CN115922736A - System for realizing remote control and remote operation and maintenance of robot based on 5G network - Google Patents
System for realizing remote control and remote operation and maintenance of robot based on 5G network Download PDFInfo
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Abstract
The invention belongs to the technical field of robot remote control and operation and maintenance, and relates to a system for realizing the remote control and the remote operation and maintenance of a robot based on a 5G network, which comprises the following components: the data acquisition platform is used for monitoring and acquiring relevant parameters of the robot in real time; the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot; the data display platform acquires the video stream by accessing an interface of the Internet of things cloud platform and performs visual display; the remote control platform remotely modifies various parameters of the robot through a 5G network and controls the operation of the robot; and the operation and maintenance scheduling platform is used for dimension construction, fault point data processing, maintenance assignment and the like. The robot state monitoring system is based on the platform of the Internet of things, can effectively monitor specific parameters of the robot, realizes the analysis of the robot state, realizes the remote debugging of the robot, and saves the operation and maintenance cost of the robot; the construction of the operation and maintenance scheduling platform can schedule related personnel in time to carry out targeted efficient maintenance.
Description
Technical Field
The invention belongs to the technical field of remote control and operation and maintenance of robots, and relates to a system for realizing remote control and remote operation and maintenance of a robot based on a 5G network.
Background
The robot plays a crucial role in industrial automation, and the following challenges are faced in the process of replacing manual production by the robot: (1) The state of the factory robot cannot be effectively controlled in an unattended state, abnormal operation in a non-working condition state is easy to occur, and the automatic production process of products is disturbed; (2) The state parameters of the factory robot are unknown, potential problems existing in the robot cannot be effectively monitored and early warned, the robot is prone to unexpected interruption and failure, and production process is affected. In order to solve the above problems, chinese patent CN114239884A discloses a robot operation and maintenance method and system, which includes: displaying operation and maintenance information of the robot in an operation and maintenance display page, wherein the operation and maintenance information comprises a map of a working area of the robot and a video acquired by the robot; and receiving an operation instruction generated through the operation and maintenance display page, and sending the operation instruction to the robot, wherein the operation instruction is used for controlling the robot to execute a corresponding action. By the robot operation and maintenance method, a map and a field video of a robot working area can be conveniently checked in an operation and maintenance display page, and an operation instruction is sent to the robot through the operation and maintenance display page to control the robot to execute corresponding actions. The whole process does not need to switch equipment, is visual and clear, can finish remote monitoring and control on the robot on one equipment, and improves the working efficiency of the robot. However, if the robot remote control instruction is not sent timely, the operation and maintenance of the robot are easily delayed, even if the staff in the working site is insufficient or a maintenance worker capable of completing a task is absent, the after-sales processing needs to be scheduled, and if the after-sales worker is not matched reasonably, the working process is delayed because the robot cannot be controlled and operated and maintained timely.
Disclosure of Invention
The invention aims to solve the defects of the prior art, and provides a system for realizing remote control and remote operation and maintenance of a robot based on a 5G network, which can issue a remote control instruction in real time, can schedule related personnel for maintenance in time when maintenance is needed, has higher matching degree and saves time.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a system for realizing remote control and remote operation and maintenance of a robot based on a 5G network comprises:
the data acquisition platform comprises a monitoring camera and is used for acquiring action and state information of the robot from all angles, monitoring and acquiring relevant parameters of the robot in real time, and uploading data acquired from the robot to the Internet of things cloud platform in real time through a 5G network so as to facilitate rapid issuing of instructions;
the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot, such as axis data, current, voltage, program execution, alarm information, signals and variable changes;
the data display platform acquires video streams by accessing an interface of the Internet of things cloud platform, performs visual display and monitors the current running conditions of the robot and other equipment;
the remote control platform remotely modifies various parameters of the robot through a 5G network to control the operation of the robot;
and the operation and maintenance scheduling platform is used for dimension construction, fault point data processing, maintenance assignment and the like, and timely scheduling related personnel to carry out targeted and efficient maintenance.
Furthermore, the dimension construction adopts SLAM technology (Simultaneous Localization and mapping, synchronous positioning and map construction) to construct two-dimensional plane images and three-dimensional cloud point image information.
Further, the fault point data processing includes:
establishing and identifying fault points according to the dimensions, dividing the fault types into software and hardware, and respectively dividing the software and the hardware downwards again to form a fault analysis model with a multilayer structure;
and issuing an assignment instruction to an intelligent assignment unit through the fault analysis model.
Further, the intelligent assigning unit completes the assigning process, specifically including:
and accessing an Internet of things cloud platform interface, and reading maintenance personnel information of the area where the Internet of things cloud platform interface is located. The region where the fault point is located is inquired by taking a district (county) as a minimum range, and if no corresponding maintenance personnel exist in the district (county) where the fault point is located, radiation is sequentially expanded to the city and the province where the fault point is located, so that a function of assigning nearby is realized;
classifying according to software and hardware faults, and dividing after-sale areas and field areas to designate corresponding maintenance personnel based on a K-means clustering algorithm;
and uploading the maintenance condition to an Internet of things cloud platform to realize nearby centralized assignment.
Further, the robot-related parameters include robot parameters, work quality, order completion status, fault type and maintenance status, equipment history, statistical information, robot operating status, motor current, and joint displacement values and transformation values of each axis. The relevant parameters of the robot not only comprise the condition of the robot, but also comprise the operation condition of the robot, and the data information of the field equipment is collected more comprehensively.
The invention relates to a method for realizing the remote control of a robot and the operation of a remote operation and maintenance system based on a 5G network, which comprises the following steps: the client, the server, the monitoring camera, the Internet of things platform and the robot are connected with each other and cooperatively work; the robot control command is remotely issued, then the user selects and inputs the control command to be issued at the client, the server forwards the command to the Internet of things cloud platform after receiving the issued command, then the Internet of things cloud platform finally realizes the remote control of the robot, the received response information is returned to the server, and finally the client performs corresponding display. The invention has the characteristics of high capacity and low time delay, has high data security, and improves the timeliness of operation, maintenance and monitoring through high-speed 5G network connection; the invention monitors various current and historical states of the robot through 5G on the basis of 5G.
Furthermore, the invention constructs a basic framework of the SaaS platform, namely the robot remote operation and maintenance monitoring system, by taking the Vue framework as a client-side foundation and taking the node. Js environment as a server-side foundation, wherein the SaaS platform mainly comprises a robot state information dynamic visualization technology, a robot control instruction remote issuing technology and a multi-channel real-time video transmission key technology.
Compared with the prior art, the invention has the following beneficial effects:
the robot state monitoring system is based on an Internet of things platform, mass state information of the robot is collected in a cloud, specific parameters of the robot are effectively monitored, and the state of the robot is analyzed; the robot is further debugged and controlled in a low-delay mode by using 5G based on the platform of the Internet of things, remote debugging of the robot is achieved, operation and maintenance cost of the robot is saved, and guarantee of automation level of a factory is improved. The construction of the operation and maintenance scheduling platform can schedule related personnel in time to carry out targeted efficient maintenance.
Drawings
Fig. 1 is a schematic block diagram of a system for implementing remote control and remote operation and maintenance of a robot based on a 5G network according to the present invention;
FIG. 2 is a specific structural block diagram of a system for implementing remote control and remote operation and maintenance of a robot based on a 5G network according to the present invention;
FIG. 3 is a schematic structural diagram of a system for realizing remote control and remote operation and maintenance of a robot based on a 5G network according to the present invention;
fig. 4 is a schematic block diagram of the principle of the device management platform according to the present invention.
Detailed Description
The technical solution of the present invention is clearly and completely described below with reference to the embodiments and the accompanying drawings.
Example (b):
as shown in fig. 1, the system for implementing remote control and remote operation and maintenance of a robot based on a 5G network provided in this embodiment includes:
the data acquisition platform comprises a monitoring camera, is used for acquiring action and state information of the robot at each angle, monitoring and acquiring relevant parameters of the robot in real time, and uploading data acquired from the robot to the Internet of things cloud platform in real time through a 5G network so as to facilitate rapid issuing of instructions;
the cloud platform of the internet of things is used for monitoring various current and historical states of the robot, such as axis data, current, voltage, program execution, alarm information, signals and variable changes;
the data display platform acquires video streams by accessing an interface of the Internet of things cloud platform, performs visual display and monitors the current running conditions of the robot and other equipment;
the remote control platform remotely modifies various parameters of the robot through a 5G network and controls the operation of the robot;
and the operation and maintenance scheduling platform is used for dimension construction, fault point data processing, maintenance assignment and the like, and timely scheduling related personnel to carry out targeted and efficient maintenance.
The dimension building comprises the following steps:
and (2) constructing two-dimensional plane images and three-dimensional cloud point image information by adopting an SLAM (Simultaneous Localization and mapping, synchronous positioning and map construction).
The fault point data processing comprises the following steps:
establishing and identifying fault points according to the dimensions, dividing the fault types into software and hardware, and dividing the software and the hardware downwards again respectively to form a fault analysis model with a multilayer structure;
and issuing an assignment instruction to an intelligent assignment unit through the fault analysis model.
The intelligent assignment unit completes an assignment process, and specifically includes:
and accessing a cloud platform interface of the Internet of things, and reading information of maintenance personnel in the area. The region where the fault point is located is inquired by taking a district (county) as a minimum range, and if no corresponding maintenance personnel exist in the district (county) where the fault point is located, radiation is sequentially expanded to the city and the province where the fault point is located, so that a function of assigning nearby is realized;
classifying according to software and hardware faults, and dividing after-sale areas and field areas to designate corresponding maintenance personnel based on a K-means clustering algorithm;
and uploading the maintenance condition to an Internet of things cloud platform to realize nearby centralized assignment.
The intelligent assignment can also adopt distributed assignment, and assigns maintenance personnel to guide field workers to carry out maintenance operation on line according to software and hardware fault classification, so as to further improve the matching degree of the maintenance personnel and the fault types.
The relevant parameters of the robot comprise robot parameters, working quality, order completion conditions, fault types and maintenance conditions, equipment history records, statistical information, robot running states, motor currents, joint displacement values and transformation values of all axes. The relevant parameters of the robot not only comprise the condition of the robot, but also comprise the operation condition of the robot, and the data information of the field equipment is collected more comprehensively.
The invention relates to a method for realizing the remote control of a robot and the operation of a remote operation and maintenance system based on a 5G network, which comprises the following steps: the client, the server, the monitoring camera, the Internet of things platform and the robot are connected with each other and cooperatively work; the robot control command is remotely issued, then the user selects and inputs the control command to be issued at the client, the server forwards the command to the Internet of things cloud platform after receiving the issued command, then the Internet of things cloud platform finally realizes the remote control of the robot, the received response information is returned to the server, and finally the client performs corresponding display. The invention has the characteristics of high capacity and low time delay, has high data security, and improves the timeliness of operation, maintenance and monitoring through high-speed 5G network connection; the invention is based on 5G, and various current and historical states of the robot are monitored through 5G.
The SaaS platform mainly comprises a robot state information dynamic visualization technology, a robot control instruction remote issuing technology and a multi-channel real-time video transmission key technology.
According to the robot state information dynamic visualization technology, after data such as states and parameters of a robot are collected by an Internet of things platform, dynamic data are pushed to a service end running based on a node.js environment, and the node.js serves as an http server to provide a web access interface; after receiving a data request of the client, the server pushes data to the client, and the client performs dynamic data visualization based on the Echarts library.
The robot control instruction remote issuing technology; the user selects and inputs a control command to be issued at the client, the server forwards the control command to the Internet of things platform after receiving the issued command, the Internet of things platform finally realizes the remote control of the robot, the received response information is returned to the server, and then the client performs corresponding display.
The key technology for multi-channel real-time video transmission is based on a web stream media scheme of ffmpeg + jsmpeg + nodejs and a WebSocket protocol, wherein ffmpeg provides a leading audio and video coding capability, and jsmpeg and WebSocket guarantee low delay and continuity of video streams.
The invention aims to solve the problems that once a factory robot fails, field debugging is needed, the robots are generally high in fault rate in various sizes, debugging cost is high, requirements on professionals are large and the like. The embodiment also realizes the remote real-time control and maintenance of the robot, effectively controls the state of the factory robot in an unattended state, and can take emergency measures for abnormal operation in a non-working condition state and disturbing the automatic production process of products; various parameters of the robot can be modified in different places by utilizing the characteristics of low delay, high transmission speed and the like of 5G, and the operation of the robot is monitored in real time through the monitoring camera.
As shown in fig. 3, the system further includes a device management platform (PaaS), an industrial internet of things SaaS platform and a terminal, where the device management platform is connected to a network and a gateway, and the gateway is connected to the terminal, so as to implement communication between the device management platform and the terminal; the network comprises a plurality of modes of 3G/4G/5G, wired and WIFI; the gateway comprises a wireless gateway and a wired gateway and is used for realizing the communication between the terminal and the network.
As shown in fig. 3, the device management platform is configured to implement terminal control, such as connection management, state monitoring, data acquisition, authority management, early warning and alarm, and application service; according to customer requirements, the personalized industrial Internet of things SaaS platform application provides an industry customized solution to meet different industry requirements; the equipment management platform integration is based on the equipment management platform capability, and is integrated with the existing database and application data of an enterprise, so that the application is extensible.
As shown in fig. 2, the industrial internet of things SaaS platform is connected to the equipment management platform, and is configured to implement authority management, data presentation, fault warning, remote management, work order management, and report statistics of the equipment management platform.
In this embodiment, technologies of 5G, cloud computing and internet of things are adopted, and a one-stop solution of "connection + gateway + platform + application" is adopted for management of the industrial equipment management field, especially for robot management, so that application services of the industrial internet of things such as networking cloud of the industrial equipment, data acquisition, real-time monitoring, fault alarm, remote control and operation statistics can be quickly realized.
As shown in fig. 4, the data acquisition platform provided in this embodiment implements management of the device management platform, the application is input through the RESTAPI and the data forwarding interface, and the industrial device passes through the device access path; specifically, the device management platform includes: device management, rules engine, object model, user center, security-identity and access management, metadata, telemetry, and documentation; the device management is used for realizing remote monitoring, position, alarm, file transmission, software update and remote access; the rule engine is used for realizing the trigger and the operation thereof; the object model realizes the management of the equipment type; and the user center is used for realizing registration and audit logs.
The monitoring camera adopts a three-way camera video transmission mechanism, so that the state of each angle of the robot can be better observed.
The system also comprises a robot digital twin platform which is used for importing various data of the field robot into the three-dimensional simulation software and synchronizing the motion of the robot to be displayed in the simulation software through the real-time change of the data. The remote digital twin system can assist a remote professional engineer to control field personnel to complete debugging, the database is used for storing data of the robot and peripheral equipment, the problem reason is searched, and the digital twin system of the robot is formed.
The invention improves the fault solving speed, can quickly position and solve the fault, reduces the fault processing time, improves the one-time fault repairing rate and saves the personnel traveling cost; the effective work efficiency of the robot and the equipment is improved, and the stability of the robot and the equipment is improved. The invention can be applied to industrial robots, cooperative robots, AGV transfer robots and the like, such as four-axis robots or six-axis robots.
Claims (8)
1. A system for realizing remote control and remote operation and maintenance of a robot based on a 5G network is characterized by comprising:
the data acquisition platform comprises a monitoring camera and is used for acquiring action and state information of the robot from all angles, monitoring and acquiring relevant parameters of the robot in real time, and uploading data acquired from the robot to the Internet of things cloud platform in real time through a 5G network so as to facilitate rapid issuing of instructions;
the cloud platform of the Internet of things is used for monitoring various current and historical states of the robot;
the data display platform acquires a video stream by accessing an interface of the Internet of things cloud platform, performs visual display and monitors the current running conditions of the robot and other equipment;
the remote control platform remotely modifies various parameters of the robot through a 5G network to control the operation of the robot;
the operation and maintenance scheduling platform is used for constructing dimensions, processing fault point data and assigning maintenance, and scheduling related personnel to carry out targeted and efficient maintenance;
the fault point data processing comprises the following steps:
establishing and identifying fault points according to the dimensions, dividing the fault types into software and hardware, and dividing the software and the hardware downwards again respectively to form a fault analysis model with a multilayer structure;
issuing an assignment instruction to an intelligent assignment unit through the fault analysis model;
the intelligent assignment unit completes an assignment process, and specifically includes:
accessing an Internet of things cloud platform interface, and reading maintenance personnel information of a region where the Internet of things cloud platform interface is located;
classifying according to software and hardware faults, dividing an after-sale area and a field area based on a K-means clustering algorithm, and designating corresponding maintenance personnel;
and uploading the maintenance condition to an Internet of things cloud platform to realize near centralized assignment.
2. The system for realizing remote control and remote operation and maintenance of the robot based on the 5G network as claimed in claim 1, wherein the dimension construction adopts SLAM technology to construct two-dimensional plane images and three-dimensional cloud point image information.
3. The system of claim 1, wherein the robot-related parameters include robot parameters, quality of work, order completion status, fault type and maintenance status, equipment history, statistical information, robot operating status, motor current, and joint displacement and transformation values of each axis.
4. The system for remotely controlling and remotely maintaining the robot based on the 5G network as claimed in claim 1, wherein the system is operated: the client, the server, the monitoring camera, the Internet of things platform and the robot are connected with each other and cooperatively work; the robot control command is remotely issued, then the user selects and inputs the control command to be issued at the client, the server forwards the command to the Internet of things cloud platform after receiving the issued command, then the Internet of things cloud platform finally realizes the remote control of the robot, the received response information is returned to the server, and finally the client performs corresponding display.
5. The system for realizing remote control and remote operation and maintenance of the robot based on the 5G network according to claim 4, wherein a Vue framework is used as a client-side foundation, a node.js environment is used as a server-side foundation, and a basic framework of a SaaS platform, which is a robot remote operation and maintenance monitoring system, is constructed, wherein the SaaS platform comprises a robot state information dynamic visualization technology, a robot control instruction remote issuing technology and a multi-channel real-time video transmission key technology.
6. The system for realizing remote control and remote operation and maintenance of the robot based on the 5G network according to claim 5, further comprising an equipment management platform, an industrial Internet of things (SaaS) platform and a terminal, wherein the equipment management platform is connected with the network and the gateway, and the gateway is connected with the terminal to realize communication between the equipment management platform and the terminal.
7. The system for realizing remote control and remote operation and maintenance of the robot based on the 5G network as claimed in claim 6, wherein the equipment management platform is used for realizing control of the terminal; the industrial Internet of things SaaS platform is connected with the equipment management platform and used for achieving authority management, data presentation, fault warning, remote management, work order management and report statistics of the equipment management platform.
8. The system of claim 6, wherein the equipment management platform comprises: device management, rules engine, object model, user center, security-identity and access management, metadata, telemetry, and documentation; the device management is used for realizing remote monitoring, position, alarm, file transmission, software updating and remote access; the rule engine is used for realizing the trigger and the operation thereof; the object model realizes the management of the equipment type; and the user center is used for realizing registration and auditing logs.
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