the real-time action plan, first alarm information is issued through the alarm device;
step S4, when the high intelligent robot is in a static posture, the environment sensing device is used for judging whether the high intelligent robot is in a preset stop position:
if yes, ending the process;
if not, controlling the high-intelligent robot to move to the nearest stop position through the path navigation device, and then returning to the step S2;
and a gravity sensing device is arranged at the shutdown position and used for detecting the gravity change of the high intelligent robot staying at the shutdown position and issuing second alarm information when the gravity change is within a preset range.
2. The high-intelligent-robot anti-theft method according to claim 1, wherein each high-intelligent robot and each shutdown position are remotely connected with a police cloud, and the first alarm information and the second alarm information are remotely transmitted to the police cloud.
3. The method according to claim 1, wherein the highly intelligent robot further comprises an emergency stop control device;
in step S3, when the alarm device issues the first alarm information, the emergency stop control device controls the high-intelligent robot to perform emergency stop and lock.
4. The highly intelligent robot anti-theft method according to claim 1, wherein the attitude sensing device includes an inertial measurement unit that determines whether the real-time action execution information coincides with the real-time action planning instruction by detecting an attitude offset in a horizontal direction.
5. The method according to claim 1, wherein in step S3, a first preset threshold and a second preset threshold are respectively set;
when the offset of the real-time position and the real-time navigation plan is larger than the first preset threshold, judging that the real-time position does not accord with the real-time navigation plan;
and when the offset of the real-time action execution information and the real-time action planning instruction is larger than the second preset threshold, judging that the real-time action execution information is not in accordance with the real-time action planning instruction.
6. The high-intelligent robot anti-theft method according to claim 1, characterized in that a ground lock is arranged at the shutdown position, and the ground lock is in a lifting normally open state;
the ground lock is provided with a monitoring device, and when the high-intelligent robot is detected to approach, the ground lock is controlled to fall and be closed.
7. The high-intelligent robot anti-theft method according to claim 1, wherein the maximum value of the preset range is less than or equal to the overall mass of the high-intelligent robot;
the minimum value of the preset range is larger than the quality of any detachable complete part of the high-intelligent robot.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115958609A (en) * | 2023-03-16 | 2023-04-14 | 山东卓朗检测股份有限公司 | Instruction data safety early warning method based on intelligent robot automatic control system |
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