CN112562280A - Robot alarm method and system - Google Patents
Robot alarm method and system Download PDFInfo
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- CN112562280A CN112562280A CN202011425846.1A CN202011425846A CN112562280A CN 112562280 A CN112562280 A CN 112562280A CN 202011425846 A CN202011425846 A CN 202011425846A CN 112562280 A CN112562280 A CN 112562280A
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- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B21/00—Alarms responsive to a single specified undesired or abnormal condition and not otherwise provided for
- G08B21/18—Status alarms
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
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Abstract
The invention discloses a robot warning method and system, which comprises a background management system, a plurality of operation and maintenance apps and a robot, wherein the operation and maintenance apps and the robot are respectively in communication connection with the background management system, the robot comprises a controller, an IMU (inertial measurement unit), a voice broadcast module, a laser radar sensor and a camera, the controller is respectively connected with the IMU, the voice broadcast module, the laser radar sensor and the camera, and the controller is connected with the background management system through a communication module. The invention can effectively supervise the robot, effectively discover the interference of human factors, ensure the normal operation of the robot, ensure the normal execution of the working process of the robot and finish the operation in time.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a robot alarm method and a robot alarm system.
Background
The indoor logistics distribution robot operates in a building and transports various materials across floors. The walking route of the robot and the normal passing route of the people are in the same public channel, so that the robot is easily interfered by the people when the robot executes the distribution tasks, and the distribution tasks are abnormal, for example, the distribution robot in a hospital is surrounded by the people when passing through an outpatient hall, so that the running route is interfered, and even some children can push and pull the robot, so that the robot generates safe running risks. At present, for the self-alarming of the robot, the functions of the robot body are checked by collecting the information such as the voltage, the current, the sensor state and the like in the robot through some devices. However, the robot is not provided with an effective supervision means for the abnormal working flow of the robot caused by the artificial interference in the environment, and the robot cannot effectively find the abnormal working flow after the interference of the artificial factors.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot warning method and system which can effectively supervise a robot, effectively find human factor interference, enable the robot to normally operate, ensure the normal execution of the working process of the robot and timely finish the operation.
The invention is realized by the following technical scheme: a robot warning method comprises the following steps:
s1, in the running process of the robot, running state information of the robot is obtained through IMU data and laser radar data, video data information of the surrounding environment of the robot is collected through a camera, and the running state information and the video data are sent to a background management system;
s2, when the robot runs at risk, the background management system pushes running state information and video data information to operation and maintenance personnel through an operation and maintenance APP;
and S3, the operation and maintenance personnel take corresponding measures to process according to the operation state information and the video data.
Further: the step of acquiring the operation state information of the robot through the IMU data and the lidar data and transmitting the operation state information to the background management system as described in step S1 includes the steps of,
s11, the controller collects IMU data, and rolling angle data of a gyroscope, accelerometer data and real-time position information of the robot are obtained;
s12, the controller judges whether the inclination angle of the robot is larger than or equal to a preset first threshold value or not according to the roll angle data, if so, the controller sends rollover warning information to a background management system, and if not, the step S13 is executed;
s13, the controller judges whether the acceleration frequency of the robot in the limited time is larger than or equal to a preset second threshold value or not according to the accelerometer data, if so, the step is switched to S14, and if not, the step is switched to S11;
s14, the controller acquires obstacle information in the environment according to the laser radar data, judges whether a moving obstacle is detected or not according to the obstacle information, judges that the moving obstacle is artificially blocked if the moving obstacle is detected, and sends artificially-blocked alarm information to a background management system, and judges that the moving obstacle is blocked by a static obstacle if the moving obstacle is not detected, and sends static obstacle-blocked alarm information to the background management system.
Further: when the background management system receives the rollover warning information, the background management system identifies the ID number of the robot sending the rollover warning information, pushes the ID number, the real-time position information, the rollover warning information and the video data information of the robot sending the rollover warning information to operation and maintenance personnel through the operation and maintenance APP, the operation and maintenance personnel check the video data information, know the current surrounding environment condition of the robot and carry out field processing according to the real-time position information and the position where the robot is located.
Further: when the backstage management system receives the artificial warning information that blocks, the backstage management system discerns the ID number of the robot that sends the artificial warning information that blocks, and will send the ID number of the robot that the artificial warning information that blocks, real-time position information, the artificial warning information that blocks, the video data information passes through fortune dimension APP propelling movement to fortune dimension personnel, fortune dimension personnel look over the video data information, know the current surrounding environment condition of robot, fortune dimension personnel broadcast the pronunciation through the pronunciation module and broadcast that the personnel of blocking leave, when unable dissuading, go to the position of robot and carry out the field processing according to real-time position information.
Further: when the background management system receives the static obstacle blocking alarm information, the background management system calculates whether the duration of sending the static obstacle blocking alarm information exceeds a preset third threshold, if not, the background management system generates a fault record, if so, the background management system identifies the ID number of the robot sending the static obstacle blocking alarm information, and pushes the ID number, the real-time position information, the static obstacle blocking alarm information and the video data information of the robot sending the static obstacle blocking alarm information to an operation and maintenance person through an operation and maintenance APP, the operation and maintenance person checks the video data information, knows the current surrounding environment condition of the robot and judges whether the robot needs to arrive at a site for processing, and if not, the operation and maintenance person separates the robot from a blocked state through manual remote control.
Further, the limited time described in step S13 is 5S.
Further: and after the operation and maintenance personnel finish processing, the background management system generates a fault processing work order and records the manual registration condition of the operation and maintenance personnel in the background management system.
The utility model provides a robot alarm system, includes backstage management system, a plurality of fortune dimension App and robot, and is a plurality of fortune dimension App and robot respectively with backstage management system establishes communication connection, the robot includes controller, IMU, voice broadcast module, laser radar sensor, camera, the controller respectively with IMU, voice broadcast module, laser radar sensor and camera are connected, the controller pass through communication module with backstage management system connects.
The invention has the beneficial effects that:
compared with the prior art, the invention establishes communication with a plurality of operation and maintenance APPs and the robot respectively through the background management system, automatically identifies the operation state information of the robot by utilizing the IMU, the laser radar sensor, the camera and the voice broadcast module carried by the robot, immediately pushes the operation state information to the operation and maintenance personnel through the operation and maintenance APPs when the robot runs risks, and the operation and maintenance personnel take corresponding measures to intervene for processing according to the operation state information. When identifying the running state information of the robot, firstly, acquiring IMU data, acquiring and judging whether the rolling angle data of a gyroscope is larger than or equal to a preset first threshold value, if so, sending rollover warning information to a background management system, pushing the rollover warning information to operation and maintenance personnel through an operation and maintenance APP by the background management system, informing the operation and maintenance personnel to a position processing site where the robot is located, if not, judging whether the accelerometer data is larger than or equal to a preset second threshold value, if so, acquiring obstacle information in the environment according to laser radar data, judging whether a moving obstacle is detected according to the obstacle information, if so, sending artificial blocking warning information to the background management system, sending the artificial blocking warning information to the operation and maintenance personnel through the operation and maintenance APP by the background management system, informing the operation and maintenance personnel to shout in real time through a voice broadcasting module to leave the blocking personnel or the position processing site where the robot is located, if not, sending static barrier blocking alarm information to a background management system, pushing the static barrier blocking alarm information to operation and maintenance personnel by the background management system through an operation and maintenance APP, judging whether the robot needs to reach a robot processing site where the robot is located or not by the operation and maintenance personnel through checking real-time videos, and if the robot does not need to be processed on the site, separating the robot from a blocked state through manual remote control by the operation and maintenance personnel, so that the robot is effectively supervised when the robot executes tasks, the interference of human factors is effectively found, the robot can normally operate, the normal execution of the working process of the robot is ensured, and the operation can be completed in time.
Drawings
FIG. 1 is a flowchart of the operation of the robot alarm method of the present invention;
FIG. 2 is a flowchart illustrating a process of acquiring information on the operating status of a robot according to the present invention;
FIG. 3 is an architecture diagram of the robot alarm system of the present invention;
fig. 4 is an architecture diagram of the robot and the background management system according to the present invention.
Detailed Description
Referring to fig. 1 and fig. 2, a flow chart of a robot alarm method according to an embodiment of the present invention is schematically shown, where the method according to the embodiment of the present invention includes the following steps:
s1, in the running process of the robot, running state information of the robot is obtained through IMU data and laser radar data, video data information of the surrounding environment of the robot is collected through a camera, and the running state information and the video data are sent to a background management system.
S2, when the robot runs at risk, the background management system pushes the running state information and the video data information to operation and maintenance personnel through the operation and maintenance APP.
And S3, the operation and maintenance personnel take corresponding measures to process according to the operation state information and the video data.
The step S1 of acquiring the operation state information of the robot by the IMU data and the lidar data, and sending the operation state information to the background management system includes the following steps:
s11, the controller collects IMU data, and rolling angle data of the gyroscope, accelerometer data and real-time position information of the robot are obtained.
And S12, judging whether the inclination angle of the robot is larger than or equal to a preset first threshold value or not by the controller according to the roll angle data, if so, sending rollover warning information to a background management system by the controller, and if not, turning to the step S13.
Specifically, the first threshold is set so that the robot does not roll over at the maximum inclination angle that the robot model can bear, and this data is used as the set first threshold. In order to ensure the safe operation level of the robot, the first threshold value is set to be 10% smaller than the limit rollover angle value.
S13, the controller judges whether the acceleration frequency of the robot in the limited time is larger than or equal to a preset second threshold value or not according to the accelerometer data, if so, the step is switched to S14, and if not, the step is switched to S11.
Specifically, the second threshold is adjusted by the environment where the robot operates on the spot, and since the robot operates in an area with dense people flow, frequent acceleration and deceleration in a short time can occur during normal operation, an empirical value can be set for the times of the second threshold according to actual conditions, so that the occurrence of alarm is not too frequent.
In the present embodiment, the limited time is 5 s.
S14, the controller acquires obstacle information in the environment according to the laser radar data, judges whether a moving obstacle is detected or not according to the obstacle information, judges that the moving obstacle is artificially blocked if the moving obstacle is detected, and sends artificially-blocked alarm information to a background management system, and judges that the moving obstacle is blocked by a static obstacle if the moving obstacle is not detected, and sends static obstacle-blocked alarm information to the background management system.
When the background management system receives the rollover warning information, the background management system identifies the ID number of the robot sending the rollover warning information, pushes the ID number, the real-time position information, the rollover warning information and the video data information of the robot sending the rollover warning information to operation and maintenance personnel through the operation and maintenance APP, the operation and maintenance personnel check the video data information, know the current surrounding environment condition of the robot and carry out field processing according to the real-time position information and the position where the robot is located.
When the backstage management system receives the artificial warning information that blocks, the backstage management system discerns the ID number of the robot that sends the artificial warning information that blocks, and will send the ID number of the robot that the artificial warning information that blocks, real-time position information, the artificial warning information that blocks, the video data information passes through fortune dimension APP propelling movement to fortune dimension personnel, fortune dimension personnel look over the video data information, know the current surrounding environment condition of robot, fortune dimension personnel broadcast the pronunciation through the pronunciation module and broadcast that the personnel of blocking leave, when unable dissuading, go to the position of robot and carry out the field processing according to real-time position information.
When the background management system receives the static obstacle blocking alarm information, the background management system calculates whether the duration of sending the static obstacle blocking alarm information exceeds a preset third threshold, if not, the background management system generates a fault record, if so, the background management system identifies the ID number of the robot sending the static obstacle blocking alarm information, and pushes the ID number, the real-time position information, the static obstacle blocking alarm information and the video data information of the robot sending the static obstacle blocking alarm information to an operation and maintenance person through an operation and maintenance APP, the operation and maintenance person checks the video data information, knows the current surrounding environment condition of the robot and judges whether the robot needs to arrive at a site for processing, and if not, the operation and maintenance person separates the robot from a blocked state through manual remote control.
And after the operation and maintenance personnel finish processing, the background management system generates a fault processing work order and records the manual registration condition of the operation and maintenance personnel in the background management system.
Referring to fig. 3 and 4, the robot alarm system of the invention comprises a background management system, a plurality of operation and maintenance apps and a robot, wherein the operation and maintenance apps and the robot are respectively in communication connection with the background management system, the robot comprises a controller, an IMU, a voice broadcast module, a laser radar sensor and a camera, the controller is respectively connected with the IMU, the voice broadcast module, the laser radar sensor and the camera, and the controller is connected with the background management system through a communication module.
The invention establishes communication with a plurality of operation and maintenance APPs and the robot respectively through a background management system, automatically identifies the operation state information of the robot by utilizing the IMU, the laser radar sensor, the camera and the voice broadcast module carried by the robot, immediately pushes the operation state information to the operation and maintenance personnel through the operation and maintenance APPs when the robot runs risks, and the operation and maintenance personnel take corresponding measures to intervene in the treatment according to the operation state information. When identifying the running state information of the robot, firstly, acquiring IMU data, acquiring and judging whether the rolling angle data of a gyroscope is larger than or equal to a preset first threshold value, if so, sending rollover warning information to a background management system, pushing the rollover warning information to operation and maintenance personnel through an operation and maintenance APP by the background management system, informing the operation and maintenance personnel to a position processing site where the robot is located, if not, judging whether the accelerometer data is larger than or equal to a preset second threshold value, if so, acquiring obstacle information in the environment according to laser radar data, judging whether a moving obstacle is detected according to the obstacle information, if so, sending artificial blocking warning information to the background management system, sending the artificial blocking warning information to the operation and maintenance personnel through the operation and maintenance APP by the background management system, informing the operation and maintenance personnel to shout in real time through a voice broadcasting module to leave the blocking personnel or the position processing site where the robot is located, if not, sending static barrier blocking alarm information to a background management system, pushing the static barrier blocking alarm information to operation and maintenance personnel by the background management system through an operation and maintenance APP, judging whether the robot needs to reach a robot processing site where the robot is located or not by the operation and maintenance personnel through checking real-time videos, and if the robot does not need to be processed on the site, separating the robot from a blocked state through manual remote control by the operation and maintenance personnel, so that the robot is effectively supervised when the robot executes tasks, the interference of human factors is effectively found, the robot can normally operate, the normal execution of the working process of the robot is ensured, and the operation can be completed in time.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (8)
1. A robot alarm method is characterized in that: the method comprises the following steps:
s1, in the running process of the robot, running state information of the robot is obtained through IMU data and laser radar data, video data information of the surrounding environment of the robot is collected through a camera, and the running state information and the video data are sent to a background management system;
s2, when the robot runs at risk, the background management system pushes running state information and video data information to operation and maintenance personnel through an operation and maintenance APP;
and S3, the operation and maintenance personnel take corresponding measures to process according to the operation state information and the video data.
2. The robot alarm method according to claim 1, wherein: the step of acquiring the operation state information of the robot through the IMU data and the lidar data and transmitting the operation state information to the background management system as described in step S1 includes the steps of,
s11, the controller collects IMU data, and rolling angle data of a gyroscope, accelerometer data and real-time position information of the robot are obtained;
s12, the controller judges whether the inclination angle of the robot is larger than or equal to a preset first threshold value or not according to the roll angle data, if so, the controller sends rollover warning information to a background management system, and if not, the step S13 is executed;
s13, the controller judges whether the acceleration frequency of the robot in the limited time is larger than or equal to a preset second threshold value or not according to the accelerometer data, if so, the step is switched to S14, and if not, the step is switched to S11;
s14, the controller acquires obstacle information in the environment according to the laser radar data, judges whether a moving obstacle is detected or not according to the obstacle information, judges that the moving obstacle is artificially blocked if the moving obstacle is detected, and sends artificially-blocked alarm information to a background management system, and judges that the moving obstacle is blocked by a static obstacle if the moving obstacle is not detected, and sends static obstacle-blocked alarm information to the background management system.
3. The robot alarm method according to claim 2, wherein: when the background management system receives the rollover warning information, the background management system identifies the ID number of the robot sending the rollover warning information, pushes the ID number, the real-time position information, the rollover warning information and the video data information of the robot sending the rollover warning information to operation and maintenance personnel through the operation and maintenance APP, the operation and maintenance personnel check the video data information, know the current surrounding environment condition of the robot and carry out field processing according to the real-time position information and the position where the robot is located.
4. The robot alarm method of claim 3, wherein: when the backstage management system receives the artificial warning information that blocks, the backstage management system discerns the ID number of the robot that sends the artificial warning information that blocks, and will send the ID number of the robot that the artificial warning information that blocks, real-time position information, the artificial warning information that blocks, the video data information passes through fortune dimension APP propelling movement to fortune dimension personnel, fortune dimension personnel look over the video data information, know the current surrounding environment condition of robot, fortune dimension personnel broadcast the pronunciation through the pronunciation module and broadcast that the personnel of blocking leave, when unable dissuading, go to the position of robot and carry out the field processing according to real-time position information.
5. The robot alarm method of claim 4, wherein: when the background management system receives the static obstacle blocking alarm information, the background management system calculates whether the duration of sending the static obstacle blocking alarm information exceeds a preset third threshold, if not, the background management system generates a fault record, if so, the background management system identifies the ID number of the robot sending the static obstacle blocking alarm information, and pushes the ID number, the real-time position information, the static obstacle blocking alarm information and the video data information of the robot sending the static obstacle blocking alarm information to an operation and maintenance person through an operation and maintenance APP, the operation and maintenance person checks the video data information, knows the current surrounding environment condition of the robot and judges whether the robot needs to arrive at a site for processing, and if not, the operation and maintenance person separates the robot from a blocked state through manual remote control.
6. The robot alarm method of claim 5, wherein the limited time period in step S13 is 5S.
7. The robot alarm method of claim 6, wherein: and after the operation and maintenance personnel finish processing, the background management system generates a fault processing work order and records the manual registration condition of the operation and maintenance personnel in the background management system.
8. A robot alarm system characterized by: including backstage management system, a plurality of fortune dimension App and robot, it is a plurality of fortune dimension App and robot respectively with backstage management system establishes communication connection, the robot includes controller, IMU, voice broadcast module, laser radar sensor, camera, the controller respectively with IMU, voice broadcast module, laser radar sensor and camera are connected, the controller pass through communication module with backstage management system connects.
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| CN114872086A (en) * | 2022-05-26 | 2022-08-09 | 南京南瑞信息通信科技有限公司 | Inspection robot state detection method and system |
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Application publication date: 20210326 |