A robot confidential escort system

Abstract

The present invention belongs to the technical field of confidential article transportation, and specifically relates to a robot confidential escort system, comprising a cloud server, a user terminal, a robot and a remote monitoring terminal that communicate with each other; a user terminal is set to send an escort task, and a cloud server serves as a data exchange processing center, and queries a robot that can perform the escort task to issue the escort task. During the escort process, the robot uploads its own status, position, escort stage and abnormal behavior information to the remote monitoring terminal; the robot confidential escort system of the present invention records and automates the escort process, realizes the recording of the entire escort flow process, improves the escort safety and escort efficiency, and reduces the escort cost.

Description

Technical Field

[0001] The invention belongs to the technical field of confidential article transportation, and in particular relates to a robot confidential article escort system. Background Art

[0002] The transportation of special items such as currency and test papers requires high confidentiality, and places high demands on the standardization of escort vehicles, escort personnel and escort procedures.

[0003] When special materials in factory workshops need to be transported confidentially, the general process is: the placement personnel put the escort box containing the items to be delivered into a sealed hand-pushed logistics cart, and the special escort personnel manually move the logistics cart to the destination workshop. When arriving at the destination workshop, the receiving personnel simply identify and confirm the escort personnel and the escorted items with human eyes, and manually record the escort information. The transportation and handover process lacks effective supervision, and coupled with the high mobility of personnel, there are certain safety hazards, and it is easy for items to be lost or taken by mistake. The entire circulation process lacks corresponding electronic records, the traceability of items is poor, and the personnel authority cannot be classified and managed, and at least two people are required to complete it together, resulting in a waste of human resources.

[0004] Currently, material transportation in workshops is mostly done manually, with high personnel turnover, and safety certification is mostly based on visual inspection. The escort process lacks supervision and traceability.

[0005] There are relatively few robots specifically used for confidential material transportation. Patent CN 113052997 A is mainly used for the transportation of hazardous chemicals. It only identifies the driver, not the handover personnel. Video data is not fully utilized during the escort process. When there are many monitoring screens, supervisors may not be able to notice special events in the process in time. Real-time video transmission occupies a large bandwidth, and cloud server instructions and status acquisition may not be timely. The escort method in patent CN 114037385 A cannot be adjusted according to the urgency of the task, and the identity identification of the escort personnel needs to be compared with the database. When there are many workshop personnel, the database scale is large and the comparison is slow. The workshop personnel have high mobility. When the database is not updated in time, there are redundant spaces occupied by resigned personnel or new employees do not enter data in time and cannot be compared. In addition, the common delivery robots used in hospitals, communities, hotels and other places have an item distribution center, which mostly travels at a constant speed. A locker only holds a single item, which cannot take into account efficiency. The opening and closing of the workshop door is mostly manual, or based on the door control subsystem of radio frequency identification, which may have safety problems due to the limited identification distance. Summary of the invention

[0006] In view of this, the present invention proposes a robot confidential escort system, in which a user terminal is set to send an escort task, and a cloud server is used as a data exchange and processing center to query the robot that can perform the escort task and issue the escort task. During the escort process, the robot uploads its own status, position, escort stage and abnormal behavior information to the remote monitoring terminal; the robot confidential escort system of the present invention records and automates the escort process, realizes the recording of the entire escort flow, improves the escort safety and efficiency, and reduces the escort cost.

[0007] In order to achieve the above technical objectives, the specific technical solutions adopted by the present invention are:

[0008] A robot confidential escort system, comprising a cloud server, a user terminal, a robot and a remote monitoring terminal communicating with each other;

[0009] The user terminal is used to send a task of escorting materials;

[0010] The cloud server is used to query the idle state of the robot, plan the escort task as action information and distribute it to the robot that can perform the escort task, and generate unlocking verification information;

[0011] The robot is provided with a locker for receiving the unlocking verification information, receiving and executing the action information, uploading the execution status information to the cloud server in real time, and opening the locker after receiving the information input corresponding to the unlocking verification information;

[0012] The remote monitoring terminal is used to monitor the execution status information in real time;

[0013] The execution status information includes the status information, position information, escort phase information and abnormal behavior information of the robot.

[0014] Further, the cloud server includes a map subsystem, a task management subsystem, a user verification subsystem, a robot scheduling subsystem, an elevator control subsystem, a door control subsystem, and a storage subsystem;

[0015] The map subsystem stores workshop map points and escort routes;

[0016] The task management subsystem is used to view current escort tasks and historical escort tasks;

[0017] The user verification subsystem is used to generate a verification code according to the escort task as a verification credential when taking the material out of the robot, and stores personnel information;

[0018] The dispatching subsystem is used to receive the escort task, check the position and status of the robots in the workshop, and assign the escort task to a designated robot;

[0019] The elevator control subsystem is connected to the elevator control module network of the workshop, and is used to receive the elevator status in the workshop and send the elevator call command to the elevator control module;

[0020] The door control subsystem is connected to the access control module network of the workshop, and is used to receive the access control status in the workshop and send the door opening and closing command to the access control module;

[0021] The storage subsystem is used to check the storage location of the materials.

[0022] Furthermore, the remote monitoring terminal is used to view the status information and real-time video of the robot, receive the verification code, receive the abnormal behavior information, and

[0023] The status information and real-time video of the robot, the received verification code and the received abnormal behavior information are displayed.

[0024] Furthermore, the abnormal behavior information includes: the robot's route deviation, the robot's stay timeout, a person approaching the robot's cabinet door, a crowd gathering around the robot, people following the robot, the robot's door lock abnormality, and the robot's door lock damaged.

[0025] Furthermore, when the monitoring terminal receives the abnormal behavior information, it displays the video around the robot.

[0026] Furthermore, the information contained in the escort task includes: escort box number information, escort box category information, escort starting point information, escort end point information, placement personnel information, receiving personnel information, time information, material type information and / or material quantity information.

[0027] Furthermore, the information corresponding to the unlocking verification information includes the verification code and / or identity authentication information; when the identity authentication information includes personnel information, the personnel information includes: employee card information, personnel information, personnel workshop number, personnel name and facial information.

[0028] Furthermore, when the identity verification information does not include personnel information, the identity verification information includes: a workshop number.

[0029] Furthermore, the elevator control subsystem is used to navigate the robot to the elevator preparation point, and send an elevator call command to the elevator control module according to the status of the elevator, the starting floor and the destination floor to be reached. When the elevator reaches the starting floor, it sends a door opening command, and controls the robot to enter the elevator after confirming that there are no pedestrians in the elevator. Then, the elevator is closed and the map is switched. After waiting for the elevator to run and reach the destination floor, the elevator door is opened and the robot is controlled to exit the elevator.

[0030] Furthermore, the door control subsystem is used to send workshop door opening and closing instructions based on the robot's position, escort status and workshop door status to control the robot to enter or exit the room. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0032] Figure 1 This is an overall structural diagram of the robot confidential escort system in a specific implementation manner of the present invention;

[0033] Figure 2 This is a cloud server architecture diagram in a specific implementation manner of the present invention;

[0034] Figure 3 This is a robot architecture diagram in a specific embodiment of the present invention;

[0035] Figure 4 It is an overall flow chart of the escort method in a specific implementation manner of the present invention;

[0036] Figure 5 This is a flowchart of identity authentication in a specific implementation manner of the present invention;

[0037] Figure 6 A flowchart of a receiving process in a specific implementation manner of the present invention;

[0038] Figure 7 It is a flow chart of taking an elevator in a specific implementation manner of the present invention;

[0039] Figure 8 The figure is a flow chart of the gating subsystem in a specific implementation manner of the present invention. DETAILED DESCRIPTION

[0040] The embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0041] The following describes the embodiments of the present disclosure through specific examples, and those skilled in the art can easily understand other advantages and effects of the present disclosure from the contents disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all of the embodiments. The present disclosure can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present disclosure. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0042] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on the present disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement the device and / or practice the method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this device and / or practice this method.

[0043] It should also be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present disclosure. The illustrations only show components related to the present disclosure rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0044] Additionally, in the following description, specific details are provided to facilitate a thorough understanding of the examples. However, it will be understood by those skilled in the art that the aspects described may be practiced without these specific details.

[0045] In one embodiment of the present invention, a robot security escort system is provided. Figure 1 As shown, it includes a cloud server, a user terminal, a robot and a remote monitoring terminal that communicate with each other;

[0046] The user terminal is used to send the escort task for the materials;

[0047] The cloud server is used to query the idle status of the robot, plan the escort task as action information and assign it to the robot that can perform the escort task, and generate unlocking verification information;

[0048] The robot is equipped with a locker for receiving unlocking verification information, receiving and executing action information, uploading execution status information to a cloud server in real time, and opening the locker after receiving information input corresponding to the unlocking verification information;

[0049] The remote monitoring terminal is used to monitor the execution status information in real time;

[0050] Among them, the execution status information includes the robot's status information, location information, escort stage information and abnormal behavior information.

[0051] In this embodiment, the cloud server includes a map subsystem, a task management subsystem, a user verification subsystem, a robot scheduling subsystem, an elevator control subsystem, a door control subsystem, and a storage subsystem;

[0052] The map subsystem stores workshop map points and escort routes;

[0053] The task management subsystem is used to view current escort tasks and historical escort tasks;

[0054] The user verification subsystem is used to generate a verification code according to the escort task as a verification credential when taking materials out of the robot, and stores personnel information;

[0055] The scheduling subsystem is used to receive escort tasks, check the location and status of robots in the workshop, and assign escort tasks to designated robots;

[0056] The elevator control subsystem is connected to the elevator control module network of the workshop, and is used to receive the elevator status in the workshop and send the elevator call command to the elevator control module;

[0057] The door control subsystem is connected to the workshop access control module network to receive the workshop access control status and send the door opening and closing commands to the access control module;

[0058] The warehousing subsystem is used to view the storage location of materials.

[0059] In this embodiment, the remote monitoring terminal is used to view the robot's status information and real-time video, receive verification codes, receive abnormal behavior information, and

[0060] Display the robot's status information and real-time video, received verification code, and received behavior abnormality information.

[0061] In this embodiment, the abnormal behavior information includes: robot route deviation, robot stay timeout, people approaching the robot's cabinet door, people gathering around the robot, people following, robot door lock abnormality, and robot door lock damage.

[0062] In this embodiment, when the monitoring terminal receives abnormal behavior information, it displays the video around the robot.

[0063] In this embodiment, the information in the escort task includes: escort box number information, escort box category information, escort starting point information, escort end point information, placement personnel information, receiving personnel information, time information, material type information and / or material quantity information.

[0064] In this embodiment, the information corresponding to the unlocking verification information includes a verification code and / or identity verification information; when the identity verification information includes personnel information, the personnel information includes: employee card information, personnel information, personnel workshop number, personnel name and facial information.

[0065] In this embodiment, when the identity verification information does not include personnel information, the identity verification information includes: a workshop number.

[0066] In this embodiment, the elevator control subsystem is used to navigate the robot to the elevator preparation point, and sends an elevator call command to the elevator control module according to the elevator status, the starting floor and the destination floor to be reached. When the elevator reaches the starting floor, it sends a door opening command, and controls the robot to enter the elevator after confirming that there are no pedestrians in the elevator. Then, the elevator is closed and the map is switched. After waiting for the elevator to run and reach the destination floor, the elevator door is opened and the robot is controlled to exit the elevator.

[0067] In this embodiment, the door control subsystem is used to send workshop door opening and closing instructions based on the robot's position, the execution status of the escort task, and the workshop door status to control the robot to enter or exit the room.

[0068] The escort system of this embodiment includes: user terminals, cloud servers, robots and remote monitoring, all of which are connected to the network. The escort personnel send the escort task through the user terminal, and the cloud server assigns the escort task to the designated robot based on the escort information and the robot's idle status information. The robot executes the escort task and sends the status information to the cloud server, and remote monitoring realizes the supervision of the entire escort process. Figure 1 shown.

[0069] like Figure 2As shown in the figure, the cloud server includes a map subsystem, a task management subsystem, a user verification subsystem, a scheduling subsystem, an elevator control subsystem, a remote monitoring subsystem, and a storage subsystem. The map subsystem stores information such as map points and escort routes for use by multiple robots. The user verification subsystem can automatically generate a verification code based on the escort task for verification when picking up goods, and stores biometric information such as user fingerprints or faces. The task management subsystem can view current tasks and historical escort tasks, and the scheduling subsystem can receive escort tasks and view the position and status of robots in the current area, and assign escort tasks to designated robots for execution. The elevator control subsystem is connected to the elevator control module network, can receive the elevator status and respond to commands such as robot calls, door openings, etc., and send them to the elevator control module. The remote monitoring subsystem views all robot status information and real-time videos, receives verification codes and warning information displays, and is convenient for supervisors to view. The item subsystem views the storage location of items and updates them according to the escort task.

[0070] like Figure 3 As shown, the robot includes a chassis, a locker, a control, a network, a navigation, and a path planning module. The chassis completes the basic movement of the robot. The locker is a sealed locker with a door on the side. The door can be opened according to the command and the door lock status is reported to the robot. It will automatically lock after being opened for more than a certain time. The network module receives the command from the cloud server and reports the robot status. The path planning module plans a feasible route according to the starting point and the end point. The navigation issues movement instructions according to the current position and the target position. The interaction between the robot and the personnel includes: voice reminder, light display, and voice call. The verification module of the robot includes: camera, fingerprint, and radio frequency reading and writing device RFID, which is used to collect user fingerprint and face information, and then sent to the user management module of the cloud server through the network module for verification and comparison.

[0071] In this embodiment, the robot is provided with a page display screen, which displays / broadcasts different contents according to the execution status of the escort mission performed by the robot. For example, when arriving at the starting point of the mission, the page jumps to the cabinet door selection page, and a voice prompts to put in the goods; during the escort process, the page jumps to the escorting page, and the voice prompts to pay attention to avoid; when arriving at the end point, the page jumps to the receiving page, and the voice prompts to enter the verification code; when returning to the charging pile, the page jumps to return to the charging pile, and the voice prompts to return to the charging pile.

[0072] like Figure 4 As shown, the confidential escort method of this embodiment is:

[0073] The operator sends the escort task based on the user terminal, the cloud server assigns the task to the designated robot, and the robot performs the escort task.

[0074] The task is allocated based on the robot's current position, task starting point, locker status and power consumption. The robot that is closest to the starting point and has an empty locker and sufficient power consumption will be assigned as the task execution robot.

[0075] The robot goes to the starting point of the task to pick up the goods. When it arrives at the starting point of the task, a voice prompt is given. After the identity of the person placing the goods and the escort box with a label (radio frequency, barcode, QR code) are identified (item and behavior identification), the person placing the goods confirms the above information and the cabinet door is closed. The task duration is estimated based on the average historical escort duration at the same starting point and end point, and the receiving person is notified of the estimated arrival time by SMS.

[0076] The robot plans the path based on the task destination (preset path or free route), detects the status of items in place during navigation, uploads real-time video, robot status, and locker status, and warns of deviations based on real-time location and route. It also analyzes the behavior of the video stream and warns of abnormal behavior in a timely manner. The robot status includes the battery status and various internal statuses.

[0077] Arrive at the task end point, wait to receive voice reminder, the receiving personnel contact the personnel of the remote supervision module through the robot voice module and obtain the verification code, the receiving personnel enter the verification code to open the corresponding cabinet door and take out the escort box, evaluate the current task based on the average value and standard deviation, exceed a certain threshold, consider the task timeout and record it, take pictures of the receiving process for retention and behavior analysis, and complete the reception if there is no abnormal behavior. If the number of verification code errors exceeds the preset threshold, the fingerprint and face comparison of the supervisor set in the cloud server successfully opens the cabinet door and records the corresponding event. If it is still not received after the preset time threshold, the task is temporarily stored and the next task is executed.

[0078] After the receipt is completed, the information is uploaded, including the receiving time, receiving personnel, pickup, receiving process video, special events during the escort process, etc., and the item database is updated.

[0079] If there is a task to be delivered, the robot will continue to perform the next task without returning to the charging station.

[0080] In order to solve the identity verification difficulties caused by a large number of personnel and high mobility, the identity verification method of the present invention classifies personnel and uses different methods to verify different personnel. The identity verification method uses a radio frequency identification device to read the personnel identity IC card, which contains the personnel name, personnel photo and workshop. The camera reads the photo information and compares it with the current person. If the personnel comparison is successful and the personnel name and workshop information are consistent with the relevant information in the escort task, the identity verification is considered successful. And the relevant information is associated with the escort task. Figure 5 shown.

[0081] The method proposed by the present invention combines the receiving process verification code with the identity verification, and the specific process is as follows: Figure 6As shown. Arrive at the task end point, wait to receive voice reminder, the receiving personnel contact the supervisor through the robot voice module and obtain the verification code, the receiving personnel enter the verification code to open the corresponding cabinet door and take out the escort box and identify it, evaluate the current task based on the average value and standard deviation, exceed a certain threshold, consider the task timeout and record it, take pictures of the receiving process for retention and behavior analysis, and complete the reception if there is no abnormal behavior. If the number of verification code errors exceeds the preset threshold, the supervisor successfully opens the cabinet door through fingerprint and face comparison and records the corresponding event. If it is still not received after the preset time threshold, the task is temporarily stored and the next task is executed.

[0082] During the planning and navigation process, the path can be planned according to the current position and the target position, and divided into the process of current position-task starting point outside the workshop door-task starting point-task starting point inside the workshop door-task end point outside the workshop door-task end point according to the task starting point and end point. If the current position-task starting point and the task starting point-task end point are not on the same floor, it is necessary to plan the path to the elevator preparation point and take the elevator to the designated floor.

[0083] like Figure 7 As shown, the elevator control subsystem process is as follows: the robot arrives at the elevator preparation point, obtains the robot's current floor and destination floor based on the escort task and calls the elevator, obtains the elevator status, the elevator arrives and sends a door opening command, and when there are no people and obstacles in the elevator, enters the elevator and switches to the elevator. If the conditions for entering the elevator are not met, the elevator door is closed and the elevator is called again after a preset time. The elevator runs and reaches the destination floor, and the conditions for exiting the elevator are met, and the elevator ride is completed after exiting the elevator.

[0084] like Figure 8 As shown in the figure, the process of the door control subsystem is as follows: the robot arrives at the workshop door preparation point, sends a door opening command based on the robot position, escort task, and door status information, and after the workshop door is fully opened, the robot enters or exits the workshop and closes the corresponding workshop door. When obtaining the door status or the door opening and closing does not respond, the voice prompts the relevant personnel to open the door button in the workshop and records it.

[0085] The above is only a specific implementation of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present disclosure should be included in the protection scope of the present disclosure. Therefore, the protection scope of the present disclosure should be based on the protection scope of the claims.

Claims

1. A robot confidential escort system, characterized in that: Includes cloud servers, user terminals, robots, and remote monitoring terminals that communicate with each other; The user terminal is used to send a task of escorting materials; The cloud server includes a map subsystem, a task management subsystem, a user verification subsystem, a robot scheduling subsystem, an elevator control subsystem, a door control subsystem, and a storage subsystem, which are used to query the idle state of the robot, plan the escort task as action information and assign it to the robot that can perform the escort task, and generate unlocking verification information; The robot is equipped with a path planning module and a locker, wherein the locker is used to receive the unlocking verification information, receive and execute the action information, upload the execution status information to the cloud server in real time, and open the locker after receiving the information input corresponding to the unlocking verification information; The path planning module plans a feasible route according to the starting point and the end point, and the navigation issues movement instructions according to the current position and the target position; The remote monitoring terminal is used to monitor the execution status information in real time; The execution status information includes the status information, location information, escort phase information and abnormal behavior information of the robot.

2. The robot security escort system according to claim 1, characterized in that: The map subsystem stores workshop map points and escort routes; The task management subsystem is used to view current escort tasks and historical escort tasks; The user verification subsystem is used to generate a verification code according to the escort task as a verification credential when taking the material out of the robot, and stores personnel information; The dispatching subsystem is used to receive the escort task, check the position and status of the robots in the workshop, and assign the escort task to a designated robot; The elevator control subsystem is connected to the elevator control module network of the workshop, and is used to receive the elevator status in the workshop and send the elevator call command to the elevator control module; The door control subsystem is connected to the access control module network of the workshop, and is used to receive the access control status in the workshop and send the door opening and closing command to the access control module; The storage subsystem is used to check the storage location of the materials.

3. The robot security escort system according to claim 2, characterized in that: The remote monitoring terminal is used to view the status information and real-time video of the robot, receive the verification code, receive the abnormal behavior information, and display the status information and real-time video of the robot, receive the verification code, and receive the abnormal behavior information.

4. The robot security escort system according to claim 1, characterized in that: The abnormal behavior information includes: the robot's route deviation, the robot's stay timeout, a person approaching the robot's cabinet door, a crowd gathering around the robot, people following the robot, the robot's door lock abnormality, and the robot's door lock damage.

5. The robot security escort system according to claim 1, characterized in that: When the monitoring terminal receives the abnormal behavior information, it displays the video around the robot.

6. The robot security escort system according to claim 1, characterized in that: The information in the escort task includes: escort box number information, escort box category information, escort starting point information, escort end point information, placement personnel information, receiving personnel information, time information, material type information and / or material quantity information.

7. The robot security escort system according to claim 2, characterized in that: The information corresponding to the unlocking verification information includes the verification code and / or identity verification information; when the identity verification information includes personnel information, the personnel information includes: employee card information, personnel information, personnel workshop number, personnel name and face information.

8. The robot security escort system according to claim 7, characterized in that: When the identity verification information does not include personnel information, the identity verification information includes: a workshop number.

9. The robot security escort system according to claim 2, characterized in that: The elevator control subsystem sends an elevator call command to the elevator control module according to the status of the elevator, the starting floor and the destination floor to be reached. When the elevator reaches the starting floor, it sends a door opening command. After confirming that there are no pedestrians in the elevator, it controls the robot to enter the elevator, then closes the elevator and switches the map. After waiting for the elevator to run and reach the destination floor, it opens the elevator door and controls the robot to exit the elevator.

10. The robot security escort system according to claim 2, characterized in that: The door control subsystem is used to send workshop door opening and closing instructions based on the robot's position, escort status and workshop door status to control the robot to enter or exit the room.

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