Robot system and exit method

Abstract

A robot system (100) includes an operator assembly (30), a drive module (20), and a control module (10). The operator assembly (30) is arranged on the drive module (20), the drive module (20) is used to drive the operator assembly (30) to move, the control module (10) is connected to the drive module (20), and the control module (10) is configured to control the drive module (20) to drive the operator assembly (30) to exit from the current posture based on the fault type of the robot system (100). In this way, the user can adopt different exit methods according to different fault types and adopt different fault handling processes according to the urgency of the fault elimination, so as to achieve accurate and efficient fault exit process.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Chinese patent application No. 2020106637610, filed on July 10, 2020, entitled “A Surgical Robot and Surgical Robot Exit Method,” the full text of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present disclosure relates to the field of robots, and in particular to a robot system and an exit method. Background Art

[0004] Medical devices generally adhere to the principle of "fail-safe" when dealing with system failures. This requires that upon detecting a fault, the system be promptly reset to a safe state and alert the user by issuing an alarm signal, allowing the user to troubleshoot the problem based on the alarm prompt.

[0005] If a surgical robot system detects a fault, it must withdraw the tool arm from the body for final operation, allowing medical staff to continue treating the patient. However, currently, without distinguishing the type of fault, safety requirements dictate that all robot components must be disabled and the tool arm must be withdrawn manually. This cumbersome and time-consuming process hinders the rapid completion of final operations, hindering the rapid treatment of the patient. Summary of the Invention

[0006] In some embodiments, the present disclosure provides a robot system, comprising: an operator component; a drive module, the operator component is arranged on the drive module, and the drive module is used to drive the operator component to move; a control module, which is communicatively connected to the drive module, and the control module is configured to control the drive module to drive the operator component to exit from a current posture based on the fault type of the robot system.

[0007] In some embodiments, the present disclosure provides a method for exiting a robot system, including: determining a fault type based on fault information of the robot system; judging whether the fault type is a first type of fault; and in response to the fault type being the first type of fault, controlling a drive module to drive an operator component to exit from a current posture. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] To clearly illustrate the technical solutions in the embodiments of the present disclosure, the following briefly describes the drawings required for describing the embodiments of the present disclosure. The drawings described below only illustrate some embodiments of the present disclosure. Those skilled in the art can, without inventive effort, derive other embodiments based on the contents of the embodiments of the present disclosure and these drawings.

[0009] Figure 1 shows a structural block diagram of a robot system according to some embodiments of the present disclosure;

[0010] Figure 2 A flowchart of an exit method of a robot system according to some embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0011] In order to make the technical problems solved by the present disclosure, the technical solutions adopted and the technical effects achieved more clear, the technical solutions of the embodiments of the present disclosure will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only exemplary embodiments of the present disclosure, rather than all embodiments.

[0012] In the description of the present disclosure, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present disclosure. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In the description of the present disclosure, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected" and "coupled" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be a communication between the two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to the specific circumstances. In this disclosure, in a surgical robot system, the end closest to the user (e.g., a doctor) is defined as the proximal end, near end, or rear end, and the end closest to the patient is defined as the distal end, far end, or front end. Those skilled in the art will appreciate that the embodiments of this disclosure can be used in medical instruments or surgical robots, as well as other non-medical devices.

[0013] The present disclosure provides a robot system. Figure 1 FIG. 1 shows a block diagram of a robot system 100 according to some embodiments of the present disclosure. Figure 1As shown, the robotic system 100 may include a manipulator assembly 30, a drive module 20, and a control module 10. The manipulator assembly 30 is a mechanical structure that can be operated by the control module 10. In some embodiments, the manipulator assembly 30 may include one or more surgical tools and / or endoscopes. The surgical tools and endoscopes may include surgical tool arms and end devices. It should be understood that the surgical tool arms may include flexible surgical tool arms, for example, flexible continuum structures. The end devices of the surgical tools may include, but are not limited to, clamps, scissors, etc. The end devices of the endoscope may include, but are not limited to, lighting devices or image acquisition devices.

[0014] In some embodiments, the manipulator assembly 30 is disposed on the drive module 20, for example, at the distal end of the drive module 20, and is used to drive the manipulator assembly 30 to move. Those skilled in the art will appreciate that the drive module 20 may include multiple motors and sensors coupled to the motors. The sensors may include, but are not limited to, encoders or potentiometers. In some embodiments, the manipulator assembly 30 is coupled to the motors of the drive module 20, and the control module 10 may control the movement of the motors of the drive module 20 to drive the manipulator assembly 30. The sensors of the drive module 20 may be connected to the control module 10 via a wired or wireless connection. The sensors may obtain parameters of the motors of the drive module 20 and information about the connection status between the drive module 20 and the manipulator assembly 30, and transmit these motor parameters and connection status information to the control module 10. The control module 10 uses the motor parameters to monitor the operating status of the drive module 20 in real time and obtain the current position of the end device of the manipulator assembly 30. The current posture of the end device may include the current position and the current posture. For example, the posture of the end device may include the axial feed position of the end device along the manipulator assembly 30 and the rotation and deflection angles at the position.

[0015] In some embodiments, the communication between the control module 10 and the drive module 20 may include drive command communication (e.g., commands for controlling motor motion parameters) and status information communication (e.g., motor status information and status information of the operator assembly 30). Drive command communication and status information communication may utilize different transmission channels. Thus, if the drive command transmission channel between the control module 10 and the drive module 20 fails and the control module 10 is unable to transmit the drive command to the drive module 20, the drive module 20 may utilize the status information transmission channel to transmit the motor status information and the status information of the operator assembly 30 to the control module 10, thereby enabling the control module 10 to obtain the status information of the motor and the operator assembly 30 in real time and monitor the motor and the operator assembly 30.

[0016] In some embodiments, the control module 10 is communicatively connected to the drive module 20. The control module 10 is configured to control the drive module 20 to drive the manipulator assembly 30 to exit from the current posture based on the fault type of the robot system 100. In some embodiments, during the actual operation of the robot system 100 (for example, during surgery), the robot system 100 fails. The control module 10 can control the motor movement of the drive module 20 based on the fault type of the robot system 100 to control the manipulator assembly 30 to exit from the current posture. The fault of the robot system 100 may include hardware or software faults that make up the robot system 100. It should be understood that the current posture may include the effective position and posture of the manipulator assembly 30 for performing surgical operations, and may also include the real-time posture of the manipulator assembly 30.

[0017] In some embodiments, the fault types of the robot system 100 may include a first type of fault and a second type of fault. In some embodiments, the first type of fault may include recoverable non-communication faults and irrecoverable non-communication faults that are unrelated to the normal communication function of the drive module 20. In some embodiments, for example, the recoverable non-communication faults of the first type of fault may include but are not limited to faults such as disconnection of contacts of the adapter connecting the sterile protective cover, abnormal connection between the operator assembly and the drive module, etc. In some embodiments, the irrecoverable non-communication faults of the first type of fault may include but are not limited to irrecoverable non-communication faults such as failure of the main control trolley pedal or failure of the main operator of the robot system 100. The first type of fault is unrelated to the normal communication function of the drive module 20. It should be understood that when a first type of fault occurs in the robot system 100, the control module 10 can still control the movement of the drive module 20 to control the exit of the operator assembly 30.

[0018] In some embodiments, the control module 10 can be configured to control the drive module 20 to drive the operator assembly 30 to exit from the current posture based on a recoverable non-communication fault. For example, the control module 10 can automatically control the drive module 20 to drive the operator assembly 30 to exit from the current posture based on a recoverable non-communication fault, or receive an input command from the user and control the drive module 20 to drive the operator assembly 30 to exit from the current posture based on the input command. In some embodiments, the control module 10 is configured to receive an input command from the user based on an irrecoverable non-communication fault, and control the drive module 20 to drive the operator assembly 30 to exit from the current posture based on the input command. It should be understood that the input command can be input by the user through a user interface, and the user interface can include but is not limited to a keyboard, a touch screen, buttons, a microphone, etc.

[0019] In certain embodiments, the input command may include a posture command and an exit command, and the posture command is used to make the operator assembly 30 form an exit posture, and the exit command is used to make the operator assembly 30 exit. Should be understood that the operator assembly 30 can be in a non-straight posture during actual operation, and the drive module 20 can form an exit posture based on the posture command control operator assembly 30. The exit posture can include a straight state, a part that is straight, a part arcuate posture, or a posture that is adapted to the sheath shape, etc. After the operator assembly 30 forms the exit posture, the drive module 20 can exit from the exit posture based on the exit command control operator assembly 30. In certain embodiments, the input command may also only include the exit command, and the drive module 20 can directly exit from the exit posture based on the exit command control operator assembly 30. Should be understood that the posture command and the exit command can be input by an input command, or can be input by multiple input commands.

[0020] In some embodiments, the second type of fault may include a communication fault that affects the normal communication function of the drive module 20. For example, the second type of fault may include, but is not limited to, communication interruption, motor fault of the drive module 20, motor power failure of the drive module 20, sensor fault of the drive module 20, or software fault related to the motion control of the drive module 20. It should be understood that the communication fault in the present disclosure should be interpreted broadly. The second type of fault may directly affect the normal communication function of the drive module 20, or indirectly manifest as affecting the normal communication of the drive module 20, such as the drive module 20 cannot move normally. For example, a sensor fault of the drive module 20 or a software fault related to the motion control of the drive module 20 causes the control module 10 to be unable to effectively control the drive module 20, which manifests as a communication fault. Or due to a motor fault or motor power failure of the drive module 20, the drive module 20 is unable to execute the drive command of the control module 10, which manifests as a communication fault. It should be understood that when the second type of fault occurs in the robotic system 100, due to a communication failure with the drive module 20, the control module 10 cannot control the movement of the drive module 20, so that the manipulator assembly 30 cannot exit from the current posture. In some embodiments, the control module 10 can be configured to issue a communication failure alarm message based on the communication failure and allow the user to manually exit the manipulator assembly 30 from the current posture.

[0021] In some embodiments, the control module 10 may be configured to issue a first type of alarm message based on a first type of fault, and to issue a second type of alarm message based on a second type of fault. In some embodiments, the first type of alarm message may include a recoverable non-communication fault alarm message and an irrecoverable non-communication fault alarm message. The control module 10 may be configured to issue a recoverable non-communication fault alarm message based on a recoverable non-communication fault, and to issue an irrecoverable non-communication fault alarm message based on an irrecoverable non-communication fault.

[0022] In some embodiments, the robot system 100 may further include an output module 40. It should be understood that the output module 40 can be communicatively connected to the control module 10 and configured to output first-category alarm information and / or second-category alarm information. In some embodiments, the output module 40 may include, but is not limited to, at least one of an audio output module, a lighting output module, or an image output module. For example, the audio output module may include a speaker or a voice announcer. The lighting output module may include a light strip, with different colors of light strips capable of displaying different alarm messages. For example, if the fault type is a first fault, a flashing green light may be used as the first-category alarm message. If the fault type is a second fault, a flashing yellow light may be used as the second-category alarm message. The image output module may include a display screen or a touch screen. The output module 40 listed in the embodiments of this disclosure is exemplary and not restrictive. It should be understood that the output module 40 may also include other output formats that can provide user alerts and warnings, all of which fall within the scope of protection of this disclosure. Those skilled in the art will understand that different types of alarm messages can be output via the same or different output modules 40.

[0023] In some embodiments, the control module 10 includes an alarm processor 110, an exit processor 120, and an exit executor 130. The exit processor 120 can be in communication with the alarm processor 110 and the exit executor 130. In some embodiments, the alarm processor 110 can be configured to receive fault information from the robotic system 100, determine the fault type based on the fault information, and issue a first-type alarm message based on a first-type fault (e.g., a recoverable non-communication fault or an unrecoverable non-communication fault) or issue a second-type alarm message based on a second-type fault (e.g., a communication fault).

[0024] In some embodiments, the exit processor 120 can be configured to determine an exit type based on the fault type. In some embodiments, the exit types can include automatic exit due to a fault and manual exit due to a fault. For example, the exit type can be determined to be automatic exit due to a fault based on a recoverable non-communication fault and an irrecoverable non-communication fault. The exit type can be determined to be manual exit due to a fault based on a communication fault. In some embodiments, the fault type can be obtained by querying a fault information list. The robot system 100 can generate different fault information based on the fault type, and different fault information can correspond to the same or different exit types.

[0025] In some embodiments, the exit actuator 130 can determine a fault exit mode based on the exit type and send a drive command to the drive module 20 based on the determined fault exit mode, or send an operation instruction to the output module 40 based on the determined fault exit mode. It should be understood that the exit actuator 130 can determine a fault exit mode based on the exit type and use different modes to control the movement of the drive module 20 to drive the operator assembly 30 to exit.

[0026] In some embodiments, the fault exit mode may include a first fault exit mode, a second fault exit mode, and a third fault exit mode. The first fault exit mode may be an automatic control mode, for example, it may be used for the control module 10 to autonomously control the movement of the drive module 20 through commands. In some embodiments, the exit actuator 130 may be configured to automatically exit based on recoverable non-communication faults and faults, for example, faults that do not affect the control module 10's control of the drive module 20, such as display errors of the output module 40, etc., to determine the first fault exit mode, and control the drive module 20 to drive the manipulator assembly 30 to exit from the current posture based on the first fault exit mode. It should be understood that when a fault occurs in the robot system 100, the control module 10 may determine the type of the fault, and in response to the fault being a recoverable non-communication fault, use the first fault exit mode to send a drive command to the drive module 20 to automatically control the drive module 20 to drive the manipulator assembly 30 to exit from the current posture. It should be understood that based on the recoverable non-communication fault, it can be determined that the motor of the drive module 20 is operating normally, and the communication between the control module 10 and the drive module 20 is normal, and the first fault exit mode is used to send a drive command. For example, the drive command may include the motor motion parameter information of the control module to drive the rotation direction and angle of the operator component 30 through the motor motion of the control module.

[0027] It should be understood that the second fault exit mode can be semi-automatic, for example, requiring the control module 10 to input a command or manually control the movement of the drive module 20. For example, based on an unrecoverable non-communication fault and an automatic fault exit, the second fault exit mode is determined to be adopted. In some embodiments, the exit actuator 130 can be configured to, based on an unrecoverable non-communication fault and an automatic fault exit, send a first operation instruction to the output module 40 based on the second fault exit mode, prompting the user to input a command to control the drive module 20 to drive the manipulator assembly 30 to exit from its current posture. For example, when a fault occurs in the robotic system 100, the control module 10 can determine the type of fault and, in response to the fault being an unrecoverable non-communication fault, control the drive module 20 based on the user input command to drive the manipulator assembly 30 to exit from its current posture using the second fault exit mode. It should be understood that, based on an unrecoverable non-communication fault, the motor of the drive module 20 can be determined to be operating normally, and the first operation instruction can be sent to the output module 40 using the second fault exit mode. For example, the output module 40 can include an image display device, such as a touch screen, and the first operation instruction can be displayed on the touch screen.

[0028] In some embodiments, the first operation instruction may prompt the user to exit the operator assembly 30, for example, by displaying a prompt message or an exit control key on the touch screen. The user can trigger the exit control key in accordance with the first operation instruction to control the drive module 20 to exit the operator assembly 30. It should be understood that the exit control key may also include an exit button. For example, the exit button may be located on the drive module 20 or other component of the robotic system 100. The first operation instruction may include prompting the user to press the exit button. The user can control the drive module 20 to exit the operator assembly 30 by pressing the exit button. It should be understood that the exit control key may also be located on a remote control device associated with the motor. In some embodiments, the exit control key may include a posture button and an exit button. It should be understood that the posture button may be triggered via the touch screen, while the exit button may be triggered by pressing a button located on the drive module 20. In some embodiments, the posture button and the exit button may both be triggered via the touch screen or by pressing a button. In some embodiments, the posture button and the exit button may be integrated into a single button. The above embodiments are intended to be exemplary only and are not intended to be limiting. For example, when it is determined that the distal end of the manipulator assembly 30 is in a bent state, the user can press the posture button, and the drive module 20 can receive the user's input command and control the motor movement of the drive module 20 based on the input command to make the distal end of the manipulator assembly 30 form an exit posture, such as a straight state, and then withdraw the manipulator assembly 30 from the current posture. It should be understood that when it is determined that the distal end of the manipulator assembly 30 itself is in a straight state, the user can also directly input a command to the drive module 20 by triggering the exit button on the drive module 20, and control the motor movement of the drive module 20 based on the input command to directly withdraw the manipulator assembly 30 from the current posture. This can achieve the control of the manipulator assembly 30, such as a surgical tool or endoscope, to withdraw the sheath from the surgical operation area.

[0029] In some embodiments, when the robot system 100 is not faulty, the user can also input a command, such as pressing an exit control key, to control the motor movement of the drive module 20 to exit the manipulator assembly 30 from the current position.

[0030] In some embodiments, the third fault exit mode can be a manual control mode, for example, the control module 10 cannot automatically control the movement of the drive module 20 through commands, and cannot control the movement of the drive module 20 based on the user's input commands. The exit actuator 130 can also be configured to send a second operation instruction to the output module 40 based on the third fault exit mode based on the exit type being a manual exit due to a fault, prompting the user to manually exit the manipulator assembly 30 from the current posture. For example, when a fault occurs in the robot system 100, the control module 10 can determine the type of the fault, and in response to the fault being a communication fault, send a second operation instruction to the output module 40 based on the third fault exit mode. The user can manually control the drive module 20 to drive the manipulator assembly 30 to exit from the current posture based on the second operation instruction. It should be understood that based on the communication failure, it can be determined that the communication between the control module 10 and the drive module 20 is abnormal or blocked, the motor state of the drive module 20 is abnormal, and it cannot operate normally. The third fault exit mode is used to send a second operation instruction to the output module 40. For example, the output module 40 may include an image display device, and the second operation instruction may include an instruction on the manual operation interface position and operation method. Based on the second operation instruction, the user can manually disassemble the drive module 20, such as physically, to exit the operator assembly 30 from the current posture. For example, the user can manually rotate the motor bearing of the drive module 20 to drive the operator assembly 30 to move and exit.

[0031] In some embodiments, the second operation instruction may include multiple messages prompting the user to perform the operation. When it is determined that the distance between the current posture of the operator assembly 30 and the human tissue is less than the safe range, the second operation instruction may prompt the user to drive the operator assembly 30 to move in the direction away from the human tissue through the drive module 20. When the operator assembly 30 moves to a safe range that exceeds a preset distance from the current posture and the position of the operator assembly does not cause harm to the human body, the second operation instruction may prompt the user to manually disassemble the operator assembly 30 from the drive module 20. Based on the fact that the distal end of the operator assembly 30 is in a bent state, the second operation instruction may also prompt the user to manually disassemble the operator assembly 30 from the drive module 20 so that the operator assembly 30 forms an exit posture when the disassembly is completed, such as a straight state, so as to facilitate removal from the surgical operation area to achieve a quick end to the operation.

[0032] In some embodiments of the present disclosure, the exit type is determined by the control module 10, and a drive command is sent to the drive module 20 according to the exit type to realize the automatic exit of the operator component 30, or an operation instruction is sent to the output module 40 so that the user can complete the exit of the operator component 30 according to the operation instruction, which has a better control effect and human-computer experience. Different exit methods are adopted according to different fault types, and different fault handling processes can be adopted according to the urgency of troubleshooting. All steps that can be handled by non-human operations are integrated into computer control to achieve accurate and efficient fault exit processes. For steps that cannot be completed autonomously by the computer, detailed operation prompts and operating instructions can be provided to the user, so that the fault handling can be realized in a relatively short time with the simplest operation, thereby facilitating the rapid exit of the operator component 30.

[0033] The present disclosure provides a control method that can be used for a robot system. Figure 2 FIG. 2 shows a flow chart of a control method 200 for a robot system (eg, the robot system 100) according to some embodiments of the present disclosure. Figure 2 As shown, the method 200 may be executed by a control module (e.g., the control module 10) of the robot system 100. The control module 10 may be configured on a computing device. The method 200 may be implemented by software and / or hardware.

[0034] In step 201, the fault type is determined based on the fault information of the robot system. It should be understood that the robot system 100 may be composed of multiple components, for example, it may include a main control trolley and an operating trolley, and the main control trolley may include a control module 10, an output module 40 and a main operator (not shown in the figure), etc. The operating trolley may include a drive module 20 and an operator assembly 30, etc. When hardware or software errors or failures occur in some of the components, fault information can be sent to the control module 10 according to a preset form, or when the control module 10 does not receive communication information from the corresponding component within a preset time period and / or fails to extract information, fault information can also be generated. Different fault information can be divided into different types of fault information, and different types of fault information can correspond to different fault types, so that the fault type of the robot system can be determined based on different fault information.

[0035] In step 203, it is determined whether the fault type is a first-type fault. For example, different types of fault information may include first fault information and second fault information, where the first fault information corresponds to a first-type fault and the second fault information corresponds to a second-type fault. By determining whether the fault type is a first-type fault, the severity level of the fault can be determined, thereby facilitating the robot system and / or user to take appropriate troubleshooting measures based on the fault.

[0036] In step 205, the drive module is controlled to drive the operator component to exit from the current posture. For example, the drive module is automatically controlled to drive the operator component to exit from the current posture, or an input command from the user is received, and based on the input command, the drive module is controlled to drive the operator component to exit from the current posture. In some embodiments, based on the fault type being a first type of fault, a first type of alarm information is issued, and the first type of fault may include recoverable non-communication faults and irrecoverable non-communication faults that are unrelated to the normal communication function of the drive module 20. In response to the fault type being a recoverable non-communication fault in the first type of fault, the control module 10 may automatically send a drive command to the drive module 20 to control the drive module 20 to drive the operator component 30 to exit from the current posture. In response to the fault type being an irrecoverable non-communication fault in the first type of fault, an input command from the user may be received, and based on the input command, the drive module 20 may be controlled to drive the operator component 30 to exit from the current posture.

[0037] In some embodiments, method 200 may further include step 207. In step 207, based on the second type of fault, the user is allowed to manually exit the manipulator assembly from the current posture. In some embodiments, based on the fault type being a second type of fault, a second type of alarm message is issued. The second type of fault may include a communication fault that affects the normal communication function of the drive module 20. In response to the fault type being a second type of fault, a second type of alarm message is issued, and the user is allowed to manually control the movement of the drive module 20 to exit the manipulator assembly 30 from the current posture.

[0038] In some embodiments, method 200 may further include: determining an exit type based on the fault type, determining a fault exit mode based on the exit type, and controlling the drive module to drive the operator assembly to exit based on the fault exit mode. For example, the exit type may be determined to be a fault-automatic exit based on a recoverable non-communication fault and an irrecoverable non-communication fault. The exit type may be determined to be a fault-manual exit based on a communication fault. In some embodiments, based on the exit type being a fault-automatic exit including a recoverable non-communication fault, the drive module 20 is controlled to drive the operator assembly 30 to exit from the current posture based on a first fault exit mode. Based on the exit type being a fault-automatic exit including an irrecoverable non-communication fault, a first operation instruction is sent to the output module 40 based on a second fault exit mode, so that the user inputs a command based on the first operation instruction to control the drive module 20 to drive the operator assembly 30 to exit from the current posture. Based on the exit type being a fault-manual exit, a second operation instruction is sent to the output module 40 based on a third fault exit mode, and the user is allowed to manually exit the operator assembly 30 from the current posture.

[0039] Note that the above are only exemplary embodiments of the present disclosure and the technical principles used. Those skilled in the art will understand that the present disclosure is not limited to the specific embodiments herein, and that various obvious changes, readjustments, and substitutions can be made by those skilled in the art without departing from the scope of protection of the present disclosure. Therefore, although the present disclosure has been described in more detail through the above embodiments, the present disclosure is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present disclosure, and the scope of the present disclosure is determined by the scope of the appended claims.

Claims

1. A robotic system comprising: Operator assembly; A driving module, on which the operator assembly is disposed, and for driving the operator assembly to move; a control module, communicatively connected to the drive module, wherein the control module is configured to control the drive module to drive the manipulator assembly to exit from a current posture based on a fault type of the robot system; The fault types include: The first type of faults include recoverable non-communication faults and irrecoverable non-communication faults that are not related to the normal communication function of the drive module; and The second type of failure includes a communication failure that affects the normal communication function of the drive module; The control module is configured to control the drive module to drive the manipulator assembly to exit from a current posture based on the recoverable non-communication fault; The control module is configured to, based on the unrecoverable non-communication fault, send a first operation instruction for prompting a user to input a command, receive an input command from the user, and, based on the input command, control the drive module to drive the manipulator assembly to exit from a current posture, wherein the first operation instruction includes an instruction for prompting the user to complete the exit of the manipulator assembly; The control module is configured to issue a communication failure alarm message based on the communication failure, send a second operation instruction to prompt the user to manually exit the operator component from the current position, and allow the user to manually exit the operator component from the current position, wherein the second operation instruction includes an indication of the manual operation interface position and the operation method.

2. The robot system according to claim 1, wherein: The control module is configured to issue a first type of warning information based on the first type of fault; and The control module is configured to issue a second type of warning information based on the second type of fault.

3. The robot system according to claim 2, wherein: The first type of alarm information includes recoverable non-communication fault alarm information and irrecoverable non-communication fault alarm information; and The control module is configured to issue the recoverable non-communication fault warning message based on the recoverable non-communication fault, and to issue the unrecoverable non-communication fault warning message based on the unrecoverable non-communication fault.

4. The robot system according to claim 2, wherein: Also includes: An output module is communicatively connected to the control module, and the output module is configured to output the first type of alarm information and / or the second type of alarm information.

5. The robot system according to claim 1, wherein: The input command includes a gesture command and an exit command. The gesture command is used to make the operator component form an exit gesture, and the exit command is used to make the operator component exit.

6. The robot system according to claim 4, characterized in that The output module includes at least one of an audio output module, a lighting output module or an image output module.

7. The robot system according to any one of claims 2 to 6, characterized in that: The control module includes: an alarm processor, configured to receive fault information of the robot system, determine the fault type based on the fault information, and issue a first type of alarm message based on the recoverable non-communication fault and the irrecoverable non-communication fault or issue a second type of alarm message based on the communication fault; an exit processor configured to determine an exit type based on the fault type; The exit executor determines a fault exit mode based on the exit type, and sends a drive command to the drive module based on the determined fault exit mode, or sends an operation instruction to the output module based on the determined fault exit mode.

8. The robot system according to claim 7, wherein: The exit types include automatic exit due to failure and manual exit due to failure; Based on the recoverable non-communication fault and the irrecoverable non-communication fault, determining that the exit type is automatic exit according to the fault; as well as Based on the communication failure, the exit type is determined to be the fault manual exit.

9. The robot system according to claim 8, wherein: The exit actuator is configured to determine a first fault exit mode based on the recoverable non-communication fault and the fault automatic exit, and control the drive module to drive the manipulator assembly to exit from a current posture based on the first fault exit mode; or The exit actuator is configured to determine a second fault exit mode based on the irrecoverable non-communication fault and the fault automatic exit, send a first operation instruction to the output module to prompt the user to input a command based on the second fault exit mode, and control the drive module to drive the operator component to exit from the current posture based on the input command.

10. The robot system according to claim 9, characterized in that The exit actuator is configured to determine a third fault exit mode based on the fault manual exit, and based on the third fault exit mode, send a second operation instruction to the output module to prompt the user to manually exit the operator component from the current posture.

11. The robot system according to claim 10, wherein: The second operation instruction includes a plurality of messages prompting the user to perform an operation.

12. A method for exiting a robot system, used in the robot system according to any one of claims 1 to 11, comprising: determining a fault type based on the fault information of the robot system; Determining whether the fault type is a first type fault; In response to the fault type being the first type of fault, the control drive module drives the manipulator component to exit from the current posture.

13. The exit method according to claim 12, characterized in that: The first type of faults include recoverable non-communication faults and irrecoverable non-communication faults that are unrelated to the normal communication function of the drive module. The exit method includes controlling the drive module to drive the operator component to exit from the current posture in response to the fault type being the recoverable non-communication fault.

14. The exit method according to claim 12 or 13, characterized in that: Also includes: In response to the fault type being the first type of fault, issuing a first type of alarm information; as well as In response to the fault type being a second type of fault, a second type of alarm information is issued, where the second type of fault includes a communication fault that affects the normal communication function of the drive module.

15. The exit method according to claim 13, characterized in that: Also includes: In response to the fault type being the unrecoverable non-communication fault, receiving an input command from a user, and based on the input command, controlling the drive module to drive the manipulator assembly to exit from a current posture.

16. The exit method according to claim 14, characterized in that: Also includes: In response to the fault type being the communication fault, a communication fault alarm message is issued, where the alarm message is used to prompt the user to manually exit the manipulator assembly from the current posture.

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