Intelligent robot control method, device, equipment, robot and storage medium

Abstract

The present application proposes a control method, apparatus, device, robot, and storage medium for an intelligent robot, wherein the intelligent robot includes a distributed spatial perception platform, a path planning platform, and a motion control platform. The functions implemented by the first platform in the intelligent robot include at least one function implemented by the other platforms, and the first platform is any one or more of the spatial perception platform, the path planning platform, and the motion control platform. When any one or more of the spatial perception platform, the path planning platform, and the motion control platform fails, the first platform capable of implementing the functions of the failed platform can replace the failed platform, so as to implement the functions of the failed platform during the operation of the intelligent robot and ensure the normal operation of the intelligent robot.

Description

Technical Field

[0001] The present application relates to the field of robot control technology, and in particular to a control method, device, equipment, robot and storage medium for an intelligent robot. Background Art

[0002] An intelligent robot is a comprehensive system that integrates spatial perception, path planning, motion control, and execution, encompassing research findings from multiple disciplines, including sensor technology, information processing, electronic engineering, computer engineering, automated control engineering, and artificial intelligence. With technological advancements, intelligent robots are playing an increasingly important role in both industry and daily life, replacing human operators in tasks such as campus security and inspections of special high-risk work scenarios. However, the functions of existing intelligent robots are controlled by a core computing platform. Failure of this core computing platform can render the intelligent robot inoperable. Summary of the Invention

[0003] Based on the above needs, the present application proposes a control method, device, electronic device and storage medium for an intelligent robot to solve the problem in the prior art that once the core computing platform of the intelligent robot fails, the intelligent mobile robot will be unable to operate.

[0004] The technical solutions proposed in this application are as follows:

[0005] On the one hand, the present application provides an intelligent robot, including a space perception platform, a path planning platform, and a motion control platform. The functions implemented by the first platform in the intelligent robot include at least one function implemented by other platforms. The first platform is any one or more of the space perception platform, the path planning platform, and the motion control platform.

[0006] Furthermore, the intelligent robot described above further includes a first visual sensor and a motion sensor; the first visual sensor and the motion sensor are respectively communicatively connected to the space perception platform.

[0007] Furthermore, the intelligent robot described above also includes a data exchange device; the space perception platform, the path planning platform and the motion control platform are all communicatively connected to the data exchange device.

[0008] Furthermore, the intelligent robot described above further includes a second visual sensor; the second visual sensor is communicatively connected to the data exchange device.

[0009] Furthermore, in the intelligent robot described above, if the first platform is the path planning platform, the path planning platform includes the motion control function implemented by the motion control platform;

[0010] If the first platform is the motion control platform, the motion control platform includes the space perception function implemented by the space perception platform and / or the path planning function implemented by the path planning platform.

[0011] On the other hand, the present application also provides a control method for an intelligent robot, which is applied to any of the intelligent robots described above, and the method comprises:

[0012] If an operation failure of the intelligent robot is detected, a target platform is determined from the operation platforms on which the intelligent robot is normally operating, based on the failure content of the operation failure and the faulty platform that caused the operation failure, so that the target platform replaces the faulty platform to implement the function corresponding to the failure content;

[0013] The functions that can be realized by the target platform include functions corresponding to the fault content.

[0014] Furthermore, in the method described above, determining the target platform from the operating platforms on which the intelligent robot normally operates includes:

[0015] Determine the function corresponding to the fault content of the intelligent robot operation fault;

[0016] From the operating platforms on which the intelligent robot operates normally, a platform that can implement the function corresponding to the fault content is determined as the target platform.

[0017] Furthermore, in the above method, when the path planning platform is capable of implementing the motion control function of the motion control platform, if the function corresponding to the fault content is the motion control function, then determining, from the operating platforms on which the intelligent robot is operating normally, a platform capable of implementing the function corresponding to the fault content as the target platform includes:

[0018] The path planning platform is determined as the target platform.

[0019] Furthermore, in the above method, when the motion control platform is capable of implementing the path planning function of the path planning platform, if the function corresponding to the fault content is the path planning function, then determining, from the operating platforms on which the intelligent robot is operating normally, a platform capable of implementing the function corresponding to the fault content as the target platform includes:

[0020] The motion control platform is determined as a target platform.

[0021] Furthermore, in the above method, when the motion control platform is capable of realizing the spatial perception function of the spatial perception platform, if the function corresponding to the fault content is the spatial perception function, then determining, from the operating platforms on which the intelligent robot is normally operating, a platform capable of realizing the function corresponding to the fault content as the target platform includes:

[0022] The motion control platform is determined as a target platform.

[0023] Furthermore, in the above method, the method further comprises:

[0024] If the target platform is not determined from the operating platforms on which the intelligent robot normally operates, the intelligent robot is controlled to move to a set area along a set route.

[0025] On the other hand, the present application also provides a control device for an intelligent robot, comprising:

[0026] a determination module, if an operation failure of the intelligent robot is detected, determining a target platform from the operating platforms of the intelligent robot that are operating normally according to the failure content of the operation failure and the faulty platform that caused the operation failure, so that the target platform replaces the faulty platform to implement the function corresponding to the failure content;

[0027] The functions that can be realized by the target platform include functions corresponding to the fault content.

[0028] On the other hand, the present application also provides a control device for an intelligent robot, comprising:

[0029] memory and processor;

[0030] Wherein, the memory is used to store programs;

[0031] The processor is used to implement any one of the above-mentioned intelligent robot control methods by running the program in the memory.

[0032] On the other hand, the present application also provides a storage medium having a computer program stored thereon. When the computer program is executed by a processor, the control method of the intelligent robot described in any one of the above items is implemented.

[0033] The intelligent robot proposed in this application includes a distributed spatial perception platform, a path planning platform, and a motion control platform. The functions implemented by the first platform in the intelligent robot include at least one function implemented by the other platforms. The first platform is any one or more of the spatial perception platform, the path planning platform, and the motion control platform. When any one or more of the spatial perception platform, the path planning platform, and the motion control platform fails, the first platform, which can perform the functions of the failed platform, can replace the failed platform. This allows the functions of the failed platform to be implemented during the operation of the intelligent robot, ensuring the normal operation of the intelligent robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0035] Figure 1 This is a schematic structural diagram of an intelligent robot provided in an embodiment of the present application;

[0036] Figure 2 This is a schematic structural diagram of another intelligent robot provided in an embodiment of the present application;

[0037] Figure 3 This is a schematic structural diagram of another intelligent robot provided in an embodiment of the present application;

[0038] Figure 4 This is a flow chart of a control method for an intelligent robot provided in an embodiment of the present application;

[0039] Figure 5 This is a flowchart of determining a target platform according to an embodiment of the present application;

[0040] Figure 6 This is a schematic structural diagram of a control device for an intelligent robot provided in an embodiment of the present application;

[0041] Figure 7 This is a structural diagram of a control device for an intelligent robot provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] Application Overview

[0043] The technical solution of the embodiment of the present application is applicable to the application scenario of intelligent robot fault handling. By adopting the technical solution of the embodiment of the present application, the operating platform of the intelligent robot is distributedly deployed to bring computing power redundancy to the system. When one or more operating platforms fail, the faulty platform can be replaced by a platform that can realize the functions of the faulty platform, so as to realize the functions of the faulty platform during the operation of the intelligent robot and ensure the normal operation of the intelligent robot.

[0044] With advances in science and technology, intelligent robots are playing an increasingly important role in both industry and our daily lives. Currently, intelligent robots can replace human operators in tasks such as district security, residential security, and patrol inspections in special high-risk work scenarios. During these patrols, intelligent robots collect a large amount of environmental information. By combining the robot's pre-installed high-precision maps with the collected environmental information, they determine its current location and plan its route.

[0045] From a hardware perspective, intelligent robots in the prior art generally use fixed instruments to detect the environment, including fixed infrared cameras, acoustic imagers, etc. Fixed instruments need to be deployed at multiple points, which not only requires a large number of fixed instruments to be deployed, high costs, and difficult to maintain later, but also prone to blind spots. In addition, most intelligent robots in the prior art are wheeled robots. Wheeled robots can move faster on flat roads, but in the actual working environment of intelligent robots, they often face ground environments such as grass, gravel, and stairs, which makes it inconvenient for wheeled robots to operate. From a software perspective, the various functions of intelligent robots in the prior art are controlled and implemented by the core computing platform. Not only is the overall computing power low, making it difficult to effectively cope with complex road conditions, but once the core computing platform of the intelligent robot fails, the intelligent robot will be unable to operate, affecting the normal use of the intelligent robot.

[0046] Based on this, the present application proposes a control method, device, equipment, robot and storage medium for an intelligent robot. This technical solution improves the overall computing power of the intelligent robot by distributing the operating platform of the intelligent robot. When one or more operating platforms fail, the faulty platform can be replaced by a platform that can realize the functions of the faulty platform, so as to realize the functions of the faulty platform during the operation of the intelligent robot and ensure the normal operation of the intelligent robot.

[0047] Moreover, this technical solution uses movable instruments to detect the environment, reducing the cost of instrument deployment and subsequent maintenance, and avoiding blind spots in detection; and uses legged robots to improve the adaptability of intelligent robots to different terrains.

[0048] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0049] Exemplary devices

[0050] like Figure 1 As shown, an embodiment of the present application proposes an intelligent robot, including a distributed spatial perception platform 10, a path planning platform 11 and a motion control platform 12.

[0051] The spatial perception platform 10 may include built-in mapping algorithms, spatial positioning algorithms, sensor signal processing algorithms, and hardware driver algorithms. Based on these algorithms, the spatial perception platform 10 can generate a map of the intelligent robot's work area based on current environmental information and determine the intelligent robot's specific position within the work area.

[0052] The sensor signal processing algorithm is used to acquire and process current environmental information. This information includes visual information of the current environment and the robot's current motion information. Visual information includes radar and image information, while the robot's motion information includes its acceleration and rotation angle.

[0053] The mapping algorithm is used to generate a high-precision map of the working area online using the processed environmental information. It should be noted that, in this embodiment, due to the distributed deployment, the spatial perception platform 10 has computing power redundancy, which can achieve the purpose of generating a high-precision map online. Compared with the method of establishing a high-precision map of the working area in the early deployment stage in the prior art, the online generation of a high-precision map in this embodiment can improve the flexibility of the intelligent robot. For example, when a certain route in the working area is impassable, the method of establishing a high-precision map of the working area in the early deployment stage in the prior art requires staff to intervene and manually set the impassable area, while the method provided in this embodiment can automatically determine the impassable route when generating the map, which is more flexible.

[0054] The spatial positioning algorithm is used to determine the current location of the intelligent robot using the processed environmental information.

[0055] The hardware drive algorithm can drive various sensor devices used to detect environmental information. In this embodiment, the real-time requirements for environmental information are relatively high. Therefore, in order to obtain highly stable and real-time environmental information, in this embodiment, the hardware interface of the sensor device and the hardware drive algorithm are both deployed on the spatial perception platform 10. The environmental information does not pass through other platforms, which not only ensures the efficient transmission of environmental information data, but also avoids packet loss. Therefore, in this embodiment, the extraction and processing of environmental information are carried out simultaneously on the spatial perception platform 10, which can effectively improve the real-time performance and transmission efficiency of environmental information. In addition, the hardware drive algorithm can also include algorithms for driving external devices such as motors, which are not limited in this embodiment.

[0056] The spatial perception platform 10 may use an integrated circuit, such as an NX chip, an RK3588 chip, etc. The spatial perception platform 10 may be provided with an Internet port to facilitate connection to the Internet. The spatial perception platform 10 may also be provided with a USB interface to facilitate connection to external devices such as sensor devices via the USB interface.

[0057] The path planning platform 11 may include a built-in path planning algorithm and a hardware driver algorithm. The path planning algorithm generates path planning information based on the map information determined by the spatial perception platform 10, the current location of the intelligent robot, and the set target location. This path planning information includes speed and steering instructions for the intelligent robot. The hardware driver algorithm is used to drive external devices, such as motors, and is not limited in this embodiment.

[0058] For example, the path planning platform 11 can obtain map information and the intelligent robot's current location information from the spatial perception platform 10 via the RJ45 communication protocol, and the path planning platform 11 will subscribe to this information. In this embodiment, the real-time requirements for map information and the intelligent robot's current location information are lower than those for the environmental information in the above embodiments. Therefore, using this communication protocol for information transmission does not cause significant delays or packet loss, and the system can operate smoothly.

[0059] The path planning platform 11 may also use an integrated circuit, such as an NX chip, an RK3588 chip, etc. The path planning platform 11 may be provided with an internet port so that the path planning platform 11 can be connected to the internet, and the path planning platform 11 may also be provided with a USB interface so that external devices can be connected via the USB interface.

[0060] The motion control platform 12 can have built-in motion control algorithms and hardware driver algorithms. The motion control algorithm is used to generate low-level control instructions based on the path planning information determined by the path planning platform 11, and control the low-level motion equipment to operate according to the low-level control instructions. The low-level motion equipment is a motion mechanism composed of a motor and mechanical structure. The low-level motion equipment can operate according to the low-level control instructions to achieve the purpose of driving the intelligent robot. The hardware driver algorithm is used to drive external devices, such as motors, etc., which is not limited in this embodiment.

[0061] The motion control platform 12 may also use an integrated circuit, such as an NX chip, an RK3588 chip, etc. The motion control platform 12 may be provided with an Internet port so that the motion control platform 12 can be connected to the Internet. The motion control platform 12 may also be provided with a USB interface so that external devices can be connected via the USB interface.

[0062] It should be noted that the above-mentioned mapping algorithm, spatial positioning algorithm, sensor signal processing algorithm, hardware driving algorithm, path planning algorithm and motion control algorithm can adopt algorithms in the existing technology that can achieve the above-mentioned specific functions, and this embodiment does not limit them.

[0063] In this embodiment, the functions implemented by the first platform in the intelligent robot of this embodiment include at least one function implemented by other platforms, and the first platform is any one or more of the space perception platform 10, the path planning platform 11 and the motion control platform 12.

[0064] Specifically, by distributing the spatial perception platform 10, the path planning platform 11, and the motion control platform 12, computing power redundancy is provided to each platform. Therefore, the algorithms of other platforms or simplified algorithms can be arranged in any one or more platforms so that they can realize the functions of other platforms. When a platform fails, a target platform that can realize the failure function of the failed platform can be used to replace the failed platform and realize the failure function on the target platform.

[0065] The intelligent robot in the above embodiment includes a distributed spatial perception platform 10, a path planning platform 11, and a motion control platform 12. The functions implemented by the first platform in the intelligent robot include at least one function implemented by the other platforms. The first platform is any one or more of the spatial perception platform 10, the path planning platform 11, and the motion control platform 12. If any one or more of the spatial perception platform 10, the path planning platform 11, and the motion control platform 12 fails, the first platform, which can perform the functions of the failed platform, can replace the failed platform. This allows the intelligent robot to perform the functions of the failed platform during operation, ensuring the normal operation of the intelligent robot.

[0066] As an optional implementation, such as Figure 2As shown, in another embodiment of the present application, the intelligent robot of the above embodiment further includes a first visual sensor 13 and a motion sensor 14. The first visual sensor 13 and the motion sensor 14 are both communicatively connected to the space perception platform 10 of the above embodiment.

[0067] Specifically, the first visual sensor 13 and the motion sensor 14 are sensor devices of the above embodiment, used to obtain environmental information. The first visual sensor 13 may include a depth camera, ultrasonic radar, or other devices; the motion sensor 14 may include an inertial measurement unit (IMU), or other devices.

[0068] Depth cameras, ultrasonic radars and other equipment can be deployed in a movably manner on intelligent robots. For example, setting up depth cameras and ultrasonic radars to rotate 360 ​​degrees can reduce the number of deployed depth cameras, ultrasonic radars and other equipment, which can not only reduce the cost of subsequent maintenance, but also avoid detection blind spots.

[0069] In the above embodiments, by providing the first visual sensor 13 and the motion sensor 14 , high-precision environmental information of the area where the intelligent robot is located can be obtained.

[0070] As an optional implementation method, the intelligent robot can adopt a legged robot, such as a quadruped robot, to enhance the adaptability of the intelligent robot to ground environments such as grass, gravel, and stairs.

[0071] As an optional implementation, such as Figure 2 As shown, in another embodiment of the present application, the intelligent robot of the above embodiment further includes a data exchange device 15. The space perception platform 10, path planning platform 11, motion control platform 12 and underlying operating equipment of the above embodiment are all communicatively connected to the data exchange device, so that the space perception platform 10, path planning platform 11, motion control platform 12 and underlying operating equipment can communicate data through the data exchange device 15.

[0072] Illustratively, the data exchange device 15 may be a switch or a data bus, which is not limited in this embodiment.

[0073] In the above embodiments, by setting up a data exchange device 15, data communication can be carried out between the space perception platform 10, the path planning platform 11, the motion control platform 12 and the underlying operating equipment, so that when a platform fails, the first platform that can realize the function of the failed platform can replace the failed platform to ensure the normal operation of the intelligent robot.

[0074] As an optional implementation, such as Figure 2As shown, another embodiment of the present application discloses that the intelligent robot of the above embodiment further includes a second visual sensor 16. The second visual sensor 16 is communicatively connected to the data exchange device 15, so that the second visual sensor 16 can exchange data with the space perception platform 10, the path planning platform 11, and the motion control platform 12 respectively through the data exchange device 15. When the space perception platform 10 is a faulty platform, the second visual sensor 16 can collect environmental information, and the second visual sensor 16 can send the environmental information to the first platform that can perform the functions of the faulty platform through the data exchange device 15, so that the first platform can replace the space perception platform 10 and ensure the normal operation of the intelligent robot.

[0075] For example, the second visual sensor 16 can be the same as the first visual sensor 13, including a depth camera, an ultrasonic radar and other equipment; the second visual sensor 16 can also only include a radar device, such as Figure 2 As shown, this embodiment does not limit it.

[0076] As an optional implementation, such as Figure 3 As shown, in another embodiment of the present application, if the first platform is a path planning platform 11, the path planning platform 11 includes a motion control function implemented by a motion control platform 12. It should be noted that the motion control platform 12 implements the motion control function based on a motion control algorithm.

[0077] Specifically, the path planning platform 11 may include all algorithms or simplified algorithms of the motion control functions implemented by the motion control platform 12, that is, the path planning platform 11 may include all motion control algorithms or simplified motion control algorithms in the motion control platform 12, which is not limited in this embodiment.

[0078] When a fault is detected in the motion control platform 12, resulting in the motion control platform 12 being unable to implement the motion control function, the path planning platform 11 can execute all the motion control algorithms or simplified motion control algorithms stored therein to implement the motion control function.

[0079] As an optional implementation, such as Figure 3 As shown, in another embodiment of the present application, if the first platform is a motion control platform 12, the motion control platform 12 includes a spatial perception function implemented by the spatial perception platform 10 and / or a path planning function implemented by the path planning platform 11. The spatial perception platform 10 implements the spatial perception function based on a mapping algorithm and a spatial positioning algorithm, and the path planning platform 11 implements the path planning function based on a path planning algorithm.

[0080] Specifically, the motion control platform 12 may include all or a simplified version of the algorithms used by the spatial perception platform 10 to implement the spatial perception function. That is, the motion control platform 12 may include all or a simplified version of the mapping algorithms and spatial positioning algorithms in the spatial perception platform 10, which is not limited in this embodiment. When a fault is detected in the spatial perception platform 10, resulting in the inability of the spatial perception platform 10 to implement the spatial perception function, the motion control platform 12 may execute all or a simplified version of the stored mapping algorithms and spatial positioning algorithms to implement the spatial perception function.

[0081] The motion control platform 12 may include all or a simplified version of the path planning function implemented by the path planning platform 11. In other words, the motion control platform 12 may include all or a simplified version of the path planning algorithm in the path planning platform 11, but this is not limited in this embodiment. When a fault is detected in the path planning platform 11, causing the path planning platform 11 to be unable to implement the path planning function, the motion control platform 12 may execute all or a simplified version of the path planning algorithm stored therein to implement the path planning function.

[0082] As an optional implementation, such as Figure 3 As shown, another embodiment of the present application discloses that tracking algorithms can be deployed on the spatial perception platform 10, the path planning platform 11, and the motion control platform 12. When a failure is detected on two of the spatial perception platform 10, the path planning platform 11, and the motion control platform 12, the tracking algorithm in the remaining intact platform can be triggered to control the intelligent robot to return to the set location along the set route, facilitating maintenance by staff.

[0083] As an optional implementation method, another embodiment of the present application discloses that if the first platform is a spatial perception platform 10, the spatial perception platform 10 may include all algorithms or simplified algorithms used by the path planning platform 11 to implement the path planning function, and / or all algorithms or simplified algorithms used by the motion control platform 12 to implement the motion control function. When the path planning platform 11 and / or the motion control platform 12 fails, the spatial perception platform 10 executes all the path planning algorithms or simplified path planning algorithms stored therein to implement the path planning function, and / or executes all the motion control algorithms or simplified motion control algorithms stored therein to implement the motion control function.

[0084] As an optional implementation method, another embodiment of the present application discloses that if the first platform is a path planning platform 11, the path planning platform 11 may include all algorithms or simplified algorithms used by the spatial perception platform 10 to implement the spatial perception function, and / or all algorithms or simplified algorithms used by the motion control platform 12 to implement the motion control function. When the spatial perception platform 10 and / or the motion control platform 12 fails, the path planning platform 11 executes all the spatial perception algorithms or simplified spatial perception algorithms stored therein to implement the spatial perception function, and / or executes all the motion control algorithms or simplified motion control algorithms stored therein to implement the motion control function.

[0085] Exemplary Methods

[0086] The present application embodiment provides a control method for an intelligent robot, which can be executed by the intelligent robot in the above embodiment. Figure 4 As shown, the method includes:

[0087] S401. If an operation failure of the intelligent robot is detected, a target platform is determined from the operation platforms on which the intelligent robot operates normally, based on the failure content of the operation failure and the failure platform that caused the operation failure, so that the target platform replaces the failure platform to implement the function corresponding to the failure content.

[0088] In the embodiment of the present application, the intelligent robot can detect in real time whether any operational failure occurs in any of its platforms. A fault detection algorithm can be set in one or more of the spatial perception platform, motion planning platform, and motion control platform of the intelligent robot to detect whether any failure occurs in any of the platforms of the intelligent robot. A control device of the intelligent robot specifically for fault detection can also be set, and the fault detection algorithm can be set in the control device of the intelligent robot to detect whether any failure occurs in any of the platforms of the intelligent robot. This embodiment does not limit this.

[0089] For example, a spatial perception platform failure is determined when the deviation of the positioning information output by the spatial perception platform exceeds the normal movement speed of the intelligent robot, or when the positioning information output by the spatial perception platform is detected to be unable to be output within a certain period of time. It should be noted that the deviation of the positioning information exceeds the normal movement speed of the intelligent robot means that the speed at which the intelligent robot moves from its current position to the position corresponding to the positioning information output by the spatial perception platform within a set time period will exceed the maximum movement speed of the intelligent robot.

[0090] When abnormal speed and / or turning angle of the intelligent robot is detected, it indicates that the path planning platform is faulty.

[0091] When it is detected that the intelligent robot cannot start, cannot stand, falls or has an abnormal posture, it is determined that the motion control platform is faulty.

[0092] When an operating failure of an intelligent robot is detected, in an embodiment of the present application, a target platform can be determined from the operating platforms on which the intelligent robot operates normally based on the failure content of the operating failure and the failure platform that causes the operating failure, wherein the functions that can be implemented by the target platform include functions corresponding to the failure content, so that the target platform can implement the functions corresponding to the failure content instead of the failure platform.

[0093] In the above embodiment, if an operation failure of the intelligent robot is detected, a target platform is determined from the operation platforms on which the intelligent robot operates normally, based on the failure content of the operation failure and the failure platform that caused the operation failure, so that the target platform replaces the failure platform to implement the function corresponding to the failure content, so as to implement the function of the failure platform during the operation of the intelligent robot and ensure that the intelligent robot can operate normally.

[0094] As an optional implementation, such as Figure 5 As shown, in another embodiment of the present application, the steps of the above embodiment are to determine the target platform from the operating platform of the intelligent robot in normal operation, which may specifically include the following steps:

[0095] S501. Determine the function corresponding to the fault content of the intelligent robot operation fault.

[0096] S502: From the operating platforms on which the intelligent robot operates normally, determine a platform that can implement the function corresponding to the fault content as a target platform.

[0097] Specifically, in this embodiment, after detecting the operation failure of the intelligent robot and the fault content of the operation failure, the function corresponding to the fault content of the operation failure of the intelligent robot is further determined, so as to determine the target platform that can realize the fault function from the normally operating operation platform.

[0098] For example, when the path planning platform can realize the motion control function of the motion control platform, if the function corresponding to the fault content is the motion control function, then the platform that can realize the function corresponding to the fault content is determined as the target platform from the operating platform on which the intelligent robot operates normally, including: determining the path planning platform as the target platform.

[0099] Specifically, the path planning platform can be deployed with all or a simplified version of the motion control algorithm. If a malfunction is detected on the motion control platform, rendering it unable to perform the motion control function, the path planning platform can be designated as the target platform, causing it to execute all or a simplified version of the stored motion control algorithm to perform the motion control function.

[0100] As another example, if a simplified algorithm for implementing motion control functions is deployed in a path planning platform, when a failure occurs in the motion control platform, the simplified algorithm for implementing motion control functions deployed in the path planning platform will be activated to execute simple movement instructions, losing the ability to adapt to multiple terrains, while the remaining platforms will continue to operate normally.

[0101] For example, when the motion control platform can realize the path planning function of the path planning platform, if the function corresponding to the fault content is the path planning function, then the platform that can realize the function corresponding to the fault content is determined as the target platform from the operating platform on which the intelligent robot operates normally, including: determining the motion control platform as the target platform.

[0102] Specifically, the entire path planning algorithm or a simplified version of it can be deployed in the motion control platform. If a fault is detected in the path planning platform, preventing it from implementing the path planning function, the motion control platform can be designated as the target platform, causing it to execute the entire path planning algorithm or a simplified version of it to implement the path planning function.

[0103] As another example, if a simplified algorithm for implementing path planning is deployed in the motion control platform, when a fault occurs in the path planning platform, the simplified algorithm deployed in the motion control platform will be activated. The intelligent robot will abandon the mission and return to the designated location for repair based on the positioning information, while the remaining platform modules will operate normally. The designated location can be a designated repair location or a mission starting point, etc., and this embodiment does not limit this.

[0104] For example, when the motion control platform can realize the spatial perception function of the spatial perception platform, if the function corresponding to the fault content is the spatial perception function, then a platform that can realize the function corresponding to the fault content is determined as the target platform from the operating platform on which the intelligent robot operates normally, including: determining the motion control platform as the target platform.

[0105] Specifically, all or a simplified version of the spatial perception algorithm can be deployed in the motion control platform. If a fault is detected in the spatial perception platform, preventing it from achieving spatial perception, the motion control platform can be designated as the target platform, causing it to execute all or a simplified version of the stored spatial perception algorithm to achieve spatial perception.

[0106] As another example, if a simplified algorithm for implementing spatial perception is deployed in a motion control platform, if the spatial perception platform fails, a second visual sensor will be activated to obtain environmental information, and the simplified algorithm deployed in the motion control platform will be activated. Furthermore, the motion control algorithm on the motion control platform consumes relatively little computing power, so the simplified algorithm for implementing spatial perception will not cause excessive computing power and system crashes after activation.

[0107] As an optional implementation method, another embodiment of the present application discloses that the control method of the intelligent robot in the above embodiment may specifically include the following steps: if the target platform is not determined from the operating platform on which the intelligent robot normally operates, the intelligent robot is controlled to move to the set area along the set route.

[0108] Specifically, if the target platform cannot be determined from the platforms on which the intelligent robot is normally operating, the intelligent robot is controlled to move to a set area along a set route. In other words, if a platform fails and the platform that can replace it also fails, the target platform cannot be determined, and the intelligent robot can be controlled to move to a set area along a set route.

[0109] For example, if the motion control platform can realize the spatial perception function of the spatial perception platform, and the function corresponding to the fault content is the spatial perception function, the motion control platform can be determined as the target platform. However, if the motion control platform also fails at this time and the target platform cannot be determined, the intelligent robot is controlled to move to the set area along the set route.

[0110] As another example, if the motion control platform can realize the path planning function of the path planning platform, and the function corresponding to the fault content is the path planning function, the motion control platform can be determined as the target platform. However, if the motion control platform also fails at this time and the target platform cannot be determined, the intelligent robot is controlled to move to the set area according to the set route.

[0111] In addition, if there are at least two faulty platforms, the intelligent robot can also be controlled to move to the set area along the set route to facilitate maintenance by staff.

[0112] The set area may be the task starting point or the nearest maintenance point, which is not limited in this embodiment.

[0113] Exemplary apparatus, devices, and computer program products

[0114] Corresponding to the above-mentioned control method of the intelligent robot, the embodiment of the present application also discloses a control device for the intelligent robot, see Figure 6 As shown, the device includes:

[0115] The determination module 100, if an operation failure of the intelligent robot is detected, determines a target platform from the operating platforms of the intelligent robot that are operating normally according to the failure content of the operation failure and the faulty platform that caused the operation failure, so that the target platform replaces the faulty platform to realize the function corresponding to the failure content;

[0116] Among them, the functions that can be implemented by the target platform include functions corresponding to the fault content.

[0117] As an optional implementation, another embodiment of the present application discloses that the determination module 100 includes:

[0118] A first determining unit is used to determine a function corresponding to the fault content of the intelligent robot operation fault;

[0119] The second determining unit is used to determine, from the operating platforms on which the intelligent robot normally operates, a platform that can implement the function corresponding to the fault content as a target platform.

[0120] As an optional implementation method, another embodiment of the present application discloses that, when the path planning platform is capable of realizing the motion control function of the motion control platform, if the function corresponding to the fault content is the motion control function, the second determination unit determines the platform that can realize the function corresponding to the fault content from the operating platform on which the intelligent robot operates normally as the target platform, and is specifically used to: determine the path planning platform as the target platform.

[0121] As an optional implementation method, another embodiment of the present application discloses that, when the motion control platform is capable of realizing the path planning function of the path planning platform, if the function corresponding to the fault content is the path planning function, the second determination unit determines, from the operating platform on which the intelligent robot operates normally, a platform capable of realizing the function corresponding to the fault content as the target platform, and is specifically used to: determine the motion control platform as the target platform.

[0122] As an optional implementation method, another embodiment of the present application discloses that, when the motion control platform is capable of realizing the spatial perception function of the spatial perception platform, if the function corresponding to the fault content is the spatial perception function, the second determination unit determines the platform that can realize the function corresponding to the fault content from the operating platform on which the intelligent robot operates normally as the target platform, and is specifically used to: determine the motion control platform as the target platform.

[0123] Specifically, for the specific working contents of each unit of the control device of the above-mentioned intelligent robot, please refer to the contents of the above-mentioned method embodiment, which will not be repeated here.

[0124] Another embodiment of the present application also provides a control device for an intelligent robot, see Figure 7 As shown, the control device of the intelligent robot includes:

[0125] Memory 200 and processor 210;

[0126] The memory 200 is connected to the processor 210 and is used to store programs;

[0127] The processor 210 is configured to implement the control method of the intelligent robot disclosed in any of the above embodiments by running the program stored in the memory 200.

[0128] Specifically, the control device of the above-mentioned intelligent robot may further include: a bus, a communication interface 220 , an input device 230 and an output device 240 .

[0129] The processor 210, the memory 200, the communication interface 220, the input device 230 and the output device 240 are interconnected via a bus.

[0130] A bus may include a pathway that transfers information between components of a computer system.

[0131] Processor 210 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component.

[0132] The processor 210 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0133] The memory 200 stores a program for executing the technical solution of the present application, and may also store an operating system and other key services. Specifically, the program may include program code, and the program code may include computer operating instructions. More specifically, the memory 200 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, etc.

[0134] The input device 230 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0135] Output device 240 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0136] The communication interface 220 may include any device such as a transceiver to communicate with other devices or communication networks, such as Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc.

[0137] The processor 210 executes the program stored in the memory 200 and calls other devices, which can be used to implement the various steps of the control method of the intelligent robot provided in the above embodiments of the present application.

[0138] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions. When the computer program instructions are executed by the processor 210, the processor 210 executes the various steps of the intelligent robot control method provided in the above-mentioned embodiments.

[0139] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0140] In addition, an embodiment of the present application may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by the processor, the processor 210 executes the various steps of the intelligent robot control method provided in the above embodiment.

[0141] The computer-readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can, for example, include but is not limited to a system, device or component of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination thereof. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0142] Specifically, the specific working contents of each part of the control device, storage medium and computer program product of the above-mentioned intelligent robot, as well as the specific processing contents of the computer program product or the computer program on the above-mentioned storage medium when being run by the processor, can all be found in the contents of the various embodiments of the control method of the above-mentioned intelligent robot, and will not be repeated here.

[0143] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0144] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0145] The steps in the methods of each embodiment of the present application can be adjusted in sequence, merged, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0146] The modules and sub-modules in the devices and terminals of the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0147] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0148] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0149] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0150] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0151] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0152] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0153] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present application. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An intelligent robot, characterized in that: The intelligent robot comprises a space perception platform, a path planning platform, a motion control platform, and a data exchange device, wherein the function implemented by the first platform of the intelligent robot includes at least one function implemented by the other platforms, and the first platform is any one or more of the space perception platform, the path planning platform, and the motion control platform; the space perception platform, the path planning platform, and the motion control platform are all communicatively connected to the data exchange device; When the intelligent robot detects an operation fault, it determines a target platform from the operating platforms on which the intelligent robot is operating normally, based on the fault content of the operation fault and the faulty platform causing the operation fault, so that the target platform replaces the faulty platform to implement the function corresponding to the fault content; The functions that can be realized by the target platform include functions corresponding to the fault content.

2. The intelligent robot according to claim 1, characterized in that: It also includes a first visual sensor and a motion sensor; the first visual sensor and the motion sensor are respectively connected to the space perception platform for communication.

3. The intelligent robot according to claim 1, characterized in that: It also includes a second visual sensor; the second visual sensor is communicatively connected to the data exchange device.

4. The intelligent robot according to claim 1, characterized in that: If the first platform is the path planning platform, the path planning platform includes the motion control function implemented by the motion control platform; If the first platform is the motion control platform, the motion control platform includes the space perception function implemented by the space perception platform and / or the path planning function implemented by the path planning platform.

5. A control method for an intelligent robot, characterized in that: Applied to the intelligent robot according to any one of claims 1 to 4, the method comprises: If an operation fault of the intelligent robot is detected, determining a function corresponding to the fault content of the operation fault of the intelligent robot according to the fault content of the operation fault and the fault platform causing the operation fault; From the operating platforms on which the intelligent robot operates normally, a platform capable of implementing the function corresponding to the fault content is determined as the target platform, so that the target platform replaces the fault platform to implement the function corresponding to the fault content.

6. The method according to claim 5, characterized in that In the case where the path planning platform can implement the motion control function of the motion control platform, if the function corresponding to the fault content is the motion control function, then determining, from the operating platforms on which the intelligent robot normally operates, a platform that can implement the function corresponding to the fault content as the target platform includes: The path planning platform is determined as the target platform.

7. The method according to claim 5, characterized in that In the case where the motion control platform is capable of implementing the path planning function of the path planning platform, if the function corresponding to the fault content is the path planning function, then determining, from the operating platforms on which the intelligent robot is normally operating, a platform capable of implementing the function corresponding to the fault content as the target platform, includes: The motion control platform is determined as a target platform.

8. The method according to claim 5, characterized in that In the case where the motion control platform is capable of realizing the spatial perception function of the spatial perception platform, if the function corresponding to the fault content is the spatial perception function, then determining, from the operating platforms on which the intelligent robot is normally operating, a platform capable of realizing the function corresponding to the fault content as the target platform includes: The motion control platform is determined as a target platform.

9. The method according to claim 5, characterized in that The method further comprises: If the target platform is not determined from the operating platforms on which the intelligent robot normally operates, the intelligent robot is controlled to move to a set area along a set route.

10. A control device for an intelligent robot, characterized in that: Applied to the intelligent robot according to any one of claims 1 to 4, the device comprises: The determination module determines, if an operation failure of the intelligent robot is detected, the function corresponding to the failure content of the operation failure of the intelligent robot according to the failure content of the operation failure and the failure platform that caused the operation failure; and determines, from the operation platforms on which the intelligent robot operates normally, a platform that can realize the function corresponding to the failure content as the target platform, so that the target platform replaces the failure platform to realize the function corresponding to the failure content.

11. A control device for an intelligent robot, comprising: memory and processor; Wherein, the memory is used to store programs; The processor is used to implement the control method of the intelligent robot as described in any one of claims 5 to 9 by running the program in the memory.

12. A storage medium, characterized in that: include: The storage medium stores a computer program, and when the computer program is executed by the processor, the control method of the intelligent robot according to any one of claims 5 to 9 is implemented.

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