CN118081774A - Safety protection system for AMR robot - Google Patents
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Abstract
The invention relates to the technical field of intelligent safety protection, and discloses a safety protection system for an AMR robot, which comprises the following components: the information acquisition end comprises a dynamic acquisition module and an environment acquisition module, wherein the dynamic acquisition module is used for acquiring working state information of the AMR robot, and the environment acquisition module is used for acquiring working environment information of the AMR robot; the route recommendation module is used for comprehensively analyzing the working environment information and establishing a route recommendation scheme according to the comprehensive analysis result; and the execution module is used for executing the route recommendation scheme and controlling the advancing action of the AMR robot according to the working state information. According to the method, a route recommendation scheme is established according to comprehensive analysis, a more reasonable route is provided for the AMR robot, a better working environment is provided for the AMR robot in the mode, and the situation that the AMR robot needs to actively avoid is reduced.
Description
Technical Field
The invention relates to the technical field of intelligent safety protection, in particular to a safety protection system for an AMR robot.
Background
An automated guided vehicle is an unmanned automated vehicle that is capable of navigation and transportation along a preset path or according to real-time environmental information. AGVs are widely used in the logistics field of factories, warehouses, etc., and in the service field of medical treatment, hotels, etc. In the production process, AGVs can play an important role in improving logistics efficiency, reducing labor cost, improving production safety and the like.
The AMR robot, i.e. the autonomous mobile robot, is a comprehensive system integrating the functions of environment sensing, dynamic decision planning, behavior control, execution and the like. Compared with the AGVs of the prior generation, which need to rely on magnetic stripes or two-dimension codes for positioning and navigation, AMR does not need to rely on magnetic stripes or two-dimension codes for positioning and navigation. The robot has autonomous decision making and control capability, can avoid obstacle autonomously according to the field situation, and is an advanced mobile robot in the prior art. AMR robot is widely applied to various scenes due to the characteristics of high autonomy, intelligence, flexibility and adaptability, and mainly comprises scene demands of logistics and industrial fields, such as carrying and picking of factories and warehouses, and the like, and service logistics fields, such as medical treatment, hotels, meal delivery, commercial cleaning, and the like. They can be programmed and simply adjusted by software to accomplish various tasks, meeting changing environmental and production requirements.
However, in practical application, the AMR robot often travels according to a fixed path learned by its own system, and although the AMR robot has an active avoidance function, the working efficiency of the AMR robot is greatly reduced due to the avoidance timing judgment and the execution process, and the risk of safety accidents is increased. Based on the limitation of AMR self calculation, it is necessary to integrate a set of three-dimensional safety protection system for AMR robots to improve the working efficiency and reduce the accident risk.
Disclosure of Invention
The invention aims to provide a safety protection system for an AMR robot, which solves the technical problems that:
the aim of the invention can be achieved by the following technical scheme:
A safety protection system for an AMR robot, the system comprising:
The information acquisition end comprises a dynamic acquisition module and an environment acquisition module, wherein the dynamic acquisition module is used for acquiring working state information of the AMR robot, and the environment acquisition module is used for acquiring working environment information of the AMR robot; the route recommendation module is used for comprehensively analyzing the working environment information and establishing a route recommendation scheme according to the comprehensive analysis result; and the execution module is used for executing the route recommendation scheme and controlling the advancing action of the AMR robot according to the working state information. Through the technical scheme, the main framework of the safety protection system for the AMR robot is provided, the working state information and the working environment information of the AMR robot can be acquired through the arrangement of the information acquisition end, the path recommendation module is used for comprehensively analyzing the working environment information of the AMR robot, a route recommendation scheme is established according to the comprehensive analysis, a more reasonable route is provided for the AMR robot, a better working environment is provided for the AMR robot in the mode, the situation that the AMR robot actively avoids is reduced, and in addition, the aim of improving the working efficiency of the AMR robot is achieved by combining the optimized route. Therefore, the system can solve the problem of how to reduce the accident risk while improving the working efficiency of the AMR robot.
As a further technical scheme, the dynamic acquisition module is arranged on the car body of the AMR robot body and comprises a speed sensor and a temperature sensor; the environment acquisition module comprises a plurality of monitoring cameras arranged in the working area of the AMR robot body. Through the technical scheme, the concrete contents and the installation positions of the dynamic acquisition module and the environment acquisition module are provided, wherein the monitoring camera can be monitoring equipment originally arranged in the working area of the AMR robot body, and in the system, the monitoring camera is mainly used for acquiring real-time monitoring image information of each planning path in the working area of the AMR robot body.
As a further technical solution, the operating state information of the AMR robot includes: the movement speed of the automatic guiding vehicle and the temperature of a wheel driving motor of the AMR robot; the working environment information of the AMR robot comprises image data of a preset planning path acquired based on a plurality of monitoring cameras. According to the technical scheme, the working state information of the AMR robot and the specific content of the working environment information are provided, wherein the working state information comprises the following components: the automatic guiding vehicle has the advantages that the movement speed of the automatic guiding vehicle and the temperature of the AMR robot wheel driving motor are collected, the temperature of the AMR robot wheel driving motor is increased due to the fact that the excessive load of the driving motor can cause the temperature rise, and the problems that an electric wire short circuit motor stops and the like easily occur. The working environment information comprises image data of a preset planning path acquired based on a plurality of monitoring cameras.
As a further technical solution, the route recommendation module includes:
the image data processing unit is used for performing perspective transformation on the image shot by each monitoring camera based on the homography matrix and transforming the image into a top view image;
And the image content acquisition unit is used for acquiring the state characteristic information of each preset planning path according to the overlook image. According to the technical scheme, the route recommendation module is formed, in specific analysis of image data, firstly, perspective transformation is carried out on images shot by each monitoring camera based on homography matrixes through the image data processing unit, the images are transformed to overlook images, and then state characteristic information of each preset planning path is acquired through the image content acquisition unit.
As a further technical solution, the process of collecting the status features of each preset planned path includes: acquiring the number of the obstacles on each preset planning path according to the overlooking image; and importing the overlooking image into a convolutional neural network model and outputting the overlooking image, wherein the output content indicates the types of the obstacles, and the types comprise people and articles. Through the technical scheme, a process of acquiring the state characteristics of each preset planning path is provided, specifically, firstly, the number of the obstacles on each preset planning path is acquired according to the overlook image, then the overlook image is imported into a convolutional neural network model and output, and the output content indicates the types of the obstacles, wherein the types comprise people and articles. It should be noted that, the types of the obstacle are classified into people and articles, because people can actively give way in advance according to the running of the AMR robot in time, and the moving of the articles is not in line with reality and is not in time.
As a further technical aspect, the process of establishing a route recommendation scheme includes:
Leading the overlooking image and the starting and ending points of the AMR robot into a pre-trained route selection model, outputting a plurality of preselected routes, and recording the length of each preselected route;
By the formula Calculating and obtaining priority parameters/>, of each preselected route；
Wherein,、/>、/>The weight coefficient is preset; /(I)A number of people on a preselected route; /(I)The number of stacked items on the preselected route; /(I)Is the length of the preselected route; /(I)The method is a preset article type coefficient; /(I)Is a preset relation parameter and；/>Is a preset proportionality coefficient;
According to priority parameters And recommending routes to the AMR robots from small to large in sequence, wherein the route with the smallest priority parameter is used as a first recommended route of the corresponding AMR robot.
As a further technical solution, the process of establishing the route recommendation scheme further includes:
Acquiring intersection points of first recommended routes of all AMR robots in the same working area by combining the overlooking images;
carrying out route change on the corresponding AMR robots of which the number of the intersection points of the first recommended route exceeds a preset value;
the route change process comprises the following steps: according to priority parameters Sequentially selecting routes from small to large until the number of intersection points does not exceed the preset value.
As a further technical solution, the execution module includes:
and the speed regulating unit is used for regulating the speed of the AMR robots according to the actual routes of the AMR robots in the same working area and the temperature of the wheel driving motors of the AMR robots.
As a further technical scheme, the process of adjusting the speed of the AMR robot includes:
By the formula Calculating the obtained time difference value/>；
Wherein,、/>The route distance from two AMR robots with the intersected routes to the intersection point is respectively; /(I)、/>The travelling speeds of the two AMR robots are respectively;
If it is Less than a preset difference/>Then by the formula/>Calculating the speed regulation starting value/> of the AMR robotComparing the speed regulation starting values of the two AMR robots, and carrying out speed reduction regulation on the AMR robot with the larger speed regulation starting value;
Wherein, 、/>The correlation coefficient is preset; /(I)The original speed of the AMR robot is the original speed of the AMR robot; /(I)The temperature of the wheel drive motor of the AMR robot.
As a further technical solution, the system further includes:
the man-machine interaction module is used for carrying out manual intervention emergency start-stop control on the AMR robot and comprises a remote controller and a remote control receiver arranged on a vehicle body of the AMR robot body, and the remote control receiver is electrically connected with the wheel driving motor.
The invention has the beneficial effects that:
According to the invention, through the arrangement of the information acquisition end, the working state information and the working environment information of the AMR robot can be acquired and acquired, and then the path recommendation module is used for comprehensively analyzing the working environment information of the AMR robot, so that a more reasonable path is provided for the AMR robot according to a path recommendation scheme established by comprehensive analysis, a better working environment is provided for the AMR robot in this way, the situation that the AMR robot is required to actively avoid is reduced, and in addition, the aim of improving the working efficiency of the AMR robot is realized by combining the characteristics with the optimized path.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic content and a relational block diagram of a safety protection system for an AMR robot according to 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.
Referring to fig. 1, the present invention is a safety protection system for an AMR robot, the system comprising:
The information acquisition end comprises a dynamic acquisition module and an environment acquisition module, wherein the dynamic acquisition module is used for acquiring working state information of the AMR robot, and the environment acquisition module is used for acquiring working environment information of the AMR robot;
The route recommendation module is used for comprehensively analyzing the working environment information and establishing a route recommendation scheme according to the comprehensive analysis result;
And the execution module is used for executing the route recommendation scheme and controlling the advancing action of the AMR robot according to the working state information.
Through the above technical scheme, the embodiment provides a main framework of a safety protection system for an AMR robot, through the arrangement of an information acquisition end, the working state information and the working environment information of the AMR robot can be acquired and acquired, the path recommendation module is used for comprehensively analyzing the working environment information of the AMR robot, a path recommendation scheme is established according to the comprehensive analysis, a more reasonable path is provided for the AMR robot, a better working environment is provided for the AMR robot in this way, the situation that the AMR robot is required to actively avoid is reduced, and in addition, the aim of improving the working efficiency of the AMR robot is achieved by combining the characteristics of the optimized path. Therefore, the system can solve the problem of how to reduce the accident risk while improving the working efficiency of the AMR robot.
The dynamic acquisition module is arranged on the car body of the AMR robot body and comprises a speed sensor and a temperature sensor; the environment acquisition module comprises a plurality of monitoring cameras arranged in the working area of the AMR robot body.
Through the above technical scheme, the embodiment provides the specific content and the installation position of the dynamic acquisition module and the environment acquisition module, wherein it is to be noted that the monitoring camera can also be the monitoring equipment originally set in the working area of the AMR robot body, and in the system, the monitoring camera is mainly used to obtain the real-time monitoring image information of each planning path in the working area of the AMR robot body.
The operating state information of the AMR robot includes: the movement speed of the automatic guiding vehicle and the temperature of a wheel driving motor of the AMR robot;
the working environment information of the AMR robot comprises image data of a preset planning path acquired based on a plurality of monitoring cameras.
Through the above technical solution, the present embodiment provides specific contents of working state information and working environment information of an AMR robot, and specifically, the working state information includes: the automatic guiding vehicle has the advantages that the movement speed of the automatic guiding vehicle and the temperature of the AMR robot wheel driving motor are collected, the temperature of the AMR robot wheel driving motor is increased due to the fact that the excessive load of the driving motor can cause the temperature rise, and the problems that an electric wire short circuit motor stops and the like easily occur. The working environment information comprises image data of a preset planning path acquired based on a plurality of monitoring cameras.
The route recommendation module includes:
the image data processing unit is used for performing perspective transformation on the image shot by each monitoring camera based on the homography matrix and transforming the image into a top view image;
and the image content acquisition unit is used for acquiring the state characteristic information of each preset planning path according to the overlook image.
Through the technical scheme, the embodiment provides the construction of the route recommendation module, in the concrete analysis of the image data, firstly, the image data processing unit is used for carrying out perspective transformation on the image shot by each monitoring camera based on the homography matrix, the perspective transformation is carried out on the image to be overlooked, and then, the state characteristic information of each preset planning path is acquired through the image content acquisition unit.
The process of collecting the state characteristics of each preset planning path comprises the following steps:
acquiring the number of the obstacles on each preset planning path according to the overlooking image;
And importing the overlooking image into a convolutional neural network model and outputting the overlooking image, wherein the output content indicates the types of the obstacles, and the types comprise people and articles.
Through the above technical scheme, the present embodiment provides a process of acquiring the status features of each preset planned path, specifically, firstly, acquiring the number of the obstacles on each preset planned path according to the top view image, then, importing the top view image into a convolutional neural network model and outputting the top view image, and outputting content to indicate the types of the obstacles, wherein the types include people and articles. It should be noted that, the types of the obstacle are classified into people and articles, because people can actively give way in advance according to the running of the AMR robot in time, and the moving of the articles is not in line with reality and is not in time.
The process of establishing a route recommendation scheme includes:
Leading the overlooking image and the starting and ending points of the AMR robot into a pre-trained route selection model, outputting a plurality of preselected routes, and recording the length of each preselected route;
By the formula Calculating and obtaining priority parameters/>, of each preselected route；
Wherein,、/>、/>The weight coefficient is preset; /(I)A number of people on a preselected route; /(I)The number of stacked items on the preselected route; /(I)Is the length of the preselected route; /(I)The method is a preset article type coefficient; /(I)Is a preset relation parameter and；/>Is a preset proportionality coefficient;
According to priority parameters And recommending routes to the AMR robots from small to large in sequence, wherein the route with the smallest priority parameter is used as a first recommended route of the corresponding AMR robot.
Through the above technical scheme, the present embodiment provides a process of establishing a route recommendation scheme, first, the top view image and the start and stop points of the AMR robot are imported into a pre-trained route selection model, a plurality of pre-selected routes are output, the length of each pre-selected route is recorded, and then the method passes through a formulaCalculating and obtaining priority parameters/>, of each preselected routeFinally according to the priority parameter/>And recommending routes to the AMR robots from small to large in sequence, wherein the route with the smallest priority parameter is used as a first recommended route of the corresponding AMR robot. It should be noted that, the preset weight coefficient and the preset relation parameter may be obtained by fitting according to experimental data, while the preset article type coefficient is specifically related to the type and volume of the article, and may be obtained by fitting according to training process data of the selection model, which is not described in detail herein,/>Is a preset proportionality coefficient and is used for unifying dimensions.
The process of establishing the route recommendation scheme further comprises:
Acquiring intersection points of first recommended routes of all AMR robots in the same working area by combining the overlooking images;
carrying out route change on the corresponding AMR robots of which the number of the intersection points of the first recommended route exceeds a preset value;
the route change process comprises the following steps: according to priority parameters Sequentially selecting routes from small to large until the number of intersection points does not exceed the preset value.
Through the above technical solution, in this embodiment, the intersection points of the first recommended routes of the AMR robots in the same working area are obtained by combining the top view image, if the number of intersection points is too large, the probability of occurrence of an inter-collision accident of the AMR robots is large, so that route change is performed on the corresponding AMR robots whose number of intersection points of the first recommended routes exceeds a preset value, and the route change process is as follows: according to priority parametersSequentially selecting routes from small to large until the number of intersection points does not exceed the preset value. If the number of intersections is always greater than the preset value, a route with the minimum number of intersections is selected.
The execution module comprises:
and the speed regulating unit is used for regulating the speed of the AMR robots according to the actual routes of the AMR robots in the same working area and the temperature of the wheel driving motors of the AMR robots.
The process of adjusting the speed of the AMR robot comprises the following steps:
By the formula Calculating the obtained time difference value/>；
Wherein,、/>The route distance from two AMR robots with the intersected routes to the intersection point is respectively; /(I)、/>The travelling speeds of the two AMR robots are respectively;
If it is Less than a preset difference/>Then by the formula/>Calculating the speed regulation starting value/> of the AMR robotComparing the speed regulation starting values of the two AMR robots, and carrying out speed reduction regulation on the AMR robot with the larger speed regulation starting value;
Wherein, 、/>The correlation coefficient is preset; /(I)The original speed of the AMR robot is the original speed of the AMR robot; /(I)The temperature of the wheel drive motor of the AMR robot.
Through the above technical scheme, the present embodiment provides a process of adjusting speed of an AMR robot, specifically, firstly, by a formulaCalculating the obtained time difference value/>If/>Less than a preset difference/>Then by the formula/>Calculating the speed regulation starting value/> of the AMR robotThe speed regulation starting values of the two AMR robots are compared, and the speed regulation starting value is larger, so that the speed of the corresponding AMR robot is higher or the temperature of the driving motor is higher, and the AMR robot with the larger speed regulation starting value is subjected to speed reduction regulation. It is noted that/>、/>Is a preset relevance coefficient, and/>、/>Characterization of the velocity/>, respectivelyAnd temperature/>At the time of obtaining the speed regulation starting value/>Weights of each of them, at the same time/>、/>Speed/>And temperature/>Unified dimension, i.e./>、/>From velocity/>, respectivelyAnd temperature/>The products of the weight coefficients and the scale coefficients for unifying dimensions are obtained by fitting the weight coefficients and the scale coefficients according to multiple experimental data, and are not described in detail herein.
The system further comprises: the man-machine interaction module is used for carrying out manual intervention emergency start-stop control on the AMR robot and comprises a remote controller and a remote control receiver arranged on a vehicle body of the AMR robot body, and the remote control receiver is electrically connected with the wheel driving motor.
Through above-mentioned technical scheme, in this embodiment, through the setting of man-machine interaction module, the staff can carry out the emergency start-stop control of manual intervention to AMR robot with the mode of remote control, when meetting special circumstances, the staff need not to be close to AMR robot alright accomplish the timely braking to the robot.
The foregoing describes one embodiment of the present invention in detail, but the description is only a preferred embodiment of the present invention and should not be construed as limiting the scope of the invention. All equivalent changes and modifications within the scope of the present invention are intended to be covered by the present invention.
Claims (8)
1. A safety protection system for an AMR robot, the system comprising:
The information acquisition end comprises a dynamic acquisition module and an environment acquisition module, wherein the dynamic acquisition module is used for acquiring working state information of the AMR robot, and the environment acquisition module is used for acquiring working environment information of the AMR robot;
The route recommendation module is used for comprehensively analyzing the working environment information and establishing a route recommendation scheme according to the comprehensive analysis result;
the execution module is used for executing the route recommendation scheme and controlling the advancing action of the AMR robot according to the working state information;
the dynamic acquisition module is arranged on the car body of the AMR robot body and comprises a speed sensor and a temperature sensor; the environment acquisition module comprises a plurality of monitoring cameras arranged in the working area of the AMR robot body;
The operating state information of the AMR robot includes: the movement speed of the automatic guiding vehicle and the temperature of a wheel driving motor of the AMR robot;
the working environment information of the AMR robot comprises image data of a preset planning path acquired based on a plurality of monitoring cameras.
2. The safety protection system for an AMR robot of claim 1, wherein the route recommendation module comprises:
the image data processing unit is used for performing perspective transformation on the image shot by each monitoring camera based on the homography matrix and transforming the image into a top view image;
and the image content acquisition unit is used for acquiring the state characteristic information of each preset planning path according to the overlook image.
3. A safety protection system for an AMR robot according to claim 2, wherein the process of collecting status features of each of the predetermined planned paths comprises:
acquiring the number of the obstacles on each preset planning path according to the overlooking image;
And importing the overlooking image into a convolutional neural network model and outputting the overlooking image, wherein the output content indicates the types of the obstacles, and the types comprise people and articles.
4. A safety protection system for an AMR robot according to claim 3, wherein the process of establishing a route recommendation scheme comprises:
Leading the overlooking image and the starting and ending points of the AMR robot into a pre-trained route selection model, outputting a plurality of preselected routes, and recording the length of each preselected route;
by the formula Calculating and obtaining priority parameters/>, of each preselected route；
Wherein,、/>、/>The weight coefficient is preset; /(I)A number of people on a preselected route; /(I)The number of stacked items on the preselected route; /(I)Is the length of the preselected route; /(I)The method is a preset article type coefficient; /(I)Is a preset relation parameter, and/>；/>Is a preset proportionality coefficient;
According to priority parameters And recommending routes to the AMR robots from small to large in sequence, wherein the route with the smallest priority parameter is used as a first recommended route of the corresponding AMR robot.
5. The safety protection system for an AMR robot of claim 4, wherein the process of establishing a route recommendation scheme further comprises:
Acquiring intersection points of first recommended routes of all AMR robots in the same working area by combining the overlooking images;
carrying out route change on the corresponding AMR robots of which the number of the intersection points of the first recommended route exceeds a preset value;
the route change process comprises the following steps: according to priority parameters Sequentially selecting routes from small to large until the number of intersection points does not exceed the preset value.
6. The safety protection system for an AMR robot of claim 5, wherein the execution module comprises:
and the speed regulating unit is used for regulating the speed of the AMR robots according to the actual routes of the AMR robots in the same working area and the temperature of the wheel driving motors of the AMR robots.
7. The safety protection system for an AMR robot of claim 6, wherein the process of adjusting the speed of the AMR robot comprises:
By the formula Calculating the obtained time difference value/>；
Wherein,、/>The route distance from two AMR robots with the intersected routes to the intersection point is respectively; /(I)、/>The travelling speeds of the two AMR robots are respectively;
If it is Less than a preset difference/>Then by the formula/>Calculating the speed regulation starting value/> of the AMR robotComparing the speed regulation starting values of the two AMR robots, and carrying out speed reduction regulation on the AMR robot with the larger speed regulation starting value;
Wherein, 、/>The correlation coefficient is preset; /(I)The original speed of the AMR robot is the original speed of the AMR robot; /(I)The temperature of the wheel drive motor of the AMR robot.
8. A safety protection system for an AMR robot according to claim 1, further comprising:
the man-machine interaction module is used for carrying out manual intervention emergency start-stop control on the AMR robot and comprises a remote controller and a remote control receiver arranged on a vehicle body of the AMR robot body, and the remote control receiver is electrically connected with the wheel driving motor.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| KR101962948B1 (en) * | 2017-10-30 | 2019-03-27 | 주식회사 옵티로 | Carrier status check system |
| CN112703457A (en) * | 2018-05-07 | 2021-04-23 | 强力物联网投资组合2016有限公司 | Method and system for data collection, learning and machine signal streaming for analysis and maintenance using industrial internet of things |
| CN112050824A (en) * | 2020-09-17 | 2020-12-08 | 北京百度网讯科技有限公司 | Route planning method, device and system for vehicle navigation and electronic equipment |
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