CN116673949A - Robot safety control method and device, electronic equipment and medium - Google Patents
Robot safety control method and device, electronic equipment and medium Download PDFInfo
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- CN116673949A CN116673949A CN202310631099.4A CN202310631099A CN116673949A CN 116673949 A CN116673949 A CN 116673949A CN 202310631099 A CN202310631099 A CN 202310631099A CN 116673949 A CN116673949 A CN 116673949A
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Classifications
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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
- B25J9/1679—Programme controls characterised by the tasks executed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The disclosure relates to the technical field of robot control, and provides a robot safety control method, a device, electronic equipment and a medium. Comprising the following steps: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; and controlling the motion gesture of the robot according to the type of the safety alarm signal. The method solves the safety problems of falling, collision and spontaneous combustion of the robot in the running process, namely comprehensively solves the safety problems of the robot in the moving process, has wide application range and greatly improves the safety of the robot in the using process.
Description
Technical Field
The disclosure relates to the technical field of robot control, and in particular relates to a robot safety control method, a device, electronic equipment and a medium.
Background
With the development of technology, robots are widely used in various industries, such as: meal delivery robot, greeting robot and educational robot etc. at the same time, the robot often encounters safety problem at the in-process of work, for example: drop, presser foot, collision, even spontaneous combustion. Therefore, solving the safety problem of the robot in the movement process becomes an important subject of the industry.
In the prior art, an anti-collision strip is arranged at the bottom of a robot, when collision occurs, the collision position is determined, and then the movement direction of the robot is changed according to the collision position.
The prior art only solves the problem of collision of the robot in the movement process, however, other problems can occur in the movement process of the robot, and the prior art does not solve the problem.
Disclosure of Invention
The disclosure provides a robot safety control method, a device, an electronic device and a medium, comprising: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; controlling the motion pose of a robot according to the type of safety warning signal, in contrast to the prior art, the present disclosure includes a plurality of sensors, such as: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
In order to achieve the above purpose, the present disclosure adopts the following technical scheme:
a first aspect of the present disclosure provides a robot safety control method, including:
the operation of each sensor is monitored and a safety warning signal is sent to the control center when it is detected.
In response to the security alert signal, a type of the security alert signal is determined.
And controlling the motion gesture of the robot according to the type of the safety alarm signal.
Further, in the robot safety control method, each sensor includes:
ranging sensor, collision sensor and temperature sensor.
Further, the robot safety control method, in response to the safety alarm signal, determines the type of the safety alarm signal, including:
in response to the security alert signal, a sensor that emits the security alert signal is determined to determine a type of the security alert signal.
Further, the robot safety control method determines a sensor that emits the safety alarm signal to determine a type of the safety alarm signal, including:
and when the sensor sending the safety alarm signal is the ranging sensor, determining that the type of the safety alarm signal is obstacle or drop.
And when the sensor sending out the safety alarm signal is the collision sensor, determining that the type of the safety alarm signal is collision.
And when the sensor sending the safety alarm signal is the temperature sensor, determining that the type of the safety alarm signal is spontaneous combustion.
Further, the robot safety control method controls the motion gesture of the robot according to the type of the safety alarm signal, and the method comprises the following steps:
and when the type of the safety alarm signal is obstacle or falling, controlling the robot to avoid the obstacle or the hollow.
And when the type of the safety warning signal is collision, controlling the robot to move towards a non-collision direction.
And when the type of the safety warning signal is spontaneous combustion, controlling the robot to stop moving and/or starting cooling equipment.
Further, the robot safety control method further includes, after controlling the motion gesture of the robot according to the type of the safety alarm signal:
and re-planning the running route of the robot according to the current position of the robot.
A second aspect of the present disclosure provides a robot safety control device, comprising:
and the sending unit is used for monitoring the operation of each sensor and sending the safety alarm signal to the control center when the safety alarm signal is detected.
And the determining unit is used for responding to the safety alarm signal and determining the type of the safety alarm signal.
And the control unit is used for controlling the movement gesture of the robot according to the type of the safety alarm signal.
Further, the robot safety control device further comprises:
and the planning unit is used for re-planning the driving route of the robot according to the current position of the robot.
A third aspect of the present disclosure provides an electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the above method when executing the computer program.
A fourth aspect of the present disclosure provides a computer readable storage medium storing a computer program which, when executed by a processor, performs the steps of the above method.
The disclosure provides a robot safety control method, a device, an electronic device and a medium, comprising: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; controlling the motion pose of a robot according to the type of safety warning signal, in contrast to the prior art, the present disclosure includes a plurality of sensors, such as: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings that are required for the embodiments or the description of the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.
Fig. 1 is a schematic flow chart of a robot safety control method in an embodiment of the disclosure;
FIG. 2 is a schematic flow chart of another robot safety control method according to an embodiment of the disclosure;
fig. 3 is a schematic diagram of a configuration of a robot safety control device according to an embodiment of the disclosure;
FIG. 4 is a schematic view of another embodiment of a safety control device of a robot;
fig. 5 is a schematic diagram of a composition structure of a robot safety control electronic device in an embodiment of the disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are merely some, but not all embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without inventive effort, based on the embodiments in this disclosure are intended to be within the scope of this disclosure.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs; the terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure's description and claims and any variations thereof, including the terms "comprising" and "having" and any variations thereof, described in the foregoing description of the drawings, are intended to be covered by a non-exclusive inclusion.
In the description of the embodiments of the present disclosure, the technical terms "first," "second," and the like are used merely to distinguish between different objects and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated, a particular order or a primary or secondary relationship. In the description of the embodiments of the present disclosure, the meaning of "a plurality" is two or more unless explicitly defined otherwise.
In the description of the embodiments of the present disclosure, the term "and/or" is merely an association relationship describing an association object, and indicates that three relationships may exist, for example, a and/or B may indicate: a exists alone, A and B exist together, and B exists alone. In addition, the character "/" herein generally indicates that the front and rear associated objects are an "or" relationship.
In the description of the embodiments of the present disclosure, the term "plurality" refers to two or more (including two), and similarly, "plural sets" refers to two or more (including two), and "plural sheets" refers to two or more (including two).
In the description of the embodiments of the present disclosure, the orientation or positional relationship indicated by the technical terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings, only for convenience of description and simplification of the description, and are not indicative or implying that the apparatus or element referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the present disclosure.
In describing embodiments of the present disclosure, unless explicitly stated and limited otherwise, the terms "mounted," "connected," "secured," and the like should be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrated; or may be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. To one of ordinary skill in the art, the specific meaning of the terms in this disclosure may be understood as appropriate
Example 1
The embodiment of the disclosure provides a robot safety control method, as shown in fig. 1, including:
101. the operation of each sensor is monitored and a safety warning signal is sent to the control center when it is detected.
Robots are commonly known as robotics, which include all machines that simulate human behavior or ideas and simulate other living things (e.g., machine dogs, machine cats, etc.). There are also a number of taxonomies and disputes in the narrow definition of robots, some computer programs are even called robots. In the current industry, robots refer to man-made robotic devices capable of automatically performing tasks to replace or assist in human work.
The robot generally comprises an executing mechanism, a driving device, a detecting device, a control system, complex machinery and the like, wherein the executing mechanism is a robot body, an arm part of the executing mechanism is generally a space open-chain connecting rod mechanism, a kinematic pair (a revolute pair or a movable pair) is often called a joint, and the number of the joints is generally the degree of freedom of the robot. According to the different configuration types and motion coordinate types of the joints, the robot actuating mechanism can be divided into rectangular coordinate type, cylindrical coordinate type, polar coordinate type, joint coordinate type and other types. For anthropomorphic consideration, the relevant parts of the robot body are often referred to as a base, a waist, an arm, a wrist, a hand (gripper or end effector), a walking part (for a mobile robot), and the like, respectively. The driving device is a mechanism for driving the actuating mechanism to move, and the robot is driven to act by means of the power element according to the command signal sent by the control system. The input of the device is an electric signal, and the output is a linear displacement and an angular displacement. The driving device used by the robot is mainly an electric driving device, such as a stepping motor, a servo motor and the like, and also a driving device adopting hydraulic, pneumatic and the like. The detection device detects the movement and working condition of the robot in real time, feeds back the movement and working condition to the control system according to the requirement, compares the movement and working condition with the setting information, and adjusts the execution mechanism to ensure that the movement of the robot meets the preset requirement. Sensors as detection means can be broadly divided into two categories: one type is an internal information sensor for detecting internal conditions of each part of the robot, such as the position, speed, acceleration, etc. of each joint, and sending the measured information as a feedback signal to the controller, forming a closed loop control. The external information sensor is used for acquiring information on the operation object, the external environment and the like of the robot so that the action of the robot can adapt to the change of the external condition and the higher level of automation is achieved. The control system is a centralized control, i.e. the whole control of the robot is performed by one microcomputer. The other is decentralized (step) control, i.e. a plurality of microcomputers are adopted to share the control of the robot, for example, when an upper microcomputer and a lower microcomputer are adopted to jointly complete the control of the robot, a host is commonly used for taking charge of management, communication, kinematics and dynamic calculation of a system and sending instruction information to the lower microcomputer; each joint is used as a subordinate slave machine and corresponds to a CPU to perform interpolation operation and servo control processing, so that given movement is realized, and information is fed back to the host machine. According to different requirements of the operation task, the control mode of the robot can be divided into point position control, continuous track control and force (moment) control.
The sensor is a detecting device, which can sense the measured information and convert the sensed information into electric signals or other information output in the required form according to a certain rule so as to meet the requirements of information transmission, processing, storage, display, recording, control and the like. The sensor generally comprises a sensing element, a conversion circuit and an auxiliary power supply, wherein the sensing element directly senses the measured physical quantity signals with a determined relation with the measured physical quantity signals; the conversion element converts the physical quantity signal output by the sensitive element into an electric signal; the conversion circuit is responsible for amplifying and modulating the electric signal output by the conversion element; the conversion element and the conversion circuit generally also require an auxiliary power supply for power.
The safety warning signal is perceived and sent out by the detection device in the robot through each sensor, and the sensor mainly has range finding sensor, collision sensor and temperature sensor in this embodiment, and wherein, range finding sensor mainly kinds have ultrasonic wave range finding sensor, laser range finding sensor and infrared ray range finding sensor etc. this embodiment is not restricted its specific type, can realize the range finding function can. The collision sensor consists of a collision preventing strip arranged at the bottom of the robot, the collision preventing strip is also called a touch edge switch or a safety edge, and the collision preventing strip can be fixed on a movable edge of equipment such as a machine tool workbench, an electric door, a robot chassis and the like, and when the equipment moves and the collision preventing strip collides with an object, the flexible safety edge is pressed to generate signals to be fed back to a control center so as to control. A temperature sensor refers to a sensor that senses temperature and converts it into a usable output signal. The sensor can be divided into two main types of contact type and non-contact type according to the measurement mode, and can be divided into two types of thermal resistors and thermocouples according to the characteristics of sensor materials and electronic elements.
What needs to be explained here is: in this embodiment, the types of the ranging sensor, the collision sensor and the temperature sensor are not particularly limited, and an operator can select according to actual needs, so that the functions of each sensor in this embodiment can be realized.
102. In response to the security alert signal, a type of the security alert signal is determined.
The type of security alert signal is determined by the sensor that sent the security alert signal, for example: the ranging sensor sends out a safety alarm signal, and the type of the safety alarm signal is obstacle or drop.
103. And controlling the motion gesture of the robot according to the type of the safety alarm signal.
After determining the type of the safety warning signal, the motion gesture of the robot is controlled according to the type thereof, for example: when the type of the safety warning signal is obstacle or falling, which indicates that the obstacle or the pit exists in the running direction of the robot, the control center can adjust the running direction of the robot.
The present disclosure provides a robot safety control method, comprising: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; controlling the motion pose of a robot according to the type of safety warning signal, in contrast to the prior art, the present disclosure includes a plurality of sensors, such as: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
Example 2
The embodiment of the disclosure provides a robot safety control method, as shown in fig. 2, including:
201. the operation of each sensor is monitored and a safety warning signal is sent to the control center when it is detected.
The sensor of the embodiment comprises a ranging sensor, a collision sensor and a temperature sensor, wherein the ranging sensor is arranged at the bottom of the chassis main body of the robot, and the detection direction of the ranging sensor is inclined downwards towards the periphery of the chassis main body; the collision sensor is arranged on the moving edge of the robot chassis; the temperature sensor is arranged inside the robot main body.
What needs to be explained here is: the type, number and installation position of the sensors are not limited in this embodiment, and can be adjusted according to actual needs during implementation, for example: selecting an infrared ranging sensor as the ranging sensor of the embodiment; four collision sensors are installed around the robot chassis main body.
A safety warning signal, as the name suggests, signals that are emitted when a sensor or sensors detects a safety hazard, such as: when each sensor is monitored to run, the distance measuring sensor detects that an obstacle exists in the running direction, and then a safety warning signal of 'the obstacle exists in the running direction' is sent to the control center.
202. In response to the security alert signal, a sensor that emits the security alert signal is determined to determine a type of the security alert signal.
2021. And when the sensor sending the safety alarm signal is the ranging sensor, determining that the type of the safety alarm signal is obstacle or drop.
2022. And when the sensor sending out the safety alarm signal is the collision sensor, determining that the type of the safety alarm signal is collision.
2023. And when the sensor sending the safety alarm signal is the temperature sensor, determining that the type of the safety alarm signal is spontaneous combustion.
203. And controlling the motion gesture of the robot according to the type of the safety alarm signal.
2031. And when the type of the safety alarm signal is obstacle or falling, controlling the robot to avoid the obstacle or the hollow.
2032. And when the type of the safety warning signal is collision, controlling the robot to move towards a non-collision direction.
2033. And when the type of the safety warning signal is spontaneous combustion, controlling the robot to stop moving and/or starting cooling equipment.
What needs to be explained here is: if the number of the sensors emitting the alarm signal is two or more, that is, if the type of the safety alarm signal is two or more, for example: when the sensors for sending the safety alarm signals are a ranging sensor and a temperature sensor, determining that the types of the safety alarm signals are obstacle and spontaneous combustion, and controlling the robot to start cooling equipment while avoiding the obstacle; or controlling the robot to pause movement, and after the temperature is reduced to a safety threshold value, performing movement when avoiding the obstacle. Similarly, when the type of the safety warning signal is two or more, an appropriate motion gesture should be adopted.
204. And re-planning the running route of the robot according to the current position of the robot.
The present disclosure provides a robot safety control method, comprising: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a sensor that emits the alert signal in response to the security alert signal to determine a type of the security alert signal; controlling the motion gesture of the robot according to the type of the safety alarm signal; the present disclosure encompasses a plurality of sensors, compared to the prior art, such as for example, to re-plan the travel route of the robot based on the current position of the robot: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
Example 3
An embodiment of the present disclosure provides a robot safety control device, as shown in fig. 3, including:
and a transmitting unit 31 for monitoring the operation of the sensors and transmitting the safety warning signal to the control center when the safety warning signal is detected.
A determining unit 32 for determining the type of the security alarm signal in response to the security alarm signal.
And a control unit 33 for controlling the motion gesture of the robot according to the type of the safety warning signal.
What needs to be explained here is: the detailed description of each part of this embodiment may refer to the corresponding parts of other embodiments, and will not be repeated here.
The present disclosure provides a robot safety control device, comprising: the sending unit is used for monitoring the operation of each sensor and sending a safety alarm signal to the control center when the safety alarm signal is detected; the determining unit is used for responding to the safety alarm signal and determining the type of the safety alarm signal; the control unit is used for controlling the motion gesture of robot according to the type of safety warning signal, and in contrast to prior art, this disclosure contains a plurality of sensors, for example: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
Example 4
An embodiment of the present disclosure provides a robot safety control device, as shown in fig. 4, including:
and a transmitting unit 41 for monitoring the operation of the sensors and transmitting the safety warning signal to the control center when the safety warning signal is detected.
A determining unit 42 for determining a type of the security alarm signal in response to the security alarm signal.
And a control unit 43 for controlling the motion gesture of the robot according to the type of the safety warning signal.
A planning unit 44, configured to re-plan the driving route of the robot according to the current position of the robot.
What needs to be explained here is: the detailed description of each part of this embodiment may refer to the corresponding parts of other embodiments, and will not be repeated here.
The present disclosure provides a robot safety control device, comprising: the sending unit is used for monitoring the operation of each sensor and sending a safety alarm signal to the control center when the safety alarm signal is detected; the determining unit is used for responding to the safety alarm signal and determining the type of the safety alarm signal; the control unit is used for controlling the motion gesture of robot according to the type of safety warning signal, and planning unit is used for planning again the travel route of robot according to the robot current position, compares in prior art, and this disclosure contains a plurality of sensors, for example: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process
Example 5
The embodiment of the disclosure provides a robot safety control electronic device, as shown in fig. 5, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the robot safety control method when executing the computer program.
A processing device (e.g., a central processing unit, a graphics processor, etc.) 501, which may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 502 or a program loaded from a storage device 508 into a Random Access Memory (RAM) 503. In the RAM503, various programs and data required for the operation of the electronic apparatus 500 are also stored. The processing device 501, the ROM502, and the RAM503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
In general, the following devices may be connected to the I/O interface 505: input devices 506 including, for example, a touch screen, touchpad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 507 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 508 including, for example, magnetic tape, hard disk, etc.; and communication means 509. The communication means 509 may allow the electronic device 500 to communicate with other devices wirelessly or by wire to exchange data. While fig. 5 shows an electronic device 500 having various means, it is to be understood that not all of the illustrated means are required to be implemented or provided. More or fewer devices may be implemented or provided instead. Each block shown in fig. 5 may represent one device or a plurality of devices as needed.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method shown in the flow chart. In such embodiments, the computer program may be downloaded and installed from a network via the communications device 509, or from the storage device 508, or from the ROM 502. The above-described functions defined in the methods of some embodiments of the present disclosure are performed when the computer program is executed by the processing device 501.
The present disclosure provides a robot safety control electronic device, comprising: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; controlling the motion pose of a robot according to the type of safety warning signal, in contrast to the prior art, the present disclosure includes a plurality of sensors, such as: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
Example 6
The embodiment of the disclosure provides a robot safety control computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program realizes the robot safety control method when being executed by one or more processors.
It should be noted that, in some embodiments of the present disclosure, the computer readable medium may be a computer readable signal medium or a computer readable storage medium, or any combination of the two. The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples of the computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, the computer-readable signal medium may comprise a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, fiber optic cables, RF (radio frequency), and the like, or any suitable combination of the foregoing.
In some implementations, the clients, servers may communicate using any currently known or future developed network protocol, such as HTTP (HyperText TransferProtocol ), and may be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the internet (e.g., the internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed networks.
The computer readable medium may be embodied in the apparatus; or may exist alone without being incorporated into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; and controlling the motion gesture of the robot according to the type of the safety alarm signal.
Computer program code for carrying out operations for some embodiments of the present disclosure may be written in one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
The present disclosure provides a robot safety control medium, comprising: monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected; determining a type of the security alert signal in response to the security alert signal; controlling the motion pose of a robot according to the type of safety warning signal, in contrast to the prior art, the present disclosure includes a plurality of sensors, such as: the ranging sensor, the collision sensor and the temperature sensor solve the safety problems of falling, collision and spontaneous combustion of the robot in the operation process, namely comprehensively solve the safety problems of the robot in the motion process, have wide application range and greatly improve the safety of the robot in the use process.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by means of software, or may be implemented by means of hardware. The described units may also be provided in a processor, for example, described as: a processor includes a receiving unit, an information acquisition unit, a targeting unit, and a delivery unit. Wherein the names of the units do not constitute a limitation of the units themselves in some cases.
The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: a Field Programmable Gate Array (FPGA), an Application Specific Integrated Circuit (ASIC), an Application Specific Standard Product (ASSP), a system on a chip (SOC), a Complex Programmable Logic Device (CPLD), and the like.
The foregoing description is only of the preferred embodiments of the present disclosure and description of the principles of the technology being employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above technical features, but encompasses other technical features formed by any combination of the above technical features or their equivalents without departing from the spirit of the invention. Such as the above-described features, are mutually substituted with (but not limited to) the features having similar functions disclosed in the embodiments of the present disclosure.
Claims (10)
1. A robot safety control method, comprising:
monitoring the operation of each sensor and sending a safety alarm signal to a control center when the safety alarm signal is detected;
determining a type of the security alert signal in response to the security alert signal;
and controlling the motion gesture of the robot according to the type of the safety alarm signal.
2. The robot safety control method according to claim 1, wherein each of the sensors includes:
ranging sensor, collision sensor and temperature sensor.
3. The robot safety control method of claim 1, wherein determining the type of the safety warning signal in response to the safety warning signal comprises:
in response to the security alert signal, a sensor that emits the security alert signal is determined to determine a type of the security alert signal.
4. A method of controlling safety of a robot according to claim 3, wherein determining the sensor that emits the safety warning signal to determine the type of the safety warning signal comprises:
when the sensor sending the safety alarm signal is the ranging sensor, determining that the type of the safety alarm signal is obstacle or drop;
when the sensor sending the safety alarm signal is the collision sensor, determining that the type of the safety alarm signal is collision;
and when the sensor sending the safety alarm signal is the temperature sensor, determining that the type of the safety alarm signal is spontaneous combustion.
5. The robot safety control method according to claim 1 or 4, wherein controlling the motion gesture of the robot according to the type of the safety warning signal comprises:
when the type of the safety warning signal is obstacle or falling, controlling the robot to avoid the obstacle or the pit;
when the type of the safety warning signal is collision, controlling the robot to move towards a non-collision direction;
and when the type of the safety warning signal is spontaneous combustion, controlling the robot to stop moving and/or starting cooling equipment.
6. The robot safety control method according to claim 1, further comprising, after controlling the motion gesture of the robot according to the type of the safety warning signal:
and re-planning the running route of the robot according to the current position of the robot.
7. A robot safety control device, comprising:
the sending unit is used for monitoring the operation of each sensor and sending the safety alarm signal to the control center when the safety alarm signal is detected;
a determining unit, configured to determine a type of the security alarm signal in response to the security alarm signal;
and the control unit is used for controlling the movement gesture of the robot according to the type of the safety alarm signal.
8. The robot safety control device of claim 7, further comprising:
and the planning unit is used for re-planning the driving route of the robot according to the current position of the robot.
9. An electronic device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 6 when the computer program is executed.
10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the steps of the method according to any one of claims 1 to 6.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310631099.4A CN116673949A (en) | 2023-05-31 | 2023-05-31 | Robot safety control method and device, electronic equipment and medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310631099.4A CN116673949A (en) | 2023-05-31 | 2023-05-31 | Robot safety control method and device, electronic equipment and medium |
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| CN (1) | CN116673949A (en) |
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