CN115657558B - Intelligent robot control method, device, equipment, robot and storage medium - Google Patents
Intelligent robot control method, device, equipment, robot and storage mediumInfo
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- CN115657558B CN115657558B CN202211321977.4A CN202211321977A CN115657558B CN 115657558 B CN115657558 B CN 115657558B CN 202211321977 A CN202211321977 A CN 202211321977A CN 115657558 B CN115657558 B CN 115657558B
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Abstract
本申请提出一种智能机器人的控制方法、装置、设备、机器人和存储介质，智能机器人包括分布式布置的空间感知平台、路径规划平台和运动控制平台。智能机器人中的第一平台所实现的功能包括其他平台所实现的至少一项功能，第一平台为空间感知平台、路径规划平台和运动控制平台中的任意一个或多个。当空间感知平台、路径规划平台和运动控制平台中的任意一个或多个故障时，可以由能够实现故障平台的功能的第一平台替代故障平台，以在智能机械人的运行过程中实现故障平台的功能，保证智能机器人能够正常运行。
The present application proposes a control method, apparatus, device, robot, and storage medium for an intelligent robot, wherein the intelligent robot includes a distributed spatial perception platform, a path planning platform, and a motion control platform. The functions implemented by the first platform in the intelligent robot include at least one function implemented by the other platforms, and the first platform is any one or more of the spatial perception platform, the path planning platform, and the motion control platform. When any one or more of the spatial perception platform, the path planning platform, and the motion control platform fails, the first platform capable of implementing the functions of the failed platform can replace the failed platform, so as to implement the functions of the failed platform during the operation of the intelligent robot and ensure the normal operation of the intelligent robot.
Description
Technical Field
The present application relates to the field of robot control technologies, and in particular, to a method, an apparatus, a device, a robot, and a storage medium for controlling an intelligent robot.
Background
The intelligent robot is a comprehensive system integrating the functions of space sensing, path planning, motion control, execution and the like, and comprises the research achievements of multiple disciplines such as sensor technology, information processing, electronic engineering, computer engineering, automatic control engineering, artificial intelligence and the like. Along with the progress of science and technology, intelligent robot plays an increasingly important role in industry field and daily life field, can replace the manual work to accomplish tasks such as garden security protection, special high-risk work scene inspection. However, various functions of the intelligent robot in the prior art are controlled by the core computing platform, and once the core computing platform fails, the intelligent robot cannot operate.
Disclosure of Invention
Based on the above requirements, the application provides a control method, a control device, electronic equipment and a storage medium for an intelligent robot, so as to solve the problem that in the prior art, once a core computing platform of the intelligent robot fails, the intelligent mobile robot cannot operate.
The technical scheme provided by the application is as follows:
In one aspect, the application provides an intelligent robot, which comprises a space sensing platform, a path planning platform and a motion control platform, wherein the function realized by a first platform in the intelligent robot comprises at least one function realized by other platforms, and the first platform is any one or more of the space sensing platform, the path planning platform and the motion control platform.
Furthermore, the intelligent robot further comprises a first visual sensor and a motion sensor, wherein the first visual sensor and the motion sensor are respectively in communication connection with the space sensing platform.
Furthermore, the intelligent robot further comprises data exchange equipment, and the space perception platform, the path planning platform and the motion control platform are all in communication connection with the data exchange equipment.
Further, the intelligent robot further comprises a second vision sensor, and the second vision sensor is in communication connection with the data exchange equipment.
Further, in the above intelligent robot, if the first platform is the path planning platform, the path planning platform includes a motion control function implemented by the motion control platform;
And if the first platform is the motion control platform, the motion control platform comprises a space perception function realized by the space perception platform and/or a path planning function realized by the path planning platform.
On the other hand, the application also provides a control method of the intelligent robot, which is applied to any one of the intelligent robots, and comprises the following steps:
If the intelligent robot operation fault is detected, determining a target platform from the operation platform of the intelligent robot in normal operation according to the fault content of the operation fault and the fault platform generating the operation fault, so that the target platform replaces the fault platform to realize the function corresponding to the fault content;
the functions which can be realized by the target platform comprise functions corresponding to the fault content.
Further, in the above method, determining the target platform from the operation platforms of the intelligent robot that normally operate includes:
Determining a function corresponding to fault content of the intelligent robot operation fault;
and determining a platform capable of realizing the function corresponding to the fault content from the operation platforms of the normal operation of the intelligent robot as the target platform.
Further, in the above method, in a case where the path planning platform can implement a motion control function of the motion control platform, if a function corresponding to a fault content is the motion control function, determining, from an operation platform in which the intelligent robot normally operates, a platform capable of implementing the function corresponding to the fault content as the target platform includes:
and determining the path planning platform as a target platform.
Further, in the above method, in a case where the motion control platform can implement the path planning function of the path planning platform, if the function corresponding to the fault content is the path planning function, determining, from an operation platform in which the intelligent robot normally operates, a platform capable of implementing the function corresponding to the fault content as the target platform includes:
And determining the motion control platform as a target platform.
Further, in the above method, in a case where the motion control platform can implement a space sensing function of the space sensing platform, if a function corresponding to a fault content is the space sensing function, determining, from an operation platform in which the intelligent robot normally operates, that a platform capable of implementing the function corresponding to the fault content is the target platform, includes:
And determining the motion control platform as a target platform.
Further, in the method described above, the method further includes:
and if the target platform is not determined from the running platforms of the intelligent robot, controlling the intelligent robot to move to a set area according to a set route.
On the other hand, the application also provides a control device of the intelligent robot, which comprises:
The determining module is used for determining a target platform from the operating platforms of the intelligent robot which normally operate according to the fault content of the operating faults and the fault platform which generates the operating faults if the operating faults of the intelligent robot are detected, so that the target platform replaces the fault platform to realize the functions corresponding to the fault content;
the functions which can be realized by the target platform comprise functions corresponding to the fault content.
On the other hand, the application also provides a control device of the intelligent robot, which comprises:
a memory and a processor;
wherein the memory is used for storing programs;
The processor is configured to implement the control method of the intelligent robot according to any one of the above by running the program in the memory.
On the other hand, the application also provides a storage medium, and the storage medium stores a computer program, and when the computer program is executed by a processor, the control method of the intelligent robot is realized.
The intelligent robot provided by the application comprises a space sensing platform, a path planning platform and a motion control platform which are distributed. The functions realized by the first platform in the intelligent robot comprise at least one function realized by other platforms, and the first platform is any one or more of a space sensing platform, a path planning platform and a motion control platform. When any one or more of the space perception platform, the path planning platform and the motion control platform are in fault, the first platform capable of realizing the function of the fault platform can replace the fault platform so as to realize the function of the fault platform in the operation process of the intelligent robot and ensure that the intelligent robot can normally operate.
Drawings
In order to more clearly illustrate the embodiments of the present application 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 application, 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 schematic structural diagram of an intelligent robot according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of another intelligent robot according to an embodiment of the present application;
fig. 3 is a schematic structural diagram of another intelligent robot according to an embodiment of the present application;
fig. 4 is a schematic flow chart of a control method of an intelligent robot according to an embodiment of the present application;
FIG. 5 is a schematic flow chart of determining a target platform according to an embodiment of the present application;
fig. 6 is a schematic structural diagram of a control device of an intelligent robot according to an embodiment of the present application;
Fig. 7 is a schematic structural diagram of a control device for an intelligent robot according to an embodiment of the present application.
Detailed Description
Summary of the application
The technical scheme of the embodiment of the application is suitable for the application scene of fault processing of the intelligent robot, and by adopting the technical scheme of the embodiment of the application, the operation platform of the intelligent robot is distributed to bring computational redundancy to the system, and when one or more operation platforms are in fault, the platform capable of realizing the function of the fault platform can replace the fault platform so as to realize the function of the fault platform in the operation process of the intelligent robot and ensure that the intelligent robot can normally operate.
With the progress of the scientific and technological level, intelligent robots play an increasingly important role in the industrial field and the daily life field of people. At present, intelligent robots can be used for replacing manual work to finish tasks such as security protection of a factor area, security protection of a community, inspection of a special high-risk working scene and the like. In the process of inspection, the intelligent robot needs to acquire a large amount of environment information, and the current position of the intelligent robot is determined by combining a high-precision map preset in the intelligent robot and the environment information acquired by the intelligent robot, so as to plan the travelling route of the intelligent robot.
From a hardware perspective, the intelligent robots in the prior art generally use a stationary instrument to detect the environment, including a stationary infrared camera, an acoustic imager, and the like. The fixed instrument needs to be deployed in multiple points, so that the fixed instrument needs to be deployed in multiple numbers, is high in cost and difficult to maintain in the later period, and is easy to generate dead angles. In addition, most of intelligent robots in the prior art are wheeled robots, the wheeled robots can rapidly travel on flat roads, but in actual working environments of the intelligent robots, the environments of grasslands, gravels, stairs and the like are often faced, and the wheeled robots are inconvenient to operate. From the aspect of software, each function of the intelligent robot in the prior art is controlled by a core computing platform, so that the whole computing power is low, complex road conditions are difficult to effectively cope with, and once the core computing platform of the intelligent robot fails, the intelligent robot cannot operate, and normal use of the intelligent robot is affected.
Based on the above, the application provides a control method, a device, equipment, a robot and a storage medium of an intelligent robot, and the technical scheme improves the overall calculation power of the intelligent robot by distributing operation platforms of the intelligent robot, and when one or more operation platforms are in fault, the fault platform can be replaced by a platform capable of realizing the function of the fault platform so as to realize the function of the fault platform in the operation process of the intelligent robot and ensure that the intelligent robot can normally operate.
In addition, the technical scheme adopts a movable instrument to detect the environment, reduces the cost of instrument deployment and later maintenance, avoids detection dead angles, and adopts a foot type robot to improve the adaptability of the intelligent robot to different terrains.
The following description of the embodiments of the present application 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 application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Exemplary apparatus
As shown in fig. 1, an embodiment of the present application proposes an intelligent robot including a distributed deployment of a space-aware platform 1O, a path planning platform 11, and a motion control platform 12.
The spatial awareness platform 10 may incorporate mapping algorithms, spatial localization algorithms, sensor signal processing algorithms, hardware driven algorithms, and the like. Based on the above algorithm, the spatial perception platform 10 is able to generate a map of the working area where the intelligent robot is located based on the current environmental information, and determine the specific location of the intelligent robot in the working area.
The sensor signal processing algorithm is used for acquiring current environment information and processing the environment information. The environment information comprises visual information of the current environment, current motion information of the intelligent robot and the like. The visual information of the current environment comprises radar information, image information and the like of the current environment, and the motion information of the intelligent robot comprises acceleration, rotation angle and the like of the intelligent robot.
The mapping algorithm is used for generating a high-precision map of the working area on line by using the processed environment information. In this embodiment, the distributed deployment makes the space awareness platform 10 have a computational redundancy, so as to achieve the purpose of generating a high-precision map online. Compared with the mode of establishing the high-precision map of the working area in the early deployment stage in the prior art, the high-precision map is generated online in the embodiment, so that the flexibility of the intelligent robot can be improved. For example, when a certain line in the working area cannot pass, in the prior art, a manner of establishing a high-precision map of the working area in a pre-deployment stage requires intervention of a worker to manually set the non-passable area, and the manner provided by the embodiment can automatically determine the non-passable route when the map is generated, so that the flexibility is higher.
The space positioning algorithm is used for determining the current position of the intelligent robot by using the processed environment information.
The hardware driving algorithm may drive the various sensor devices for detecting environmental information. In this embodiment, the real-time requirement on the environmental information is high, so, in order to obtain the environmental information with high stability and high real-time, in this embodiment, the hardware interface and the hardware driving algorithm of the sensor device are both deployed on the space sensing platform 10, and the environmental information does not pass through other platforms, so that not only can the efficient transmission of the environmental information data be ensured, but also packet loss can be avoided. Therefore, in this embodiment, the extraction and the processing of the environmental information are performed on the spatial perception platform 10 at the same time, so that the instantaneity and the transmission efficiency of the environmental information can be effectively improved. In addition, the hardware driving algorithm may further include an algorithm for driving an external device such as a motor, which is not limited in this embodiment.
The spatially aware platform 10 may employ integrated circuits such as NX chips, RK3588 chips, and the like. The space sensing platform 10 may be provided with a network port so that the space sensing platform 10 can be connected with a network, and the space sensing platform 10 may be further provided with a usb interface so that external devices such as sensor devices and the like can be connected through the usb interface.
The path planning platform 11 may have built-in path planning algorithms and hardware driven algorithms. The path planning algorithm is used for generating path planning information based on map information determined by the space perception platform 10, current position information of the intelligent robot, set target position information and the like. The path planning information comprises a speed instruction, a steering instruction and the like of the intelligent robot. The hardware driving algorithm is used to drive an external device such as a motor, etc., and the present embodiment is not limited.
For example, the path planning platform 11 may acquire map information from the space sensing platform 10 and current location information of the intelligent robot through an RJ45 communication protocol, and the path planning platform 11 subscribes to the map information and the current location information. In this embodiment, the real-time requirements for map information and the current location information of the intelligent robot are low compared with the environment information in the above embodiment, so that the use of the communication protocol for information transfer does not bring about larger delay and packet loss, and the system can run stably.
The path planning stage 11 may also employ integrated circuits such as NX chips, RK3588 chips, etc. The path planning platform 11 may set a network port so that the path planning platform 11 can connect to a network, and the path planning platform 11 may also set a usb interface so that external devices can be connected through the usb interface.
The motion control platform 12 may incorporate motion control algorithms and hardware driven algorithms. The motion control algorithm is used for generating a bottom layer control instruction based on the path planning information determined by the path planning platform 11, and controlling bottom layer motion equipment to operate according to the bottom layer control instruction. The bottom layer movement equipment is a movement mechanism composed of a motor and a mechanical structure, and can operate according to a bottom layer control instruction, so that the purpose of driving the intelligent robot to move is achieved. The hardware driving algorithm is used to drive an external device such as a motor, etc., and the present embodiment is not limited.
The motion control platform 12 may also employ integrated circuits such as, for example, an NX chip, an RK3588 chip, or the like. The motion control platform 12 may be provided with a portal so that the motion control platform 12 can connect to a network, and the motion control platform 12 may also be provided with a uSb interface so that external devices can be connected through a usb interface.
It should be noted that, the map-building algorithm, the spatial positioning algorithm, the sensor signal processing algorithm, the hardware driving algorithm, the path planning algorithm, and the motion control algorithm may be algorithms capable of implementing the specific functions in the prior art, which is not limited in this embodiment.
In this embodiment, the functions implemented by the first platform in the intelligent robot of this embodiment include at least one function implemented by other platforms, where the first platform is any one or more of the space perception platform 10, the path planning platform 11, and the motion control platform 12.
Specifically, through the distributed deployment of the space perception platform 10, the path planning platform 11 and the motion control platform 12, computational redundancy is brought to each platform, so that algorithms of other platforms can be arranged in any one or more platforms or the algorithms can be simplified, functions of the other platforms can be realized, when a certain platform fails, a target platform capable of realizing the failure function of the failure platform can be adopted to replace the failure platform, and the failure function is realized on the target platform.
The intelligent robot of the above embodiment comprises a distributed arrangement of a space aware platform 10, a path planning platform 11 and a motion control platform 12. The functions implemented by the first platform in the intelligent robot include at least one function implemented by other platforms, and the first platform is any one or more of a space perception platform 10, a path planning platform 11 and a motion control platform 12. When any one or more of the space perception platform 10, the path planning platform 11 and the motion control platform 12 is in fault, the first platform capable of realizing the function of the fault platform can replace the fault platform so as to realize the function of the fault platform in the operation process of the intelligent robot and ensure that the intelligent robot can normally operate.
As an alternative implementation, as shown in fig. 2, in another embodiment of the present application, the intelligent robot of the above embodiment further includes a first vision sensor 13 and a motion sensor 14. Wherein the first vision sensor 13 and the motion sensor 14 are both communicatively coupled to the spatially aware platform 10 of the above embodiment.
Specifically, the first vision sensor 13 and the motion sensor 14 are the sensor devices of the above embodiments for acquiring environmental information. Wherein the first vision sensor 13 may comprise a depth camera, an ultrasonic radar or the like, and the motion sensor 14 comprises an inertial measurement unit (Inertial Measurement Unit, IMU) or the like.
The equipment such as depth camera, ultrasonic radar can be movable be disposed on intelligent robot, for example set up the depth camera, ultrasonic radar can 360 degrees rotations, can reduce the quantity of equipment such as depth camera, ultrasonic radar of deployment, not only can reduce the cost of later maintenance, can also avoid detecting the dead angle.
In the above embodiment, by providing the first vision sensor 13 and the motion sensor 14, high-precision environmental information of the area where the intelligent robot is located can be acquired.
As an alternative implementation, the intelligent robot may employ a foot robot, for example a four-foot robot, to enhance the adaptability of the intelligent robot to the ground environment of grass, gravel, stairs, etc.
As an alternative implementation, as shown in fig. 2, in another embodiment of the present application, the intelligent robot of the above embodiment further includes a data exchange device 15. The space perception platform 10, the path planning platform 11, the motion control platform 12 and the bottom layer operation device of the above embodiment are all in communication connection with the data exchange device, so that the space perception platform 10, the path planning platform 11, the motion control platform 12 and the bottom layer operation device can perform data communication through the data exchange device 15.
The data switching device 15 may be a switch or a data bus, for example, and the present embodiment is not limited thereto.
In the above embodiment, by setting the data exchange device 15, the space perception platform 10, the path planning platform 11, the motion control platform 12 and the bottom layer operation device can perform data communication between each other, so that when a certain platform fails, the first platform capable of realizing the function of the failed platform can replace the failed platform, and the intelligent robot can be ensured to operate normally.
As an alternative implementation, as shown in fig. 2, in another embodiment of the present application, the intelligent robot of the above embodiment further includes a second vision sensor 16. The second vision sensor 16 is communicatively connected to the data exchange device 15 such that the second vision sensor 16 is capable of data interaction with the spatial perception platform 10, the path planning platform 11 and the motion control platform 12, respectively, via the data exchange device 15. When the space perception platform 10 is a fault platform, the second vision sensor 16 can collect environmental information, and the second vision sensor 16 sends the environmental information to the first platform capable of realizing the function of the fault platform through the data exchange device 15, so that the first platform can realize the purposes of replacing the space perception platform 10 and ensuring that the intelligent robot can normally operate.
The second vision sensor 16 may be the same as the first vision sensor 13, including a depth camera, an ultrasonic radar, and the like, and the second vision sensor 16 may include only a radar device, as shown in fig. 2, which is not limited in this embodiment.
As an alternative implementation, as shown in fig. 3, in another embodiment of the present application, if the first platform is the path planning platform 11, the path planning platform 11 includes a motion control function implemented by the motion control platform 12. It should be noted that the motion control platform 12 implements a motion control function based on a motion control algorithm.
In particular, the path planning platform 11 may include all algorithms or simplified algorithms of the motion control platform 12 for implementing the motion control function, that is, the path planning platform 11 may include all motion control algorithms or simplified motion control algorithms in the motion control platform 12, which is not limited in this embodiment.
When a failure of the motion control platform 12 is detected, and the motion control platform 12 cannot realize the motion control function, the path planning platform 11 can execute all the stored motion control algorithms or simplified motion control algorithms to realize the motion control function.
As an alternative implementation, as shown in fig. 3, in another embodiment of the present application, if the first platform is the motion control platform 12, the motion control platform 12 includes a spatial perception function implemented by the spatial perception platform 10 and/or a path planning function implemented by the path planning platform 11 is disclosed. The space perception platform 10 realizes a space perception function based on a mapping algorithm and a space positioning algorithm, and the path planning platform 11 realizes a path planning function based on a path planning algorithm.
Specifically, the motion control platform 12 may include all algorithms or simplified algorithms of the spatial perception platform 10 for implementing the spatial perception function, that is, the motion control platform 12 may include all mapping algorithms, spatial positioning algorithms or simplified mapping algorithms, spatial positioning algorithms in the spatial perception platform 10, which is not limited in this embodiment. When it is detected that the space perception platform 10 fails, and the space perception platform 10 cannot realize the space perception function, the motion control platform 12 may execute all the stored mapping algorithm, the space positioning algorithm or the simplified mapping algorithm, the space positioning algorithm to realize the space perception function.
The motion control platform 12 may include all algorithms or simplified algorithms of the path planning platform 11 for implementing the path planning function, that is, the motion control platform 12 may include all path planning algorithms or simplified path planning algorithms in the path planning platform 11, which is not limited in this embodiment. When it is detected that the path planning platform 11 fails, and the path planning platform 11 cannot implement the path planning function, the motion control platform 12 may execute all the stored path planning algorithms or simplified path planning algorithms to implement the path planning function.
As an alternative implementation, as shown in fig. 3, in another embodiment of the present application, it is disclosed that the spatial awareness platform 10, the path planning platform 11, and the motion control platform 12 may all deploy a tracking algorithm. When detecting that two platforms of the space sensing platform 10, the path planning platform 11 and the motion control platform 12 are in failure, a tracking algorithm in the rest non-failure platforms can be triggered, and the intelligent robot is controlled to return to a set place according to a set route, so that the maintenance of staff is facilitated.
As an alternative implementation manner, in another embodiment of the present application, it is disclosed that if the first platform is the space-aware platform 10, the space-aware platform 10 may include all algorithms or simplified algorithms of the path planning platform 11 for implementing the path planning function, and/or all algorithms or simplified algorithms of the motion control platform 12 for implementing the motion control function, and when the path planning platform 11 and/or the motion control platform 12 fail, the space-aware platform 10 executes all or simplified path planning algorithms stored therein, implements the path planning function, and/or executes all or simplified motion control algorithms stored therein, implementing the motion control function.
As an alternative implementation manner, in another embodiment of the present application, it is disclosed that, if the first platform is the path planning platform 11, the path planning platform 11 may include all algorithms or simplified algorithms of the spatial perception platform 10 for implementing the spatial perception function, and/or all algorithms or simplified algorithms of the motion control platform 12 for implementing the motion control function, and when the spatial perception platform 10 and/or the motion control platform 12 fail, the path planning platform 11 executes all of the spatial perception algorithms or the simplified spatial perception algorithms stored therein, implements the spatial perception function, and/or executes all of the motion control algorithms or the simplified motion control algorithms stored therein, to implement the motion control function.
Exemplary method
The embodiment of the application provides a control method of an intelligent robot, which can be executed by the intelligent robot in the embodiment. Referring to fig. 4, the method includes:
S401, if the intelligent robot operation fault is detected, determining a target platform from the operation platform of the intelligent robot in normal operation according to the fault content of the operation fault and the fault platform generating the operation fault, so that the target platform replaces the fault platform to realize the function corresponding to the fault content.
In the embodiment of the application, the intelligent robot can detect whether each platform of the intelligent robot has operation faults in real time, wherein a fault detection algorithm can be arranged in one or more of a space sensing platform, a motion planning platform and a motion control platform of the intelligent robot to detect whether each platform of the intelligent robot has faults, or a control device of the intelligent robot specially used for fault detection can be arranged, and the fault detection algorithm is arranged in the control device of the intelligent robot to detect whether each platform of the intelligent robot has faults.
For example, when detecting that the deviation of the positioning information output by the space sensing platform exceeds the normal moving speed of the intelligent robot or the positioning information of the intelligent robot cannot be output within a certain period of time, determining that the space sensing platform is faulty. It should be noted that the deviation of the positioning information exceeding the normal moving speed of the intelligent robot means that the speed of the intelligent robot moving from the current position of the intelligent robot to the position corresponding to the positioning information output by the space sensing platform according to the set time exceeds the maximum moving speed of the intelligent robot.
And when detecting that the speed and/or the rotation angle of the intelligent robot are abnormal, indicating that the path planning platform is faulty.
When the conditions that the intelligent robot cannot be started, cannot stand, falls down or is abnormal in posture and the like are detected, the fault of the motion control platform is determined.
When an operation fault of the intelligent robot is detected, in the embodiment of the application, the target platform can be determined from the operation platform of the normal operation of the intelligent robot according to the fault content of the operation fault and the fault platform generating the operation fault, wherein the functions which can be realized by the target platform comprise functions corresponding to the fault content, so that the target platform replaces the fault platform to realize the functions corresponding to the fault content.
In the above embodiment, if the operation failure of the intelligent robot is detected, the target platform is determined from the operation platform of the normal operation of the intelligent robot according to the failure content of the operation failure and the failure platform generating the operation failure, so that the target platform replaces the failure platform to realize the function corresponding to the failure content, thereby realizing the function of the failure platform in the operation process of the intelligent robot, and ensuring that the intelligent robot can normally operate.
As an alternative implementation manner, as shown in fig. 5, in another embodiment of the present application, the steps of the above embodiment determine a target platform from the operation platforms where the intelligent robot normally operates, and may specifically include the following steps:
s501, determining a function corresponding to fault content of the intelligent robot operation fault.
S502, determining a platform capable of realizing functions corresponding to fault contents from operation platforms of normal operation of the intelligent robot as a target platform.
Specifically, after detecting an operation fault of the intelligent robot and a fault content of the operation fault in this embodiment, a function corresponding to the fault content of the operation fault of the intelligent robot is further determined, so that a target platform capable of realizing the fault function is determined from the operation platforms that normally operate.
In an exemplary case that the path planning platform can realize the motion control function of the motion control platform, if the function corresponding to the fault content is the motion control function, determining the platform capable of realizing the function corresponding to the fault content from the operation platform of the intelligent robot in normal operation as the target platform includes determining the path planning platform as the target platform.
In particular, all algorithms or simplified algorithms for implementing motion control functions may be deployed in the path planning platform. When the motion control platform is detected to be out of order, and the motion control platform cannot realize the motion control function, the path planning platform can be determined to be a target platform, so that the path planning platform executes all the stored motion control algorithms or simplified motion control algorithms, and the motion control function is realized.
In another example, if a simplified algorithm for implementing a motion control function is deployed in the path planning platform, when the motion control platform fails, the simplified algorithm for implementing the motion control function deployed in the path planning platform is started, a simple movement instruction is executed, adaptability to multiple terrains is lost, and the rest of the platforms still work normally.
In an exemplary case that the motion control platform can realize the path planning function of the path planning platform, if the function corresponding to the fault content is the path planning function, determining the platform capable of realizing the function corresponding to the fault content from the operation platform of the intelligent robot in normal operation as the target platform includes determining the motion control platform as the target platform.
In particular, all or a simplified algorithm for implementing the path planning function may be deployed in the motion control platform. When the path planning platform is detected to be faulty, and the path planning platform cannot realize the path planning function, the motion control platform can be determined to be a target platform, so that the motion control platform executes all stored path planning algorithms or simplified path planning algorithms, and the path planning function is realized.
In another exemplary embodiment, if a simplified algorithm for implementing a path planning function is deployed in the motion control platform, when the path planning platform fails, the simplified algorithm for implementing the path planning function deployed in the motion control platform is started, and at this time, the intelligent robot gives up execution tasks and returns to a set place in time for maintenance according to positioning information, and the rest of platform modules work normally. The set location may be a set maintenance location or a task start point, and the embodiment is not limited thereto.
In an exemplary case that the motion control platform can realize the space sensing function of the space sensing platform, if the function corresponding to the fault content is the space sensing function, determining the platform capable of realizing the function corresponding to the fault content from the operation platform of the intelligent robot in normal operation as the target platform includes determining the motion control platform as the target platform.
In particular, all or a simplified algorithm for implementing the spatial perception function may be deployed in a motion control platform. When the space sensing platform is detected to be faulty, and the space sensing platform cannot realize the space sensing function, the motion control platform can be determined to be a target platform, so that the motion control platform executes all stored space sensing algorithms or simplified space sensing algorithms, and the space sensing function is realized.
In another example, if a simplified algorithm for implementing a space sensing function is deployed in the motion control platform, when the space sensing platform fails, the second vision sensor is started to acquire environmental information, and the simplified algorithm for implementing the space sensing function deployed in the motion control platform is started. Meanwhile, the motion control algorithm on the motion control platform occupies small calculation force, and the simplified algorithm for realizing the space sensing function cannot cause excessive calculation force and system breakdown after being started.
In another embodiment of the present application, a control method of the intelligent robot according to the above embodiment may specifically include the step of controlling the intelligent robot to move to a set area according to a set route if a target platform is not determined from running platforms in which the intelligent robot normally operates.
Specifically, if the target platform cannot be determined from the operation platform of the intelligent robot in normal operation, the intelligent robot is controlled to move to a set area according to a set route. That is, when a certain platform fails and a platform that can replace the failed platform fails, the target platform cannot be determined, and the intelligent robot can be controlled to move to a set area according to a set route.
For example, if the motion control platform can realize the spatial perception function of the spatial perception platform, the function corresponding to the fault content is the spatial perception function, the motion control platform may be determined as the target platform, but if the motion control platform also fails at this time, the target platform cannot be determined, and the intelligent robot is controlled to move to the set area according to the set route.
In another example, if the motion control platform can implement the path planning function of the path planning platform, the function corresponding to the fault content is the path planning function, the motion control platform may be determined as the target platform, but if the motion control platform also fails at this time, the target platform cannot be determined, and the intelligent robot is controlled to move to the set area according to the set route.
In addition, if at least two platforms are in fault, the intelligent robot can be controlled to move to a set area according to a set route, so that the maintenance of staff is facilitated.
The setting area may be a task start point or a nearest repair point, which is not limited in this embodiment.
Exemplary apparatus, devices, and computer program products
Corresponding to the control method of the intelligent robot, the embodiment of the application also discloses a control device of the intelligent robot, as shown in fig. 6, which comprises:
The determining module 100 determines a target platform from the operating platforms of the intelligent robot which normally operate according to the fault content of the operating fault and the fault platform generating the operating fault if the operating fault of the intelligent robot is detected, so that the target platform replaces the fault platform to realize the function corresponding to the fault content;
the functions which can be realized by the target platform comprise functions corresponding to fault contents.
As an alternative implementation, in another embodiment of the present application, a determining module 100 is disclosed, including:
the first determining unit is used for determining a function corresponding to fault content of the intelligent robot operation fault;
and the second determining unit is used for determining a platform which can realize the function corresponding to the fault content from the operating platforms of the intelligent robot in normal operation as a target platform.
As an optional implementation manner, in another embodiment of the present application, it is disclosed that, in a case where the path planning platform is capable of implementing a motion control function of the motion control platform, if a function corresponding to the fault content is the motion control function, the second determining unit determines, from an operation platform in which the intelligent robot normally operates, that the platform capable of implementing the function corresponding to the fault content is a target platform, and is specifically configured to determine the path planning platform as the target platform.
As an optional implementation manner, in another embodiment of the present application, it is disclosed that, in a case where the motion control platform is capable of implementing a path planning function of the path planning platform, if a function corresponding to the fault content is the path planning function, the second determining unit determines, from an operation platform in which the intelligent robot normally operates, that the platform capable of implementing the function corresponding to the fault content is a target platform, and is specifically configured to determine the motion control platform as the target platform.
As an optional implementation manner, in another embodiment of the present application, it is disclosed that, in a case where the motion control platform is capable of implementing a space sensing function of the space sensing platform, if a function corresponding to the fault content is the space sensing function, the second determining unit determines, from an operation platform in which the intelligent robot normally operates, that a platform capable of implementing the function corresponding to the fault content is a target platform, and is specifically configured to determine the motion control platform as the target platform.
Specifically, for the specific working content of each unit of the control device of the intelligent robot, please refer to the content of the above method embodiment, which is not described herein again.
Another embodiment of the present application also proposes a control device for an intelligent robot, as shown in fig. 7, including:
A memory 200 and a processor 210;
wherein the memory 200 is connected to the processor 210 for storing a program;
The processor 210 is configured to implement the control method of the intelligent robot disclosed in any of the above embodiments by running the program stored in the memory 200.
Specifically, the control device of the intelligent robot may further include a bus, a communication interface 220, an input device 230, and an output device 240.
The processor 210, the memory 200, the communication interface 220, the input device 230, and the output device 240 are interconnected by a bus. Wherein:
a bus may comprise a path that communicates information between components of a computer system.
Processor 210 may be a general-purpose processor, such as a general-purpose Central Processing Unit (CPU), microprocessor, etc., or may be an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs in accordance with aspects of the present application. But may also be a Digital Signal Processor (DSP), application Specific Integrated Circuit (ASIC), an off-the-shelf programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components.
Processor 210 may include a main processor, and may also include a baseband chip, modem, and the like.
The memory 200 stores programs for implementing the technical scheme of the present application, and may also store an operating system and other key services. In particular, the program may include program code including computer-operating instructions. More specifically, memory 200 may include read-only memory (ROM), other types of static storage devices that may store static information and instructions, random access memory (random access memory, RAM), other types of dynamic storage devices that may store information and instructions, disk storage, flash, and the like.
The input device 230 may include means for receiving data and information entered by a user, such as a keyboard, mouse, camera, scanner, light pen, voice input device, touch screen, pedometer, or gravity sensor, among others.
Output device 240 may include means, such as a display screen, printer, speakers, etc., that allow information to be output to a user.
The communication interface 220 may include devices using any transceiver or the like for communicating with other devices or communication networks, such as ethernet, radio Access Network (RAN), wireless Local Area Network (WLAN), etc.
The processor 210 executes the program stored in the memory 200 and invokes other devices, which can be used to implement the steps of the control method of the intelligent robot provided in the above embodiment of the present application.
In addition to the above-described methods and apparatus, embodiments of the present application may also be a computer program product comprising computer program instructions which, when executed by the processor 210, cause the processor 210 to perform the steps of the control method of the intelligent robot provided by the above-described embodiments.
The computer program product may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
Furthermore, embodiments of the present application may also be a computer-readable storage medium, on which computer program instructions are stored, which, when being executed by a processor, cause the processor 210 to perform the steps of the control method of the intelligent robot provided by the above embodiments.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of a readable storage medium include an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
Specifically, the specific working content of each part of the control device, the storage medium and the computer program product of the above-mentioned intelligent robot, and the specific processing content of the computer program product or the computer program on the storage medium when being executed by the processor can be referred to the content of each embodiment of the control method of the above-mentioned intelligent robot, which is not described herein again.
For the foregoing method embodiments, for simplicity of explanation, the methodologies are shown as a series of acts, but one of ordinary skill in the art will appreciate that the present application is not limited by the order of acts, as some steps may, in accordance with the present application, occur in other orders or concurrently. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required for the present application.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For the apparatus class embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference is made to the description of the method embodiments for relevant points.
The steps in the method of each embodiment of the application can be sequentially adjusted, combined and deleted according to actual needs, and the technical features described in each embodiment can be replaced or combined.
The modules and the submodules in the device and the terminal of the embodiments of the application can be combined, divided and deleted according to actual needs.
In the embodiments provided in the present application, it should be understood that the disclosed terminal, apparatus and method may be implemented in other manners. For example, the above-described terminal embodiments are merely illustrative, and for example, the division of modules or sub-modules is merely a logical function division, and there may be other manners of division in actual implementation, for example, multiple sub-modules or modules may be combined or integrated into another module, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.
The modules or sub-modules illustrated as separate components may or may not be physically separate, and components that are modules or sub-modules may or may not be physical modules or sub-modules, i.e., may be located in one place, or may be distributed over multiple network modules or sub-modules. Some or all of the modules or sub-modules may be selected according to actual needs to achieve the purpose of the embodiment.
In addition, each functional module or sub-module in the embodiments of the present application may be integrated in one processing module, or each module or sub-module may exist alone physically, or two or more modules or sub-modules may be integrated in one module. The integrated modules or sub-modules may be implemented in hardware or in software functional modules or sub-modules.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative elements and steps are described above generally in terms of functionality in order to clearly illustrate the interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software unit executed by a processor, or in a combination of the two. The software elements may be disposed in Random Access Memory (RAM), memory, read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
Finally, it is further noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. 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 application. Thus, the present application 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.
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| CN102789187B (en) * | 2012-07-05 | 2014-12-10 | 华为技术有限公司 | Identification method for pan-tilt equipment, pan-tilt equipment, camera and control system for pan-tilt equipment |
| JP2016019281A (en) * | 2014-07-07 | 2016-02-01 | ベドロック・オートメーション・プラットフォームズ・インコーポレーテッド | Operator action certification for industrial control systems |
| WO2018207293A1 (en) * | 2017-05-10 | 2018-11-15 | 三菱電機株式会社 | Control device and alternative selection program |
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