CN116872202A - Robot motion control system, method and device - Google Patents
Robot motion control system, method and device Download PDFInfo
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- CN116872202A CN116872202A CN202310862888.9A CN202310862888A CN116872202A CN 116872202 A CN116872202 A CN 116872202A CN 202310862888 A CN202310862888 A CN 202310862888A CN 116872202 A CN116872202 A CN 116872202A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
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Abstract
The invention provides a robot motion control system, a method and a device, wherein the robot motion control system comprises a portable safety device and a plurality of mobile robots, and the safety device is used for carrying a target object into a motion scene of the plurality of mobile robots; a mobile robot configured to broadcast a ranging request; a safety device configured to feed back a ranging response signal to the mobile robot in case of receiving the ranging request; the mobile robot is further configured to calculate a distance to the safety device based on the ranging response signal and adjust a current motion state of the mobile robot based on the distance. The distance measurement interaction between the mobile robot and the safety equipment is performed, the motion state of the mobile robot is adjusted according to the distance obtained by the distance measurement, the mobile robot is prevented from influencing the target object, the safety of the target object is guaranteed, the motion state of the robot is adjusted according to the distance, all the motion states are not required to be stopped, and the operation efficiency of the mobile robot is improved.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a robot motion control system. The invention also relates to a robot motion control method, which is applied to a robot motion control system, a robot motion control method, a mobile robot, a robot motion control device and a mobile robot.
Background
In the robot cluster motion control system of the existing unmanned scene, because the safety level of the obstacle avoidance detection function of the robot body is insufficient, physical fences are generally adopted to isolate the robot from personnel in project implementation, so that the safety of the personnel is not endangered when the robot is in an abnormal state.
If the personnel entering operation is determined to be needed, in order to ensure the personnel safety, the personnel needs to trigger the full-field robot to stop running outside the field, then the personnel enters the field from the safety entrance for operation, and the full-field robot stops in the process until the personnel leaves from the field of the robot, so that the running efficiency of the robot is seriously influenced, and therefore, a method for improving the running efficiency of the robot is needed.
Disclosure of Invention
In view of the above, the embodiment of the invention provides a robot motion control system to solve the technical defects existing in the prior art. The embodiment of the invention also provides a robot motion control method which is applied to a robot motion control system and a robot motion control method and is applied to a mobile robot, a robot motion control device and a mobile robot.
According to a first aspect of an embodiment of the present invention, there is provided a robot motion control system, including a portable safety device and a plurality of mobile robots, wherein the safety device is used for carrying a target object into a motion scene of the plurality of mobile robots;
The mobile robot is configured to broadcast a ranging request;
the safety device is configured to feed back a ranging response signal to the mobile robot in the case of receiving the ranging request;
the mobile robot is further configured to calculate a distance to the safety device based on the ranging response signal and adjust a current motion state of the mobile robot based on the distance.
According to a second aspect of embodiments of the present invention, there is provided a robot motion control method applied to a robot motion control system including a portable safety device and a plurality of mobile robots; the method comprises the following steps:
the mobile robot broadcasts a ranging request;
the safety equipment feeds back a ranging response signal to the mobile robot under the condition that the ranging request is received;
the mobile robot calculates a distance from the safety device based on the ranging response signal, and adjusts a current motion state of the mobile robot based on the distance.
According to a third aspect of embodiments of the present invention, there is provided a robot motion control method applied to a mobile robot, the method comprising:
Broadcasting a ranging request;
calculating a distance with the safety device based on a ranging response signal when the ranging response signal fed back by the safety device in response to the ranging request is received;
and adjusting the current motion state of the mobile robot based on the distance.
According to a fourth aspect of embodiments of the present invention, there is provided a robot motion control apparatus applied to a mobile robot, the apparatus comprising:
a broadcasting module configured to broadcast a ranging request;
a calculation module configured to calculate a distance to a secure device based on a ranging response signal fed back by the secure device in response to the ranging request, if the ranging response signal is received;
and the adjusting module is configured to adjust the current motion state of the mobile robot based on the distance.
According to a fifth aspect of an embodiment of the present invention, there is provided a mobile robot including:
a memory and a processor;
the memory is used for storing computer executable instructions, and the processor executes the computer executable instructions to realize the steps of the robot motion control method.
According to a sixth aspect of embodiments of the present invention, there is provided a computer readable storage medium storing computer executable instructions which, when executed by a processor, implement the steps of the robot motion control method described above.
The robot motion control system provided by the invention comprises a portable safety device and a plurality of mobile robots, wherein the safety device is used for carrying a target object into a motion scene of the plurality of mobile robots; a mobile robot configured to broadcast a ranging request; a safety device configured to feed back a ranging response signal to the mobile robot in case of receiving the ranging request; the mobile robot is further configured to calculate a distance to the safety device based on the ranging response signal and adjust a current motion state of the mobile robot based on the distance. The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the distance measurement response signal fed back by the safety equipment, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving states do not need to be stopped, and the operation efficiency of the mobile robot is improved.
Drawings
FIG. 1 is a schematic diagram of a robot motion control system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of another robot motion control system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a three-terminal interaction structure in a robot motion control system according to an embodiment of the present invention;
fig. 4A is a schematic structural diagram of a master control end in a robot motion control system according to an embodiment of the present invention;
FIG. 4B is a schematic diagram of a mobile robot in a robot motion control system according to an embodiment of the present invention;
FIG. 4C is a schematic diagram of a safety device in a robot motion control system according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a three-terminal interaction architecture in a robot motion control system according to an embodiment of the present invention;
FIG. 6A is a schematic diagram illustrating an application of a robot motion control system according to an embodiment of the present invention;
FIG. 6B is a schematic diagram of an application structure of a robot motion control system according to an embodiment of the present invention;
FIG. 6C is a schematic view of a region division of a robot motion control system according to an embodiment of the present invention;
FIG. 7 is a flow chart of a robot motion control method according to an embodiment of the present invention;
FIG. 8 is a flow chart of another robot motion control method according to an embodiment of the present invention;
Fig. 9 is a schematic structural view of a robot motion control device according to an embodiment of the present invention;
FIG. 10 is a block diagram of a computing device according to one embodiment of the invention.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may be embodied in many other forms than those herein described, and those skilled in the art will readily appreciate that the present invention may be similarly embodied without departing from the spirit or essential characteristics thereof, and therefore the present invention is not limited to the specific embodiments disclosed below.
The terminology used in the one or more embodiments of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of the invention. As used in one or more embodiments of the invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used in one or more embodiments of the present invention refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that, although the terms first, second, etc. may be used in one or more embodiments of the invention to describe various information, these information should not be limited by these terms. These terms are only used to distinguish one type of information from another. For example, a first may also be referred to as a second, and similarly, a second may also be referred to as a first, without departing from the scope of one or more embodiments of the invention.
First, terms related to one or more embodiments of the present invention will be explained.
And (3) a robot: is an automated machine, except that it has some intelligent capabilities similar to those of a person or living being, such as perceptive, planning, actional and collaborative capabilities, and is an automated machine with a high degree of flexibility.
Autonomous mobile robot (AMR, autonomous Mobile Robot): generally refers to a warehousing robot capable of autonomous positioning and autonomous navigation.
Security performance rating (PL, performance Level): for defining the capabilities of the safety-relevant part of the control system such that it performs a safety function under foreseeable conditions, the PLe represents the highest level of safety performance, divided into five levels a, b, c, d, e from low to high in safety performance.
Programmable logic controller (PLC, programmable Logic Controller): a digital electronic device with microprocessor is used for automatically controlling digital logic controller, and can load control instructions into memory at any time for storage and operation.
In the AMR cluster motion system of the existing unmanned scene, because the safety level of the AMR body obstacle avoidance detection function is insufficient to meet the safety level requirement of man-machine mixing (ISO 3691-4, an important reference standard of AMR safety application), a physical fence is generally adopted to isolate AMR from personnel in project implementation so as to ensure that the personal safety of a crisis can not be dangerous when the robot is in an abnormal state.
When a person needs to enter an AMR area for operation, the AMR relies on the obstacle avoidance detection function of the body to realize obstacle avoidance to the person, the specific implementation mode comprises, but is not limited to, transmitting obstacle information to a robot main controller by an infrared detector, a laser radar detector, an image sensor and the like, wherein the main controller controls the robot driver to stop moving a motor, namely, the person can only be perceived by the AMR passively and is limited by the safety level of a hardware device and the design of a control link framework, the safety level of the obstacle avoidance detection function is insufficient to meet the related safety standard requirement (I SO 3691-4), SO that the collision risk between the AMR and the person cannot be reduced to an acceptable range, the person needs to trigger the whole-field robot to stop at first and then enter the AMR field from a safety entrance for processing problem, and the whole-field robot stops until the person leaves from the AMR field in the process, thereby influencing the efficiency of AMR and system operation.
In order to solve the technical problems, the invention provides a robot motion control system which comprises a portable safety device and a plurality of mobile robots, wherein the safety device is used for carrying a target object into a motion scene of the plurality of mobile robots; a mobile robot configured to broadcast a ranging request; a safety device configured to feed back a ranging response signal to the mobile robot in case of receiving the ranging request; the mobile robot is further configured to calculate a distance to the safety device based on the ranging response signal and adjust a current motion state of the mobile robot based on the distance. The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the distance measurement response signal fed back by the safety equipment, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving states do not need to be stopped, and the operation efficiency of the mobile robot is improved.
In the present invention, a robot motion control system is provided. The invention also relates to a robot motion control method, which is applied to a robot motion control system and a robot motion control method, and is applied to a mobile robot, a robot motion control device and a mobile robot, and the following embodiments are described in detail one by one.
Fig. 1 shows a schematic structural diagram of a robot motion control system according to an embodiment of the present invention, where the robot motion control system 100 includes a portable safety device 1001 and a plurality of mobile robots 1002, and the safety device 1001 is used for carrying a target object into a motion scene of the plurality of mobile robots 1002;
mobile robot 1002 configured to broadcast a ranging request;
a security device 1001 configured to feed back a ranging response signal to the mobile robot 1002 in case of receiving a ranging request;
the mobile robot 1002 is further configured to calculate a distance to the safety device 1001 based on the ranging response signal, and adjust a current motion state of the mobile robot based on the distance.
Specifically, the mobile robot refers to a robot capable of autonomously moving and stopping according to an instruction of a control system, for example, the mobile robot may be AMR or the like, wherein the mobile robot may have a pairing function with an in-field portable safety device, a function of sending a ranging request with the in-field portable safety device, a function of real-time ranging a ranging response signal fed back by the in-field portable safety device, a function of determining whether an AMR area is a stop area, a deceleration area or an operation area according to a ranging result, a function of outputting an emergency stop/reset signal and a deceleration/recovery signal according to whether the AMR area is the stop area or the deceleration area, a function of autonomously sending a ranging request and performing ranging response, a function of receiving and transmitting a self-check signal, a function of interacting a multi-path ranging signal, a function of sending an emergency stop/reset signal with a safety response ranging unit, a function of establishing and maintaining a safety connection with a master station unit, a function of automatically sending an emergency stop/reset signal to a motion control unit when a safety connection is abnormal/recovery, and a function of sending an emergency stop/reset signal with the safety response master station.
The portable safety device is a safety device which is convenient to carry, for example, the portable safety device can be a wearable bracelet, a wearable earphone and the like, the safety device can have a pairing function with AMR in a field, a real-time ranging response feedback function for sending ranging signals to AMR in the field, a receiving and self-checking function for automatically sending ranging requests and making ranging responses, and a multipath ranging signal interaction self-checking function; the system has the functions of automatically triggering and sending a system scram/reset signal to the safety communication master station unit of the master control end, and has the function of establishing and maintaining safety connection with the safety communication master station unit of the master control end.
The ranging request refers to a request initiated for a ranging measurement, in particular for a distance between a device receiving the ranging request and the mobile robot. The ranging response signal refers to a response to the ranging request, based on which a distance between the safety device and the mobile robot can be determined. The motion adjustment signal refers to a signal that causes the mobile robot to adjust the current motion state, and for example, the motion adjustment signal may be a motion acceleration signal, a motion deceleration signal, and a motion continuation motion signal.
The broadcast ranging request may be a broadcast ranging request according to a preset period.
Alternatively, the mobile robot broadcasts a ranging request within a certain range, and if the range is exceeded, the mobile robot does not receive the ranging response signal of the security device.
And the safety device is configured to feed back a ranging response signal to the mobile robot under the condition that the ranging request is received, wherein the ranging response signal can be fed back to the mobile robot based on the ranging request when the ranging request is received by the safety device, and the ranging response signal can carry the motion information of the safety device, and the motion information can comprise the position information, the speed information and the like of the safety device.
The mobile robot is further configured to calculate a distance to the security device based on the ranging response signals, and may calculate a time difference based on the received plurality of ranging response signals, and determine a distance between the mobile robot and the security device based on the time difference and a propagation speed of the broadcast.
The mobile robot is further configured to adjust a current motion state of the mobile robot based on the distance, which may be that the mobile robot determines a target safety area where the mobile robot is currently located based on the distance, and adjusts the current motion state of the mobile robot based on a preset motion mode of the target safety area, wherein the division of the target safety area is divided according to a preset distance upper limit and a preset distance lower limit.
The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the distance measurement response signal fed back by the safety equipment, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving states do not need to be stopped, and the operation efficiency of the mobile robot is improved.
In an alternative embodiment of the invention, the mobile robot is further configured to maintain the current motion state of the mobile robot if no ranging response signal for a ranging request is received.
The mobile robot is further configured to maintain the current motion state of the mobile robot if the ranging response signal for the ranging request is not received, and if the mobile robot broadcasts the ranging request and the ranging response signal for the ranging request is not received, it is determined that the safety device does not exist within the preset range of distance, and then the current motion state of the mobile robot is maintained.
And the mobile robot is configured to maintain the current motion state of the mobile robot if the ranging response signal for the ranging request is not received, so that the mobile robot executes corresponding tasks according to a preset program, and the motion efficiency and task execution efficiency are maintained.
In an alternative embodiment of the invention, the mobile robot is specifically configured to identify whether the distance is greater than a preset upper distance limit; if yes, the current motion state of the mobile robot is maintained.
Specifically, the preset distance upper limit is a preset distance upper limit for carrying out safety protection on the target object, and the mobile robot outside the preset distance upper limit cannot cause safety threat to the target object carrying the safety equipment.
The mobile robot is specifically configured to identify whether the distance is greater than a preset distance upper limit, and may compare the distance with the preset distance upper limit, and determine whether the distance is greater than the preset distance upper limit based on the comparison result.
The mobile robot is specifically configured to identify whether the distance is greater than a preset distance upper limit, if so, the current motion state of the mobile robot is maintained, if so, the distance is determined to be greater than the preset distance upper limit, the mobile robot corresponding to the current ranging request does not cause safety threat to a target object carrying safety equipment, and the current motion state of the mobile robot is maintained, so that the operation efficiency of the mobile robot is ensured.
The mobile robot is specifically configured to identify whether the distance is greater than a preset distance upper limit, if not, the distance is determined to be less than or equal to the preset distance upper limit, and then the current motion state of the mobile robot needs to be adjusted according to the region motion mode corresponding to the distance.
The mobile robot is configured to identify whether the distance is greater than a preset distance upper limit, if so, the current motion state of the mobile robot is maintained, namely, when the distance between the mobile robot and a target object carrying safety equipment is determined to be greater than the preset distance upper limit, the mobile robot is determined not to influence the safety of the target object, so that the current motion state of the mobile robot is kept unchanged, and the influence on the working efficiency of the mobile robot is reduced under the condition of ensuring the safety of the target object.
In an alternative embodiment of the present invention, the mobile robot is specifically configured to identify whether the distance is within a preset distance interval, where the preset distance interval is determined based on a preset distance upper limit and a preset distance lower limit; if yes, the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed.
Specifically, the preset distance interval refers to a preset interval range for adjusting the movement speed of the mobile robot, wherein the adjustment may be to reduce to the preset movement speed. The preset distance lower limit is a preset distance limit affecting the safety of the target object, wherein the influence affecting the safety of the target object is that the faster the speed is, the larger the influence is, so when the distance reaches the preset distance lower limit, the mobile robot needs to decelerate to a preset motion speed, so as to avoid that the mobile robot cannot decelerate rapidly and affects the target object carrying the safety device when the target object carrying the safety device accelerates, but at the same time, the distance is larger than the preset distance lower limit, so that the operation efficiency of the mobile robot is ensured, and the mobile robot is decelerated to the preset motion speed instead of directly stopping the motion of the mobile robot. The preset movement speed refers to a preset movement speed of the mobile robot which controllably affects the safety of the target object. The initial movement speed refers to the movement speed of the mobile robot before the present invention is performed.
The mobile robot is specifically configured to identify whether the distance is within a preset distance interval, and may compare the distance with a preset distance upper limit and a preset distance lower limit, and determine whether the distance is between the preset distance lower limit and the preset distance upper limit.
The mobile robot is specifically configured to identify whether the distance is within a preset distance range, if so, adjust the current initial movement speed of the mobile robot to be reduced to the preset movement speed, or if the distance is within the preset distance range, in order to avoid that the distance between the mobile robot and the safety device is too short and the speed of the mobile robot is too fast, the safety of the target object carrying the safety device is affected, and the speed of the mobile robot needs to be reduced, but if the distance is not less than the preset distance lower limit, and in order to ensure the operation efficiency of the mobile robot, adjust the current initial movement speed of the mobile robot to the preset movement speed.
The mobile robot is configured to identify whether the distance is within a preset distance interval, if so, the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed, so that the mobile robot in the preset distance interval moves by reducing the speed to the preset movement speed, and the influence on the movement efficiency of the mobile robot is reduced on the premise of ensuring the safety of a target object.
In an alternative embodiment of the invention, the mobile robot is further configured to determine a current movement speed of the safety device based on the ranging response signal; and if the current movement speed of the safety equipment exceeds a preset speed threshold value, adjusting the mobile robot to a stop state.
Specifically, the preset speed threshold value refers to a preset value for limiting the movement speed of the safety device, that is, a preset value for limiting the movement speed of the target object carrying the safety device, for example, the preset speed threshold value may be 0.3 m/s and 1080 m/s. The stopped state refers to a motion state corresponding to the motion speed of the mobile robot being zero.
The mobile robot is further configured to determine a current movement speed of the safety device based on the ranging response signal, which may be a time difference between the mobile robot obtaining the transmitted ranging request and the received ranging response signal, and to determine the current movement speed of the safety device based on the time difference and the broadcast propagation speed.
The mobile robot is further configured to adjust the mobile robot to a stop state if the current movement speed of the safety device exceeds a preset speed threshold, or if the current movement speed of the safety device exceeds the preset speed threshold, the movement state of the mobile robot needs to be adjusted to the stop state to avoid affecting the safety of the target object carrying the safety device, for example, the mobile robot moves according to the initial movement speed, and if the current movement speed of the safety device exceeds the preset speed threshold, it may happen that the mobile robot does not slow down when the target object carrying the safety device reaches the vicinity of the mobile robot, so that the target object carrying the safety device collides with the mobile robot, and the safety of the target object is affected.
For example, the preset speed threshold is 0.3 meter per second, the current movement speed of the safety device is determined to be 0.4 meter per second based on the ranging response signal, the current movement speed of the safety device is determined to exceed the preset speed threshold, and the movement state of the mobile robot is adjusted to be in a stop state.
And the mobile robot is configured to determine the current movement speed of the safety device based on the ranging response signal, and adjust the mobile robot to a stop state when the current movement speed of the safety device exceeds a preset speed threshold value, so that the mobile robot is adjusted to the stop state when the speed of the safety device exceeds the preset speed threshold value, and the safety of a target object carrying the safety device is ensured.
In an alternative embodiment of the present invention, the mobile robot is further configured to send a ranging request to the security device at a preset interval after adjusting the current initial movement speed of the mobile robot to decrease to the preset movement speed; and if the ranging response signal fed back by the safety equipment is not received in the first preset time, adjusting the mobile robot to a stop state.
Specifically, the preset interval refers to a preset time interval, and the preset interval may be 100 ms, 200 ms, or the like. The first preset time refers to a preset time for ensuring the safety of the target object carrying the safety device, and for example, the first preset time may be 2 seconds, 3 seconds, and the like.
The mobile robot is further configured to send a ranging request to the safety device according to a preset interval after the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed, if the ranging response signal fed back by the safety device is not received in excess of a first preset time, the mobile robot is adjusted to a stop state, which can be understood that after the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed by the mobile robot, the ranging request is sent to the safety device according to the preset interval, if the ranging response signal fed back by the safety device is not received in excess of the first preset time, that is, the mobile robot is in the preset distance interval, but the ranging response signal fed back by the safety device is not received in excess of the first preset time, it can be determined that the ranging unit of the mobile robot or the safety device has faults or the signals are subjected to strong interference, and the like, so that the mobile robot is adjusted to the stop state.
The mobile robot is configured to send a ranging request to the safety equipment according to a preset interval after the current initial movement speed of the mobile robot is adjusted, if the ranging response signal fed back by the safety equipment is not received in excess of a first preset time, the mobile robot is adjusted to a stop state, namely, when the distance between the mobile robot and the safety equipment is definitely within a preset time interval, but the ranging response signal returned by the safety equipment is not received in excess of the first preset time, namely, the mobile robot or the ranging unit of the safety equipment fails or the signal is subjected to strong interference and the like, the mobile robot is adjusted to the stop state, and the safety of a target object carrying the safety equipment is ensured.
In an alternative embodiment of the present invention, the mobile robot is further configured to adjust the movement speed of the mobile robot to the initial movement speed if the heartbeat signal of the security device based on the secure connection is not detected beyond the second preset time after the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed, where the secure connection refers to a connection based on a preset secure communication protocol.
Specifically, the second preset time refers to a time preset to limit the reception time of the heartbeat signal, and for example, the second preset time may be 10 seconds. The heartbeat signal is a signal transmitted through a secure communication protocol and used for representing the state of the current equipment, for example, the heartbeat signal can be generated according to a certain time interval, and the heartbeat signal comprises the running state, running attribute information, other security related verification information and the like of the current equipment. The preset secure communication protocol refers to a preset secure communication protocol for protecting a data transmission layer, for example, the preset secure communication protocol may be a secure communication protocol such as a secure network integrated service (CI P security) protocol or a failure security protocol (Profi security) protocol based on a communication protocol, and the heartbeat signal is transmitted by using a secure connection based on the preset secure communication protocol, so that the transmission of the heartbeat signal is protected, and the heartbeat signal is protected.
Alternatively, the secure connection may be a wireless communication connection or a wired communication connection.
The mobile robot is further configured to adjust the movement speed of the mobile robot to the initial movement speed if the heartbeat signal of the safety device is not detected after the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed, and may be that the mobile robot detects the heartbeat signal of the safety device, and determine that the duration of the distance between the safety device and the mobile robot exceeding the distance detected by the heartbeat signal has reached the second preset time if the heartbeat signal of the safety device is not detected after the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed.
In an exemplary embodiment, after the current initial movement speed of the mobile robot is reduced to the preset movement speed, if the heartbeat signal of the safety device is not detected for more than 10 seconds, the movement speed of the mobile robot is adjusted to be restored to the initial movement speed.
The mobile robot is further configured to adjust the movement speed of the mobile robot to be restored to the initial movement speed if the heartbeat signal of the safety device is not detected after the current initial movement speed of the mobile robot is adjusted to be reduced to the preset movement speed, and further determine that the mobile robot is not abnormally affected by the safety device, so that the movement speed of the mobile robot is adjusted to be restored to the initial movement speed, and the influence on the operation efficiency of the mobile robot is reduced.
In an optional embodiment of the present invention, the mobile robot is further configured to start self-checking according to a preset self-checking period, and obtain a self-checking result; and when the self-checking result is abnormal, adjusting the mobile robot to a stop state.
Specifically, the preset self-checking period refers to a period of self-checking by a preset mobile robot, where self-checking refers to self-checking, for example, self-checking is performed by a transceiver subunit of the mobile robot, and the mobile robot sends a request by itself, responds to the request by itself, and responds correspondingly. The self-test result refers to a result obtained by performing self-test, for example, the self-test is a transceiver subunit of the mobile robot, and the self-test result may be that the transceiver subunit is normal, abnormal, or the like, and the transceiver subunit may be a low-frequency radio transceiver, an Ultra wideband wireless communication technology (UWB) transceiver, a Bluetooth technology (Bluetooth) transceiver, or the like.
The mobile robot is further configured to start self-checking according to a preset self-checking period, obtain a self-checking result, and may be that the mobile robot autonomously sends a ranging request, generates a ranging response signal based on the ranging request, specifically, the mobile robot autonomously sends the ranging request, receives the ranging request, generates a ranging response based on the received ranging request, and returns the ranging response signal to the mobile robot.
Optionally, when the number of the subunits of the ranging request sent by the mobile robot is at least two, starting multi-path ranging signal interaction self-checking according to the preset self-checking period to obtain a self-checking result, wherein the multi-path ranging signal interaction self-checking can be that the at least two subunits send the ranging request, the at least two subunits receive the ranging response signal which does not belong to the ranging request sent by the mobile robot, or the at least two subunits receive the ranging response signal which belongs to and does not belong to the ranging request sent by the mobile robot.
Optionally, the mobile robot performs self-checking, and may also perform interactive self-checking with other ends in the robot motion control system, for example, the mobile robot performs interactive self-checking with the security device.
Alternatively, the self-checking result anomaly may be that the ranging response signal responding to the ranging request is not received, or the received ranging response signal is not a ranging response signal that can be received according to a preset procedure, or a message format anomaly of the received ranging response signal.
Optionally, the mobile robot starts self-checking according to a preset self-checking period to obtain a self-checking result, and under the condition that the self-checking result is normal, the current motion state is kept unchanged, and the mobile robot processes according to preset execution and judgment tasks.
The mobile robot is configured to start self-checking according to a preset self-checking period to obtain a self-checking result, adjust the mobile robot to a stop state under the condition that the self-checking result is abnormal, perform self-checking according to the preset self-checking period, and adjust the mobile robot to the stop state under the condition that the self-checking result is abnormal, so that the running condition of the mobile robot is ensured, and the safety of safety equipment is further ensured, namely the safety of a target object carrying the safety equipment is ensured.
In an alternative embodiment of the invention, the mobile robot is specifically configured to identify whether the distance is less than a preset distance lower limit; if yes, the mobile robot is adjusted to a stop state.
The mobile robot is specifically configured to identify whether the distance is smaller than a preset distance lower limit, and may compare the distance with the preset distance lower limit, and determine whether the distance is smaller than the preset distance lower limit according to the comparison result.
The mobile robot is specifically configured to identify whether the distance is less than a preset distance lower limit, and if so, adjust the mobile robot to a stopped state, which may be when the mobile robot determines that the distance is less than the preset distance lower limit, determine that the mobile robot is already within a warning distance range of the safety device, and adjust the mobile robot to the stopped state.
And (3) identifying whether the distance is smaller than a preset distance lower limit, if not, identifying whether the distance is larger than a preset distance upper limit, keeping the current motion state of the mobile robot under the condition that the distance is larger than the preset distance upper limit, and adjusting the current initial motion speed of the mobile robot to be reduced to the preset motion speed under the condition that the distance is smaller than the preset distance upper limit.
The mobile robot is specifically configured to identify whether the distance is less than a preset distance lower limit; if so, the mobile robot is adjusted to a stop state, so that when the distance between the mobile robot and the safety equipment is smaller than the lower limit of the preset distance, the mobile robot is adjusted to the stop state, and even if the mobile robot stops, the mobile robot and the safety equipment are prevented from collision, and the safety of a target object carrying the safety equipment is ensured.
In an alternative embodiment of the invention, a mobile robot includes a first ranging unit and a motion control unit; the security device includes a second ranging unit;
a first ranging unit configured to broadcast a ranging request;
a second ranging unit configured to feed back a ranging response signal to the first ranging unit in case of receiving a ranging request;
The first ranging unit is further configured to calculate the distance between the mobile robot and the safety device based on the ranging response signal, generate a motion adjustment signal based on the distance, and send the motion adjustment signal to the motion control unit;
and a motion control unit configured to adjust a motion state of the mobile robot based on the motion adjustment signal.
Specifically, the first ranging unit is a functional component included in the mobile robot, has a pairing function with the in-field safety device, has a function of sending a ranging request to the in-field safety device, has a function of real-time ranging according to a ranging response signal fed back by the in-field safety device, has a function of sending a response motion state adjustment signal according to a ranging result, has a self-checking function of sending a ranging request and performing ranging response autonomously, and has a multi-path ranging signal interaction self-checking function.
The first ranging unit also has the function of judging the area where the mobile robot is located as a stop area, a deceleration area and an operation area according to the ranging result, and has the function of outputting an emergency stop/reset signal and a deceleration/recovery signal according to the AMR area being the stop area and the deceleration area.
The first ranging unit comprises a transceiver subunit and a ranging operation subunit, wherein the transceiver subunit has a pairing function with the in-field safety equipment, has a ranging request sending function to the in-field safety equipment, has a self-checking receiving and transmitting function of automatically sending a ranging request and performing ranging response, and has a multipath ranging signal interaction self-checking function; the distance measurement operation subunit has the function of sending out a response motion state adjustment signal according to the distance measurement result.
The second ranging unit is a functional component contained in the safety equipment, has a pairing function with the in-field mobile robot, has a real-time ranging response feedback function of sending a ranging request to the in-field mobile robot, has a self-checking function of sending a ranging request and making a ranging response autonomously, and has a multipath ranging signal interaction self-checking function.
The second ranging unit comprises a transceiver subunit and a ranging operation subunit, wherein the transceiver subunit has a pairing function with the in-field mobile robot, a real-time ranging response feedback function for sending a ranging request to the in-field mobile robot, a self-checking function for sending the ranging request and making a ranging response autonomously, and a multipath ranging signal interaction self-checking function; the distance measurement operation subunit has a function of performing further distance calculation based on the self-detection function.
The motion control unit is a functional component included in the mobile robot, and is provided with an adjustment signal for adjusting the motion state in response to the first distance measuring unit, and adjusts the motion state of the mobile robot accordingly.
Optionally, the motion control unit further has a function of controlling the mobile robot to safely slow down to zero in response to the emergency stop/reset signal of the first safety slave unit and then powering off the band-type brake/reset signal, a function of controlling the mobile robot to safely slow down to zero in response to the emergency stop/reset signal of the safety master unit and then powering off the band-type brake/reset signal, and a function of controlling the mobile robot to slow down to a safe speed/recover an initial motion speed in response to the speed down/recovery signal of the first ranging unit.
The mobile robot comprises a first ranging request and a motion control unit, the safety equipment comprises a second ranging unit, the motion state of the mobile robot is adjusted by utilizing the cooperation of the first ranging unit, the motion control unit and the second ranging unit of the safety equipment, the mobile robot is prevented from influencing a target object, the safety of the target object is ensured, the motion state of the robot is adjusted according to the distance, all the motion states are not required to be stopped, and the operation efficiency of the mobile robot is improved.
In an alternative embodiment of the present invention, referring to fig. 2, fig. 2 shows a schematic structural diagram of another robot motion control system according to an embodiment of the present invention, where the robot motion control system 100 includes a portable security device 1001, a plurality of mobile robots 1002, and a master control end 1003;
a master control end 1003 configured to establish and maintain a secure connection with the secure device 1001, and send emergency stop signals to the plurality of mobile robots 1002, respectively, based on the secure connection interactive heartbeat signal in case of determining that the secure device 1001 is abnormal in heartbeat;
the mobile robot 1002 is further configured to adjust the mobile robot 1002 to a stopped state in response to the scram signal transmitted from the master 1003.
Specifically, the master control end is a functional end for responding to requests of the safety equipment and the mobile robot in the motion control system, has a safety connection function with the safety equipment in the field, and has a safety response function for notifying the sudden stop of the full-field mobile robot when the heartbeat of the safety equipment is detected abnormally.
Optionally, the abnormal heartbeat detection may not perform information interaction according to a preset secure communication protocol, may not receive a heartbeat signal of the secure device according to a preset heartbeat signal transmission period, may not perform analysis and reading on the received heartbeat signal, or may include abnormal key characters in an analysis result obtained after the received heartbeat signal is analyzed.
The main control end is configured to interact with the safety equipment to send emergency stop signals to the mobile robots respectively under the condition that the heartbeat of the safety equipment is abnormal, or the main control end can send the emergency stop signals to the mobile robots respectively under the condition that the heartbeat of the safety equipment is abnormal.
The mobile robot is further configured to respond to the scram signal sent by the main control end, adjust the mobile robot to a stopped state, and can be the mobile robot receives the scram signal sent by the main control end and adjusts the mobile robot to the stopped state based on the scram signal.
The main control end is configured to establish and maintain safe connection with the safety equipment, and based on the safe connection interaction heartbeat signal, respectively send emergency stop signals to the plurality of mobile robots under the condition that the heartbeat abnormality of the safety equipment is determined; the mobile robot is configured to respond to the scram signal sent by the main control end, adjust the mobile robot to a stop state, so that when the main control end determines that the safety equipment is abnormal, the main control end respectively sends the scram signal to the plurality of mobile robots to enable the mobile robot to adjust to the stop state, the safety of the safety equipment is guaranteed, the safety of a target object carrying the safety equipment is further guaranteed, and safety of the target object is further guaranteed through heartbeat detection based on a safety connection mode, so that the mobile robot receives and executes a function of issuing an instruction by the main control end to meet a corresponding safety level requirement.
In an optional embodiment of the present invention, the security device is further configured to start a self-test according to a preset self-test period, and send a self-test result to the master control end;
the main control end is further configured to respectively send emergency stop signals to the plurality of mobile robots under the condition that the self-checking result of the safety equipment is determined to be abnormal;
The mobile robot is further configured to respond to the scram signal sent by the main control end and adjust the mobile robot to a stopped state.
Specifically, the emergency stop signal refers to a control signal for driving the mobile robot to stop in an emergency, for example, the emergency stop signal may be a signal in a message form.
The safety equipment is further configured to start self-checking according to a preset self-checking period, and send a self-checking result to the main control end, so that the safety equipment can be used for guaranteeing normal use of a self-receiving and transmitting function, the self-checking is started according to the preset self-checking period, the self-checking result is sent to the main control end, and the main control end controls the mobile robot based on the self-checking result.
Optionally, when the number of the transceiver subunits of the ranging request sent by the security device is at least two, starting multi-path ranging signal interaction self-checking according to the preset self-checking period to obtain a self-checking result, where the multi-path ranging signal interaction self-checking may be that the at least two transceiver subunits send the ranging request, the at least two transceiver subunits receive the ranging response signal not belonging to the ranging request sent by the transceiver, or the at least two transceiver subunits receive the ranging response signal belonging to and not belonging to the ranging request sent by the transceiver.
The main control end is further configured to send emergency stop signals to the plurality of mobile robots respectively under the condition that the self-checking result of the safety equipment is determined to be abnormal, and can send the emergency stop signals to the plurality of mobile robots respectively under the condition that the self-checking result of the safety equipment is determined to be abnormal, so that the mobile robots are prevented from threatening the target object carrying the safety equipment when the safety equipment is abnormal, and the safety of the target object carrying the safety equipment is guaranteed.
In an alternative embodiment of the present invention, the master control terminal includes a secure device docking unit;
a security device docking unit configured to place a security device.
Specifically, the security device docking unit refers to a functional component included in the main control end, and has a function of placing the security device.
Optionally, the security device docking unit further has a locking and releasing control function of the security device.
Optionally, the security device is not used when the security device is placed in the security device docking unit, so the security device does not need to use a self-test function for self-test.
The main control end comprises a safety equipment docking unit, and the safety equipment docking unit is configured to place safety equipment and monitor the placing and unsetting actions of the safety equipment, so that the safety equipment can be carried conveniently and safely.
In an alternative embodiment of the present invention, the security device docking unit is further configured to detect a remaining power of the security device, and charge the security device if the remaining power is lower than a preset power threshold.
Specifically, the preset power threshold is a preset value for limiting the minimum power for charging the safety device, for example, the preset power threshold may be 20%.
The safety device docking unit is further configured to detect the remaining power of the safety device, and can be used for actively monitoring the power of the safety device to determine the remaining power of the safety device, wherein the monitoring can be used for acquiring the power of the safety device according to a preset time interval or reporting the remaining power of the safety device at regular time.
The safety device docking unit is further configured to charge the safety device under the condition that the residual electric quantity is lower than the preset electric quantity threshold value, and can charge the safety device under the condition that the residual electric quantity of the safety device is lower than the preset electric quantity threshold value, so that the usability of the safety device is ensured, and the situation that the electric quantity of the safety device is insufficient and cannot be used when the safety device is used is avoided.
In an optional embodiment of the present invention, the master control end further includes a security control unit;
the safety device docking unit is further configured to trigger performance inspection of the safety device in response to a request of the target object to enter the motion scene;
and the safety control unit is configured to control the safety door lock of the motion scene to be opened under the condition that the performance check result of the safety equipment is that the performance is normal, and control the safety door lock to be closed after determining that the target object enters the motion scene.
Specifically, the safety control unit refers to a functional component contained in the main control end and is used for guaranteeing safety of the mobile robot in the motion scene and the target object outside the motion scene. Performance inspection refers to functional inspection for ensuring normal use of the security device, such as initialization self-test, ranging performance self-test, and the like. The safety door lock is a door lock for distinguishing a moving scene of the mobile robot from other areas and is used for ensuring the safety of a target object of the mobile robot and the other areas.
The safety equipment docking unit is further configured to trigger performance inspection of the safety equipment in response to a request of the target object entering the motion scene, and can be the safety equipment docking unit, receive the request of the target object entering the motion scene, trigger the performance inspection of the safety equipment based on the request, so that the safety equipment starts to start the performance inspection, wherein the request of the target object entering the motion scene can be a request initiated by pressing a physical key, or can be a request initiated by the target object reaching a preset area corresponding to the safety door lock, and the safety door lock recognizes that the target is approaching.
The safety control unit is configured to control the safety door lock of the motion scene to be opened when the performance check result of the safety equipment is that the performance is normal, and control the safety door lock to be closed after the target object is determined to enter the motion scene.
And under the condition that the performance of the safety equipment is checked to be normal, opening a safety equipment fixing lock of the safety equipment docking unit so as to enable the target object to acquire the safety equipment, and controlling the safety door lock to be closed after determining that the target object enters a motion scene.
A security device interfacing unit configured to trigger performance detection of the security device in response to a request for the target object to enter the motion scene; the safety control unit is configured to control the safety door lock of the motion scene to be opened under the condition that the performance check result of the safety equipment is that the performance is normal, and control the safety door lock to be closed after the target object is determined to enter the motion scene, so that the safety equipment is controlled to perform performance check when the target object needs to enter the motion scene, and control the safety door lock to be opened under the condition that the performance is normal, so that the target object enters the motion scene, namely, the condition that the safety equipment performance is normal is provided, and the safety of the target object after the target object carries the safety equipment to enter the motion scene is ensured.
In an alternative embodiment of the invention, the security control unit is further configured to control the security door lock to be opened in response to a request of the target object to leave the motion scene, and to control the security door lock to be closed after determining that the security device is returned to the security device docking unit.
The safety control unit is further configured to control the safety door lock to open in response to a request that the target object leaves the motion scene, and control the safety door lock to close after determining that the safety device is returned to the safety device docking unit, or may control the safety door lock to open based on the request when receiving the request that the target object leaves the motion scene, and control the safety door lock to close after determining that the target object leaves the motion scene, and determining that the safety device is returned to the safety device docking unit.
Optionally, the request that the target object initiates the departure from the motion scene may be that the target object arrives in a preset area of the safety door lock, and the safety door lock recognizes that the request that the target object initiates the departure from the motion scene; or the target object presses a physical key on the side of the safety door lock corresponding to the motion scene to initiate a request for leaving the motion scene.
Optionally, the safety control unit is further configured to control the safety device to dock the single-person fixed lock to close and control the safety door lock to close after determining that the safety device is returned to the safety device docking unit.
The safety control unit is further configured to control the safety door lock to be opened in response to a request of the target object leaving the motion scene, and control the safety door lock to be closed after determining that the safety equipment is returned to the safety equipment docking unit, so that the step of opening the safety door lock can be timely executed when the target object initiates the request of leaving the motion scene, and the step of controlling the safety door lock to be closed after determining that the safety equipment is returned to the safety equipment docking unit, thereby realizing the whole-flow execution step of leaving the target object.
In an optional embodiment of the present invention, the master control end further includes a third ranging unit;
and the third ranging unit is configured to send out alarm information to warn the target object to return to the safety device if the distance between the third ranging unit and the safety device reaches the preset alarm distance under the condition that the target object is determined to leave the motion scene.
Specifically, the third ranging unit is a functional component included in the main control end, has a pairing function with the safety equipment, has a ranging request function with the safety equipment, has a real-time ranging function according to a ranging response signal fed back by the safety equipment, and has a function of reaching a preset alarm condition according to a ranging result and giving an alarm. The preset alarm distance refers to a preset distance for triggering an alarm, for example, the preset alarm distance may be 10 meters or 20 meters, and the setting of the preset alarm distance may be determined according to the measurable distance of the third ranging unit and scene facilities around the sports scene. The alarm information may be an audible and visual alarm information, for example, the alarm information may be a bell, a voice broadcast "please return the security device to a designated location", etc.
And the third ranging unit is configured to send out alarm information to warn the target object to return to the safety device if the distance between the third ranging unit and the safety device is detected to reach the preset alarm distance under the condition that the safety door lock is determined to be opened and the target object is determined to leave the motion scene.
The third ranging unit is configured to send out alarm information to warn the target object to return to the safety device if the distance between the third ranging unit and the safety device is detected to reach a preset alarm distance under the condition that the target object is determined to leave the motion scene, so that the third ranging unit sends out alarm information to warn the target object to return to the safety device if the distance is detected to reach the preset alarm distance under the condition that the target object is determined to leave the motion scene, the loss of the safety device is avoided, and the safety device can be timely obtained when the subsequent target object enters the motion scene, and the safety of the target object is timely guaranteed.
In an optional embodiment of the present disclosure, the master control end further includes a secure communication master station unit, the mobile robot further includes a first secure communication slave station unit, and the secure device further includes a second secure communication slave station unit;
specifically, the mobile robot includes a first ranging unit, a motion control unit, and a first secure communication slave station unit; the security device comprises a second ranging unit and a second security communication slave station unit; the main control end comprises a charging and docking control unit, a third ranging unit and a safety communication main station unit, wherein the charging and docking control unit comprises a safety equipment docking unit and a safety control unit;
Interaction of the mobile robot, the security device and the master control end is divided into three types: heartbeat interactions, security signal interactions, and ranging interactions are described in detail below.
Heartbeat interaction: the method comprises the steps that heartbeat interaction is achieved between a master control end, a mobile robot and safety equipment through heartbeat signals based on safe connection, wherein the master control end is a master end, and the safety equipment and the mobile robot are slave ends; for heartbeat interaction between the mobile robot and the safety equipment, the mobile robot is a request end, and the safety equipment is a response end;
safety signal interaction: the safety equipment can actively initiate a sudden stop signal, and the main control end responds and triggers the full-field mobile robot to safely stop; the single mobile robot can actively initiate an emergency stop signal, and the mobile robot responds to and safely emergency stops; the main control end can actively initiate a sudden stop signal, the whole-field mobile robot responds and safely sudden stops, and the sudden stop signal corresponds to a reset signal;
ranging interaction: the mobile robot end is a request end, the safety equipment is a response end, and the ranging interaction is realized through a ranging signal.
Referring to fig. 3, fig. 3 illustrates a schematic three-terminal interaction structure in a robot motion control system according to an embodiment of the present invention.
Referring to fig. 4A, fig. 4A is a schematic structural diagram of a master control end in a robot motion control system according to an embodiment of the present invention.
Referring to fig. 3 and 4A, the master control end includes a charging and docking control unit, a third ranging unit and a secure communication master station unit, wherein the charging and docking control unit includes a secure device docking unit and a secure control unit, the secure device docking unit includes a charging subunit and a docking subunit, and the secure control unit includes a secure PLC subunit.
Charging and docking control unit: the safety equipment locking and releasing control function is achieved, the electric quantity of the safety equipment is detected, the safety equipment is automatically charged, the self-checking function is initialized when the safety equipment is started, the locking and releasing function of the safety door lock is achieved, the charging and docking control unit comprises a charging subunit, a docking subunit, a safety equipment releasing lock, a safety door lock subunit, a safety PLC subunit, a ranging operation subunit and a receiving and transmitting subunit, the safety equipment releasing lock comprises a safety equipment releasing lock 1, a safety equipment releasing lock 2, a safety equipment releasing lock 3 and a safety equipment releasing lock 4, the transmitting and transmitting subunit comprises a receiving and transmitting subunit 1 and a receiving and transmitting subunit 2, the receiving and transmitting subunit performs self-checking through self-checking signals, the safety PLC subunit achieves control over the safety equipment releasing lock and the safety door lock subunit through control signals, the ranging operation subunit is applied through enabling signals, and when the safety PLC subunit is recovered to be normal based on self-checking abnormality/self-checking of the ranging operation subunit, an emergency stop/reset signal is sent to the safety communication master station subunit of the safety communication master station unit, so that the safety communication master station subunit in the safety communication master station unit achieves control of the motion state of a mobile robot.
Secure communication master station unit: the system comprises a safety communication master station unit, a safety communication master station unit and a wireless communication subunit, wherein the safety communication master station unit comprises a safety communication master station subunit and a wireless communication subunit, the wireless communication subunit is used for receiving heartbeat signals and forwarding the heartbeat signals to the safety communication master station subunit, and when the heartbeat signals are abnormal, the safety communication master station subunit can control the motion state of the mobile robot.
Third ranging unit: the distance measuring device comprises a pairing function with the safety equipment, a distance measuring request function sent to a second distance measuring unit of the safety equipment, a real-time distance measuring function according to a distance measuring response signal fed back by the second distance measuring unit of the safety equipment, and a function of alarming according to a distance measuring result reaching a preset alarming condition, wherein a third distance measuring unit comprises a distance measuring operation subunit.
Referring to fig. 4B, fig. 4B is a schematic diagram illustrating a structure of a mobile robot in a robot motion control system according to an embodiment of the invention.
Referring to fig. 3 and 4B, the mobile robot includes a first ranging unit, a motion control unit, and a first secure communication slave unit.
A first ranging unit: the system has the functions of pairing with the field safety equipment, sending a ranging request to the field safety equipment by using a ranging signal, real-time ranging according to a ranging response signal fed back by the field safety equipment, judging whether a region where the mobile robot is located is a stop region, a deceleration region and an operation region according to a ranging result, outputting a scram/reset signal and a deceleration/recovery signal according to the fact that the region where the mobile robot is located is the stop region and the deceleration region, sending and receiving a self-checking function of automatically sending the ranging request and performing ranging response, multi-path ranging signal interaction self-checking function, establishing and maintaining safe connection with the field safety equipment, and controlling the scram safety response function of the mobile robot based on abnormal heartbeat signals based on abnormal heartbeat detection of the field safety equipment.
The first ranging unit comprises a receiving and transmitting subunit and a ranging operation subunit, the receiving and transmitting subunit comprises a receiving and transmitting subunit 1 and a receiving and transmitting subunit 2, the receiving and transmitting subunit performs self-checking through self-checking signals, the receiving and transmitting subunit is further used for broadcasting ranging requests and receiving ranging response signals responding to the ranging requests, the received ranging response signals are sent to the ranging operation subunit so that the ranging operation subunit performs distance calculation, when self-checking is abnormal/recovered, the ranging operation subunit sends emergency stop/reset signals to a safety communication subunit in the first safety communication slave station unit, the safety communication subunit sends power-off band-type brake/reset band-type brake releasing signals to the motion control unit so that a motor driving subunit in the motion control unit drives the motor to break the band-type brake/release the band-type brake, the ranging operation subunit determines an area to which the motor driving motor belongs based on the calculated distance, and sends speed reduction/recovery signals to a main control subunit in the motion control unit based on a preset motion mode corresponding to the area.
A first secure communication slave unit: the system has the functions of safely responding to the emergency stop/reset signal sent by the first ranging unit, detecting the heartbeat between the system and the safe communication master station unit of the master control end, automatically sending the emergency stop/reset signal to the motion control unit when the heartbeat is detected abnormally/recovered, and safely responding to the emergency stop/reset signal of the safe communication master station unit.
The first safe communication slave station unit comprises a wireless communication sub-unit and a safe communication slave station sub-unit, wherein the wireless communication sub-unit is used for receiving a heartbeat signal based on safe connection and sending the heartbeat signal to the safe communication slave station sub-unit so that the safe communication slave station sub-unit sends a scram/reset signal and the like to a main control sub-unit in the motion control unit based on the heartbeat signal.
Motion control unit: the mobile robot is controlled to be safely slowed down to zero in response to the emergency stop/reset signal of the safety slave station unit, then the motor is powered off and band-type brake/reset, the mobile robot is controlled to be safely slowed down to zero in response to the emergency stop/reset signal of the safety master station unit, then the motor is powered off and band-type brake/reset, the mobile robot is controlled to be slowed down to safe speed/recover rated speed in response to the speed reduction/recovery signal of the ranging unit, and the motion control unit comprises a motor driving subunit and a main control subunit.
Referring to fig. 4C, fig. 4C is a schematic structural diagram of a safety device in a robot motion control system according to an embodiment of the present invention.
Referring to fig. 3 and 4C, the security apparatus includes a second ranging unit, a second secure communication slave station unit;
A second ranging unit: the system has the pairing function with the in-field mobile robot, the real-time ranging response feedback function of sending ranging signals to the in-field mobile robot, the self-checking function of sending ranging requests and making ranging responses autonomously, and the multi-path ranging signal interaction self-checking function.
The second ranging unit comprises a transceiver subunit and a ranging operation subunit, wherein the transceiver subunit comprises a transceiver subunit 1, a transceiver subunit 2, a transceiver subunit 3 and a transceiver subunit 4, and the transceiver subunits perform self-checking of a transceiver function through self-checking signals; when the receiving and transmitting subunit broadcasts a ranging request and receives a ranging response signal responding to the ranging request, the ranging response signal is sent to the ranging operation subunit, so that the ranging operation subunit performs distance calculation, a self-checking result is determined according to the distance operation result, and when the self-checking result is abnormal/recovered, an emergency stop/reset signal is sent to the second safety communication slave station unit.
The second safety communication slave station unit has the function of automatically triggering and sending a system emergency stop/reset signal to the safety communication master station unit of the master control end, and has the function of detecting heartbeat between the second safety communication slave station unit and the safety communication master station unit of the master control end.
The second secure communication slave station unit comprises a secure communication slave station subunit, an emergency stop triggering subunit and a wireless communication subunit, wherein the secure communication slave station subunit executes corresponding actions based on the received control signals, for example, the emergency stop/reset signals are sent to the main control terminal when the emergency stop/reset signals are received, and the corresponding processing is carried out based on whether the signals of the heartbeat signals are abnormal or not when the heartbeat signals sent by the wireless communication subunit are received.
Referring to fig. 5, fig. 5 shows a schematic diagram of a three-terminal interaction architecture in a robot motion control system according to an embodiment of the invention.
The three-terminal interaction architecture comprises a self-checking architecture and a mutual checking architecture.
Self-checking architecture: the main control end and the mobile robot are self-checking of an internal two-way channel; safety device: and (5) self-checking an internal four-way channel.
Mutual inspection architecture: safety device, mobile robot, master control end are between two at the application layer: a black channel mechanism is adopted to realize the functional safety of a communication link (IEC 61784-3:2016); at the secure communication layer, a secure communication protocol is used to establish and maintain a secure connection, implementing a secure heartbeat detection function (I EC 61784-3:2016).
According to one or more embodiments of the present invention, a robot motion control system for a man-machine approach stop is deployed at a safety device, a mobile robot, and a master control end, so that a person enters an unmanned scene mobile robot operation area where no safety stop is performed under protection of a portable safety device, and a safety level required by a relevant safety standard is achieved, so that safety requirements that the person must control a full-field mobile robot to stop safely when entering the mobile robot operation area are avoided, in a working time of the person field, only mobile robots in a stopping area and a deceleration area around the person are affected by the person entering, other area mobile robots receive a normal receiving system schedule, for example, a site of 100 mobile robots in a 50 x 50 square meter warehouse area is estimated, and an operation efficiency of the mobile robot is increased from 0 to 87.44% after the person enters the mobile robot area when the person enters the area within a radius of 10m (1-3.14 x 10/50 x 100% = 87.44%).
In one or more embodiments of the present invention, wireless transceiver devices capable of realizing relative distance measurement, such as a low-frequency radio transceiver, a UWB transceiver, a Bl uetooth transceiver, etc., are deployed at the security device and the mobile robot end, SO that personnel can be actively perceived by the mobile robot, and both the security device and the mobile robot end are connected with the main control end by maintaining real-time secure heartbeat, and enter a system scram state in full-time to ensure personnel security when the heartbeat is abnormal, and actively initiate system scram when the personnel observes an abnormal state, thereby constructing a system architecture in which the mobile robot controls the running state of the body through two-way ranging, and the main control end can monitor the security of the control loop in real time, thereby achieving the security level requirements (ISO 3691-4, i SO 13849) for the function in the standard, reducing the risk of collision between the personnel and the mobile robot to an acceptable range, ensuring the personnel security, and simultaneously taking account the system running efficiency. Meanwhile, by adopting the technical scheme of real-time measurement and calculation of the relative distance between the safety equipment and the mobile robot, the corresponding transceiver subunit and the ranging subunit are only required to be configured on the safety equipment and the mobile robot, and the hardware equipment for realizing real-time accurate positioning such as a base station, a relay station, an anchor point and a server is not required to be configured at a fixed position in a field, so that the requirements on the system bandwidth and hardware are reduced, the safety is ensured, and the practicability and the cost advantage are simultaneously considered.
Referring to table 1, a model statistics table of a master control end, a safety device and a preferred selection type of each component in a mobile robot in the robot motion control system of the present invention is shown, the system architecture of the present invention is implemented, and the selection type of the hardware component includes, but is not limited to:
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referring to fig. 6A, fig. 6A shows a schematic application diagram of a robot motion control system according to an embodiment of the present invention; referring to fig. 6B, fig. 6B is a schematic diagram illustrating an application structure of a robot motion control system according to an embodiment of the present invention; referring to fig. 6C, fig. 6C illustrates a schematic view of area division of a robot motion control system according to an embodiment of the present invention.
In AMR cluster control in an unmanned scenario, the AMR operating area employs a fixed rail to isolate AMR from personnel, and personnel access the AMR operating area from a dedicated door for additional security measures when personnel access intervention is required, as indicated by point A (PointA). Referring to fig. 6A, point B (PointB) and point a constitute a person's access way, the length of which is 10m, both sides are used as a fixed fence, and a plurality of mobile robots, such as an a mobile robot, a B mobile robot, and a C mobile robot, are included in an unmanned scene within the fence. The security design flow of personnel entering and exiting the AMR area is as follows, for example, personnel may be a target object.
Authorizing target object entry control:
1. the point A is that under normal condition, the portable safety equipment is inserted on a docking subunit of the charging and docking control unit, the charging subunit in the charging and docking control unit can detect the electric quantity of the portable safety equipment, and when the electric quantity is lower than a threshold value, the portable safety equipment is automatically charged;
1) Before a target object enters a mobile robot area to execute a preset task, the target object walks from a point B to a point A, and an entering application is triggered through a physical switch;
2) The portable safety equipment at the point A performs initialization self-checking function confirmation through the charging and docking control unit; meanwhile, the portable safety equipment and the transceiver subunit of the point B perform ranging for 10m performance confirmation, wherein the ranging is performed through the combination of the transceiver subunit and the ranging operation subunit;
3) When the initializing self-checking signal of the point A is normal and the ranging performance of the point B is normal, the safety PLC subunit controls the docking subunit to release the portable safety equipment to release the lock and controls the safety door lock subunit to release the safety door lock through the control signal;
4) At the moment, the target object can take away the portable safety equipment and carry the portable safety equipment to enter the running area of the mobile robot to execute a preset task;
5) The safety door lock is closed.
Authorizing the target object to leave the control:
1) After finishing the preset task, triggering a leaving application of the target object on the inner side of the safety door lock through a physical switch;
2) The safety PLC subunit controls the safety door lock to be opened, and a target object can leave the field;
3) At point a, the target object puts the portable security device back on the charging and docking control unit and triggers a return action through a physical switch;
4) The portable safety equipment stops the second ranging unit from working, and the safety PLC subunit controls the safety door lock to be closed through the safety door lock subunit;
5) When the target object leaves the channel to the point B, if the ranging operation subunit can also receive the ranging response signal of the portable safety equipment, and the returning action of the target object is not completed, the system has an audible and visual alarm.
Control in the running area of the mobile robot of the authorized target object:
1) After the target object triggers the application from the point A to enter the running area of the mobile robot, the portable safety equipment starts the ranging response and real-time self-checking function, and simultaneously starts the heartbeat signal interaction with the main control terminal based on the safety connection;
when the portable safety equipment is abnormal in self-checking or returns to normal, automatically sending an emergency stop/reset signal request to the main control end;
When the target object finds abnormality/normal, the physical switch can actively trigger to send out an emergency stop/reset signal request to the main control end.
2) Target object-centered run-area region a: outside the typical radius of 10m, see fig. 6C, such as a C mobile robot;
the mobile robot sends a ranging request in real time, but does not receive a ranging response signal of the portable safety equipment, and the mobile robot judges that the mobile robot is located in an operation area and keeps a rated speed to operate;
the normal operation of the system is ensured through real-time self-checking, and if the self-checking is abnormal, the safe emergency stop of the body is immediately triggered.
3) A deceleration zone area B centered on the target object: typical values are 6m < radius.ltoreq.10m, see FIG. 6C, such as B mobile robot;
the mobile robot sends a ranging request in real time, calculates the relative distance according to the ranging response signal of the portable safety equipment, judges that the relative distance is positioned in a deceleration zone, controls the body of the mobile robot to decelerate to the safety speed of 0.3m/s, automatically detects the starting in real time, immediately triggers the safety emergency stop of the body if the self-detection is abnormal,
if the running speed of the portable safety equipment calculated by the first ranging unit exceeds a preset value, immediately triggering the body to stop suddenly;
If the distance measurement response of the portable safety equipment is not received after the preset time (typical value 2 seconds), immediately triggering the safety scram of the body;
if the heartbeat signal of the portable safety device is not detected for more than 3 seconds, the movement is automatically recovered, and the previous task is continued.
4) Stop zone region C centered on the target object: typical value radius is less than or equal to 6m, see FIG. 6C, such as a mobile robot;
the mobile robot sends a ranging request in real time, calculates the relative distance according to a ranging response signal of the portable safety equipment, judges that the relative distance is positioned in a stopping area, immediately triggers the safe emergency stop of the body, and closes the real-time self-checking.
By applying the scheme of the embodiment of the invention, the robot motion control system comprises a portable safety device and a plurality of mobile robots, wherein the safety device is used for carrying a target object into a motion scene of the plurality of mobile robots; a mobile robot configured to broadcast a ranging request; a safety device configured to feed back a ranging response signal to the mobile robot in case of receiving the ranging request; the mobile robot is further configured to calculate a distance to the safety device based on the ranging response signal and adjust a current motion state of the mobile robot based on the distance. The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the distance measurement response signal fed back by the safety equipment, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving states do not need to be stopped, and the operation efficiency of the mobile robot is improved.
Referring to fig. 7, fig. 7 shows a flowchart of a robot motion control method according to an embodiment of the present invention, which is applied to a robot motion control system including a portable safety device and a plurality of mobile robots, and specifically includes the steps of:
step 702: the mobile robot broadcasts a ranging request.
Step 704: the safety device feeds back a ranging response signal to the mobile robot in case of receiving the ranging request.
Step 706: the mobile robot calculates a distance to the safety device based on the ranging response signal, and adjusts a current motion state of the mobile robot based on the distance.
Specific embodiments of steps 702 to 704 refer to the corresponding system embodiment of fig. 1, and are not described herein.
By applying the scheme of the embodiment of the invention, the mobile robot broadcasts a ranging request; the safety equipment feeds back a ranging response signal to the mobile robot under the condition of receiving the ranging request; the mobile robot calculates a distance to the safety device based on the ranging response signal, and adjusts a current motion state of the mobile robot based on the distance. The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the distance measurement response signal fed back by the safety equipment, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving states do not need to be stopped, and the operation efficiency of the mobile robot is improved.
Referring to fig. 8, fig. 8 shows a flowchart of another robot motion control method according to an embodiment of the present invention, which is applied to a mobile robot, and specifically includes the following steps:
step 802: a ranging request is broadcast.
Step 804: in the case of receiving a ranging response signal fed back by the security device in response to the ranging request, a distance to the security device is calculated based on the ranging response signal.
Step 806: based on the distance, the current motion state of the mobile robot is adjusted.
Specific embodiments of steps 802 to 806 refer to the corresponding system embodiment of fig. 1, and are not described herein.
By applying the scheme of the embodiment of the invention, the ranging request is broadcasted; calculating a distance with the safety device based on the ranging response signal under the condition that the ranging response signal fed back by the safety device in response to the ranging request is received; based on the distance, the current motion state of the mobile robot is adjusted. The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the received distance measurement response signal which is fed back in response to the distance measurement request, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving is not required to be stopped, and the operation efficiency of the mobile robot is improved.
The invention also provides an embodiment of a robot motion control device corresponding to the embodiment of the robot motion control method corresponding to fig. 8, and fig. 9 shows a schematic structural diagram of the robot motion control device according to an embodiment of the invention, which is applied to a mobile robot. As shown in fig. 9, the apparatus includes:
a broadcast module 902 configured to broadcast a ranging request;
a calculation module 904 configured to calculate a distance to the security device based on the ranging response signal in case of receiving the ranging response signal fed back by the security device in response to the ranging request;
an adjustment module 906 configured to adjust the current motion state of the mobile robot based on the distance.
By applying the method of the embodiment of the invention, the ranging request is broadcasted; calculating a distance with the safety device based on the ranging response signal under the condition that the ranging response signal fed back by the safety device in response to the ranging request is received; based on the distance, the current motion state of the mobile robot is adjusted. The distance measurement request is actively broadcast through the mobile robot, the distance between the mobile robot and the safety equipment is calculated based on the received distance measurement response signal which is fed back in response to the distance measurement request, the motion state of the mobile robot is adjusted based on the distance, the mobile robot is prevented from influencing a target object, the safety of the target object carrying the safety equipment is guaranteed, the motion state of the mobile robot is adjusted based on the distance between the mobile robot and the safety equipment, all the moving is not required to be stopped, and the operation efficiency of the mobile robot is improved.
The above is an exemplary embodiment of a robot motion control device of the present embodiment, and is applied to a mobile robot. It should be noted that, the technical solution of the robot motion control device and the technical solution of the robot motion control method corresponding to fig. 7 belong to the same concept, and details of the technical solution of the robot motion control device, which are not described in detail, can be referred to the description of the technical solution of the robot motion control method. Furthermore, the components in the apparatus embodiments should be understood as functional blocks that must be established to implement the steps of the program flow or the steps of the method, and the functional blocks are not actually functional partitions or separate limitations. The device claims defined by such a set of functional modules should be understood as a functional module architecture for implementing the solution primarily by means of the computer program described in the specification, and not as a physical device for implementing the solution primarily by means of hardware.
Fig. 10 is a block diagram showing a mobile robot according to an embodiment of the present invention. The components of the mobile robot 1000 include, but are not limited to, a memory 1010 and a processor 1020. Processor 1020 is coupled to memory 1010 via bus 1030 and database 1050 is used to store data.
The mobile robot 1000 also includes an access device 1040, which access device 1040 enables the mobile robot 1000 to communicate via one or more networks 1060. Examples of such networks include public switched telephone networks (PSTN, public Switched Telephone Network), local area networks (LAN, local Area Network), wide area networks (WAN, wideAreaNetwork), personal area networks (PAN, personal Area Network), or combinations of communication networks such as the internet. The access device 1040 may include any type of network interface, wired or wireless, such as one or more of a network interface card (NIC, network Interface Controller), such as an IEEE802.11 wireless local area network (WLAN, wireless Local Area Networks) wireless interface, a worldwide interoperability for microwave access (Wi-MAX, world Interoperability for MicrowaveAccess) interface, an ethernet interface, a universal serial bus (USB, universal Serial Bus) interface, a cellular network interface, a bluetooth interface, a near-field communication (NFC, near Field Communication) interface, and so forth.
In one embodiment of the invention, the above-described components of the mobile robot 1000 and other components not shown in fig. 10 may also be connected to each other, for example, by a bus. It should be understood that the mobile robot block diagram shown in fig. 10 is for illustration purposes only and is not intended to limit the scope of the present invention. Those skilled in the art may add or replace other components as desired.
The mobile robot 1000 may be any type of stationary or mobile computing device, including a mobile computer or mobile computing device (e.g., tablet, personal digital assistant, laptop, notebook, netbook, etc.), mobile phone (e.g., smart phone), wearable computing device (e.g., smart watch, smart glasses, etc.), or other type of mobile device, or a stationary computing device such as a desktop computer or personal computer (PC, personal Computer). The mobile robot 1000 may also be a mobile or stationary server.
Wherein the processor 1020 is configured to execute computer-executable instructions of the robot motion control method.
The foregoing is a schematic illustration of a computing device of this embodiment. It should be noted that, the technical solution of the computing device and the technical solution of the robot motion control method belong to the same concept, and details of the technical solution of the computing device, which are not described in detail, can be referred to the description of the technical solution of the robot motion control method.
An embodiment of the present invention also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, are used in a robot motion control method.
The above is an exemplary version of a computer-readable storage medium of the present embodiment. It should be noted that, the technical solution of the storage medium and the technical solution of the above-mentioned robot motion control method belong to the same conception, and details of the technical solution of the storage medium which are not described in detail can be referred to the description of the technical solution of the above-mentioned robot motion control method.
The foregoing describes certain embodiments of the present invention. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.
The computer instructions include computer program code that may be in source code form, object code form, executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present invention is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily all required for the present invention.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to the related descriptions of other embodiments.
The preferred embodiments of the invention disclosed above are intended only to assist in the explanation of the invention. Alternative embodiments are not intended to be exhaustive or to limit the invention to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best understand and utilize the invention. The invention is limited only by the claims and the full scope and equivalents thereof.
Claims (22)
1. A robot motion control system, comprising a portable safety device and a plurality of mobile robots, wherein the safety device is used for carrying a target object into a motion scene of the plurality of mobile robots;
the mobile robot is configured to broadcast a ranging request;
the safety device is configured to feed back a ranging response signal to the mobile robot in the case of receiving the ranging request;
the mobile robot is further configured to calculate a distance to the safety device based on the ranging response signal and adjust a current motion state of the mobile robot based on the distance.
2. The system of claim 1, wherein the mobile robot is further configured to maintain a current motion state of the mobile robot if a ranging response signal for the ranging request is not received.
3. The system of claim 1, wherein the mobile robot is specifically configured to identify whether the distance is greater than a preset upper distance limit; if yes, the current motion state of the mobile robot is maintained.
4. The system according to claim 1, wherein the mobile robot is specifically configured to identify whether the distance is within a preset distance interval, wherein the preset distance interval is determined based on a preset upper distance limit and a preset lower distance limit; if yes, the current initial movement speed of the mobile robot is adjusted to be reduced to a preset movement speed.
5. The system of claim 4, wherein the mobile robot is further configured to determine a current speed of movement of the safety device based on the ranging response signal; and if the current movement speed of the safety equipment exceeds a preset speed threshold, adjusting the mobile robot to a stop state.
6. The system of claim 4, wherein the mobile robot is further configured to send ranging requests to the security device at preset intervals after adjusting the current initial movement speed of the mobile robot to decrease to a preset movement speed; and if the ranging response signal fed back by the safety equipment is not received in the first preset time, adjusting the mobile robot to a stop state.
7. The system of claim 4, wherein the mobile robot is further configured to adjust the movement speed of the mobile robot to return to the initial movement speed if no secure connection-based heartbeat signal is detected for a second predetermined time after adjusting the current initial movement speed of the mobile robot to decrease to a predetermined movement speed, wherein the secure connection is a connection based on a predetermined secure communication protocol.
8. The system of any of claims 2-4, wherein the mobile robot is further configured to initiate a self-test according to a preset self-test period to obtain a self-test result; and under the condition that the self-checking result is abnormal, adjusting the mobile robot to a stop state.
9. The system according to claim 1, wherein the mobile robot is specifically configured to identify whether the distance is less than a preset lower distance limit; if yes, the mobile robot is adjusted to a stop state.
10. The system according to any one of claims 1-7 and 9, wherein the mobile robot comprises a first ranging unit and a motion control unit; the security device includes a second ranging unit;
the first ranging unit is configured to broadcast a ranging request;
the second ranging unit is configured to feed back a ranging response signal to the first ranging unit in the case of receiving the ranging request;
the first ranging unit is further configured to calculate a distance between the mobile robot and the safety device based on the ranging response signal, generate a motion adjustment signal based on the distance, and send the motion adjustment signal to the motion control unit;
The motion control unit is configured to adjust a motion state of the mobile robot based on the motion adjustment signal.
11. The system of claim 1, further comprising a master;
the main control end is configured to establish and maintain a secure connection with the security device, and respectively send emergency stop signals to the plurality of mobile robots under the condition that the heartbeat of the security device is abnormal based on the secure connection interactive heartbeat signal;
the mobile robot is further configured to respond to the scram signal sent by the main control end, and adjust the mobile robot to a stopped state.
12. The system of claim 11, wherein the security device is further configured to initiate a self-test according to a preset self-test period and send a self-test result to the master;
the main control end is further configured to send emergency stop signals to the plurality of mobile robots respectively under the condition that the self-checking result of the safety equipment is determined to be abnormal;
the mobile robot is further configured to respond to the scram signal sent by the main control end, and adjust the mobile robot to a stopped state.
13. The system of claim 11, wherein the master comprises a secure device docking unit;
the secure device docking unit is configured to place the secure device.
14. The system of claim 13, wherein the secure device docking unit is further configured to detect a remaining power of the secure device, and to charge the secure device if the remaining power is below a preset power threshold.
15. The system of claim 13, wherein the master further comprises a security control unit;
the safety device docking unit is further configured to trigger performance inspection of the safety device in response to a request of the target object to enter the motion scene;
the safety control unit is configured to control the safety door lock of the motion scene to be opened under the condition that the performance check result of the safety equipment is that the performance is normal, and control the safety door lock to be closed after determining that the target object enters the motion scene.
16. The system of claim 15, wherein the security control unit is further configured to control the security door lock to open in response to a request for the target object to leave the motion scene, and to control the security door lock to close after determining that the security device is returned to the security device docking unit.
17. The system of claim 16, wherein the master further comprises a third ranging unit;
and the third ranging unit is configured to send out alarm information to warn the target object to return to the safety equipment if the distance between the third ranging unit and the safety equipment is detected to reach the preset alarm distance under the condition that the target object is determined to leave the motion scene.
18. A robot motion control method, characterized by being applied to a robot motion control system including a portable safety device and a plurality of mobile robots; the method comprises the following steps:
the mobile robot broadcasts a ranging request;
the safety equipment feeds back a ranging response signal to the mobile robot under the condition that the ranging request is received;
the mobile robot calculates a distance from the safety device based on the ranging response signal, and adjusts a current motion state of the mobile robot based on the distance.
19. A robot motion control method, applied to a mobile robot, comprising:
broadcasting a ranging request;
calculating a distance with the safety device based on a ranging response signal when the ranging response signal fed back by the safety device in response to the ranging request is received;
And adjusting the current motion state of the mobile robot based on the distance.
20. A robot motion control apparatus, applied to a mobile robot, comprising:
a broadcasting module configured to broadcast a ranging request;
a calculation module configured to calculate a distance to a secure device based on a ranging response signal fed back by the secure device in response to the ranging request, if the ranging response signal is received;
and the adjusting module is configured to adjust the current motion state of the mobile robot based on the distance.
21. A mobile robot, comprising:
a memory and a processor;
the memory is configured to store computer-executable instructions, and the processor is configured to execute the computer-executable instructions which, when executed by the processor, perform the steps of the method of claim 19.
22. A computer readable storage medium storing computer instructions which, when executed by a processor, implement the steps of the method of claim 19.
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