WO2022228029A1 - 机器人的安全处理方法、***、终端及存储介质 - Google Patents

机器人的安全处理方法、***、终端及存储介质 Download PDF

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WO2022228029A1
WO2022228029A1 PCT/CN2022/084631 CN2022084631W WO2022228029A1 WO 2022228029 A1 WO2022228029 A1 WO 2022228029A1 CN 2022084631 W CN2022084631 W CN 2022084631W WO 2022228029 A1 WO2022228029 A1 WO 2022228029A1
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Prior art keywords
robot
abnormal state
safety processing
processing method
safety
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PCT/CN2022/084631
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English (en)
French (fr)
Inventor
王红梅
周铜
刘谋云
李志青
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上海神泰医疗科技有限公司
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Publication of WO2022228029A1 publication Critical patent/WO2022228029A1/zh

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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
    • 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
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0176—By stopping operation
    • 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
    • A61H2201/01—Constructive details
    • A61H2201/0173—Means for preventing injuries
    • A61H2201/0184—Means for preventing injuries by raising an alarm
    • 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
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • 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
    • A61H2201/50—Control means thereof

Definitions

  • the invention relates to the technical field of medical device control, and in particular, to a method, system, terminal and storage medium for safety processing of a robot.
  • lower extremity rehabilitation robots are machines.
  • an abnormality occurs during the rehabilitation training process, it is difficult to carry out safe processing in time to eliminate the abnormality, especially When a variety of abnormalities occur, the treatment of various abnormalities cannot be reasonably arranged, which brings certain safety hazards to patients. Therefore, it is necessary to design a set of effective security processing methods to avoid security risks.
  • the purpose of the present invention is to provide a safety processing method, system, terminal and storage medium for a robot, by dividing the response level of the abnormal state, and adopting the principle of priority processing of high response level to carry out the safe processing of the abnormal state, so as to ensure the safety of patients, Improve the operating efficiency of equipment.
  • the present invention provides a method for safe processing of a robot, comprising:
  • a control signal for the robot to enter the safe processing state is obtained and sent, so as to control the robot to enter the safe processing state.
  • the security processing mode corresponding to the abnormal state is acquired while acquiring the response command, and after the robot enters the security processing state, security processing is performed according to the security processing mode corresponding to the abnormal state.
  • the safety processing method includes at least a first safety processing method and a second safety processing method; if the robot handles the first abnormal state according to the first safety processing method, the response level is higher than the first safety processing method. If the second abnormal state of an abnormal state is the second abnormal state, the second abnormal state is preferentially processed according to the second safe processing method; after the second abnormal state is processed, if the first abnormal state still exists, the The first security processing method handles the first abnormal state.
  • performing the safety processing according to the safety processing method corresponding to the abnormal state includes: the robot gives an instruction of the safety processing method through audio and/or graphics, and the result of the safety processing is through audio and/or graphics. feedback to the robot.
  • the abnormal state includes one or more of abnormal operating position, abnormal operating parameter, and abnormal state of the patient's limb.
  • the abnormal operation position includes equipment rollover, equipment inclination or equipment translation
  • the abnormal operation parameter includes the motor position exceeding the preset range, the motor speed exceeding the preset range, the motor torque exceeding the preset range, and the presence of foreign objects.
  • the robot exceeds the preset working range, the emergency stop switch is triggered, and the network connection error;
  • the abnormal limb state includes limb spasm or the joint movement angle exceeds the preset range.
  • the method further includes:
  • the preset duration is 1ms-2ms.
  • the present invention also provides a safety processing system for a robot, comprising:
  • an abnormality detection module used for obtaining the working status information of the robot every preset duration
  • a grading module for establishing a correspondence between abnormal states and response commands within the robot
  • An abnormal response module used for obtaining the response command according to the corresponding relationship between the abnormal state and the response command when the robot is in an abnormal state, and obtaining the response command according to the corresponding relationship between the response command and the response level And send out a control signal for the robot to enter the safe processing state, so as to control the robot to enter the safe processing state.
  • the grading module is further configured to establish a corresponding relationship between the abnormal state and the safety processing mode inside the robot.
  • the abnormal response module is further configured to acquire the safety processing mode corresponding to the abnormal state while acquiring the response command, and after the robot enters the safety processing state, follow the safety processing mode corresponding to the abnormal state. Dispose of safely.
  • it also includes a program processing module for switching the working state of the robot.
  • the human-computer interaction module includes a human-computer interaction interface
  • the human-computer interaction interface realizes information interaction by means of audio and/or graphics.
  • the information interaction includes: the robot gives an instruction of a safe processing method through the human-machine interface, and a result of the safe processing is fed back to the robot through the human-computer interface.
  • the information interaction further includes: displaying the working state of the robot through the human-computer interaction interface.
  • the present invention also provides a terminal, the terminal includes:
  • memory for storing one or more programs
  • the one or more processors implement the safe processing method of the robot as described above.
  • the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, realizes the above-mentioned safe processing method of the robot.
  • the present invention provides a safety processing method, system, terminal and storage medium for a robot, including acquiring working state information of the robot at preset time intervals, and when determining that the robot is in an abnormal state, according to the abnormal state and the response command The corresponding relationship between the response commands is obtained, and according to the corresponding relationship between the response commands and the response levels, the control signals for the robot to enter the safe processing state are obtained and sent to control the robot to enter the safe processing state. .
  • the invention divides the response level of the abnormal state of the robot, adopts the principle of priority processing of high response level to handle the abnormal state safely, ensures the safety of the patient and enables the equipment to exert better efficiency.
  • the device can continue to work after returning to normal, which improves the efficiency of the device and the user experience.
  • the present invention adopts the human-computer interaction interface to realize the human-computer interaction, which makes the operation intelligent and improves the human-computer interaction experience.
  • FIG. 1 is a flowchart of a method for safety processing of a robot according to an embodiment of the present invention
  • FIG. 2 is a schematic structural diagram of a robot provided by an embodiment of the present invention.
  • FIG. 3 is a flowchart of processing an abnormal state by a robot according to an embodiment of the present invention.
  • FIG. 4 is a structural diagram of a robot safety processing system provided by an embodiment of the present invention.
  • 100-abnormal detection module 200-level division module; 300-abnormal response module; 400-program processing module; 500-human-computer interaction module.
  • FIG. 1 is a flowchart of a method for processing safety of a robot according to this embodiment. As shown in FIG. 1 , the present embodiment provides a safety processing method for a robot, including
  • S01 Acquire working status information of the robot every preset duration
  • S02 Determine whether the working state information is an abnormal state, and if it is determined to be the abnormal state, obtain the response command according to the corresponding relationship between the abnormal state and the response command;
  • S03 Acquire and issue a control signal for the robot to enter a safe processing state according to the corresponding relationship between the response command and the response level, so as to control the robot to enter the safe processing state.
  • FIG. 2 is a schematic structural diagram of a robot provided by this embodiment
  • FIG. 3 is a flowchart of processing an abnormal state by the robot provided by this embodiment.
  • the safety processing method of the robot provided in this embodiment can be used to perform rehabilitation training on the upper/lower limbs of patients. The following will refer to FIG. 1 in conjunction with FIG. 2 and FIG.
  • the safety processing method of the robot specifically, takes the training control of the robot to the knee joint as an example.
  • step S01 the working state information of the robot is acquired every preset time period.
  • the position sensor is used to obtain whether the position of the device has flipped, tilted or translated, the motor operation status is monitored through the motor's internal parameter feedback mechanism, and the patient's real-time rehabilitation training is obtained through the real-time monitoring of rehabilitation training, and then the working status information of the robot is obtained.
  • step S02 it is determined whether the working state information is an abnormal state, and if it is determined to be the abnormal state, the response command is acquired according to the corresponding relationship between the abnormal state and the response command.
  • the abnormal state includes one or more of abnormal operation position, abnormal operation parameter, or abnormal state of patient's limbs.
  • the abnormal operation position includes equipment rollover, equipment tilt or equipment translation;
  • the abnormal operation parameter includes motor position exceeding the preset range, motor speed exceeding the preset range, motor torque exceeding the preset range, and foreign objects touching the safety.
  • the abnormal limb state includes limb spasm or the joint movement angle exceeds the preset range.
  • the working status information of the robot is acquired every preset duration, for example, 1ms-2ms.
  • the robot divides the above abnormal states into danger levels and response levels according to the degree of damage that may be caused to the human body, and sets corresponding safety processing methods for each abnormal state. Please refer to Table 1 for the specific abnormal state, danger level, response level and safe handling method.
  • the abnormality is divided into high, medium and low priority according to the degree of possible harm to the human body, and is divided into 9 response levels (Levels).
  • Levels response levels
  • Each exception is handled differently according to its characteristics. This can not only ensure the safety of patients, but also make the device more efficient and improve the user experience.
  • the lower limb rehabilitation robot can detect whether the equipment has rollover, tilt and translation through position sensors (such as gyroscopes); it can monitor whether the motor position, speed and torque exceed the preset range through the motor internal parameter feedback mechanism; through the motor feedback parameters and mechanical Arm parameters obtain the working range of the robot (ie, the working space range of the robotic arm) to determine whether the robot exceeds the preset working range; obtain whether the emergency stop switch is triggered and safe from the emergency stop switch trigger alarm, safety edge alarm or network setting alarm. Whether there is any foreign object touching the edge or whether the network connection is wrong; through the real-time monitoring of rehabilitation training, it is possible to obtain whether the patient's limbs are spasm or whether the joint movement angle exceeds the preset range.
  • position sensors such as gyroscopes
  • the response command is acquired according to the corresponding relationship between the abnormal state and the response command.
  • the method further includes: sending a control signal for stopping work, so as to control the robot to stop working and switch the working state of the robot to the abnormal state.
  • step S03 is performed: according to the corresponding relationship between the response command and the response level, acquire and send a control signal for the robot to enter the safe processing state, so as to control the robot to enter the safe processing state.
  • the response command includes the information of the abnormal state, and then the response level of the abnormal state can be obtained according to the response command, and the safety processing method corresponding to the abnormal state can be obtained while obtaining the response command.
  • the safety processing method includes at least a first safety processing method and a second safety processing method; if the robot handles a first abnormal state according to the first safety processing method, a response level higher than the first abnormality occurs the second abnormal state of the state, the second abnormal state is preferentially processed according to the second safe processing method; after the second abnormal state is processed, if the first abnormal state still exists, continue to follow the first abnormal state.
  • a safe handling method handles the first abnormal state.
  • the robot when the robot handles the abnormality of the motor speed exceeding the preset range, the equipment rollover abnormality occurs. Since the equipment rollover is a high-risk level abnormality, the response level is level 1, and the motor speed exceeds the preset range when the response level is 6. Abnormal, Therefore, the robot prioritizes handling of equipment rollover exceptions in accordance with the principle of high-response-level exceptions. After the equipment rollover exceptions are handled, if the abnormality of the motor speed exceeding the preset range still exists, it will continue to process until the exceptions are eliminated.
  • performing the safety treatment according to the safety treatment method corresponding to the abnormal state includes: the robot gives an instruction of the safety treatment method through audio and/or graphic and text, and the therapist performs corresponding actions under the instruction. Safe operation and feedback of results to the robot via audio and/or text.
  • the therapist and the robot can interact with each other through the human-machine interface 15, and the human-machine interface 15 realizes the information interaction through audio and/or graphics.
  • the robot can also display the working state through the human-machine interface 15, so as to remind the patient and the therapist whether the safety hazard has been eliminated.
  • this embodiment adopts a human-computer interaction interface to realize human-computer interaction, which makes the operation intelligent and improves the human-computer interaction experience.
  • the mechanical arm 11 stops working; after that, it is determined whether the gyroscope detects the overturning of the device, if so, unlock the foot holder 12, put down the human leg, turn off the machine, and contact the manufacturer; if not, determine whether there is any external If the object touches the safety edge, if any foreign object touches the safety edge, if the safety edge sensor 13 alarms, avoid pinching, remove the foreign object, resume the reset, and the mechanical arm 11 works normally; if there is no foreign object contact Go to the safety edge and judge whether the gyroscope detects the tilt of the device.
  • the reset can continue; if not, judge whether the motor position is out of range, if so, put down the human leg, close the device, shut down and contact the manufacturer; if not, determine whether the motor speed is out of range , if yes, put down the human leg, shut down and contact the manufacturer; if no, judge whether the robot exceeds the working range; if yes, put down the human leg, shut down and contact the manufacturer; if no, judge whether the movement angle of the human joint is out of range, if yes, put down the human leg and shut down Contact the manufacturer; if no, determine whether the motor torque is out of range, if yes, discharge the peripheral abnormality, and the reset can continue; if no, determine whether the patient has spasm, if yes, confirm that the patient can continue, the reset can continue, confirm that the patient cannot continue, and let go Leg, end treatment. If not, determine whether there is an error in the network connection. If so, reset and reconnect. If the
  • the safety processing method for the robot divides the abnormality into three danger levels: high, medium, and low according to the degree of possible harm to the human body, and divides it into nine response levels.
  • Each abnormality is handled differently according to its characteristics, which can not only ensure the safety of patients, but also allow the equipment to play a better role. Further, for some exception handling methods that the operator (therapist) can control, the machine can continue to work after returning to normal, which improves the efficiency of the device and the user experience.
  • this embodiment adopts a human-computer interaction interface to realize human-computer interaction, which makes the operation intelligent and improves the human-computer interaction experience.
  • the present invention also provides a safety processing system for a robot.
  • the safety processing system for a robot provided by this embodiment includes:
  • An abnormality detection module 100 configured to acquire working status information of the robot every preset duration
  • a grading module 200 for establishing a correspondence between abnormal states and response commands in the robot
  • the abnormal response module 300 is used to obtain the response command according to the corresponding relationship between the abnormal state and the response command when the robot is in an abnormal state, and according to the corresponding relationship between the response command and the response level, Acquire and send out a control signal for the robot to enter a safe processing state, so as to control the robot to enter a safe processing state.
  • the grading module 200 is further configured to establish a corresponding relationship between the abnormal state and the safety processing mode inside the robot.
  • the abnormal response module 300 is further configured to acquire the safety processing mode corresponding to the abnormal state while acquiring the response command, and after the robot enters the safety processing state, the robot will follow the safety processing corresponding to the abnormal state. method for safe handling.
  • the safety processing system of the robot further includes a program processing module 400 for switching the working state of the robot. If it is determined to be an abnormal state, the program processing module 400 switches the working state of the robot to an abnormal state.
  • the safety processing system of the robot further includes a human-computer interaction module 500, and the human-computer interaction module 500 includes a human-computer interaction interface. Describe the information interaction of the robot.
  • the information exchange includes: the abnormal response module 300 gives an instruction of a safe handling method through the human-computer interaction interface, the therapist performs a corresponding operation under the instruction, and passes the result through the human-computer interaction interface.
  • the computer interaction interface is fed back to the human-computer interaction module 500; the program processing module 400 displays the working state of the robot through the human-computer interaction interface.
  • the human-computer interaction module 500 prompts the abnormality detection module 100 to perform corresponding abnormality detection according to the feedback results, until no abnormality is detected and the potential safety hazard is eliminated, and the abnormality detection module 100 will not detect abnormality (normal).
  • the information is sent to the program processing module 400, and the program processing module 400 switches the working state of the robot from an abnormal state to a normal working state, and performs graphic display and/or voice reminder through the human-computer interaction interface.
  • this embodiment also provides a terminal, which is used for the safety processing of the robot.
  • the terminal includes:
  • processors one or more processors
  • memory for storing one or more programs
  • the one or more of the processors implement the safe processing method of the robot as described above.
  • both the processor and the memory are one, and the processor and the memory may be connected by a bus or in other ways.
  • the memory can be used to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the security 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, that is, the above-mentioned security processing method for the robot is implemented.
  • the memory may mainly include a stored program area and a stored data area, wherein the stored program area may store an operating system and an application program required for at least one function; the stored data area may store data created according to the use of the terminal, and the like.
  • the memory of the safety processing method of the robot may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • the memory may further include memory located remotely relative to the processor, the remote memory being connectable to the terminal through a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the terminal proposed in this embodiment and the security processing method of the robot proposed in the above-mentioned embodiments belong to the same inventive concept.
  • This embodiment also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by the processor, implements the above-mentioned method for safe processing of a robot.
  • the present invention can be implemented by means of software and necessary general-purpose hardware, and of course can also be implemented only by hardware, but in many cases the former is a better implementation Way.
  • the technical solutions of the present invention can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in a computer-readable storage medium, such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc., including several instructions to make a computer device (which can be a personal computer , server, or network device, etc.) to execute the methods of various embodiments of the present invention.
  • a computer-readable storage medium such as a floppy disk of a computer , read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), flash memory (FLASH), hard disk or optical disk, etc.
  • the present invention provides a method, system, terminal and storage medium for safety processing of a robot, including obtaining working state information of the robot at preset time intervals, and when determining that the robot is in an abnormal state, according to the difference between the abnormal state and the response command.
  • the corresponding relationship between the response commands is obtained, and according to the corresponding relationship between the response commands and the response levels, a control signal for the robot to enter the safe processing state is obtained and sent to control the robot to enter the safe processing state.
  • the invention divides the response level of the abnormal state of the robot, adopts the principle of priority processing of high response level to handle the abnormal state safely, ensures the safety of the patient and enables the equipment to exert better efficiency.
  • the device can continue to work after returning to normal, which improves the efficiency of the device and the user experience.
  • the present invention adopts the human-computer interaction interface to realize the human-computer interaction, which makes the operation intelligent and improves the human-computer interaction experience.

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Abstract

一种机器人的安全处理方法、***、终端及存储介质，安全处理方法包括：每隔预设时长获取机器人的工作状态信息（S01）；判断工作状态信息是否为异常状态，若判定为异常状态，根据异常状态与响应命令之间的对应关系，获取响应命令（S02）；根据响应命令与响应等级之间的对应关系，获取并发出机器人进入安全处理状态的控制信号，以控制机器人进入安全处理状态（S03）。通过对机器人的异常状态进行响应等级划分，采用高响应等级优先处理的原则进行异常状态的安全处理，保障患者的安全的同时又能让设备发挥更好的效率。

Description

机器人的安全处理方法、***、终端及存储介质 技术领域
本发明涉及医疗器械控制技术领域，尤其涉及一种机器人的安全处理方法、***、终端及存储介质。
背景技术
据统计中国每年脑卒中新发病例约270万，且发病率以每年13％的速度增长，到2030年，预计将有3177万名脑卒中患者。脑卒中致残率高，患者常伴有肢体运动等功能障碍，严重时出现偏瘫。其致残的根本原因不是肢体的本身受到伤害而是中枢神经***受到损伤，无法形成对肢体运动的有效控制。医学实践证明，脑卒中患者术后进行康复训练是降低致残率最有效的方法，特别是早期的康复治疗对于患者的运动功能及日常生活功能的改善具有极大的作用。
由于传统的康复医疗方法存在一定的弊端，患者需要在医师的帮助下才能进行康复训练，劳动强度大，自动化水平低，治疗效率低。同时，对于不同时期的患者无法设定训练的强度，不能满足患者的康复需求。康复机器人在恢复患者的肢体功能方面，有着显著的效果。下肢康复机器人的主要作用是通过模拟正常的生理步态模式，根据康复策略采用不同的训练方式，对患者的下肢进行康复训练，加快患者的康复速度。
目前市面上涌现大量下肢康复机器人，都想解决下肢偏瘫患者问题，给他们带去福音，但是下肢康复机器人属于机械，在康复训练过程中出现异常时，很难及时进行安全处理来消除异常，特别是出现多种异常时，并不能合理安排多种异常的处理，给患者带来一定的安全隐患。因此，需要设计一套行之有效的安全处理方法来规避安全隐患。
发明内容
本发明的目的在于提供一种机器人的安全处理方法、***、终端及存储介质，通过对异常状态进行响应等级划分，采用高响应等级优先处理的原则 进行异常状态的安全处理，保障患者的安全，提高设备的运行效率。
为达到上述目的，本发明提供一种机器人的安全处理方法，包括：
每隔预设时长获取所述机器人的工作状态信息；
判断所述工作状态信息是否为异常状态，若判定为所述异常状态，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令；
根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
可选的，获取所述响应命令的同时获取所述异常状态对应的安全处理方式，所述机器人进入安全处理状态后，按照所述异常状态对应的安全处理方式进行安全处理。
可选的，所述安全处理方式至少包括第一安全处理方式和第二安全处理方式；若所述机器人按所述第一安全处理方式处理第一异常状态时，出现响应等级高于所述第一异常状态的第二异常状态，则优先按所述第二安全处理方式处理所述第二异常状态；在所述第二异常状态处理完后，若第一异常状态仍存在，则继续按所述第一安全处理方式处理所述第一异常状态。
可选的，按照所述异常状态对应的安全处理方式进行安全处理包括：机器人通过音频和/或图文的方式给出安全处理方式的指示，且安全处理后的结果通过音频和/或图文的方式反馈至所述机器人。
可选的，所述异常状态包括运行位置异常、运行参数异常以及患者肢体状态异常中的一种或多种。
可选的，所述运行位置异常包括设备侧翻、设备倾斜或设备平移；所述运行参数异常包括电机位置超出预设范围、电机速度超出预设范围、电机扭矩超出预设范围、有外物触碰到安全触边、机器人超出预设工作范围、紧急停止开关触发以及网络连接错误中的一种或多种；所述肢体状态异常包括肢体痉挛或关节活动角度超出预设范围。
可选的，在判定所述机器人为异常状态之后，还包括：
发出停止工作的控制信号，以控制所述机器人停止工作；
切换所述机器人的工作状态至异常状态。
可选的，所述预设时长为1ms-2ms。
本发明还提供一种机器人的安全处理***，包括：
异常检测模块，用于每隔预设时长获取所述机器人的工作状态信息；
等级划分模块，用于在所述机器人内部建立异常状态和响应命令的对应关系；以及
异常响应模块，用于所述机器人处于异常状态时，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令，并根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
可选的，所述等级划分模块还用于在所述机器人内部建立异常状态和安全处理方式的对应关系。
可选的，所述异常响应模块还用于在获取所述响应命令的同时获取所述异常状态对应的安全处理方式，所述机器人进入安全处理状态后，按照所述异常状态对应的安全处理方式进行安全处理。
可选的，还包括程序处理模块，用于切换所述机器人的工作状态。
可选的，还包括人机交互模块，所述人机交互模块包括人机交互界面，所述人机交互界面通过音频和/或图文的方式实现信息交互。
可选的，所述信息交互包括：所述机器人通过所述人机交互界面给出安全处理方式的指示，及安全处理后的结果通过所述人机交互界面反馈至所述机器人。
可选的，所述信息交互还包括：通过所述人机交互界面展示机器人的工作状态。
本发明还提供了一种终端，所述终端包括：
一个或多个处理器；以及，
存储器，用于存储一个或多个程序；以及，
当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如上所述的机器人的安全处理方法。
本发明还提供了一种计算机可读存储介质，其上存储有计算机程序，该 计算机程序被处理器执行时实现如上所述的机器人的安全处理方法。
综上，本发明提供一种机器人的安全处理方法、***、终端及存储介质，包括每隔预设时长获取机器人的工作状态信息，在判定机器人处于异常状态时，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令，并根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。本发明通过对机器人的异常状态进行响应等级划分，采用高响应等级优先处理的原则进行异常状态的安全处理，保障患者的安全的同时又能让设备发挥更好的效率。进一步的，对于一些操作者可控制的异常状态的处理方式为恢复正常后设备可继续工作，这样提高了设备的效率和用户的体验度。另外，本发明采用人机交互界面实现人机交互，使操作智能化，提高人机交互体验。
附图说明
图1为本发明一实施例提供的机器人的安全处理方法的流程图；
图2为本发明一实施例提供的机器人的结构示意图；
图3为本发明一实施例提供的机器人对异常状态处理的流程图；
图4为本发明一实施例提供的机器人安全处理***的结构图；
其中，附图标记为：
11-机械臂；12-脚部固定器；13-安全触边感应器；14-安全急停开关；15-人机交换界面；
100-异常检测模块；200-等级划分模块；300-异常响应模块；400-程序处理模块；500-人机交互模块。
具体实施方式
以下结合附图和具体实施例对本发明的机器人的安全处理方法、***、终端及存储介质作进一步详细说明。根据下面的说明，本发明的优点和特征将更加清楚。需要说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本发明实施例的目的。
图1为本实施例提供的机器人的安全处理方法的流程图。如图1所示，本实施例提供一种机器人的安全处理方法，包括
S01：每隔预设时长获取所述机器人的工作状态信息；
S02：判断所述工作状态信息是否为异常状态，若判定为所述异常状态，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令；以及
S03：根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
图2为本实施例提供的机器人的结构示意图，图3为本实施例提供的机器人对异常状态处理的流程图。本实施例提供的机器人的安全处理方法可用于对患者的上/下肢进行康复训练，以下将参考参图1结合图2、图3以下肢康复机器人的训练方法为例来详细说明本实施例提供的机器人的安全处理方法，具体的，以机器人对膝关节的训练控制为例。
首先，执行步骤S01：每隔预设时长获取所述机器人的工作状态信息。例如通过位置传感器获取设备的位置是否发生翻转、倾斜或平移，通过电机内部参数反馈机制监控电机运转状况，通过康复训练的实时监控获取患者的康复训练实况，进而来获取机器人的工作状态信息。
接着，执行步骤S02：判断所述工作状态信息是否为异常状态，若判定为所述异常状态，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令。
所述异常状态包括运行位置异常、运行参数异常或患者肢体状态异常中的一种或多种。所述运行位置异常包括设备侧翻、设备倾斜或设备平移；所述运行参数异常包括电机位置超出预设范围、电机速度超出预设范围、电机扭矩超出预设范围、有外物触碰到安全触边、机器人超出预设工作范围、紧急停止开关触发或网络连接错误中的一种或多种；所述肢体状态异常包括肢体痉挛或关节活动角度超出预设范围。每隔预设时长例如为1ms-2ms获取所述机器人的工作状态信息。
机器人内部根据对人体可能造成的伤害程度对上述异常状态进行危险级别、响应等级的划分，并根据针对每种异常状态设置相应的安全处理方式。 具体的异常状态、危险级别、响应等级及安全处理方式请参考表1。本实施例根据对人体的可能危害程度将异常分高、中、低优先级，并分9个响应等级(Level)，高响应等级的异常优先处理的原则(等级1为最高响应等级)，并且每个异常根据其特点进行不同的处理。这样既可以保障患者的安全，又能让设备发挥更好的效率，提高用户体验。
表1：异常响应等级分类
Figure PCTCN2022084631-appb-000001
下肢康复机器人可通过位置传感器(例如陀螺仪)检出设备是否出现侧翻、倾斜及平移；通过电机内部参数反馈机制监控电机位置、速度及扭矩是否超出预设范围；通过电机反馈的参数及机械臂参数获取机器人的工作范围(即机械臂作业空间范围)，以判断机器人是否超出预设工作范围；从紧急停止开关触发警报、安全触边警报或网络设置警报来获取紧急停止开关是否触发、安全触边是否有外物触碰或网络连接是否错误；通过康复训练的实时监控获取患者肢体是否痉挛或关节活动角度是否超出预设范围。
若判定为所述异常状态，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令。
需要说明的是，本实施例中在判定所述机器人为异常状态之后，还包括：发出停止工作的控制信号，以控制所述机器人停止工作，并切换机器人的工作状态至异常状态。
接着，执行步骤S03：根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
响应命令包括异常状态的信息，进而可以根据所述响应命令获取异常状态的响应等级，且在获取所述响应命令的同时获取所述异常状态对应的安全处理方式，所述机器人进入安全处理状态后，按照所述异常状态对应的安全处理方式进行安全处理。其中，所述安全处理方式至少包括第一安全处理方式和第二安全处理方式；若所述机器人按所述第一安全处理方式处理第一异常状态时，出现响应等级高于所述第一异常状态的第二异常状态，则优先按所述第二安全处理方式处理所述第二异常状态；在所述第二异常状态处理完后，若第一异常状态仍存在，则继续按所述第一安全处理方式处理所述第一异常状态。例如当机器人处理电机速度超出预设范围的异常，出现设备侧翻异常，由于设备侧翻属于高危级别异常，响应等级为等级1，高于响应等级为6的电机速度超出预设范围的异常，故机器人按照高响应等级的异常优先处理的原则，优先处理设备侧翻异常，当设备侧翻异常处理完后，若电机速度超出预设范围的异常还存在，则继续处理，直到异常消除。
本实施例中，按照所述异常状态对应的安全处理方式进行安全处理包括：所述机器人通过音频和/或图文的方式给出安全处理方式的指示，治疗师在所述指示下进行相应的安全操作，并将结果通过音频和/或图文的方式反馈至所述机器人。例如，治疗师与机器人可以通过人机交互界面15进行信息交互，所述人机交互界面15通过音频和/或图文的方式实现信息交互。另外，所述机器人还可以通过人机交互界面15展示所处的工作状态，以便提醒患者和治疗师安全隐患是否已消除。示例性的，当机器人进入安全处理状态，根据响应 命令显示有外物接触到安全触边，通过人机交互界面15给出安全处理方式的指示：避免夹伤，移开外物，复位继续，治疗师在所述指示下进行相应操作后，安全触边感应器13警报解除，治疗师根据人机交互界面的相应提示将结果通过人机交互界面反馈至所述机器人，完成此次异常状态的安全处理。对于上述治疗师可控制的异常处理方式，异常排除恢复正常后机器可继续工作，无需关机重启等操作，减少异常处理的等待时间，提高了设备的效率和用户的体验度。另外，本实施例采用人机交互界面实现人机交互，使操作智能化，提高人机交互体验。
下面参考图2、图3所示，详细阐述机器人的安全处理方法。当判定机器人处于异常状态，机械臂11停止工作；之后，判断陀螺仪是否检测出设备倾翻现象，若是，解锁脚部固定器12，放下人腿，关机联系厂商；若否，判断是否有外物接触到安全触边，若有外物接触到安全触边，如安全触边感应器13报警，应避免夹伤，移开外物，复位继续，机械臂11正常工作；若无外物接触到安全触边，判断陀螺仪是否检测出设备倾斜现象，若是，属于设备问题，放下人腿，关机联系厂商，不属于设备问题，可回零重新开始，也可以关机结束。若否，判断陀螺仪是否检测出设备平移现象，若是，属于设备问题，放下人腿，关机联系厂商，不属于设备问题，可回零重新开始，也可以关机结束；若否，判断紧急停止开关14是否被触发，若是，旋开紧急停止开关按钮，复位可继续；若否，判断电机位置是否超出范围，若是，放下人腿，收拢设备，关机联系厂商；若否，判断电机速度是否超出范围，若是，放下人腿，关机联系厂商；若否，判断机器人是否超出工作范围，若是，放下人腿，关机联系厂商；若否，判断人体关节活动角度是否超出范围，若是，放下人腿，关机联系厂商；若否，判断电机扭矩是否超出范围，若是，排出***异常，复位可继续；若否，判断患者是否发生痉挛，若是，确定患者可继续，复位可继续，确定患者不可继续，放下人腿，结束治疗。若否，判断是否网络连接发生错误，若是，复位重连，如果问题继续存在重启设备，如果问题仍然存在，关机联系厂商。
本实施例提供的机器人的安全处理方法，根据对人体的可能伤害程度对 异常分为高、中、低三级危险级别，并分9个响应等级，高响应等级的异常优先处理的原则，并且每个异常的处理方式根据其特点进行不同的处理，这样既可以保障患者的安全，又能让设备发挥更好的效率。进一步的，对于一些操作者(治疗师)可控制的异常处理方式为恢复正常后机器可继续工作，这样提高了设备的效率和用户的体验度。另外，本实施例采用人机交互界面实现人机交互，使操作智能化，提高人机交互体验。
相应的，本发明还提供一种机器人的安全处理***。如图4所示，本实施例提供的机器人的安全处理***，包括：
异常检测模块100，用于每隔预设时长获取所述机器人的工作状态信息；
等级划分模块200，用于在所述机器人内部建立异常状态和响应命令的对应关系；以及
异常响应模块300，用于所述机器人处于异常状态时，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令，并根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
可选的，所述等级划分模块200还用于在所述机器人内部建立异常状态和安全处理方式的对应关系。
可选的，所述异常响应模块300还用于在获取所述响应命令的同时获取所述异常状态对应的安全处理方式，所述机器人进入安全处理状态后，按照所述异常状态对应的安全处理方式进行安全处理。
可选的，所述机器人的安全处理***还包括程序处理模块400，用于切换所述机器人的工作状态。若判断为异常状态，所述程序处理模块400切换所述机器人的工作状态至异常状态。
可选的，机器人的安全处理***还包括人机交互模块500，所述人机交互模块500包括人机交互界面，所述人机交互界面通过音频和/或图文的方式实现治疗师与所述机器人的信息交互。
可选的，所述信息交互包括：所述异常响应模块300通过所述人机交互界面给出安全处理方式的指示，治疗师在所述指示下进行相应的操作，并将 结果通过所述人机交互界面反馈至所述人机交互模块500；所述程序处理模块400通过所述人机交互界面展示所述机器人的工作状态。
可选的，人机交互模块500根据反馈结果促使所述异常检测模块100进行相应异常的检测，直至未检测出异常，安全隐患消除，同时所述异常检测模块100将未检测出异常(正常)的信息发送至所述程序处理模块400，所述程序处理模块400将机器人的工作状态由异常状态切换至正常工作状态，并通过所述人机交互界进行图文显示和/或语音提醒。
进一步地，本实施例还提供了一种终端，用于机器人的安全处理。该终端包括：
一个或多个处理器；
存储器，用于存储一个或多个程序；
当一个或多个程序被一个或多个所述处理器执行，使得一个或多个所述处理器实现如上述机器人的安全处理方法。
本实施例中，所述处理器及所述存储器均为一个，所述处理器和所述存储器可以通过总线或其他方式连接。
存储器作为一种计算机可读存储介质，可用于存储软件程序、计算机可执行程序以及模块，如本发明实施例中的机器人的安全处理方法对应的程序指令/模块。处理器通过运行存储在所述存储器中的软件程序、指令以及模块，从而执行终端的各种功能应用以及数据处理，即实现上述的所述机器人的安全处理方法。
所述存储器可主要包括存储程序区和存储数据区，其中，存储程序区可存储操作***、至少一个功能所需的应用程序；存储数据区可存储根据终端的使用所创建的数据等。此外，所述的机器人的安全处理方法的存储器可以包括高速随机存取存储器，还可以包括非易失性存储器，例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。在一些实例中，所述存储器可进一步包括相对于所述处理器远程设置的存储器，这些远程存储器可以通过网络连接至终端。上述网络的实例包括但不限于互联网、企业内部网、局域网、移动通信网及其组合。
本实施例提出的终端与上述实施例提出的所述的机器人的安全处理方法属于同一发明构思，未在本实施例中详尽描述的技术细节可参见上述实施例，并且本实施例与上述实施例具有相同的有益效果。
本实施例还提供一种计算机可读存储介质，其上存储有计算机程序，该程序被所述处理器执行时实现如上所述的机器人的安全处理方法。
通过以上关于实施方式的描述，所属领域的技术人员可以清楚地了解到，本发明可借助软件及必需的通用硬件来实现，当然也可以仅通过硬件实现，但很多情况下前者是更佳的实施方式。基于这样的理解，本发明的技术方案本质上或者说对现有技术做出贡献的部分可以以软件产品的形式体现出来，该计算机软件产品可以存储在计算机可读存储介质中，如计算机的软盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、闪存(FLASH)、硬盘或光盘等，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本发明各个实施例的方法。
综上，发明提供一种机器人的安全处理方法、***、终端及存储介质，包括每隔预设时长获取机器人的工作状态信息，在判定机器人处于异常状态时，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令，并根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。本发明通过对机器人的异常状态进行响应等级划分，采用高响应等级优先处理的原则进行异常状态的安全处理，保障患者的安全的同时又能让设备发挥更好的效率。进一步的，对于一些操作者可控制的异常状态的处理方式为恢复正常后设备可继续工作，这样提高了设备的效率和用户的体验度。另外，本发明采用人机交互界面实现人机交互，使操作智能化，提高人机交互体验。
上述描述仅是对本发明较佳实施例的描述，并非对本发明权利范围的任何限定，任何本领域技术人员在不脱离本发明的精神和范围内，都可以利用上述揭示的方法和技术内容对本发明技术方案做出可能的变动和修改，因此， 凡是未脱离本发明技术方案的内容，依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化及修饰，均属于本发明技术方案的保护范围。

Claims (17)

  1. 一种机器人的安全处理方法，其特征在于，包括：
    每隔预设时长获取所述机器人的工作状态信息；
    判断所述工作状态信息是否为异常状态，若判定为所述异常状态，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令；
    根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
  2. 根据权利要求1所述的机器人的安全处理方法，其特征在于，获取所述响应命令的同时获取所述异常状态对应的安全处理方式，所述机器人进入安全处理状态后，按照所述异常状态对应的安全处理方式进行安全处理。
  3. 根据权利要求2所述的机器人的安全处理方法，其特征在于，所述安全处理方式至少包括第一安全处理方式和第二安全处理方式；
    若所述机器人按所述第一安全处理方式处理第一异常状态时，出现响应等级高于所述第一异常状态的第二异常状态，则优先按所述第二安全处理方式处理所述第二异常状态；在所述第二异常状态处理完后，若第一异常状态仍存在，则继续按所述第一安全处理方式处理所述第一异常状态。
  4. 根据权利要求2所述的机器人的安全处理方法，其特征在于，按照所述异常状态对应的安全处理方式进行安全处理包括：所述机器人通过音频和/或图文的方式给出安全处理方式的指示，且安全处理后的结果通过音频和/或图文的方式反馈至所述机器人。
  5. 根据权利要求1所述的机器人的安全处理方法，其特征在于，所述异常状态包括运行位置异常、运行参数异常以及患者肢体状态异常中的一种或多种。
  6. 根据权利要求5所述的机器人的安全处理方法，其特征在于，所述运行位置异常包括设备侧翻、设备倾斜或设备平移；所述运行参数异常包括电机位置超出预设范围、电机速度超出预设范围、电机扭矩超出预设范围、有外物触碰到安全触边、机器人超出预设工作范围、紧急停止开关触发以及网 络连接错误中的一种或多种；所述肢体状态异常包括肢体痉挛或关节活动角度超出预设范围。
  7. 根据权利要求1所述的机器人的安全处理方法，其特征在于，在判定所述机器人为异常状态之后，还包括：
    发出停止工作的控制信号，以控制所述机器人停止工作；
    切换所述机器人的工作状态至异常状态。
  8. 根据权利要求1所述的机器人的安全处理方法，其特征在于，所述预设时长为1ms-2ms。
  9. 一种机器人的安全处理***，其特征在于，包括：
    异常检测模块，用于每隔预设时长获取所述机器人的工作状态信息；
    等级划分模块，用于在所述机器人内部建立异常状态和响应命令的对应关系；以及
    异常响应模块，用于所述机器人处于异常状态时，根据所述异常状态与响应命令之间的对应关系，获取所述响应命令，并根据所述响应命令与响应等级之间的对应关系，获取并发出所述机器人进入安全处理状态的控制信号，以控制所述机器人进入安全处理状态。
  10. 根据权利要求9所述的机器人的安全处理***，其特征在于，所述等级划分模块还用于在所述机器人内部建立异常状态和安全处理方式的对应关系。
  11. 根据权利要求10所述的机器人的安全处理***，其特征在于，所述异常响应模块还用于在获取所述响应命令的同时获取所述异常状态对应的安全处理方式，所述机器人进入安全处理状态后，按照所述异常状态对应的安全处理方式进行安全处理。
  12. 根据权利要求9所述的机器人的安全处理***，其特征在于，还包括程序处理模块，用于切换所述机器人的工作状态。
  13. 根据权利要求9所述的机器人的安全处理***，其特征在于，还包括人机交互模块，所述人机交互模块包括人机交互界面，所述人机交互界面通过音频和/或图文的方式实现信息交互。
  14. 根据权利要求13所述的机器人的安全处理***，其特征在于，所述信息交互包括：所述机器人通过所述人机交互界面给出安全处理方式的指示，及安全处理后的结果通过所述人机交互界面反馈至所述机器人。
  15. 根据权利要求13所述的机器人的安全处理***，其特征在于，所述信息交互还包括：通过所述人机交互界面展示机器人的工作状态。
  16. 一种终端，其特征在于，所述终端包括：
    一个或多个处理器；以及，
    存储器，用于存储一个或多个程序；以及，
    当所述一个或多个程序被所述一个或多个处理器执行，使得所述一个或多个处理器实现如权利要求1-8中任一所述的机器人的安全处理方法。
  17. 一种计算机可读存储介质，其上存储有计算机程序，其特征在于，该计算机程序被处理器执行时实现如权利要求1-8中任一所述的机器人的安全处理方法。
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