CN117406671A - Robot network disconnection processing method, system, electronic equipment and storage medium - Google Patents
Robot network disconnection processing method, system, electronic equipment and storage medium Download PDFInfo
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- CN117406671A CN117406671A CN202210798886.3A CN202210798886A CN117406671A CN 117406671 A CN117406671 A CN 117406671A CN 202210798886 A CN202210798886 A CN 202210798886A CN 117406671 A CN117406671 A CN 117406671A
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- 238000011065 in-situ storage Methods 0.000 claims description 10
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/32—Operator till task planning
- G05B2219/32252—Scheduling production, machining, job shop
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10016—Video; Image sequence
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- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
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Abstract
The invention discloses a robot network disconnection processing method, a system, electronic equipment, a storage medium and a robot, wherein the method comprises the following steps: acquiring network breaking information of a first robot; and controlling at least one second robot to execute the network breaking rescue. Therefore, the invention can acquire the network breaking information of the first robot, and control at least one second robot to execute corresponding network breaking rescue so as to recover the network of the first robot, thereby effectively avoiding the problems of traffic jam, efficiency reduction and the like caused by the network breaking of the robots in the prior art and saving time and manpower.
Description
Technical Field
The present invention relates to the field of robots, and in particular, to a method and system for processing a broken network of a robot, an electronic device, a storage medium, and a robot.
Background
AMR (autonomous mobile robot) has been used in a large number of warehouse and manufacturing scenarios. In general, AMR and a dispatching system operate in a C/S mode, the dispatching system is a Server, and AMR is a Client. However, because the AMR application site is usually very large, AMR network disconnection may be caused by factors such as local signal weakness in the operation process, and the AMR network disconnection cannot receive a scheduling instruction sent by a scheduling system, so that the operation cannot be continued, and the efficiency is reduced; and moreover, the robot with broken network can only stay in place and is manually rescued by manpower, so that traffic jam is extremely easy to cause, and time and manpower are wasted.
Disclosure of Invention
The invention aims to provide a robot broken network processing method, a system, electronic equipment, a storage medium and a robot, which can effectively avoid the problems of traffic jam, efficiency reduction and the like caused by the robot broken network in the prior art and save time and manpower.
In order to achieve the above object, the present invention provides the following technical solutions:
a robot broken network processing method comprises the following steps:
acquiring network breaking information of a first robot;
and controlling at least one second robot to execute the network breaking rescue.
Optionally, the off-line information is information that the first robot executes a preset off-line behavior based on a visual method from a video and/or an image.
Optionally, before the controlling the at least one second robot to perform the network breaking rescue, the method further includes:
and determining the rescue position of the first robot based on the network breaking information.
Optionally, the controlling at least one second robot to perform the network breaking rescue includes:
controlling the at least one second robot to move to the rescue position, wherein the rescue position is a position capable of establishing physical connection with the first robot;
and controlling the at least one second robot to establish the physical connection with the first robot, and driving the at least first robot to move to a first preset position based on the physical connection.
Optionally, the controlling at least one second robot to perform the network breaking rescue includes:
controlling the at least one second robot to move to the rescue position, wherein the rescue position is a position capable of establishing wireless communication connection with the first robot;
and controlling the at least one second robot to establish the wireless communication connection with the first robot, and transmitting control information to the at least first robot based on the wireless communication connection so as to control the at least first robot to move to a second preset position based on the control information.
Optionally, the rescue position is also a position where the communication signal quality of the second robot itself meets a predetermined requirement.
Optionally, the control information includes at least one of:
(1) Position information of the first robot;
(2) Planning path information of the first robot;
(3) The following target information of the first robot;
(4) Relaying, by the at least one second robot, the forwarded network information;
(5) Updated network connection information.
Optionally, before the controlling the at least one second robot performs the network breaking rescue, the selecting the at least one second robot further includes:
selecting the at least one second robot based on a distance from a rescue location of the first robot; and/or the number of the groups of groups,
selecting the at least one second robot based on the power of the second robot; and/or the number of the groups of groups,
the at least one second robot is selected based on the tasks of the second robot.
Optionally, the first robot and the second robot are the same kind of robot.
A robot comprising a first processor configured to:
detecting whether a broken net occurs;
executing preset network disconnection behavior when detecting that the network disconnection occurs;
and executing the network breaking rescue when detecting that other robots break the network.
Optionally, the executing the preset offline behavior includes:
controlling the robot to rotate in situ; and/or the robot further comprises a light belt, and the light belt is controlled to be subjected to preset change.
Optionally, the method further comprises a vision sensor and a first communication device, and the detecting that other robots are disconnected comprises:
identifying that other robots are disconnected from the video sensed by the vision sensor based on a vision method and/or the images; and/or the number of the groups of groups,
and identifying that other robots are disconnected based on the information acquired by the first communication device.
A robot off-grid processing system comprising a dispatch system and a plurality of robots as claimed in any one of the preceding claims, the dispatch system comprising a second processor and a second communication device, the second processor being configured to perform at least one of:
(1) Identifying information of the first robot for executing preset network breaking behaviors from the video and/or the image based on a visual method;
(2) Determining a rescue position of the first robot based on the information of the identified first robot for executing the preset network breaking behavior;
(3) Selecting and instructing at least one second robot to perform rescue;
(4) And sending the first network information to be relayed to the at least one second robot through the second communication device, and/or receiving the second network information sent by the at least one second robot.
An electronic device, comprising:
one or more processing units;
a storage unit for storing one or more programs;
when the one or more programs are executed by the one or more processing units, the one or more processing units are caused to implement the method of any of the preceding claims.
A non-transitory computer readable storage medium storing computer readable instructions which, when executed by a processor, cause the processor to perform the method of any of the above claims.
The invention discloses a robot network disconnection processing method, a system, electronic equipment, a storage medium and a robot, wherein the method comprises the following steps: acquiring network breaking information of a first robot; and controlling at least one second robot to execute the network breaking rescue. Therefore, the invention can acquire the network breaking information of the first robot, and control at least one second robot to execute corresponding network breaking rescue so as to recover the network of the first robot, thereby effectively avoiding the problems of traffic jam, efficiency reduction and the like caused by the network breaking of the robots in the prior art and saving time and manpower.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of a method for processing a robot disconnection according to an embodiment of the present invention;
fig. 2 is a first flowchart of controlling at least one second robot to execute a network breaking rescue in the method for processing a network breaking of a robot according to an embodiment of the present invention;
fig. 3 is a first schematic diagram of a second robot and a first robot in a method for handling broken robot networks according to an embodiment of the present invention;
fig. 4 is a second schematic diagram of a second robot and a first robot in a method for handling broken robot networks according to an embodiment of the present invention;
fig. 5 is a third schematic diagram of a second robot and a first robot in a method for handling broken robot networks according to an embodiment of the present invention;
fig. 6 is a second flowchart of controlling at least one second robot to execute a network breaking rescue in the method for processing a network breaking of a robot according to the embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The flow diagrams depicted in the figures are exemplary only, and do not necessarily include all of the elements and operations/steps, nor must they be performed in the order described. For example, some operations/steps may be decomposed, and some operations/steps may be combined or partially combined, so that the order of actual execution may be changed according to actual situations.
Referring to fig. 1, a flowchart of a method for processing a robot offline according to an embodiment of the present invention may include the following steps:
s11: and acquiring the network breaking information of the first robot.
The "first" and "second" of the "first robot" and the "second robot" are used only to distinguish different objects, and do not refer to a robot of a certain model or structure. In the embodiment of the invention, after any robot breaks the network, the any robot is a first robot, and the robot for rescuing the first robot from breaking the network is a second robot.
After any robot breaks the network, the broken network information of the robot can be obtained, so that the condition that the robot breaks the network is obtained based on the broken network information. In a specific example, the outage information may include at least one of the following: information indicating that the robot has broken a network, information for identifying the robot that has broken a network (e.g., robot number, robot ID, etc.), position information of the robot that has broken a network; other information can be contained according to actual needs, and the information is within the protection scope of the invention.
S12: and controlling at least one second robot to execute the network breaking rescue.
After the network breaking information of the first robot is obtained, the condition that the first robot breaks the network can be obtained based on the network breaking information, and at least one second robot is further controlled to rescue the first robot from breaking the network.
Only one first robot may break the network at the same time, and then the network breaking rescue is directly carried out on the one first robot; it is also possible that at least two first robots are disconnected simultaneously, and then each of the at least two first robots may be disconnected simultaneously or sequentially. In an exemplary scenario, if there are multiple (in the embodiment of the present invention, "multiple" refers to "at least two") first robots that break at the same time, then each of the multiple first robots needs to perform a network breaking rescue according to the method of the present invention; the second robots performing the offline rescue for each of the plurality of first robots may be different, i.e. a single second robot performs the offline rescue for only one first robot, or the second robots performing the offline rescue for each of the plurality of first robots may be at least partially identical, i.e. there is a single second robot performing the offline rescue for at least two first robots (either simultaneously or sequentially); the specific configuration may be set according to actual needs, and is not particularly limited herein. The network breaking rescue performed on one first robot may be performed by one second robot or may be performed by at least two second robots.
According to the invention, the network breaking information of the first robot can be obtained, and at least one second robot is controlled to execute corresponding network breaking rescue so as to recover the network of the first robot, so that the problems of traffic jam, efficiency reduction and the like caused by the network breaking of the robots in the prior art can be effectively avoided, and time and labor are saved.
According to the method for processing the robot network disconnection, the network disconnection information is information for identifying the first robot to execute the preset network disconnection behavior from the video and/or the image based on the visual method.
In one example, the robot is added with a heartbeat mechanism, when heartbeat information of the robot is not received for more than a predetermined time (such as 30 seconds), the robot is determined to be disconnected, and information representing the disconnection of the robot is taken as disconnected information. In another example, after the robot finds that the robot breaks the network, the robot may transmit the information that the robot breaks the network by executing a preset breaking action.
The method specifically describes the latter example, wherein the preset network breaking behavior is preset behavior for representing that the robot breaks the network, and the preset network breaking behavior can be identified based on methods such as vision, hearing, signal induction and the like; the preset off-grid behavior is preferably behavior recognized based on a visual recognition method, such as in-situ rotation, lamplight change and the like.
The specific explanation is made for the preset network disconnection behavior based on the behavior identified by the visual identification method, the video and/or the image obtained by shooting the first robot can be obtained first, then the information of the preset network disconnection behavior executed by the first robot is identified from the obtained video and/or image based on the visual identification method, and the network disconnection information is obtained (the network disconnection information only comprises the information indicating that the first robot is disconnected at this time, and of course, the identification information, the position information and the like of the first robot can also be added according to actual needs). The video and/or the image may be taken by any other camera other than the vehicle-mounted camera of the first robot, for example, the vehicle-mounted camera of the other robot other than the first robot, the camera of the video monitoring system, and the like, which are not particularly limited herein.
Therefore, the method and the device acquire the information of the first robot for executing the preset network breaking action from the video and/or the image based on the visual identification method, so that the acquisition of the network breaking information of the first robot can be realized, the method and the device are convenient and quick, the accuracy is higher, other sensing equipment is not required to be added, and the cost can be effectively controlled.
The method for processing the broken network of the robot, provided by the embodiment of the invention, can further comprise the following steps before controlling at least one second robot to execute the broken network rescue:
and determining the rescue position of the first robot based on the network breaking information.
When performing a network outage rescue on the first robot, a connection (which may include at least one of a physical connection and a wireless communication connection) may be established with the first robot to control the first robot to move based on the established connection. The connection with the first robot can be realized by the second robot at the current position, or can be realized by the corresponding second robot which needs to move to the rescue position; therefore, the first robot can be directly connected with the first robot without determining the rescue position in the former case, and the first robot can be connected with the first robot after the first robot moves to the rescue position after determining the rescue position in the latter case.
To determine the rescue position of the first robot, the position of the first robot may be determined first, and then a corresponding rescue position may be determined based on the position of the first robot. The obtaining of the position information of the first robot may be achieved by at least one of the following ways: in the first mode, the video and/or the image are/is acquired by a video monitoring system (such as a sky-eye system), and the video monitoring system can automatically determine the position of the first robot based on the monitored information, so that the video monitoring system can directly acquire the position information of the first robot; in a second aspect, the video and/or the image is acquired by another robot, and the positional information of the first robot may be acquired based on the relative positions between the other robot that acquired the video and/or the image and the first robot. Of course, other settings can be performed according to actual needs, which are all within the protection scope of the present invention.
Therefore, in the embodiment of the invention, before the at least one second robot is controlled to execute the network breaking rescue, the rescue position of the first robot is determined, and then the at least one second robot is controlled to move to the rescue position to execute the network breaking rescue on the first robot, so that the smooth implementation of the network breaking rescue on the first robot can be ensured.
As shown in fig. 2, a first flowchart for controlling at least one second robot to perform a network outage rescue may specifically include:
s21: at least one second robot is controlled to move to a rescue position, which is a position where a physical connection with the first robot can be established.
S22: and controlling at least one second robot to establish physical connection with the first robot, and driving the first robot to move to a first preset position based on the physical connection.
The embodiment of the invention can control the second robot to establish physical connection with the first robot so as to control the movement of the first robot based on the physical connection. The rescue position is a position which can establish physical connection with the first robot, such as a position of which the distance between the first robot and the rescue position is within a first specified value; the first predetermined location may be a location where the first robot can recover the network (a location where the communication signal quality of the first robot meets a predetermined requirement, such as a location in a non-weak network area), or a specific location specified by a manager (such as a corner in a robot work site to avoid blocking), or the like. Specifically, firstly, determining a position which can establish physical connection with a first robot as a rescue position, then controlling a second robot to move to the rescue position of the first robot, further controlling the second robot to establish physical connection with the first robot, and driving the first robot to move to a first preset position based on the established physical connection; therefore, the network breaking rescue of the first robot is effectively realized based on physical connection.
It should be noted that the physical connection needs to be implemented based on the corresponding structure. In one example, as shown in fig. 3, the body of the second robot may include a body and a fork portion disposed at one side of the body, and after the second robot moves to a rescue position, the fork portion may be aligned to the bottom of the first robot by adjusting its pose, and the first robot may be forked from the bottom of the first robot by using the fork to establish physical connection; further, the bottom of the first robot may be provided with a docking portion, which refers to a certain height space formed between the bottom of the first robot and a plane where the first robot is placed, so that tines of the second robot may be inserted into the docking portion of the first robot to fork the first robot. In another example, the second robot and the first robot may be connected by magnetic attraction, at this time, the second robot is provided with a second magnetic attraction component capable of being attracted by magnetic attraction, the first robot is provided with a first magnetic attraction component capable of being attracted by magnetic attraction, and the heights of the first magnetic attraction component and the second magnetic attraction component are the same, as shown in fig. 4; based on the scene that the robot is a first robot when the robot breaks the network and is a second robot when the robot performs broken network rescue, the first magnetic component and the second magnetic component can be respectively arranged on different surfaces (such as two opposite surfaces) of the same robot, and other settings can be performed according to actual needs, so that the robot is within the protection scope of the invention; after the second robot moves to the rescue position, the second magnetic component can be attracted with the first magnetic component of the first robot by adjusting the pose of the second robot so as to establish physical connection. In another example, as shown in fig. 5, the second robot may have a towing hook, the first robot may have a towing loop, and after the second robot moves to the rescue position, the second robot may adjust its own position and the position of the towing hook so that the towing hook falls into the towing loop of the first robot to achieve establishment of the physical connection. Of course, other modes capable of realizing physical connection between the first robot and the second robot can be set according to actual needs, and all the modes are within the protection scope of the invention.
As shown in fig. 6, a second flowchart for controlling at least one second robot to perform a network outage rescue may specifically include:
s61: at least one second robot is controlled to move to a rescue position, wherein the rescue position is a position capable of establishing wireless communication connection with the first robot.
S62: and controlling at least one second robot to establish a wireless communication connection with the first robot, and transmitting control information to the first robot based on the wireless communication connection to control the first robot to move to a second preset position based on the control information.
The rescue position is a position where the communication signal quality of the second robot meets the preset requirement.
The embodiment of the invention can control the second robot to establish wireless communication connection with the first robot so as to control the first robot to move based on the wireless communication connection. The first robot and the second robot are connected by a network, wherein the wireless communication connection is established, namely the network connection is established, the rescue position is a position which can establish the wireless communication connection with the first robot, such as a position of which the distance between the first robot and the second robot is within a second specified value (no matter what network environment is, the wireless communication connection between the second robot and the first robot can be established as long as the wireless communication function between the second robot and the first robot is normal and the distance between the second robot and the first robot is within the second specified value); the second predetermined location may be a location where the first robot can recover the network (a location where the communication signal quality of the first robot meets a predetermined requirement, such as a location in a non-weak network area), or a specific location specified by a manager (such as a corner in a robot work site to avoid blocking), or the like. Specifically, firstly, determining a position which can establish wireless communication connection with a first robot as a rescue position, then controlling a second robot to move to the rescue position of the first robot (the number of the rescue positions of the first robot is the same as that of the second robots which execute the network breaking rescue on the first robot, so that the second robots which execute the network breaking rescue on the first robot move to the rescue position of the first robot in a one-to-one correspondence manner), further controlling the second robot to establish wireless communication connection with the first robot, and driving the first robot to move to a second preset position based on the established wireless communication connection; therefore, the network breaking rescue of the first robot is effectively realized based on wireless communication connection.
Specific explanation is given to selection of one first robot rescue position and establishment of wireless communication connection under different conditions. Under the first condition, the second robot is authorized to serve as a main body to directly control the movement of the first robot, and at the moment, any position which can establish wireless communication connection with the first robot is only required to be determined as a rescue position, so that the second robot can establish wireless communication connection with the first robot after moving to the rescue position; in the second case, the dispatch system controls the movement of the first robot by the second robot as a main body, at this time, it is possible to determine whether there is a position capable of simultaneously establishing wireless communication connection with the first robot and the dispatch system, if yes, it is determined that the position capable of simultaneously establishing wireless communication connection with the first robot and the dispatch system is a rescue position, so that the second robot can establish wireless communication connection with the first robot while maintaining wireless communication connection with the dispatch system after moving to the rescue position (the second robot realizes a relay function), if no, it is necessary to determine a plurality of positions as rescue positions, at least one position capable of establishing wireless communication connection with the first robot and at least one position capable of maintaining wireless communication connection with the dispatch system exist simultaneously, and wireless communication connection can be realized between every two rescue positions, so that after moving to each rescue position in a one-to-one correspondence, wireless communication connection with the dispatch system is maintained by relay. The position where the second robot can perform wireless communication connection with the dispatching system is a position where the communication signal quality of the second robot meets a predetermined requirement (when the second robot can perform wireless communication connection with the dispatching system, for example, when the second robot is located in a non-weak network area); correspondingly, the rescue position only comprises a position which can establish wireless communication connection with at least the first robot, or the rescue position simultaneously comprises a position which can establish wireless communication connection with at least the first robot and a position of which the communication signal quality of the second robot meets the preset requirement.
In the case where one first robot has a plurality of rescue positions, the plurality of rescue positions may be set on a straight line including the position of the first robot and the position closest to the first robot in the non-weak network area, so that the relay effect can be achieved by using as few second robots as possible. In addition, in order to avoid the network breaking again in the motion process of the first robot, the second robot can be instructed to keep the relative position unchanged and follow the corresponding first robot to move, and at the moment, the corresponding first robot motion path needs to be ensured according to the condition that the second robot is used as a relay robot, so that the second robot which can keep wireless communication connection with the dispatching system is always present in the motion process of the second robot.
In a specific example, the rescue location may include a location where a wireless communication connection may be established with the first robot (or with the dispatch system at the same time) and a location where a physical connection may be established with the first robot, the second robot may attempt to establish a wireless communication connection with the first robot after moving to a location where a wireless communication connection may be established with the first robot, and if the establishment is successful, the movement of the first robot is controlled in a manner after the establishment of the wireless communication connection, otherwise, the second robot moves to a location where a physical connection may be established with the first robot, so as to control the movement of the first robot after the physical connection is established with the first robot. In another specific example, the rescue location may be a location where a wireless communication connection and a physical connection may be established with the first robot (or with the dispatch system at the same time), and the second robot may attempt to establish a wireless communication connection with the first robot after moving to the rescue location, and if the establishment is successful, control the movement of the first robot in a manner after the establishment of the wireless communication connection, otherwise, control the movement of the first robot after the establishment of the physical connection with the first robot. In addition, after the wireless communication connection establishment attempt to the first robot fails, the first robot is likely to have a fault, and at this time, corresponding information may be reported to the scheduling system or the management terminal, so that the situation may be known and processed in time.
In an embodiment of the present invention, the control information may include at least one of the following:
(1) Position information of the first robot;
(2) Planning path information of the first robot;
(3) The following target information of the first robot;
(4) Relaying, by at least one second robot, the forwarded network information;
(5) Updated network connection information.
The control information may include location information of the first robot such that the second robot achieves positioning of the first robot based on the location information, and the first robot achieves self-positioning based on the location information. The control information may include planned path information of the first robot, so that the first robot moves autonomously according to the planned path, for example, the planned path may be a path that travels to a position where the communication signal quality of the first robot meets a predetermined requirement in the shortest distance, or the planned path may be a path that the first robot completes a task, or the planned path may be a path that ensures that the second robot always has a second robot that can maintain wireless communication connection with the scheduling system in the moving process of the first robot. The control information may include information of a following target of the first robot, so that the first robot moves to a position where the quality of a communication signal of the first robot meets a predetermined requirement along with the following target, and at this time, the target may be the second robot or may be another object selected according to actual needs. The control information may include updated network connection information, and when the network device that currently provides the network service fails, the standby network device that can work normally may be started to provide the network service, or other network devices that can work normally may be selected to provide the network service as the standby network device, and the network connection information that uses the standby network device to provide the network service is provided to the first robot, so that the first robot replaces the existing network connection information with the received network connection information, so as to use the network service provided by the standby network device and recover the wireless communication connection; the device information (such as device identifier, device attribute, etc.) of the standby network device may also be sent to the first robot, so that the first robot updates the existing network connection information to network connection information of a network service provided by the standby network device, so as to use the network service provided by the standby network device and restore the wireless communication connection. The control information may be network information forwarded by at least one second robot, where the second robot acts as a relay robot, and interaction between the scheduling system and the first robot may be implemented by forwarding the network information to restore wireless communication connection between the first robot and the scheduling system, where the network information may include at least one of the above location information, planned path information, following target information, and network connection information, and may further include other information, such as a job task, a sleep instruction, etc., set according to actual needs, which is not limited herein. Through the control information, the first robot can be directly controlled or controlled to perform corresponding actions under the instruction of the dispatching system, so that the first robot is controlled, and further, the effective network breaking rescue is realized.
The method for processing the broken network of the robot, provided by the embodiment of the invention, further comprises the step of selecting at least one second robot before the at least one second robot executes the broken network rescue, wherein the step of selecting the at least one second robot can comprise the following steps:
selecting at least one second robot based on a distance from the rescue location of the first robot; and/or the number of the groups of groups,
selecting at least one second robot based on the power of the second robot; and/or the number of the groups of groups,
at least one second robot is selected based on the tasks of the second robots.
The selection of at least one second robot for performing the network breaking rescue by one first robot is specifically described, and may be implemented at least based on the following three ways: the first mode is to select a corresponding second robot based on a distance from the rescue position of the first robot, for example, select a second robot closest to the rescue position of the first robot (when the number of the selected second robots is the same as that of the rescue positions of the first robot, and the rescue positions of the first robot are multiple, the selected second robots are robots closest to the rescue positions of the first robot in one-to-one correspondence), so that the second robot performing the network breaking rescue on the first robot can move to the rescue position of the first robot as soon as possible, and further realize network breaking rescue on the first robot as soon as possible; in a second mode, at least one second robot for performing the network breaking rescue on the first robot is selected based on the electric quantity of the second robot, for example, at least one second robot with the largest electric quantity is selected, or at least one second robot with the electric quantity within a preset range is selected, so that the second robot for performing the network breaking rescue on the first robot has enough electric quantity, and the situation that the network breaking rescue cannot be successfully realized due to the insufficient electric quantity of the second robot in the process of performing the network breaking rescue is avoided; in a third way, at least one second robot is selected based on the task of the second robot, for example, at least one second robot which is currently idle (does not need to execute the task) or at least one second robot which is about to complete the currently executed task is selected, so that the network breaking rescue of the first robot is completed while the task realization is not influenced. It should be noted that, when at least one second robot for performing the network breaking rescue is selected, one or two or all of the three modes may be selected to be implemented, so as to flexibly meet the actual requirements under different scenes.
In the embodiment of the invention, the first robot and the second robot can be the same type of robot, so that the corresponding robots do not need to be specially developed to execute the network breaking rescue, and the development cost and the robot cost are reduced.
The embodiment of the invention also provides a robot, which can comprise a first processor, wherein the first processor is configured to execute the following operations:
detecting whether a broken net occurs;
executing preset network disconnection behavior when detecting that the network disconnection occurs;
and executing the network breaking rescue when detecting that other robots break the network.
The robot can detect whether the network disconnection occurs or not based on the interaction condition with the dispatching system, if the message is failed to be sent to the dispatching system, the robot determines that the network disconnection occurs, if the message fed back by the dispatching system, which is received by the robot, is not received within a certain time period, the robot determines that the network disconnection occurs; the method can also be realized based on hardware detection for realizing wireless communication connection of the device, and if the device detects that corresponding hardware fails, the device determines that the device breaks network; and can be realized by the two modes or other modes at the same time, and the invention is within the protection scope of the invention. The robot can detect whether the other robots are disconnected based on the disconnected information of the other robots, namely, after the disconnected information of the other robots is actively or passively obtained, the other robots are determined to be disconnected; specifically, the method comprises the steps that the robot actively acquires the network breaking information of other robots, corresponding network breaking information is obtained when the robot autonomously recognizes that other robots execute preset network breaking actions from videos and/or images based on a visual method, the robot passively acquires the network breaking information of other robots, and corresponding network breaking information is sent to the robot when a scheduling system recognizes that other robots execute preset network breaking actions from the videos and/or images based on the visual method; and can be realized by the two modes or other modes at the same time, and the invention is within the protection scope of the invention. When the robot detects that the robot breaks the network, the robot is used as a network breaking robot to execute preset network breaking behavior so as to transmit the message of the occurrence of the network breaking of the robot, so that the robot can obtain network breaking rescue as soon as possible; when the robot detects that other robots are disconnected, the robot is used as a rescue robot to rescue the disconnected other robots so as to recover the network of the other robots, so that the problems of traffic jam, efficiency reduction and the like caused by the disconnected robot in the prior art are effectively avoided, and time and labor are saved.
The robot provided by the embodiment of the invention performs the preset network breaking behavior comprising the following steps: controlling the robot to rotate in situ; and/or the robot further comprises a light strip, and the light strip is controlled to be subjected to preset change.
The preset web breaking behavior performed by the robot may include at least one of: the self-body is controlled to rotate in situ, and the self-body light band is controlled to generate preset change. The in-situ rotation of the control robot can be controlled to be continuous until the robot is subjected to the network breaking rescue, or the control robot can be controlled to be subjected to the in-situ rotation of a certain angle (720 degrees) at intervals of a certain time until the robot is subjected to the network breaking rescue, or the control robot can be controlled to be subjected to the in-situ rotation of at least one certain angle and then wait for the network breaking rescue in situ, and other settings can be carried out according to actual needs, so that the control robot is within the protection scope of the invention; the robot in-situ rotation may be clockwise, counterclockwise, or a sequence of instantaneous time and counterclockwise, or a sequence of counterclockwise and clockwise, or other rotation, without limitation. The predetermined change of the robot lamp strip can be that the lamp strip changes color according to a certain sequence, or that the lamp strip changes into a specific color, or that the lamp strip lightens, or that other changes are all within the protection scope of the invention.
The robot provided by the embodiment of the invention can further comprise a vision sensor and a first communication device, and detecting that other robots break the network comprises:
identifying that other robots are disconnected from the video sensed by the vision sensor based on the vision method and/or the image; and/or the number of the groups of groups,
and identifying that other robots are disconnected based on the information acquired by the first communication device.
The detection of the occurrence of the disconnection of the other robots may be achieved by at least one of the following means: based on the realization of the self vision sensor, namely, identifying other robots (when preset off-network behaviors are executed) from videos and/or images sensed by the self vision sensor to be off-network; based on the implementation of the first communication device, that is, the information acquired from the first communication device identifies that other robots are disconnected, the information acquired by the first communication device can be video and/or image of other robots executing preset disconnected behaviors, which are shot by other terminals (such as a scheduling system), or can be information of other robots that are disconnected, which is determined by other terminals. Therefore, whether other robots break the network or not is detected in different modes, and the actual requirements in different scenes can be met while the information of the broken network of the other robots is timely obtained.
The embodiment of the invention also provides a robot off-line processing system, which can comprise a dispatching system and a plurality of robots, wherein the dispatching system can comprise a second processor and a second communication device, and the second processor is configured to execute at least one of the following operations:
(1) Identifying information of the first robot for executing preset network breaking behaviors from the video and/or the image based on a visual method;
(2) Determining a rescue position of the first robot based on the information that the identified first robot executes the preset network breaking behavior;
(3) Selecting and instructing at least one second robot to perform rescue;
(4) And sending the first network information to be relayed to at least one second robot through the second communication device, and/or receiving the second network information sent by the at least one second robot.
When the second robot is used as a relay robot or other conditions needing to interact with the second robot, the scheduling system can realize information interaction with the second robot through the second communication device of the scheduling system so as to restore wireless communication connection with the first robot. For other technical features, please refer to the specific description in the above embodiments, and the description is omitted herein. In addition, each operation in the operations can be realized by a dispatching system or another robot which is distinguished from the first robot and the second robot, so that when the first robot breaks the network, the second robot carries out network breaking rescue on the first robot so as to recover the network of the first robot, thereby effectively avoiding the problems of traffic jam, efficiency reduction and the like caused by the network breaking of the robots in the prior art and saving time and manpower.
The embodiment of the invention also provides electronic equipment, which can comprise:
one or more processing units;
a storage unit for storing one or more programs;
when the one or more programs are executed by the one or more processing units, the one or more processing units are caused to implement the method of any of the above.
Embodiments of the present invention also provide a non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a processor, cause the processor to perform a method as any one of the above.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. The robot broken network processing method is characterized by comprising the following steps:
acquiring network breaking information of a first robot;
and controlling at least one second robot to execute the network breaking rescue.
2. The method according to claim 1, wherein the off-line information is information identifying that the first robot performs a preset off-line behavior from a video and/or an image based on a visual method.
3. The method of claim 1, wherein the controlling the at least one second robot before performing the network outage rescue further comprises:
and determining the rescue position of the first robot based on the network breaking information.
4. A method according to claim 3, wherein said controlling at least one second robot to perform a network break rescue comprises:
controlling the at least one second robot to move to the rescue position, wherein the rescue position is a position capable of establishing physical connection with the first robot;
and controlling the at least one second robot to establish the physical connection with the first robot, and driving the first robot to move to a first preset position based on the physical connection.
5. A robot comprising a first processor configured to:
detecting whether a broken net occurs;
executing preset network disconnection behavior when detecting that the network disconnection occurs;
and executing the network breaking rescue when detecting that other robots break the network.
6. The robot of claim 5, wherein said performing a preset web break behavior comprises:
controlling the robot to rotate in situ; and/or the robot further comprises a light belt, and the light belt is controlled to be subjected to preset change.
7. The robot of claim 5, further comprising a vision sensor and a first communication device, and wherein the detecting that the other robot is disconnected comprises:
identifying that other robots are disconnected from the video sensed by the vision sensor based on a vision method and/or the images; and/or the number of the groups of groups,
and identifying that other robots are disconnected based on the information acquired by the first communication device.
8. A robot off-grid processing system comprising a dispatch system and a plurality of robots according to any one of claims 5-7, the dispatch system comprising a second processor and a second communication device, the second processor configured to perform at least one of:
(1) Identifying information of the first robot for executing preset network breaking behaviors from the video and/or the image based on a visual method;
(2) Determining a rescue position of the first robot based on the information of the identified first robot for executing the preset network breaking behavior;
(3) Selecting and instructing at least one second robot to perform rescue;
(4) And sending the first network information to be relayed to the at least one second robot through the second communication device, and/or receiving the second network information sent by the at least one second robot.
9. An electronic device, comprising:
one or more processing units;
a storage unit for storing one or more programs;
when executed by the one or more processing units, causes the one or more processing units to implement the method of any of claims 1-4.
10. A non-transitory computer-readable storage medium storing computer-readable instructions that, when executed by a processor, cause the processor to perform the method of any of claims 1-4.
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| CN202210798886.3A CN117406671A (en) | 2022-07-06 | 2022-07-06 | Robot network disconnection processing method, system, electronic equipment and storage medium |
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| CN202210798886.3A CN117406671A (en) | 2022-07-06 | 2022-07-06 | Robot network disconnection processing method, system, electronic equipment and storage medium |
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