CN115922736B - System for realizing remote control and remote operation and maintenance of robot based on 5G network - Google Patents
System for realizing remote control and remote operation and maintenance of robot based on 5G network Download PDFInfo
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Abstract
The invention belongs to the technical field of robot remote control and operation and maintenance, and relates to a system for realizing robot remote control and remote operation and maintenance based on a 5G network, which comprises the following components: the data acquisition platform is used for monitoring and acquiring relevant parameters of the robot in real time; the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot; the data display platform acquires a video stream through accessing an interface of the internet of things cloud platform and performs visual display; the remote control platform is used for remotely modifying various parameters of the robot through a 5G network and controlling the operation of the robot; the operation and maintenance scheduling platform is used for dimension construction, fault point data processing, maintenance assignment and the like. The invention is based on the platform of the Internet of things, can effectively monitor specific parameters of the robot, realizes the analysis of the state of the robot, realizes the remote debugging of the robot, and saves the operation and maintenance cost of the robot; the operation and maintenance scheduling platform can be constructed to schedule related personnel in time for targeted efficient maintenance.
Description
Technical Field
The invention belongs to the technical field of remote control and operation and maintenance of robots, and relates to a system for realizing remote control and remote operation and maintenance of robots based on a 5G network.
Background
Robots play a vital role in industrial automation, and in the process of replacing manual production with robots, the following challenges are faced: (1) The state of the factory robot cannot be effectively controlled in an unattended state, abnormal operation in a non-working condition state is easy to occur, and the automatic production process of products is disturbed; (2) The state parameters of the factory robot are unknown, potential problems of the robot cannot be effectively monitored and pre-warned, accidental interruption and faults of the robot are easily caused, and the production process is influenced. To solve the above problems, chinese patent CN114239884a discloses a robot operation and maintenance method and system, comprising: displaying operation and maintenance information of the robot in an operation and maintenance display page, wherein the operation and maintenance information comprises a map of a robot working area and videos acquired by the robot; and receiving an operation instruction generated through the operation and maintenance display page, and sending the operation instruction to the robot, wherein the operation instruction is used for controlling the robot to execute corresponding actions. By the aid of the robot operation and maintenance method, maps and field videos of a robot working area can be conveniently checked in an operation and maintenance display page, and an operation instruction is sent to the robot through the operation and maintenance display page to control the robot to execute corresponding actions. The whole process does not need to switch equipment, is visual and clear, can complete remote monitoring and control of the robot on one equipment, and improves the working efficiency of the robot. However, if the remote control command of the robot is not sent timely, the operation and maintenance of the robot are easy to be delayed, even if the hands of a person on a working site are insufficient or maintenance personnel capable of completing tasks are absent, after-sale processing is required to be scheduled, for example, after-sale personnel are unreasonable to match, and the working process is delayed due to the fact that the after-sale personnel cannot be controlled and operated in time.
Disclosure of Invention
Aiming at the defects of the prior art, the invention seeks to design a system for realizing remote control and remote operation and maintenance of a robot based on a 5G network, which can issue remote control instructions in real time, schedule related personnel in time for maintenance when the maintenance is needed, and has higher matching degree and time saving.
The technical scheme adopted for solving the technical problems is as follows:
a system for implementing remote control and remote operation of a robot based on a 5G network, comprising:
the data acquisition platform comprises a monitoring camera and is used for acquiring action and state information of each angle of the robot, monitoring and acquiring relevant parameters of the robot in real time, and uploading data acquired from the robot to the cloud platform of the Internet of things in real time through a 5G network so as to facilitate rapid issuing of instructions;
the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot, such as axis data, current, voltage, program execution, alarm information, signals and variable changes;
the data display platform is used for obtaining video streams through accessing an interface of the Internet of things cloud platform, performing visual display and monitoring the running conditions of the current robot and other devices;
the remote control platform is used for remotely modifying various parameters of the robot through a 5G network and controlling the operation of the robot;
the operation and maintenance scheduling platform is used for dimension construction, fault point data processing, maintenance assignment and the like, and timely schedules related personnel for targeted efficient maintenance.
Furthermore, the dimension construction adopts SLAM technology (Simultaneous Localization andMapping, synchronous positioning and map construction) to construct two-dimensional plane images and three-dimensional cloud point image information.
Further, the fault point data processing includes:
according to the dimension construction, fault points are identified, fault types are divided into software and hardware, and the software and the hardware are respectively divided downwards again to form a fault analysis model of a multilayer structure;
and issuing an assignment instruction to the intelligent assignment unit through the fault analysis model.
Further, the intelligent assignment unit completes the assignment process, specifically including:
and accessing an Internet of things cloud platform interface, and reading the information of maintenance personnel in the region. The area where the fault point is located is queried by taking the area (county) as the minimum range, if no corresponding maintenance personnel exist in the area (county) where the fault point is located, radiation is sequentially expanded to the city and province where the fault point is located, and a nearby assignment function is realized;
dividing after-sales areas and on-site areas according to the software and hardware fault classification and based on a K-means clustering algorithm to designate corresponding maintenance personnel;
and uploading the maintenance condition to the cloud platform of the Internet of things, and realizing the nearby centralized assignment.
Further, the robot related parameters include robot parameters, working quality, order completion conditions, fault types and maintenance conditions, equipment history records, statistical information, robot running states, motor currents, and joint displacement values and transformation values of each axis. The relevant parameters of the robot not only comprise the conditions of the robot, but also comprise the working conditions of the robot, and the field device data information is collected more comprehensively.
The invention relates to a method for realizing remote control and remote operation and maintenance system operation of a robot based on a 5G network, which comprises the following steps: the client, the server, the monitoring camera, the Internet of things platform and the robot are mutually connected and cooperatively work; the control instruction of the robot is remotely issued firstly, then the control instruction to be issued is selected and input by a user at the client, the issued instruction is received by the server and then forwarded to the cloud platform of the Internet of things, the remote control of the robot is finally realized by the platform of the Internet of things, the received response information is returned to the server, and finally the client performs corresponding display. The invention has the characteristics of large capacity and low delay, has high data security, and improves timeliness of operation and monitoring through high-speed 5G network connection; the present invention is based on 5G, and monitors various current and historical states of the robot through 5G.
Furthermore, the invention uses the Vue framework as a client basis and the node. Js environment as a server basis, and builds a basic framework of the SaaS platform, which is a robot remote operation and maintenance monitoring system, and the SaaS platform mainly comprises a robot state information dynamic visualization technology, a robot control instruction remote issuing technology and a multipath real-time video transmission key technology.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, based on the Internet of things platform, the mass state information of the robot is acquired in the cloud, so that the specific parameters of the robot are effectively monitored, and the state of the robot is analyzed; the low-delay debugging and control of the robot are further realized by utilizing the 5G based on the Internet of things platform, the remote debugging of the robot is realized, the operation and maintenance cost of the robot is saved, and the guarantee of the factory automation level is promoted. The operation and maintenance scheduling platform can be constructed to schedule related personnel in time for targeted efficient maintenance.
Drawings
FIG. 1 is a schematic block diagram of a system for implementing remote control and remote operation and maintenance of a robot based on a 5G network according to the present invention;
fig. 2 is a specific structural block diagram of a system for realizing remote control and remote operation and maintenance of a robot based on a 5G network according to the present invention;
fig. 3 is a schematic diagram of a system for realizing remote control and remote operation of a robot based on a 5G network according to the present invention;
fig. 4 is a schematic block diagram of a device management platform according to the present invention.
Detailed Description
The technical scheme of the present invention will be clearly and completely described in the following in connection with the embodiments and the accompanying drawings.
Examples:
as shown in fig. 1, the system for implementing remote control and remote operation and maintenance of a robot based on a 5G network provided in this embodiment includes:
the data acquisition platform comprises a monitoring camera and is used for acquiring action and state information of each angle of the robot, monitoring and acquiring relevant parameters of the robot in real time, and uploading data acquired from the robot to the cloud platform of the Internet of things in real time through a 5G network so as to facilitate rapid issuing of instructions;
the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot, such as axis data, current, voltage, program execution, alarm information, signals and variable changes;
the data display platform is used for obtaining video streams through accessing an interface of the Internet of things cloud platform, performing visual display and monitoring the running conditions of the current robot and other devices;
the remote control platform is used for remotely modifying various parameters of the robot through a 5G network and controlling the operation of the robot;
the operation and maintenance scheduling platform is used for dimension construction, fault point data processing, maintenance assignment and the like, and timely schedules related personnel for targeted efficient maintenance.
The dimension construction comprises the following steps:
and constructing two-dimensional plane images and three-dimensional cloud point image information by adopting SLAM technology (Simultaneous Localization andMapping) and synchronous positioning and map construction.
The fault point data processing includes:
according to the dimension construction, fault points are identified, fault types are divided into software and hardware, and the software and the hardware are respectively divided downwards again to form a fault analysis model of a multilayer structure;
and issuing an assignment instruction to the intelligent assignment unit through the fault analysis model.
The intelligent assignment unit completes the assignment process, and specifically comprises the following steps:
and accessing an Internet of things cloud platform interface, and reading the information of maintenance personnel in the region. The area where the fault point is located is queried by taking the area (county) as the minimum range, if no corresponding maintenance personnel exist in the area (county) where the fault point is located, radiation is sequentially expanded to the city and province where the fault point is located, and a nearby assignment function is realized;
dividing after-sales areas and on-site areas according to the software and hardware fault classification and based on a K-means clustering algorithm to designate corresponding maintenance personnel;
and uploading the maintenance condition to the cloud platform of the Internet of things, and realizing the nearby centralized assignment.
The intelligent assignment can also adopt distributed assignment, and according to the fault classification of software and hardware, maintenance personnel are assigned to guide on-site workers to conduct maintenance operation on line.
The robot related parameters comprise robot parameters, working quality, order completion conditions, fault types and maintenance conditions, equipment history records, statistical information, robot running states, motor currents, joint displacement values of all axes and transformation values. The relevant parameters of the robot not only comprise the conditions of the robot, but also comprise the working conditions of the robot, and the field device data information is collected more comprehensively.
The invention relates to a method for realizing remote control and remote operation and maintenance system operation of a robot based on a 5G network, which comprises the following steps: the client, the server, the monitoring camera, the Internet of things platform and the robot are mutually connected and cooperatively work; the control instruction of the robot is remotely issued firstly, then the control instruction to be issued is selected and input by a user at the client, the issued instruction is received by the server and then forwarded to the cloud platform of the Internet of things, the remote control of the robot is finally realized by the platform of the Internet of things, the received response information is returned to the server, and finally the client performs corresponding display. The invention has the characteristics of large capacity and low delay, has high data security, and improves timeliness of operation and monitoring through high-speed 5G network connection; the present invention is based on 5G, and monitors various current and historical states of the robot through 5G.
The invention takes a Vue frame as a client base and a node. Js environment as a server base, and builds a basic frame of a SaaS platform of a robot remote operation and maintenance monitoring system, wherein the SaaS platform mainly comprises a robot state information dynamic visualization technology, a robot control instruction remote issuing technology and a multipath real-time video transmission key technology.
According to the robot state information dynamic visualization technology, after the state, parameters and other data of a robot are acquired, the platform of the Internet of things pushes the dynamic data to a server running based on a node.js environment, and the node.js serves as an http server to provide a web access interface; after receiving the data request of the client, the server pushes the data to the client, and the client performs dynamic data visualization based on the Echarts library.
The robot control command remote issuing technology; the control instruction to be issued is selected and input by the user at the client, the issued instruction is received by the server and then forwarded to the internet of things platform, the remote control of the robot is finally realized by the internet of things platform, the received response information is returned to the server, and then the client performs corresponding display.
The multichannel real-time video transmission key technology is based on a web streaming media scheme of ffmpeg, jsmpeg and nodejs and a WebSocket protocol, the ffmpeg provides leading audio and video coding capability, and the jsmpeg and the WebSocket ensure low delay and continuity of video streams.
The method aims at solving the challenges that in case of failure of a factory robot, on-site debugging is needed, the debugging cost is high due to the fact that the failure rate of the robot is high in various sizes, the requirement for professionals is large, and the like. The embodiment also realizes the remote real-time control and maintenance of the robot, effectively controls the state of the factory robot in an unattended state, and can take emergency measures for abnormal operation in a non-working condition state and disturbing the automatic production process of products; various parameters of the robot can be modified in different places by utilizing the characteristics of low delay, high transmission speed and the like of 5G, and the operation of the robot is monitored in real time through a monitoring camera.
As shown in fig. 3, the system further comprises a device management platform (PaaS), an industrial internet of things SaaS platform and a terminal, wherein the device management platform is connected with a network and a gateway, and the gateway is connected with the terminal to realize communication between the device management platform and the terminal; the network comprises a plurality of modes including 3G/4G/5G, wire and WIFI; the gateway comprises a wireless gateway and a wired gateway and is used for realizing the communication between the terminal and the network.
As shown in fig. 3, the device management platform is configured to implement control of a terminal, such as connection management, status monitoring, data acquisition, rights management, early warning and alarm, and application services; the personalized industrial Internet of things SaaS platform application provides an industry customization solution according to the client requirements, so that the requirements of different industries are met; the device management platform integration is based on the device management platform capability, integrates with the existing database and application data of the enterprise, and realizes the application scalability.
As shown in fig. 2, the industrial internet of things SaaS platform is connected with the device management platform and is used for realizing authority management, data presentation, fault alarm, remote management, work order management and report statistics of the device management platform.
The technology of 5G, cloud computing and the Internet of things is adopted, and the one-stop solution of connection, gateway, platform and application is adopted for the management of robots in the field of industrial equipment management, so that industrial Internet of things application services such as Internet of things cloud, data acquisition, real-time monitoring, fault alarming, remote control and operation statistics of industrial equipment can be rapidly realized.
As shown in fig. 4, the data acquisition platform provided in this embodiment implements management on the device management platform, and the application is input through the rest pi and the data forwarding interface, and the industrial device passes through the device access path; specifically, the device management platform includes: device management, rules engine, object model, user center, security-identity and access management, metadata, telemetry and documentation; the device management is used for realizing remote monitoring, position, alarm, file transmission, software updating and remote access; the rule engine is used for realizing the trigger and the operation thereof; the object model realizes the management of the equipment types; and the user center is used for realizing registration and audit log.
The monitoring camera adopts a three-way camera video transmission mechanism, so that the states of all angles of the robot can be observed better.
The system also comprises a robot digital twin platform which is used for importing various data of the field robot into the three-dimensional simulation software and synchronizing the action display of the robot into the simulation software through the real-time change of the data. The remote professional engineer can be assisted to control field personnel to finish debugging, and the database is used for storing the data of the robot and peripheral equipment to search the problem reasons, so that the robot digital twin system is formed.
The invention improves the fault solving speed, can rapidly locate and solve the fault, reduces the fault processing time, improves the one-time fault repairing rate, and saves the personnel travelling cost; the effective work efficiency of the robot and the equipment is improved, and the stability of the robot and the equipment is improved. The present invention can be applied to industrial robots, cooperative robots, AGV transfer robots, and the like, such as four-axis robots, six-axis robots, and the like.
Claims (8)
1. The utility model provides a realize robot remote control and long-range fortune dimension system based on 5G network which characterized in that includes:
the data acquisition platform comprises a monitoring camera and is used for acquiring action and state information of each angle of the robot, monitoring and acquiring relevant parameters of the robot in real time, and uploading data acquired from the robot to the cloud platform of the Internet of things in real time through a 5G network so as to facilitate rapid issuing of instructions;
the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot;
the data display platform is used for acquiring video streams through accessing an interface of the Internet of things cloud platform, performing visual display and monitoring the running condition of the current robot;
the remote control platform is used for remotely modifying various parameters of the robot through a 5G network and controlling the operation of the robot;
the operation and maintenance scheduling platform is used for dimension construction, fault point data processing and maintenance assignment, and timely scheduling related personnel for targeted efficient maintenance;
the fault point data processing includes:
according to the dimension construction, fault points are identified, fault types are divided into software and hardware, and the software and the hardware are respectively divided downwards again to form a fault analysis model of a multilayer structure;
issuing an assignment instruction to an intelligent assignment unit through the fault analysis model;
the intelligent assignment unit completes the assignment process, and specifically comprises the following steps:
accessing an Internet of things cloud platform interface, and reading maintenance personnel information of a region; the area where the fault point is located is queried by taking the district or the county as the minimum range, and if no corresponding maintenance personnel exist in the district or the county where the fault point is located, radiation is sequentially expanded to the city and the province where the fault point is located;
dividing after-sales areas and on-site areas according to the software and hardware fault classification and based on a K-means clustering algorithm to designate corresponding maintenance personnel;
and uploading the maintenance condition to the cloud platform of the Internet of things, and realizing the nearby centralized assignment.
2. The system for realizing remote control and remote operation and maintenance of a robot based on a 5G network according to claim 1, wherein the dimension construction adopts SLAM technology to construct two-dimensional plane images and three-dimensional cloud point image information.
3. The 5G network-based remote control and remote operation and maintenance system according to claim 1, wherein the robot-related parameters include robot parameters, working quality, completion order conditions, fault types and maintenance conditions, equipment history, statistics, robot operation status, motor current, and joint displacement values and transformation values of each axis.
4. The 5G network-based robotic remote control and remote operation and maintenance system of claim 1, wherein the system is operative to: the client, the server, the monitoring camera, the Internet of things platform and the robot are mutually connected and cooperatively work; the control instruction of the robot is remotely issued firstly, then the control instruction to be issued is selected and input by a user at the client, the issued instruction is received by the server and then forwarded to the cloud platform of the Internet of things, the remote control of the robot is finally realized by the platform of the Internet of things, the received response information is returned to the server, and finally the client performs corresponding display.
5. The system for realizing remote control and remote operation and maintenance of the robot based on the 5G network according to claim 4, wherein the Vue framework is used as a client basis, the node. Js environment is used as a server basis, and a basic framework of a SaaS platform of the robot remote operation and maintenance monitoring system is constructed, wherein the SaaS platform comprises a robot state information dynamic visualization technology, a robot control instruction remote issuing technology and a multipath real-time video transmission key technology.
6. The system for realizing remote control and remote operation and maintenance of a robot based on a 5G network according to claim 5, wherein the system further comprises a device management platform, an industrial Internet of things (SaaS) platform and a terminal, wherein the device management platform is connected with the network and a gateway, and the gateway is connected with the terminal to realize communication between the device management platform and the terminal.
7. The system for realizing remote control and remote operation and maintenance of a robot based on a 5G network according to claim 6, wherein the device management platform is configured to realize control of a terminal; the industrial Internet of things SaaS platform is connected with the equipment management platform and is used for realizing authority management, data presentation, fault alarm, remote management, work order management and report statistics of the equipment management platform.
8. The 5G network-based robotic remote control and remote operation and maintenance system of claim 6, wherein the device management platform comprises: device management, rules engine, object model, user center, security-identity and access management, metadata, telemetry and documentation; the device management is used for realizing remote monitoring, position, alarm, file transmission, software updating and remote access; the rule engine is used for realizing the trigger and the operation thereof; the object model realizes the management of the equipment types; and the user center is used for realizing registration and audit log.
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| CN106357326A (en) * | 2016-08-31 | 2017-01-25 | 国脉科技股份有限公司 | Positioning and navigation system for fault point of transmission optical cable line |
| CN110689144B (en) * | 2019-09-12 | 2023-12-29 | 广东来个碗网络科技有限公司 | Management method and device of intelligent recovery device |
| CN113796778B (en) * | 2021-08-03 | 2022-12-20 | 上海高仙自动化科技发展有限公司 | Remote operation and maintenance method, device, system, robot, chip and storage medium |
| CN114511111A (en) * | 2022-01-05 | 2022-05-17 | 中国第一汽车股份有限公司 | Industrial robot operation and maintenance management system |
| CN115346034B (en) * | 2022-10-17 | 2023-03-24 | 山东德晟机器人股份有限公司 | Robot remote diagnosis and maintenance method and system based on 5G network |
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