CN115252363A - Robot safety processing method, system, terminal and storage medium - Google Patents
Robot safety processing method, system, terminal and storage medium Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
- A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
- A61H1/02—Stretching or bending or torsioning apparatus for exercising
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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- A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
- A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
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Abstract
The invention provides a safety processing method, a system, a terminal and a storage medium of a robot, which comprises the steps of obtaining working state information of the robot at intervals of preset time, obtaining a response command according to the corresponding relation between an abnormal state and the response command when the robot is judged to be in the abnormal state, and obtaining and sending a control signal of the robot entering a safety processing state according to the corresponding relation between the response command and the response level so as to control the robot to enter the safety processing state. According to the invention, the abnormal state of the robot is subjected to response grade division, and the safety processing of the abnormal state is carried out by adopting a principle of high response grade priority processing, so that the safety of a patient is ensured, and the equipment can exert better efficiency.
Description
Technical Field
The invention relates to the technical field of medical instrument control, in particular to a safe processing method, a safe processing system, a safe processing terminal and a safe processing storage medium for a robot.
Background
It is estimated that about 270 million new cases of stroke occur annually in China, and the incidence rate increases at a rate of 13% per year, and 3177 million stroke patients are expected to occur by 2030. The cerebral apoplexy has high disability rate, and patients often have dysfunction such as limb movement and the like, and hemiplegia appears in severe cases. The root cause of disability is that the limbs are not injured but the central nervous system is damaged, and effective control on limb movement cannot be achieved. Medical practice proves that postoperative rehabilitation training of patients with cerebral apoplexy is the most effective method for reducing disability rate, and especially early rehabilitation therapy plays a great role in improving the motor function and daily life function of the patients.
Because the traditional rehabilitation medical method has certain defects, the patient can carry out rehabilitation training with the help of a doctor, the labor intensity is high, the automation level is low, and the treatment efficiency is low. Meanwhile, the strength of training cannot be set for patients in different periods, and the rehabilitation requirements of the patients cannot be met. The rehabilitation robot has remarkable effect in recovering the limb function of a patient. The lower limb rehabilitation robot has the main function of carrying out rehabilitation training on the lower limbs of a patient by simulating a normal physiological gait mode and adopting different training modes according to rehabilitation strategies so as to accelerate the rehabilitation speed of the patient.
A large amount of lower limb rehabilitation robots emerge in the market at present, all want to solve the problem of lower limb hemiplegia patients, bring the gospel to them, but the lower limb rehabilitation robot belongs to machinery, and when appearing unusually in the rehabilitation training process, it is very difficult to carry out safe handling in time and eliminate unusually, especially when appearing multiple unusualities, can not rationally arrange the processing of multiple anomaly, bring certain potential safety hazard for the patient. Therefore, an effective safety processing method needs to be designed to avoid the potential safety hazard.
Disclosure of Invention
The invention aims to provide a robot safety processing method, a system, a terminal and a storage medium, which can be used for carrying out safety processing on abnormal states by response grade division and adopting a principle of high response grade priority processing, thus ensuring the safety of patients and improving the operation efficiency of equipment.
In order to achieve the above object, the present invention provides a robot safety processing method, including:
acquiring the working state information of the robot every preset time;
judging whether the working state information is in an abnormal state or not, and if the working state information is in the abnormal state, acquiring a response command according to the corresponding relation between the abnormal state and the response command;
and acquiring and sending a control signal of the robot entering a safe processing state according to the corresponding relation between the response command and the response grade so as to control the robot to enter the safe processing state.
Optionally, the response command is obtained while a safety processing mode corresponding to the abnormal state is obtained, and after the robot enters the safety processing state, safety processing is performed according to the safety processing mode corresponding to the abnormal state.
Optionally, the security processing manner at least includes a first security processing manner and a second security processing manner; if a second abnormal state with a response level higher than that of the first abnormal state occurs when the robot processes the first abnormal state according to the first safety processing mode, preferentially processing the second abnormal state according to the second safety processing mode; and after the second abnormal state is processed, if the first abnormal state still exists, continuing to process the first abnormal state according to the first safety processing mode.
Optionally, performing security processing according to the security processing manner corresponding to the abnormal state includes: the robot gives an indication of a safety processing mode in an audio and/or image-text mode, and a result after the safety processing is fed back to the robot in the audio and/or image-text mode.
Optionally, the abnormal state includes one or more of an abnormal operating position, an abnormal operating parameter, or an abnormal patient limb state.
Optionally, the operating position abnormality includes a device rollover, a device tilt, or a device translation; the operation parameter abnormity comprises one or more of motor position exceeding a preset range, motor speed exceeding a preset range, motor torque exceeding a preset range, a safety contact edge touched by a foreign object, a robot exceeding a preset working range, emergency stop switch triggering or network connection errors; the limb state abnormity comprises limb spasm or joint movement angle exceeding a preset range.
Optionally, after determining that the robot is in an abnormal state, the method further includes:
sending a control signal for stopping working so as to control the robot to stop working;
and switching the working state to an abnormal state.
Optionally, the preset time duration is 1ms to 2ms.
The invention also provides a safety processing system of the robot, which comprises
The abnormality detection module is used for acquiring the working state information of the robot every preset time;
the grade division module is used for establishing a corresponding relation between an abnormal state and a response grade in the robot; and
and the abnormal response module is used for acquiring the response command according to the corresponding relation between the abnormal state and the response command when the robot is in the abnormal state, and acquiring and sending a control signal for the robot to enter a safe processing state according to the corresponding relation between the response command and the response level so as to control the robot to enter the safe processing state.
Optionally, the ranking module is further configured to establish a correspondence between an abnormal state and a safe processing mode in the robot.
Optionally, the abnormal response module is further configured to obtain the response command and a safety processing mode corresponding to the abnormal state, and after the robot enters the safety processing state, perform safety processing according to the safety processing mode corresponding to the abnormal state.
Optionally, the robot further comprises a program processing module, configured to switch the working state of the robot.
Optionally, the system further comprises a human-computer interaction module, wherein the human-computer interaction module comprises a human-computer interaction interface, and the human-computer interaction interface realizes information interaction in an audio and/or image-text mode.
Optionally, the information interaction includes: the robot gives an indication of a safety processing mode through the human-computer interaction interface, and a result after safety processing is fed back to the robot through the human-computer interaction interface.
Optionally, the information interaction further includes: and displaying the working state of the robot through the human-computer interaction interface.
The present invention also provides a terminal, including:
one or more processors; and the number of the first and second groups,
a memory for storing one or more programs; and the number of the first and second groups,
when the one or more programs are executed by the one or more processors, the one or more processors implement the robot safety processing method as described above.
The present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a robot safety handling method as described above.
In summary, the present invention provides a safety processing method, a system, a terminal and a storage medium for a robot, including obtaining working state information of the robot at intervals of a preset duration, obtaining a response command according to a corresponding relationship between an abnormal state and the response command when it is determined that the robot is in the abnormal state, and obtaining and sending a control signal for the robot to enter a safety processing state according to a corresponding relationship between the response command and a response level, so as to control the robot to enter the safety processing state. According to the invention, the abnormal state of the robot is subjected to response grade division, and the safety processing of the abnormal state is carried out by adopting a principle of high response grade priority processing, so that the safety of a patient is ensured, and the equipment can exert better efficiency. Furthermore, the processing mode of the abnormal state controllable by some operators is that the equipment can continue to work after the normal state is recovered, so that the efficiency of the equipment and the experience of users are improved. In addition, the invention adopts a human-computer interaction interface to realize human-computer interaction, thereby realizing intelligent operation and improving human-computer interaction experience.
Drawings
Fig. 1 is a flowchart of a safety processing method for a robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a robot according to an embodiment of the present invention;
FIG. 3 is a flowchart illustrating an abnormal state handling performed by the robot according to an embodiment of the present invention;
fig. 4 is a block diagram of a robot safety processing system according to an embodiment of the present invention;
wherein the reference numerals are:
11-a robotic arm; 12-a foot anchor; 13-a safe touch edge sensor; 14-safety emergency stop switch; 15-human-machine exchange interface;
100-a robotic arm; 200-a grading module; 300-exception response module; 400-program processing module; 500-human-computer interaction module.
Detailed Description
The robot safety processing method, system, terminal and storage medium of the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is provided for the purpose of facilitating and clearly illustrating embodiments of the present invention.
Fig. 1 is a flowchart of a safety processing method of a robot according to this embodiment. As shown in fig. 1, the present embodiment provides a robot safety processing method, which includes
S01: acquiring the working state information of the robot every preset time;
s02: judging whether the working state information is in an abnormal state or not, and if the working state information is in the abnormal state, acquiring a response command according to the corresponding relation between the abnormal state and the response command; and
s03: and acquiring and sending a control signal of the robot entering a safe processing state according to the corresponding relation between the response command and the response grade so as to control the robot to enter the safe processing state.
Fig. 2 is a schematic structural diagram of the robot provided in this embodiment, and fig. 3 is a flowchart of processing an abnormal state by the robot provided in this embodiment. The safety processing method of the robot provided by the embodiment can be used for performing rehabilitation training on upper/lower limbs of a patient, and the safety processing method of the robot provided by the embodiment will be described in detail below by taking a training method of a lower limb rehabilitation robot as an example with reference to fig. 1 and fig. 2 and 3, and specifically, taking training control of the robot on a knee joint as an example.
First, step S01 is performed: and acquiring the working state information of the robot every preset time. For example, whether the position of the device is overturned, inclined or translated is obtained through a position sensor, the running condition of the motor is monitored through a parameter feedback mechanism inside the motor, the rehabilitation training live of a patient is obtained through real-time monitoring of rehabilitation training, and then the working state information of the robot is obtained.
Next, step S02 is executed: and judging whether the working state information is in an abnormal state, and if the working state information is in the abnormal state, acquiring the response command according to the corresponding relation between the abnormal state and the response command.
The abnormal state includes one or more of an abnormal operating position, an abnormal operating parameter, or an abnormal patient limb state. The abnormal operation position comprises equipment rollover, equipment inclination or equipment translation; the operation parameter abnormity comprises one or more of motor position exceeding a preset range, motor speed exceeding a preset range, motor torque exceeding a preset range, a safety contact edge touched by a foreign object, a robot exceeding a preset working range, emergency stop switch triggering or network connection errors; the abnormal limb state comprises limb spasm or joint movement angle exceeding a preset range. And acquiring the working state information of the robot every preset time, for example, 1ms-2ms.
And the interior of the robot divides the danger level and the response level of the abnormal state according to the possible damage degree to the human body, and sets a corresponding safety processing mode according to each abnormal state. For details of the abnormal state, the risk level, the response level and the safety handling method, please refer to table 1. In this embodiment, the exceptions are classified into high, medium and low priorities according to the possible damage degree to the human body, and are classified into 9 response levels (levels), and the exception with the high response Level is processed preferentially (Level 1 is the highest response Level), and each exception is processed differently according to its characteristics. Therefore, the safety of the patient can be guaranteed, the equipment can be enabled to play better efficiency, and the user experience is improved.
Table 1: abnormal response level classification
The lower limb rehabilitation robot can detect whether the equipment is turned on side, inclined and translated or not through a position sensor (such as a gyroscope); monitoring whether the position, the speed and the torque of the motor exceed a preset range through a motor internal parameter feedback mechanism; acquiring a working range (namely a mechanical arm working space range) of the robot through parameters fed back by the motor and mechanical arm parameters to judge whether the robot exceeds a preset working range; acquiring whether the emergency stop switch is triggered, whether foreign objects touch the safety touch edge or whether network connection is wrong or not from the emergency stop switch triggering alarm, the safety touch edge alarm or the network setting alarm; the limb spasm or the joint movement angle of the patient exceeding a preset range is obtained through real-time monitoring of rehabilitation training.
And if the abnormal state is judged, acquiring the response command according to the corresponding relation between the abnormal state and the response command.
In this embodiment, after determining that the robot is in the abnormal state, the method further includes: and sending a control signal for stopping working so as to control the robot to stop working and switching the working state of the robot to an abnormal state.
Next, step S03 is executed: and acquiring and sending a control signal of the robot entering a safe processing state according to the corresponding relation between the response command and the response grade so as to control the robot to enter the safe processing state.
The response command comprises information of the abnormal state, the response level of the abnormal state can be further obtained according to the response command, the safety processing mode corresponding to the abnormal state is obtained while the response command is obtained, and after the robot enters the safety processing state, safety processing is carried out according to the safety processing mode corresponding to the abnormal state. The security processing mode at least comprises a first security processing mode and a second security processing mode; if a second abnormal state with a response level higher than that of the first abnormal state occurs when the robot processes the first abnormal state according to the first safety processing mode, preferentially processing the second abnormal state according to the second safety processing mode; and after the second abnormal state is processed, if the first abnormal state still exists, continuing to process the first abnormal state according to the first safety processing mode. For example, when the robot handles the abnormality that the motor speed exceeds the preset range, the equipment rollover abnormality occurs, because the equipment rollover belongs to the abnormality of the high-risk level, the response level is level 1, and the abnormality that the motor speed exceeds the preset range is higher than the response level of 6, the robot preferentially handles the equipment rollover abnormality according to the principle that the abnormality of the high-response level is preferentially handled, and after the equipment rollover abnormality is handled, if the abnormality that the motor speed exceeds the preset range still exists, the robot continues to handle the abnormality until the abnormality is eliminated.
In this embodiment, performing security processing according to the security processing mode corresponding to the abnormal state includes: the robot gives an instruction of a safe processing mode in an audio and/or image-text mode, a therapist performs corresponding safe operation under the instruction, and the result is fed back to the robot in the audio and/or image-text mode. For example, the therapist and the robot can perform information interaction through the human-computer interaction interface 15, and the human-computer interaction interface 15 realizes information interaction in an audio and/or graphic mode. In addition, the robot can also display the working state through the human-computer interaction interface 15 so as to remind the patient and the therapist whether the potential safety hazard is eliminated. Illustratively, when the robot enters the safe processing state, a response command indicates that a foreign object contacts the safe touch edge, and the human-computer interaction interface 15 gives an indication of the safe processing mode: the clamping injury is avoided, the foreign object is removed, the resetting is continued, the therapist carries out corresponding operation under the indication, the alarm of the safe touch edge sensor 13 is relieved, and the therapist feeds the result back to the robot through the human-computer interaction interface according to the corresponding prompt of the human-computer interaction interface, so that the safe processing of the abnormal state is completed. For the exception handling mode controllable by the therapist, the machine can continue to work after exception is eliminated and normal recovery, operations such as shutdown and restart are not needed, the waiting time of exception handling is reduced, and the efficiency of equipment and the experience of a user are improved. In addition, the embodiment adopts a human-computer interaction interface to realize human-computer interaction, so that the operation is intelligent, and the human-computer interaction experience is improved.
Referring to fig. 2 and 3, the safety processing method of the robot will be described in detail. When the robot is judged to be in an abnormal state, the mechanical arm 11 stops working; then, whether the gyroscope detects the rollover phenomenon of the equipment is judged, if yes, the foot fixing device 12 is unlocked, the legs of the person are put down, and the equipment is shut down to contact the manufacturer; if not, judging whether a foreign object contacts the safe contact edge, if so, if the safe contact edge sensor 13 gives an alarm, avoiding clamping damage, removing the foreign object, continuing resetting, and enabling the mechanical arm 11 to normally work; if no foreign object contacts the safe touch edge, whether the gyroscope detects the inclination phenomenon of the equipment is judged, if yes, the user puts down the legs, and the shutdown contacts the manufacturer, does not belong to the equipment problem, and the gyroscope can return to zero to restart or can be shut down. If not, judging whether the gyroscope detects the equipment translation phenomenon, if so, setting down the legs, and turning off the equipment to contact the manufacturer, which does not belong to the equipment problem, and then returning to zero to restart or finishing the turning off; if not, judging whether the emergency stop switch 14 is triggered, if so, turning off the emergency stop switch button, and continuing the resetting; if not, judging whether the position of the motor exceeds the range, if so, putting down legs, folding equipment, and shutting down the contact manufacturer; if not, judging whether the speed of the motor exceeds the range, if so, putting down legs of a person, and shutting down the device to contact a manufacturer; if not, judging whether the robot exceeds the working range, if so, putting down the legs of the person, and shutting down the contact manufacturer; if not, judging whether the movable angle of the human joint exceeds the range, if so, putting down the legs of the person, and shutting down the communication manufacturer; if not, judging whether the torque of the motor exceeds the range, if so, discharging peripheral abnormality, and resetting can continue; if not, judging whether the patient has spasm, if so, determining that the patient can continue, resetting can continue, determining that the patient can not continue, putting down the legs of the patient, and ending the treatment. If not, judging whether the network connection is wrong or not, if so, resetting reconnection, if the problem still exists, restarting the equipment, and if the problem still exists, shutting down the contact manufacturer.
According to the safety processing method of the robot, the abnormity is divided into three levels of high, medium and low danger levels according to the possible injury degree of the human body, 9 response levels are divided, the abnormity with the high response level is processed preferentially, and each abnormity processing mode is processed differently according to the characteristics of the abnormity processing mode, so that the safety of a patient can be guaranteed, and the equipment can exert better efficiency. Furthermore, for some operators (therapists), the controllable exception handling mode is that the machine can continue to work after the machine is recovered to be normal, so that the efficiency of the equipment and the experience of users are improved. In addition, the embodiment adopts a human-computer interaction interface to realize human-computer interaction, so that the operation is intelligent, and the human-computer interaction experience is improved.
Correspondingly, the invention further provides a safety processing system of the robot. As shown in fig. 4, the safety processing system of the robot provided in this embodiment includes
The abnormality detection module 100 is configured to obtain working state information of the robot every preset time;
a grade division module 200, configured to establish a correspondence between an abnormal state and a response grade in the robot; and
and the abnormal response module 300 is configured to, when the robot is in an abnormal state, obtain the response command according to a corresponding relationship between the abnormal state and the response command, and obtain and send a control signal for the robot to enter a safe processing state according to a corresponding relationship between the response command and a response level, so as to control the robot to enter the safe processing state. .
Optionally, the ranking module 200 is further configured to establish a corresponding relationship between an abnormal state and a safe processing manner in the robot.
Optionally, the abnormal response module 300 is further configured to obtain the response command and a safety processing mode corresponding to the abnormal state, and after the robot enters the safety processing state, perform safety processing according to the safety processing mode corresponding to the abnormal state.
Optionally, the safety processing system of the robot further includes a program processing module 400, configured to switch the working state of the robot. If the abnormal state is determined, the program processing module 400 switches the working state of the robot to the abnormal state.
Optionally, the safety processing system of the robot further includes a human-computer interaction module 500, where the human-computer interaction module 500 includes a human-computer interaction interface, and the human-computer interaction interface implements information interaction between the therapist and the robot in an audio and/or image-text manner.
Optionally, the information interaction includes: the abnormal response module 300 gives an instruction of a safe processing mode through the human-computer interaction interface, a therapist performs corresponding operation under the instruction, and a result is fed back to the human-computer interaction module 500 through the human-computer interaction interface; the program processing module 400 displays the working state of the robot through the human-computer interaction interface.
Optionally, the human-computer interaction module 200 prompts the exception handling module 100 to perform corresponding exception detection according to the feedback result until no exception is detected, so as to eliminate the potential safety hazard, meanwhile, the exception handling module 100 sends the information that no exception (normal) is detected to the program handling module 400, the program handling module 400 switches the working state of the robot from the abnormal state to the normal working state, and performs image-text display and/or voice prompt through the human-computer interaction interface.
Further, the embodiment also provides a terminal for the safe processing of the robot. The terminal includes:
one or more processors;
a memory for storing one or more programs;
when the one or more programs are executed by the one or more processors, the one or more processors implement the safety processing method of the robot.
In this embodiment, the processor and the memory are both one, and the processor and the memory may be connected by a bus or other means.
The memory is used as a computer readable storage medium for storing software programs, computer executable programs, and modules, such as program instructions/modules corresponding to the safety processing method of the robot in the embodiment of the present invention. The processor executes various functional applications and data processing of the terminal by running the software programs, instructions and modules stored in the memory, so that the safety processing method of the compound robot is realized.
The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. In addition, the memory of the robot safety processing method may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, which may be connected to a terminal over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The terminal proposed by the present embodiment belongs to the same inventive concept as the robot safety processing method proposed by the above embodiments, and technical details that are not described in detail in the present embodiment can be referred to the above embodiments, and the present embodiment has the same beneficial effects as the above embodiments.
The present embodiment also provides a computer-readable storage medium on which a computer program is stored, which when executed by the processor implements the robot safety processing method as described above.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which can be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments of the present invention.
In summary, the present invention provides a safety processing method, a system, a terminal and a storage medium for a robot, including obtaining working state information of the robot at intervals of a preset duration, obtaining a response command according to a corresponding relationship between an abnormal state and the response command when it is determined that the robot is in the abnormal state, and obtaining and sending a control signal for the robot to enter a safety processing state according to a corresponding relationship between the response command and a response level, so as to control the robot to enter the safety processing state. According to the invention, the abnormal state of the robot is subjected to response grade division, and the safety processing of the abnormal state is carried out by adopting a principle of high response grade priority processing, so that the safety of a patient is ensured, and the equipment can exert better efficiency. Furthermore, the processing mode of the abnormal state controllable by some operators is that the equipment can continue to work after the normal state is recovered, so that the efficiency of the equipment and the experience of users are improved. In addition, the invention adopts a human-computer interaction interface to realize human-computer interaction, thereby realizing intelligent operation and improving human-computer interaction experience.
The above description is only for the purpose of describing preferred embodiments of the present invention and is not intended to limit the scope of the claims of the present invention, and any person skilled in the art may make possible variations and modifications of the technical solution of the present invention using the method and technical content disclosed above without departing from the spirit and scope of the present invention, and therefore, any simple modifications, equivalent changes and modifications of the above embodiments according to the technical essence of the present invention shall fall within the protection scope of the technical solution of the present invention.
Claims (17)
1. A robot safety processing method is characterized by comprising the following steps:
acquiring the working state information of the robot every preset time;
judging whether the working state information is in an abnormal state or not, and if the working state information is in the abnormal state, acquiring a response command according to the corresponding relation between the abnormal state and the response command;
and acquiring and sending a control signal of the robot entering a safe processing state according to the corresponding relation between the response command and the response grade so as to control the robot to enter the safe processing state.
2. The robot safety processing method according to claim 1, wherein the response command is acquired and a safety processing method corresponding to the abnormal state is acquired, and after the robot enters the safety processing state, safety processing is performed according to the safety processing method corresponding to the abnormal state.
3. The robot safety processing method according to claim 2, wherein the safety processing means includes at least a first safety processing means and a second safety processing means;
if a second abnormal state with a response level higher than that of the first abnormal state occurs when the robot processes the first abnormal state according to the first safety processing mode, preferentially processing the second abnormal state according to the second safety processing mode; and after the second abnormal state is processed, if the first abnormal state still exists, continuing to process the first abnormal state according to the first safety processing mode.
4. The robot safety processing method according to claim 2, wherein performing safety processing in accordance with the safety processing method corresponding to the abnormal state includes: the robot gives an indication of a safety processing mode in an audio and/or image-text mode, and a result after the safety processing is fed back to the robot in the audio and/or image-text mode.
5. The robot safety handling method of claim 1, wherein the abnormal state comprises one or more of an abnormal operating position, an abnormal operating parameter, or an abnormal patient limb state.
6. The method of claim 5, wherein the operational position anomaly comprises a device rollover, a device tilt, or a device translation; the operation parameter abnormity comprises one or more of motor position exceeding a preset range, motor speed exceeding a preset range, motor torque exceeding a preset range, a safety contact edge touched by a foreign object, a robot exceeding a preset working range, emergency stop switch triggering or network connection errors; the limb state abnormity comprises limb spasm or joint movement angle exceeding a preset range.
7. The robot safety processing method according to claim 1, further comprising, after determining that the robot is in an abnormal state:
sending a control signal for stopping working so as to control the robot to stop working;
and switching the working state to an abnormal state.
8. The robot safety processing method according to claim 1, wherein the preset time period is 1ms to 2ms.
9. A safety processing system of a robot is characterized by comprising
The abnormality detection module is used for acquiring the working state information of the robot every preset time;
the grading module is used for establishing a corresponding relation between the abnormal state and the response grade in the robot; and
and the abnormal response module is used for acquiring the response command according to the corresponding relation between the abnormal state and the response command when the robot is in the abnormal state, and acquiring and sending a control signal for the robot to enter a safe processing state according to the corresponding relation between the response command and the response level so as to control the robot to enter the safe processing state.
10. The system of claim 9, wherein the ranking module is further configured to establish a correspondence between an abnormal state and a safe handling manner inside the robot.
11. The system of claim 10, wherein the abnormal response module is further configured to obtain the response command and a safety processing mode corresponding to the abnormal state, and after the robot enters the safety processing state, perform safety processing according to the safety processing mode corresponding to the abnormal state.
12. The robot safety processing system of claim 9, further comprising a program processing module for switching an operating state of the robot.
13. The system of claim 9, further comprising a human-machine interaction module, wherein the human-machine interaction module comprises a human-machine interaction interface, and the human-machine interaction interface realizes information interaction in an audio and/or image-text manner.
14. The robot security handling system of claim 13, wherein the information interaction comprises: and the robot gives an indication of a safety processing mode through the human-computer interaction interface, and a result after safety processing is fed back to the robot through the human-computer interaction interface.
15. The system of claim 13, wherein the information interaction further comprises: and displaying the working state of the robot through the human-computer interaction interface.
16. A terminal, characterized in that the terminal comprises:
one or more processors; and the number of the first and second groups,
a memory for storing one or more programs; and the number of the first and second groups,
when executed by the one or more processors, cause the one or more processors to implement a method for safety handling for a robot as recited in any of claims 1-8.
17. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a safety handling method for a robot according to any one of claims 1-8.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110485660.3A CN115252363A (en) | 2021-04-30 | 2021-04-30 | Robot safety processing method, system, terminal and storage medium |
| PCT/CN2022/084631 WO2022228029A1 (en) | 2021-04-30 | 2022-03-31 | Safety processing method and system for robot, and terminal and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110485660.3A CN115252363A (en) | 2021-04-30 | 2021-04-30 | Robot safety processing method, system, terminal and storage medium |
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| CN115712269A (en) * | 2023-01-09 | 2023-02-24 | 北京史河科技有限公司 | Robot safety control method and device |
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| WO2022228029A1 (en) | 2022-11-03 |
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Application publication date: 20221101 |