CN113568812B

CN113568812B - State detection method and device for intelligent robot

Info

Publication number: CN113568812B
Application number: CN202110862083.5A
Authority: CN
Inventors: 吴警
Original assignee: Beijing QIYI Century Science and Technology Co Ltd
Current assignee: Beijing QIYI Century Science and Technology Co Ltd
Priority date: 2021-07-29
Filing date: 2021-07-29
Publication date: 2024-06-07
Anticipated expiration: 2041-07-29
Also published as: CN113568812A

Abstract

The embodiment of the invention provides a state detection method and device of an intelligent robot, wherein the method comprises the following steps: acquiring current first equipment state data of an intelligent robot to be detected; wherein the first device state data comprises: the time length between the time when the heartbeat message is sent last time and the current time, the occupancy rate of the memory and the utilization rate of the CPU are received; determining whether the current equipment performance of the intelligent robot is in an abnormal state or not according to the first equipment state data and a preset abnormal working state identification condition; and if the current equipment performance of the intelligent robot is in an abnormal state, alarming in a first alarming mode. Based on the method provided by the embodiment of the invention, whether the equipment performance of the intelligent robot is in an abnormal state or not can be effectively detected, and an alarm can be given when the equipment performance of the intelligent robot is in the abnormal state.

Description

State detection method and device for intelligent robot

Technical Field

The invention relates to the technical field of intelligent machines, in particular to a state detection method and device of an intelligent robot.

Background

With the rapid development of industrial technology, intelligent robots can be used instead of people in industrial production to perform some operations that are monotonous, frequent and repeated for a long time, or operations in dangerous and severe environments. For example, intelligent robots may be used to perform corresponding process operations in machining, metal fabrication, and simple assembly.

In order to ensure the sequential production, the health state of the intelligent robot needs to be detected to determine the current working state of the intelligent robot, so that the intelligent robot can be maintained in time according to the current working state of the intelligent robot.

Disclosure of Invention

The embodiment of the invention aims to provide a state detection method and device for an intelligent robot, which can effectively detect whether the equipment performance of the intelligent robot is in an abnormal state or not and can give an alarm when in the abnormal state. The specific technical scheme is as follows:

In a first aspect of the present invention, there is provided a method for detecting a state of an intelligent robot, the method including:

Acquiring current first equipment state data of an intelligent robot to be detected; wherein the first device state data comprises: the time length between the time when the heartbeat message is sent last time and the current time, the occupancy rate of the memory and the utilization rate of the CPU are received;

Determining whether the current equipment performance of the intelligent robot is in an abnormal state or not according to the first equipment state data and a preset abnormal working state identification condition;

and if the current equipment performance of the intelligent robot is in an abnormal state, alarming in a first alarming mode.

Optionally, determining whether the current device performance of the intelligent robot is in an abnormal state according to the first device state data and a preset abnormal working state identification condition includes:

Normalizing the first equipment state data to obtain a corresponding feature vector serving as a first feature vector to be detected;

calculating the similarity between the first feature vector to be detected and a first abnormal feature vector corresponding to the preset abnormal equipment performance;

If the calculated similarity is greater than a first threshold value, determining that the current equipment performance of the intelligent robot is in an abnormal state;

And if the calculated similarity is not greater than a first threshold value, determining that the current equipment performance of the intelligent robot is in a non-abnormal state.

Optionally, the method further comprises:

when a preset detection period is reached, acquiring second equipment state data of the intelligent robot in the current detection period; wherein the second device status data comprises at least one of: the intelligent robot is provided with an environment temperature at which the intelligent robot is currently located, a current inclination angle of the intelligent robot and specified detection parameters of a current detection period; the specified detection parameters of the current detection period are as follows: based on the displacement detection parameter of the previous detection period and the displacement of the intelligent robot in the current detection period;

Determining whether the current working environment of the intelligent robot is in an abnormal state or not based on the second equipment state data and a preset abnormal working environment identification condition;

and if the current working environment of the intelligent robot is in an abnormal state, alarming in a second alarming mode.

Optionally, based on the second device state data and a preset abnormal working environment identification condition, determining whether the current working environment of the intelligent robot is in an abnormal state includes:

Normalizing the second equipment state data to obtain a corresponding feature vector serving as a second feature vector to be detected;

Calculating the similarity between the second feature vector to be detected and a second abnormal feature vector corresponding to a preset abnormal working environment;

If the calculated similarity is greater than a second threshold value, determining that the current working environment of the intelligent robot is in an abnormal state;

and if the calculated similarity is not greater than a second threshold value, determining that the current working environment of the intelligent robot is in a non-abnormal state.

Optionally, if the current working environment of the intelligent robot is in an abnormal state, alarming in a second alarming mode includes:

If the current working environment of the intelligent robot is in an abnormal state, broadcasting and sending a first alarm signal in a first preset range, so that alarm equipment in the first preset range alarms in a second alarm mode after receiving the first alarm signal;

If the first alarm signal is not received within a first preset time after the first alarm signal is sent, broadcasting and sending the first alarm signal within a second preset range, so that alarm equipment within the second preset range alarms in a second alarm mode after receiving the first alarm signal; wherein the second preset range is greater than the first preset range.

Optionally, the method further comprises:

When the preset detection period is reached, acquiring a specified detection parameter of the previous detection period as a first specified detection parameter, and acquiring the displacement of the intelligent robot in the current detection period as a first displacement;

if the first displacement is smaller than a first preset distance, taking the sum of the first specified detection parameter and the first numerical value as the specified detection parameter of the current detection period;

If the first displacement is not smaller than the first preset distance and smaller than the second preset distance, the first appointed detection parameter is used as the appointed detection parameter of the current detection period; wherein the first preset distance is smaller than the second preset distance;

if the first displacement is not smaller than the second preset distance, setting the appointed detection parameter of the current detection period to be a preset value which indicates that the displacement of the intelligent robot is in a non-abnormal state.

Optionally, if the current device performance of the intelligent robot is in an abnormal state, alarming in a first alarming mode includes:

If the current equipment performance of the intelligent robot is in an abnormal state, broadcasting and sending a second alarm signal in a third preset range, so that after receiving the second alarm signal, alarm equipment in the third preset range alarms in a first alarm mode; and sending a message indicating that the current equipment performance of the intelligent robot is in an abnormal state to a preset mobile terminal;

If the second alarm signal is not received within a second preset time after the second alarm signal is sent, broadcasting and sending the second alarm signal within a fourth preset range, so that alarm equipment within the fourth preset range alarms in a first alarm mode after receiving the second alarm signal; wherein the fourth preset range is greater than the third preset range.

In a second aspect of the present invention, there is also provided a state detection device of an intelligent robot, the device including:

the first equipment state data acquisition module is used for acquiring current first equipment state data of the intelligent robot to be detected; wherein the first device state data comprises: the time length between the time when the heartbeat message is sent last time and the current time, the occupancy rate of the memory and the utilization rate of the CPU are received;

The device performance determining module is used for determining whether the current device performance of the intelligent robot is in an abnormal state or not according to the first device state data and a preset abnormal working state identification condition;

and the first alarming module is used for alarming in a first alarming mode if the current equipment performance of the intelligent robot is in an abnormal state.

Optionally, the device performance determining module includes:

The first to-be-detected feature vector determining submodule is used for carrying out normalization processing on the first equipment state data to obtain a corresponding feature vector serving as a first to-be-detected feature vector;

the first similarity determination submodule is used for calculating the similarity between the first feature vector to be detected and a first abnormal feature vector corresponding to the preset abnormal equipment performance;

the equipment performance abnormal state determining submodule is used for determining that the current equipment performance of the intelligent robot is in an abnormal state if the calculated similarity is larger than a first threshold value;

and the equipment performance non-abnormal state determining submodule is further used for determining that the current equipment performance of the intelligent robot is in a non-abnormal state if the calculated similarity is not greater than a first threshold value.

Optionally, the apparatus further includes:

The second equipment state data acquisition module is used for acquiring second equipment state data of the intelligent robot in the current detection period when the preset detection period is reached; wherein the second device status data comprises at least one of: the intelligent robot is provided with an environment temperature at which the intelligent robot is currently located, a current inclination angle of the intelligent robot and specified detection parameters of a current detection period; the specified detection parameters of the current detection period are as follows: based on the displacement detection parameter of the previous detection period and the displacement of the intelligent robot in the current detection period;

The working environment determining module is used for determining whether the current working environment of the intelligent robot is in an abnormal state or not based on the second equipment state data and a preset abnormal working environment identification condition;

And the second alarm module is used for alarming in a second alarm mode if the current working environment of the intelligent robot is in an abnormal state.

Optionally, the working environment determining module includes:

the second to-be-detected feature vector determining submodule is used for carrying out normalization processing on the second equipment state data to obtain a corresponding feature vector serving as a second to-be-detected feature vector;

The second similarity determination submodule is used for calculating the similarity between the second feature vector to be detected and a second abnormal feature vector corresponding to a preset abnormal working environment;

The working environment abnormal state determining submodule is used for determining that the current working environment of the intelligent robot is in an abnormal state if the calculated similarity is larger than a second threshold value;

and the working environment non-abnormal state determining submodule is further used for determining that the current working environment of the intelligent robot is in a non-abnormal state if the calculated similarity is not greater than a second threshold value.

Optionally, the second alarm module is specifically configured to broadcast and send a first alarm signal in a first preset range if the current working environment of the intelligent robot is in an abnormal state, so that after receiving the first alarm signal, an alarm device in the first preset range alarms in a second alarm mode;

Optionally, the apparatus further includes:

The parameter acquisition module is used for acquiring specified detection parameters of a previous detection period as first specified detection parameters when a preset detection period is reached, and acquiring displacement of the intelligent robot in a current detection period as first displacement;

the specified detection parameter determining module is used for taking the sum of the first specified detection parameter and the first numerical value as the specified detection parameter of the current detection period if the first displacement is smaller than a first preset distance;

The specified detection parameter determining module is further configured to use the first specified detection parameter as a specified detection parameter of the current detection period if the first displacement is not less than a first preset distance and is less than a second preset distance; wherein the first preset distance is smaller than the second preset distance;

The specified detection parameter determining module is further configured to set a specified detection parameter of a current detection period to a preset value indicating that the displacement of the intelligent robot is in a non-abnormal state if the first displacement is not less than a second preset distance. Optionally, the first alarm module is specifically configured to broadcast and send a second alarm signal in a third preset range if the current device performance of the intelligent robot is in an abnormal state, so that after receiving the second alarm signal, an alarm device in the third preset range alarms in a first alarm mode; and sending a message indicating that the current equipment performance of the intelligent robot is in an abnormal state to a preset mobile terminal;

In still another aspect of the present invention, there is further provided a computer readable storage medium, in which a computer program is stored, the computer program implementing the method for detecting a state of an intelligent robot according to any one of the above when executed by a processor.

In yet another aspect of the present invention, there is also provided a computer program product containing instructions that, when run on a computer, cause the computer to perform the method of detecting the state of an intelligent robot as described in any of the above.

By adopting the method provided by the embodiment of the invention, the current first equipment state data of the intelligent robot to be detected is obtained; wherein the first device state data comprises: the time length between the time when the heartbeat message is sent last time and the current time, the occupancy rate of the memory and the utilization rate of the CPU are received; determining whether the current equipment performance of the intelligent robot is in an abnormal state or not according to the first equipment state data and a preset abnormal working state identification condition; and if the current equipment performance of the intelligent robot is in an abnormal state, alarming in a first alarming mode.

Based on the method provided by the embodiment of the invention, whether the equipment performance of the intelligent robot is in an abnormal state or not can be effectively detected, and an alarm can be given when the equipment performance of the intelligent robot is in the abnormal state.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below.

FIG. 1 is a flow chart of a method for detecting the state of an intelligent robot according to an embodiment of the invention;

FIG. 2 is a flowchart of another method for detecting the state of an intelligent robot according to an embodiment of the present invention;

FIG. 3 is a flow chart of a method for detecting the working environment of an intelligent robot according to an embodiment of the present invention;

FIG. 4 is a flowchart of another method for detecting the working environment of an intelligent robot according to an embodiment of the present invention;

FIG. 5 is a flowchart of another method for detecting the working environment of an intelligent robot according to an embodiment of the present invention;

FIG. 6 is a flowchart of a method for acquiring specified detection parameters according to an embodiment of the present invention;

FIG. 7 is a flowchart of another method for detecting the state of an intelligent robot according to an embodiment of the present invention;

FIG. 8 is a flowchart of an example of a method for detecting a state of an intelligent robot according to an embodiment of the present invention;

Fig. 9 is a schematic diagram of a state detection principle of an intelligent robot in an embodiment of the present invention;

Fig. 10 is a block diagram of a state detection device of an intelligent robot according to an embodiment of the present invention;

Fig. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be described below with reference to the accompanying drawings in the embodiments of the present invention.

The invention provides a state detection method of an intelligent robot. The method may be applied to a detection device for detecting the state of an intelligent robot. For example, the detection device may be built in the intelligent robot to be detected, or may be a device independent of the intelligent robot, and may be capable of data communication with the intelligent robot.

Referring to fig. 1, fig. 1 is a flowchart of a state detection method of an intelligent robot according to an embodiment of the present invention, where the method may include the following steps:

s101: and acquiring current first equipment state data of the intelligent robot to be detected.

Wherein the first device state data comprises: the time length between the time when the heartbeat message is sent last time and the current time, the occupancy rate of the memory and the utilization rate of the CPU are received.

S102: and determining whether the current equipment performance of the intelligent robot is in an abnormal state or not according to the first equipment state data and a preset abnormal working state identification condition.

S103: and if the current equipment performance of the intelligent robot is in an abnormal state, alarming in a first alarming mode.

In step S101, in one implementation, the intelligent robot may be preset to send a heartbeat message to the detection device with a first predetermined period of time, for example, but not limited to, the first predetermined period of time may be 10 minutes or 20 minutes.

In addition, the detection device may acquire the first device state data of the intelligent robot with the second predetermined time period as a period. Wherein the second preset duration is not greater than the first preset duration. For example, the first predetermined time period is 10 minutes, and the second predetermined time period is 8 minutes; the first preset time period is 20 minutes, and the second preset time period is 15 minutes, but is not limited thereto.

For example, when a heartbeat message is received, the detection device may start timing, and if a heartbeat message is received again, the detection device may restart timing to obtain a time length between a time point when the heartbeat message is received last time and a current time point.

In step S102, a preset abnormal operating state recognition condition may be used to determine whether the first device state data is abnormal, for example, based on the abnormal operating state recognition condition, a probability of the first device state data being abnormal may be calculated, and further, based on the probability, it may be determined whether the current device performance of the intelligent robot is in an abnormal state.

For example, a plurality of correspondence relationships may be preset, including:

1. A correspondence (may be referred to as a first correspondence) between the timeout period and a probability (may be referred to as a first probability) that the device performance is in an abnormal state is set. The timeout period indicates a period of time between the time when the last transmitted heartbeat message was received and the current time, and a difference from the first predetermined period of time (may be referred to as a first difference t). For example, the first relationship may be found in table (1).

Watch (1)

Based on table (1), it can be seen that the larger the first difference value, the larger the first probability, which indicates that the intelligent robot has a greater probability of failure.

2. A correspondence (may be referred to as a second correspondence) between the occupancy rate of the memory (hereinafter, denoted by R) and the probability (may be referred to as a second probability) that the device performance is in an abnormal state is set. For example, the second relationship may be found in table (2).

Watch (2)

Based on the table (2), the higher the occupancy rate of the memory, the larger the second probability, which indicates that the intelligent robot has a higher probability of failure.

3. A correspondence relationship (may be referred to as a third correspondence relationship) between the usage rate of the CPU (hereinafter, denoted by C) and the probability that the device performance is in an abnormal state (may be referred to as a third probability) is set. For example, the third relationship may be found in table (3).

Watch (3)

Utilization C of CPU	Third probability	Utilization C of CPU	Third probability
				50％＜C≤55％	0.1	55％＜C≤60％	0.2
60％＜C≤65％	0.3	65％＜C≤70％	0.4
				70％＜C≤75％	0.5	75％＜C≤80％	0.6
80％＜C≤85％	0.7	85％＜C≤90％	0.8
				90％＜C≤95％	0.9	95％＜C≤100％	1
C≤50％	0

Based on table (3), it can be seen that the higher the CPU usage, the greater the third probability, which indicates that the intelligent robot has a greater probability of failure.

Based on the first correspondence, the second correspondence, and the third correspondence, corresponding first probabilities, second probabilities, and third probabilities may be determined, respectively.

Further, it may be determined whether the current device performance of the intelligent robot is in an abnormal state based on the first probability, the second probability, and the third probability.

For example, when at least one of the three probabilities is greater than a performance anomaly threshold (e.g., may be 0.5), it may be determined that the current device performance of the intelligent robot is in an anomaly state.

In addition, if all the three probabilities are not greater than the performance abnormality threshold, it can be determined that the current equipment performance of the intelligent robot is in a non-abnormal state.

Or a weighted sum of the three probabilities can be calculated based on the preset weight to obtain the first value.

Further, if the first value is greater than the performance anomaly weighting threshold (for example, may be 0.5), it may be determined that the current device performance of the intelligent robot is in an anomaly state.

Otherwise, if the first value is not greater than the performance anomaly weighting threshold, it can be determined that the current equipment performance of the intelligent robot is in a non-anomaly state.

In step S103, in one implementation manner, in an environment where the intelligent robot works, a plurality of alarm devices may be deployed, where each alarm device may include a buzzer and a bi-color alarm lamp, and when detecting that the current device performance of the intelligent robot is in an abnormal state, the alarm device may be controlled to alarm.

The first alarm mode may be: the buzzer gives an alarm and the bicolor alarm lamp lights a red lamp.

In one embodiment, referring to fig. 2, step S102 may include, on the basis of fig. 1:

s1021: and carrying out normalization processing on the first equipment state data to obtain a corresponding feature vector serving as a first feature vector to be detected.

S1022: and calculating a first feature vector to be detected, and calculating the similarity between the first abnormal feature vector corresponding to the preset abnormal equipment performance.

S1023: and if the calculated similarity is greater than a first threshold value, determining that the current equipment performance of the intelligent robot is in an abnormal state.

S1024: and if the calculated similarity is not greater than the first threshold value, determining that the current equipment performance of the intelligent robot is in a non-abnormal state.

The first threshold may be set empirically by a skilled person, for example, the first threshold may be set to 0.5, 0.6, but is not limited thereto.

In one implementation, the duration between the time when the last heartbeat message was sent and the current time, the occupancy rate of the memory, and the usage rate of the CPU may be normalized to a value in the range of 0-1. Correspondingly, the first abnormal feature vector corresponding to the preset abnormal equipment performance is (1, 1).

In one implementation, the similarity between the first feature vector to be detected and the first abnormal feature vector may be calculated by a vector similarity calculation formula. The vector similarity calculation formula may be a cosine similarity (cosine) formula, a Euclidean distance (Euclidean) formula, a manhattan distance (MANHATTAN DISTANCE) formula, or the like, which is not specifically limited herein.

In another approach, a vector space model (VSM, vector Space Model) may be used to calculate the similarity between the first feature vector to be detected and the first abnormal feature vector.

In one embodiment, it may also be determined whether the working environment of the intelligent robot is in an abnormal state, see fig. 3, and the method may further include the steps of:

S301: and when the preset detection period is reached, acquiring second equipment state data of the intelligent robot in the current detection period.

Wherein the second device status data comprises at least one of: the intelligent robot is at the current ambient temperature, the current inclination angle of the intelligent robot and the specified detection parameters of the current detection period; the specified detection parameters of the current detection period are as follows: and determining based on the displacement detection parameter of the last detection period and the displacement of the intelligent robot in the current detection period.

S302: and determining whether the current working environment of the intelligent robot is in an abnormal state or not based on the second equipment state data and a preset abnormal working environment identification condition.

S303: and if the current working environment of the intelligent robot is in an abnormal state, alarming in a second alarming mode.

According to the embodiment of the invention, the intelligent robot is provided with the temperature sensor, the level meter and the displacement sensor, and the current ambient temperature of the intelligent robot, the current inclination angle of the intelligent robot and the displacement of the intelligent robot in the current detection period can be obtained through the sensors.

The preset abnormal working environment recognition condition may be used to determine whether the second device state data is abnormal, for example, based on the abnormal working environment recognition condition, the probability of the second device state data being abnormal may be calculated, and further, whether the current working environment of the intelligent robot is in an abnormal state may be determined.

1. The correspondence (may be referred to as a fourth correspondence) between the current environmental temperature T of the intelligent robot and the probability (may be referred to as a fourth probability) that the working environment is in an abnormal state. For example, the fourth relationship may be found in table (4).

Watch (4)

Based on table (4), it can be seen that the higher the ambient temperature, the greater the fourth probability, which also indicates that the intelligent robot working environment is abnormal.

2. The correspondence relationship (may be referred to as a fifth correspondence relationship) between the current tilt angle F of the intelligent robot and the probability (may be referred to as a fifth probability) that the working environment is in an abnormal state. For example, the fifth relationship may be found in table (5).

Watch (5)

Inclination angle F (degree)	Fifth probability	Inclination angle F (degree)	Fifth probability
				10＜F≤15	0.1	15＜F≤20	0.2
20＜F≤25	0.3	25＜F≤30	0.4
				30＜F≤35	0.5	35＜F≤40	0.6
40＜F≤45	0.7	45＜F≤50	0.8
				50＜F≤55	0.9	F>55	1
F≤10	0

Based on table (5), it can be seen that the larger the tilt angle, the larger the fifth probability, which indicates that the intelligent robot working environment is abnormal.

The specified detection parameter of the current detection period may represent a probability (may be referred to as a sixth probability) that the displacement of the intelligent robot is abnormal in the current detection period. The larger the specified detection parameter of the current detection period is, the larger the sixth probability is, and the larger the probability that the current working environment of the robot is abnormal is indicated.

In one implementation, the inverse of the displacement of the intelligent robot during the current detection period may be calculated. The larger the reciprocal is, the larger the probability of displacement abnormality is, and the larger the probability of abnormality of the current working environment of the robot is.

Based on the fourth correspondence, the fifth correspondence, and the specified detection parameter of the current detection period, a corresponding fourth probability, fifth probability, and sixth probability may be determined, respectively.

Further, it may be determined whether the current working environment of the intelligent robot is in an abnormal state based on the fourth probability, the fifth probability, and the sixth probability.

For example, when at least one of the three probabilities is greater than an environmental anomaly threshold (e.g., may be 0.5), it may be determined that the current working environment of the intelligent robot is in an anomaly state.

In addition, if all the three probabilities are not greater than the environment abnormality threshold, it can be determined that the current working environment of the intelligent robot is in a non-abnormal state.

Or a weighted sum of the three probabilities can be calculated based on the preset weight to obtain the second value.

Further, if the second value is greater than the environment abnormality weighting threshold (for example, may be 0.5), it may be determined that the current working environment of the intelligent robot is in an abnormal state.

Otherwise, if the second value is not greater than the environment abnormality weighting threshold, it can be determined that the current working environment of the intelligent robot is in a non-abnormal state.

In step S303, reference may be made to the description of step 103.

The second alarm mode may be: the buzzer gives an alarm and the bicolor alarm lamp lights a yellow lamp.

The staff or the technicians can distinguish different types of faults according to different alarm modes.

In one embodiment, referring to fig. 4, on the basis of fig. 3, step S302 may include:

S3021: and carrying out normalization processing on the second equipment state data to obtain a corresponding feature vector serving as a second feature vector to be detected.

S3022: and calculating a second feature vector to be detected, and calculating the similarity between the second abnormal feature vector corresponding to the preset abnormal equipment performance.

S3023: and if the calculated similarity is greater than a second threshold value, determining that the current equipment performance of the intelligent robot is in an abnormal state.

S3024: and if the calculated similarity is not greater than the second threshold value, determining that the current equipment performance of the intelligent robot is in a non-abnormal state.

And normalizing the current environmental temperature of the intelligent robot, the current inclination angle of the intelligent robot and the specified detection parameters of the current detection period to be a numerical value in the range of 0-1. Correspondingly, the second abnormal feature vector corresponding to the preset abnormal equipment performance is (1, 1).

In one implementation, the similarity between the second feature vector to be detected and the second abnormal feature vector may be calculated by a vector similarity calculation formula. The vector similarity calculation formula may be a cosine similarity formula, an euclidean distance formula, a manhattan distance formula, or the like, which is not specifically limited herein.

In another manner, a vector space model may be used to calculate the similarity between the second feature vector to be detected and the second abnormal feature vector.

The second threshold may be set empirically by a worker, for example, the first threshold may be set to 0.5, 0.6, but is not limited thereto.

In one embodiment, referring to fig. 5, on the basis of fig. 3, step S303 may include:

S3031: if the current working environment of the intelligent robot is in an abnormal state, broadcasting and sending a first alarm signal in a first preset range, so that alarm equipment in the first preset range alarms in a second alarm mode after receiving the first alarm signal.

S3032: if the first alarm releasing signal is not received within a first preset time after the first alarm signal is sent, the first alarm signal is broadcast and sent within a second preset range, so that the alarm equipment within the second preset range alarms in a second alarm mode after receiving the first alarm signal.

The second preset range is larger than the first preset range.

In the embodiment of the present invention, a short-distance wireless communication module may be provided in the detection device, where the short-distance wireless communication module may be a ZigBee wireless communication module, a bluetooth wireless communication module, an infrared wireless communication module, a Wi-Fi wireless communication module, or the like, which is not specifically limited herein.

By controlling the power of the short-range wireless communication module to transmit information, the range of the short-range wireless communication module to transmit information can be controlled.

In one implementation, after the alarm device in the first preset range receives the first alarm signal, the buzzer sends out an alarm and the dual-color alarm lamp lights the yellow lamp. The detection device may be provided with a reset button for alarm release, and when the worker presses the reset button, the first alarm release signal is received. If the first alarm releasing signal is not received within the first preset time after the first alarm signal is sent, the power of the short-distance wireless communication module for sending information can be enhanced, so that alarm equipment in a farther range can carry out alarm, and a worker can more easily find the alarm for the intelligent robot.

In another mode, after the alarm device in the first preset range receives the first alarm signal, the buzzer sends out an alarm and the double-color alarm lamp lights up a yellow lamp at the first preset frequency.

The detection device may be provided with a reset button for alarm release, and when the worker presses the reset button, the first alarm release signal is received. If the first alarm releasing signal is not received within the first preset time after the first alarm signal is sent, the power of the short-distance wireless communication module for sending information can be enhanced, and the third alarm signal is sent, so that alarm equipment in a farther range can give an alarm. The staff can find the alarm aiming at the intelligent robot more easily.

The alarm device receiving the third alarm signal alarms in such a way that the buzzer sends out an alarm at a second preset frequency and the bicolor alarm lamp lights up a yellow lamp, wherein the second preset frequency is larger than the first preset frequency.

In one embodiment, referring to fig. 6, a method of obtaining specified detection parameters may include the steps of:

s601: when the preset detection period is reached, the appointed detection parameter of the previous detection period is obtained to be used as a first appointed detection parameter, and the displacement of the intelligent robot in the current detection period is obtained to be used as a first displacement.

S602: if the first displacement is smaller than the first preset distance, taking the sum of the first specified detection parameter and the first numerical value as the specified detection parameter of the current detection period;

s603: if the first displacement is not smaller than the first preset distance and smaller than the second preset distance, the first appointed detection parameter is used as the appointed detection parameter of the current detection period; wherein the first preset distance is smaller than the second preset distance;

S604: if the first displacement is not smaller than the second preset distance, setting the specified detection parameter of the current detection period to be a preset value which indicates that the displacement of the intelligent robot is in a non-abnormal state.

In the embodiment of the present invention, since the specified detection parameter of each cycle is determined according to the specified detection parameter of the previous cycle, for the first cycle, the specified detection parameter of the previous cycle may be preset to a preset value (for example, may be 0).

Correspondingly, the first preset distance and the second preset distance can be set according to specific functions of the intelligent robot, for example, the first preset distance is 0.5m, and the second preset distance is 1m.

The specified detection parameter may belong to a range of 0 to 1, and correspondingly, the preset value may be 0, and the first value may be 0.1 or 0.2, but is not limited thereto.

The specified detection parameter of the current detection period can represent the probability of abnormal displacement of the intelligent robot in the current detection period. If the first displacement is smaller than the first preset distance, the displacement abnormality of the intelligent robot in the current detection period is indicated, and the numerical value of the specified detection parameter can be increased, namely, the sum of the first specified detection parameter and the first numerical value of the previous detection period is taken as the specified detection parameter of the current detection period.

If the first displacement is not smaller than the first preset distance and smaller than the second preset distance, the displacement of the intelligent robot in the current detection period is possibly abnormal or not abnormal, and the numerical value of the specified detection parameter can be kept unchanged, namely, the first specified detection parameter of the previous detection period is used as the specified detection parameter of the current detection period.

If the first displacement is not smaller than the second preset distance, the displacement of the intelligent robot in the current detection period is not abnormal, and the specified detection parameter of the current detection period is set to be a preset value indicating that the displacement of the intelligent robot is in a non-abnormal state.

In one embodiment, referring to fig. 7, step S103 may include, on the basis of fig. 1:

S1031: if the current equipment performance of the intelligent robot is in an abnormal state, broadcasting and sending a second alarm signal in a third preset range, so that after the alarm equipment in the third preset range receives the second alarm signal, alarming in a first alarm mode;

and sending a message indicating that the current equipment performance of the intelligent robot is in an abnormal state to a preset mobile terminal.

S1032: if the second alarm releasing signal is not received within a second preset time after the second alarm signal is sent, broadcasting and sending the second alarm signal within a fourth preset range, so that the alarm equipment within the fourth preset range alarms in a first alarm mode after receiving the second alarm signal.

Wherein the fourth preset range is greater than the third preset range.

In step S1031, the description of step S3031 described above may be referred to.

The detection device may also include a mobile communication module. And sending a message indicating that the current equipment performance of the intelligent robot is in an abnormal state to a preset mobile terminal through the mobile communication module.

The abnormal state of the intelligent robot may be classified into an abnormal state in which the device performance is in an abnormal state and an abnormal state in which the working environment is in an abnormal state.

For the situation that the working environment is in an abnormal state, the on-site staff can solve the problem, so when the detection equipment detects that the working environment of the intelligent robot is in an abnormal state, the alarm signal can be broadcast through the short-distance communication module, so that the alarm equipment alarms, the on-site staff can timely maintain the intelligent robot, and the abnormal state of the working environment of the intelligent robot is relieved.

For the case where the device performance is in an abnormal state, because the device performance is caused by an internal cause of the intelligent robot, the on-site staff may not be able to solve the problem, which needs to be solved by the professional technician. Therefore, when the detecting device detects that the performance of the intelligent robot device is in an abnormal state, the detecting device can broadcast an alarm signal through the short-distance communication module to enable the alarm device to alarm and send a message indicating that the current device performance of the intelligent robot is in the abnormal state to the mobile terminal of the professional technician through the mobile communication module, so that the professional technician can maintain the intelligent robot in time and relieve the abnormal state of the performance of the intelligent robot device.

In step S1032, reference may be made to the description of step S3032 described above.

In one embodiment, referring to fig. 8, fig. 8 is a flowchart of an example of a state detection method of an intelligent robot according to an embodiment of the present invention.

When the intelligent robot is started, the detection equipment is also started at the same time. The detecting device may periodically detect a device performance parameter and a working environment parameter of the intelligent robot, where the device performance parameter corresponds to the first device state data, and the working environment parameter corresponds to the second device state data.

If the detecting equipment detects that the equipment performance parameters are abnormal, the current equipment performance of the intelligent robot is in an abnormal state. At the moment, the detection equipment controls the intelligent robot to stop working, and the second alarm signal is broadcast and sent in a third preset range, and a message indicating the abnormal performance of the equipment is sent to the mobile terminal of the technician. When a second alarm signal is received, the alarm device lights a red light, and the buzzer sounds a second alarm indicating that the performance of the device is abnormal at a second frequency.

The detection device may be provided with a reset button for alarm release, and when the worker presses the reset button, the detection device may receive an alarm release signal.

If the detection device sends out the alarm signal within a second preset duration (for example, 30 seconds) and the second alarm release signal is not detected, the detection device indicates that the staff does not find the alarm of the alarm device, and the detection device can broadcast and send a fourth alarm signal to a fourth preset range, wherein the fourth preset range is larger than the third preset range, so that the alarm device at a far distance sends out an alarm, and the staff can find the alarm of the alarm device as soon as possible.

The alarm device that receives the fourth alarm signal may sound a fourth alarm at a fourth frequency, wherein the fourth frequency is greater than the second frequency. If the detection equipment detects that the working environment parameters are abnormal, the intelligent robot is indicated that the current working environment of the intelligent robot is in an abnormal state. At the moment, the detection equipment controls the intelligent robot to stop working, and a first alarm signal is broadcast and sent in a first preset range. And when the alarm equipment receives the first alarm signal, the alarm equipment lights a yellow lamp, and the buzzer sounds a first alarm representing that the working environment is abnormal at a first frequency.

If the detection device sends out the alarm signal within a first preset duration (for example, 30 seconds) and the first alarm release signal is not detected, the detection device indicates that the staff does not find the alarm of the alarm device, and the detection device can broadcast and send a third alarm signal to a second preset range, wherein the third preset range is larger than the first preset range, so that the alarm device at a far distance sends out an alarm, and the staff can find the alarm of the alarm device as soon as possible.

The alarm device that receives the third alarm signal may sound a third alarm at a third frequency, wherein the third frequency is greater than the first frequency.

If the detecting equipment does not detect the abnormality of the equipment performance parameters and the working environment parameters, the periodic detection is continued.

If the detection equipment receives an alarm release signal, the alarm is released when the detection equipment indicates that a worker is processing an abnormal situation or waiting for a technician to process.

In an embodiment, referring to fig. 9, fig. 9 is a schematic diagram of a state detection principle of an intelligent robot according to an embodiment of the present invention.

In fig. 9, the architecture may include a detection device 901, a technician mobile terminal 902, and an alarm cluster 903.

The detection device 901 may include: a reset module 9011, a sensor module 9012, a data processing module 9013, a mobile communication module 9014, and a short-range communication module 9015.

The alarm cluster 903 may include a plurality of alarm devices, each including a buzzer and a bi-color alarm light.

The data processing module 9013 obtains current first equipment state data of the intelligent robot to be detected, and determines whether the current equipment performance of the intelligent robot is in an abnormal state according to the first equipment state data and a preset abnormal working state identification condition.

If the data processing module 9013 determines that the current device performance of the intelligent robot is in an abnormal state, a second alarm message is sent to the alarm device within the third preset range through the short-distance communication module 9015. And the alarm equipment receiving the second alarm message alarms in a first alarm mode. The mobile communication module 9014 transmits a message indicating that the current device performance of the intelligent robot is in an abnormal state to the technician mobile terminal 902.

If a worker uses the reset module 9011, the reset module 9011 transmits an alarm release signal to the data processing module 9013, and the detection device 901 releases the alarm.

If the data processing module 9013 does not receive the alarm release signal sent by the reset module 9011 after the second preset time period, a second alarm message is sent to the alarm device in the fourth preset range through the short-distance communication module 9015, so that the alarm range is enlarged.

The sensor module 9012 may include: the sensor module 9012 is used for periodically collecting the current ambient temperature, the current inclination angle and the displacement of the intelligent robot in the current detection period of the intelligent robot, and transmitting collected data to the data processing module 9013.

The data processing module 9013 determines the specified detection parameter of the current detection period according to the specified detection parameter of the previous detection period and the displacement of the intelligent robot in the current detection period. The second equipment state data of the current detection period are the current environment temperature of the intelligent robot, the current inclination angle of the intelligent robot and the appointed detection parameters of the current detection period.

The data processing module 9013 determines whether the current working environment of the intelligent robot is in an abnormal state based on the second device state data and a preset abnormal working environment identification condition.

If the data processing module 9013 determines that the current working environment of the intelligent robot is in an abnormal state, a first alarm message is sent to alarm devices within a first preset range through the short-distance communication module 9015. And the alarm equipment which receives the first alarm message alarms in a second alarm mode.

If the data processing module 9013 does not receive the alarm release signal sent by the reset module 9011 after the first preset duration, the short-distance communication module 9015 sends a first alarm message to the alarm device in the second preset range, so that the alarm range is enlarged.

Based on the same inventive concept, the embodiment of the application also provides a state detection device of the intelligent robot. Referring to fig. 10, fig. 10 is a block diagram of a state detection device of an intelligent robot according to an embodiment of the present application, where the device includes:

A first device state data obtaining module 1001, configured to obtain current first device state data of an intelligent robot to be detected; wherein the first device state data comprises: the time length between the time when the heartbeat message is sent last time and the current time, the occupancy rate of the memory and the utilization rate of the CPU are received;

The device performance determining module 1002 is configured to determine, according to the first device state data and a preset abnormal working state identification condition, whether the current device performance of the intelligent robot is in an abnormal state;

The first alarm module 1003 is configured to alarm in a first alarm manner if the current device performance of the intelligent robot is in an abnormal state.

In one embodiment, the device performance determination module 1002 includes:

The first similarity determination submodule is used for calculating a first feature vector to be detected and the similarity between the first abnormal feature vectors corresponding to the preset abnormal equipment performance;

The equipment performance non-abnormal state determining submodule is further used for determining that the current equipment performance of the intelligent robot is in a non-abnormal state if the calculated similarity is not greater than a first threshold value.

In one embodiment, the apparatus further comprises:

The second equipment state data acquisition module is used for acquiring second equipment state data of the intelligent robot in the current detection period when the preset detection period is reached; wherein the second device status data comprises at least one of: the intelligent robot is at the current ambient temperature, the current inclination angle of the intelligent robot and the specified detection parameters of the current detection period; the specified detection parameters of the current detection period are as follows: based on the displacement detection parameter of the previous detection period and the displacement of the intelligent robot in the current detection period;

In one embodiment, a work environment determination module includes:

The second similarity determination submodule is used for calculating a second feature vector to be detected and the similarity between the second abnormal feature vector corresponding to the preset abnormal working environment;

The working environment non-abnormal state determining submodule is further used for determining that the current working environment of the intelligent robot is in a non-abnormal state if the calculated similarity is not greater than a second threshold value.

In one embodiment, the second alarm module is specifically configured to broadcast and send a first alarm signal in a first preset range if the current working environment of the intelligent robot is in an abnormal state, so that an alarm device in the first preset range alarms in a second alarm mode after receiving the first alarm signal;

If the first alarm release signal is not received within a first preset time after the first alarm signal is sent, broadcasting and sending the first alarm signal within a second preset range, so that alarm equipment within the second preset range alarms in a second alarm mode after receiving the first alarm signal; the second preset range is larger than the first preset range.

In one embodiment, the apparatus further comprises:

the specified detection parameter determining module is used for taking the sum of the first specified detection parameter and the first numerical value as the specified detection parameter of the current detection period if the first displacement is smaller than the first preset distance;

the specified detection parameter determining module is further configured to use the first specified detection parameter as a specified detection parameter of the current detection period if the first displacement is not less than the first preset distance and is less than the second preset distance; wherein the first preset distance is smaller than the second preset distance;

The specified detection parameter determining module is further configured to set the specified detection parameter of the current detection period to a preset value indicating that the displacement of the intelligent robot is in a non-abnormal state if the first displacement is not less than the second preset distance.

In one embodiment, the first alarm module 1003 is specifically configured to broadcast and send the second alarm signal in a third preset range if the current device performance of the intelligent robot is in an abnormal state, so that the alarm device in the third preset range alarms in the first alarm mode after receiving the second alarm signal; and sending a message indicating that the current equipment performance of the intelligent robot is in an abnormal state to a preset mobile terminal;

if the second alarm release signal is not received within a second preset time after the second alarm signal is sent, broadcasting and sending the second alarm signal within a fourth preset range, so that alarm equipment within the fourth preset range alarms in a first alarm mode after receiving the second alarm signal; wherein the fourth preset range is greater than the third preset range.

The embodiment of the present invention further provides an electronic device, as shown in fig. 11, including a processor 1101, a communication interface 1102, a memory 1103 and a communication bus 1104, where the processor 1101, the communication interface 1102 and the memory 1103 complete communication with each other through the communication bus 1104,

A memory 1103 for storing a computer program;

The processor 1101 is configured to execute a program stored in the memory 1103, and implement the following steps:

The communication bus mentioned by the above electronic device may be a peripheral component interconnect standard (PERIPHERAL COMPONENT INTERCONNECT, abbreviated as PCI) bus or an extended industry standard architecture (Extended Industry Standard Architecture, abbreviated as EISA) bus, etc. The communication bus may be classified as an address bus, a data bus, a control bus, or the like. For ease of illustration, the figures are shown with only one bold line, but not with only one bus or one type of bus.

The communication interface is used for communication between the electronic device and other devices.

The memory may include random access memory (Random Access Memory, RAM) or may include non-volatile memory (non-volatile memory), such as at least one disk memory. Optionally, the memory may also be at least one memory device located remotely from the aforementioned processor.

The processor may be a general-purpose processor, including a central processing unit (Central Processing Unit, abbreviated as CPU), a network processor (Network Processor, abbreviated as NP), etc.; but may also be a digital signal Processor (DIGITAL SIGNAL Processor, DSP), application Specific Integrated Circuit (ASIC), field-Programmable gate array (FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components.

In yet another embodiment of the present invention, a computer readable storage medium is provided, where a computer program is stored, where the computer program, when executed by a processor, implements the method for detecting a state of the intelligent robot according to any one of the above embodiments.

In a further embodiment of the present invention, a computer program product comprising instructions, which when run on a computer, causes the computer to perform the method for detecting the state of a smart robot according to any of the above embodiments is also provided.

In the above embodiments, it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the present invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in or transmitted from one computer-readable storage medium to another, for example, by wired (e.g., coaxial cable, optical fiber, digital Subscriber Line (DSL)), or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., floppy disk, hard disk, tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid state disk Solid STATE DISK (SSD)), etc.

It is 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 the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for the apparatus, the electronic device, the computer-readable storage medium, and the computer program product, the description is relatively simple, as it is substantially similar to the method embodiments, and relevant points are found in the partial description of the method embodiments.

The foregoing description is only of the preferred embodiments of the present invention and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A method for detecting a state of an intelligent robot, the method comprising:

If the current equipment performance of the intelligent robot is in an abnormal state, alarming in a first alarming mode;

the method further comprises the steps of:

When a preset detection period is reached, acquiring second equipment state data of the intelligent robot in the current detection period; wherein the second device state data comprises: a specified detection parameter of the current detection period; the specified detection parameters of the current detection period are as follows: based on the displacement detection parameter of the previous detection period and the displacement of the intelligent robot in the current detection period; determining the probability of the abnormal environment of the intelligent robot work, and positively correlating with the size of the specified detection parameter of the current detection period;

If the current working environment of the intelligent robot is in an abnormal state, alarming in a second alarming mode;

the method further comprises the steps of:

2. The method of claim 1, wherein determining whether the current device performance of the intelligent robot is in an abnormal state based on the first device state data and a preset abnormal operating state identification condition comprises:

3. The method of claim 1, wherein determining whether the current operating environment of the intelligent robot is in an abnormal state based on the second device state data and a preset abnormal operating environment recognition condition comprises:

4. The method of claim 1, wherein alerting in a second alert mode if the current operating environment of the intelligent robot is in an abnormal state comprises:

5. The method of claim 1, wherein alerting in a first alert mode if the current device performance of the intelligent robot is in an abnormal state comprises:

6. A state detection device of an intelligent robot, the device comprising:

The first alarming module is used for alarming in a first alarming mode if the current equipment performance of the intelligent robot is in an abnormal state;

The apparatus further comprises:

The second equipment state data acquisition module is used for acquiring second equipment state data of the intelligent robot in the current detection period when the preset detection period is reached; wherein the second device state data comprises: a specified detection parameter of the current detection period; the specified detection parameters of the current detection period are as follows: based on the displacement detection parameter of the previous detection period and the displacement of the intelligent robot in the current detection period; determining the probability of the abnormal environment of the intelligent robot work, and positively correlating with the size of the specified detection parameter of the current detection period;

the second alarm module is used for alarming in a second alarm mode if the current working environment of the intelligent robot is in an abnormal state;

The apparatus further comprises:

The specified detection parameter determining module is further configured to set a specified detection parameter of a current detection period to a preset value indicating that the displacement of the intelligent robot is in a non-abnormal state if the first displacement is not less than a second preset distance.

7. The electronic equipment is characterized by comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory are communicated with each other through the communication bus;

A memory for storing a computer program;

a processor for carrying out the method steps of any one of claims 1-5 when executing a program stored on a memory.

8. A computer-readable storage medium, characterized in that the computer-readable storage medium has stored therein a computer program which, when executed by a processor, implements the method steps of any of claims 1-5.