A robot passive rescue control method and system

Abstract

This invention discloses a passive rescue control method and system for robots, relating to the field of robot control technology. The method involves: during the robot's task execution, determining whether the robot is malfunctioning based on its status information; if so, identifying it as a malfunctioning robot and intermittently sending rescue request signals; when other non-malfunctioning robots or the robot's backend system receive the rescue request signal, they will receive a rescue response signal and control a non-malfunctioning robot, i.e., the rescue robot, to move according to the position reported by the malfunctioning robot for rescue; and establishing a communication connection between the malfunctioning robot and the rescue robot to enable docking; after the malfunctioning robot and the rescue robot complete electrical and mechanical docking, the rescue robot continues to move to tow the malfunctioning robot away, thus rescuing the malfunctioning robot and solving the problem in existing technologies where robots cannot escape after malfunctioning or falling into danger.

Description

Technical Field

[0001] This invention relates to the field of robot control technology, specifically to a passive rescue control method and system for robots. Background Technology

[0002] Intelligent ground mobile robots are robots that integrate vehicle control technology, intelligent driving control technology, and information fusion processing technology, spanning many disciplines such as mechanics, electronics, computers, and automatic control. They are completely independent of direct human control and move on the ground using remote control, autonomous, or semi-autonomous methods.

[0003] With the continuous development of intelligent mobile robot technology, intelligent ground mobile robots have been widely used in various civilian and military applications, especially in field search and rescue, desert and swamp exploration, and various battlefield environments. Due to the diverse applicable environments, robots need to be maintained frequently, and there is also a risk of failure during mission execution, such as hardware or software failure or getting into trouble, making it impossible for them to get out of trouble on their own. If the robot is not recalled for a long time, it will be at risk of being lost.

[0004] In current technology, robot rescue usually involves dispatching a specialized rescue robot from the robot base to the location of the malfunctioning robot. However, this method obviously suffers from excessively long waiting times and cannot quickly rescue the malfunctioning robot. Summary of the Invention

[0005] To address the shortcomings of existing technologies, the present invention aims to provide a passive rescue control method and system for robots, which aims to achieve rapid rescue of malfunctioning robots by designating a rescue robot to rescue a malfunctioning robot.

[0006] A first aspect of the present invention is to provide a passive rescue control method for a robot, the control method comprising:

[0007] During the robot's task execution, its status information is monitored;

[0008] Based on the fault information, determine whether the robot has a fault;

[0009] If so, it is determined to be a faulty robot, and the state information within a preset time before and after the fault occurs is stored, and rescue request signals are sent intermittently;

[0010] When the rescue request signal is intercepted by other non-faulty robots or robot backend systems, the rescue response command issued by the non-faulty robot or robot backend system is obtained.

[0011] After identifying the non-faulty robot that issued the rescue response command or the non-faulty robot designated by the robot backend system as the rescue robot, the rescue robot moves according to the position in the status information fed back by the faulty robot to carry out the rescue.

[0012] Stop sending the rescue request signal, intermittently send rescue location information, and simultaneously search for the rescue robot;

[0013] When the rescue robot is located, actively establish a communication pairing and connection with the rescue robot;

[0014] The system establishes electrical and mechanical connections with the rescue robot, which then tows the faulty robot away.

[0015] According to one aspect of the above technical solution, the steps of identifying the robot as a malfunctioning robot, storing the state information within a preset time period before and after the malfunction, and intermittently sending rescue request signals specifically include:

[0016] The robot that malfunctions is identified as a faulty robot;

[0017] The fault information is analyzed to identify the time when the faulty robot malfunctioned.

[0018] Based on the time of the fault occurrence, the state information within a preset time before and after the time of the fault occurrence is stored in the preset storage device of the fault robot;

[0019] The robot feeds back its location information to a pre-set communication module in the faulty robot. The communication module processes the location information to generate a rescue request signal, which is then sent intermittently.

[0020] According to one aspect of the above technical solution, when other non-faulty robots or robot backend systems intercept the rescue request signal, the step of obtaining the rescue response instruction issued by the non-faulty robot or robot backend system includes:

[0021] When the distress signal is intercepted by other non-faulty robots performing their tasks;

[0022] The non-faulty robot is controlled to upload the rescue request signal to the robot's backend system, and the robot's backend system detects the status of the non-faulty robot.

[0023] When the detection results of the non-faulty robot meet the preset rescue conditions, the non-faulty robot is allowed to rescue the faulty robot and sends a rescue response command to the faulty robot.

[0024] The rescue response command includes the identifier of the rescue robot;

[0025] According to one aspect of the above technical solution, when other non-faulty robots or robot backend systems intercept the rescue request signal, the step of obtaining the rescue response instruction issued by the non-faulty robot or robot backend system includes:

[0026] When the rescue request signal is intercepted by the robot's backend system;

[0027] The location of the faulty robot is determined based on its status information.

[0028] Obtain the location information of other non-faulty robots performing tasks, and compare the locations of the faulty robot with those of the non-faulty robots;

[0029] Identify the non-faulty robot with the greatest rescue advantage as the rescue robot, and send a rescue response command to the faulty robot;

[0030] The rescue response command includes the identifier of the rescue robot.

[0031] According to one aspect of the above technical solution, the steps of stopping the transmission of the rescue request signal, intermittently transmitting rescue location information, and simultaneously searching for the rescue robot specifically include:

[0032] When a rescue response command is received, the faulty robot intermittently updates its current position based on a preset positioning module;

[0033] After intermittent location updates, the latest rescue location information is sent, and a search is performed on the rescue robot to locate it.

[0034] According to one aspect of the above technical solution, all of the robots are wheeled mobile robots.

[0035] According to one aspect of the above technical solution, the robot is equipped with a mechanical rescue connection device and a rescue power supply and communication device.

[0036] A second aspect of the present invention is to provide a robot passive rescue control system, the control system comprising:

[0037] The status monitoring module is configured to monitor status information during the robot's task execution.

[0038] The fault diagnosis module is configured to determine whether the robot has a fault based on the fault information.

[0039] The signal sending module is configured to determine that the robot is faulty when the fault judgment module determines that the robot is faulty, store the state information within a preset time before and after the fault occurs, and intermittently send rescue request signals.

[0040] The signal receiving module is configured to acquire a rescue response instruction issued by the non-faulty robot or the robot back-end system when the rescue request signal is intercepted by other non-faulty robots or robot back-end systems.

[0041] The status feedback module is configured to, after identifying the non-faulty robot that issued the rescue response command or the non-faulty robot specified by the robot backend system as the rescue robot, allow the rescue robot to move according to the position in the status information fed back by the faulty robot in order to carry out the rescue.

[0042] The location search module is configured to stop sending the rescue request signal, intermittently send rescue location information, and simultaneously search for the rescue robot;

[0043] The communication pairing module is configured to actively establish a communication pairing connection with the rescue robot when the rescue robot is detected.

[0044] The rescue execution module is configured to establish electrical and mechanical connections with the rescue robot, and the rescue robot tows the faulty robot away.

[0045] A third aspect of the present invention is to provide a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the method described in the above-described technical solutions.

[0046] A fourth aspect of the present invention is to provide a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the method described in the above technical solutions.

[0047] Compared with existing technologies, the advantages of using the robot passive rescue control method and system shown in this invention are as follows:

[0048] During the robot's task execution, it monitors its own status information and determines whether a malfunction exists based on this information. If so, it is identified as a malfunctioning robot, and its status information before and after the malfunction for a preset period is stored. It intermittently sends rescue request signals. When other non-malfunctioning robots or the robot's backend system receive the rescue request signal, they will receive the rescue response signal and control a non-malfunctioning robot, i.e., the rescue robot, to move according to the position reported by the malfunctioning robot to provide rescue. A communication connection is established between the malfunctioning robot and the rescue robot so that they can dock. After the malfunctioning robot and the rescue robot complete electrical and mechanical docking, the rescue robot can continue to move to drag the malfunctioning robot away, thereby rescuing the malfunctioning robot. This solves the problem in existing technologies where robots cannot escape after malfunctioning or getting into danger. Attached Figure Description

[0049] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0050] Figure 1 This is a flowchart illustrating the passive rescue control method for robots shown in the first embodiment of the present invention;

[0051] Figure 2 This is a structural block diagram of the robot passive rescue control system shown in the third embodiment of the present invention. Detailed Implementation

[0052] To make the objectives, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Several embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the present invention will be more thorough and complete.

[0053] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0054] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0055] Example 1

[0056] Please see Figure 1 The first embodiment of the present invention provides a passive rescue control method for a robot, the control method comprising steps S10-S80:

[0057] Step S10: Monitor the status information during the robot's task execution.

[0058] Among them, a robot refers to a wheeled mobile robot that can walk on the ground and perform various tasks when it receives instructions, such as carrying tasks.

[0059] Since robots are assembled from several mechanical parts, various malfunctions are inevitable during their daily operation. These malfunctions can be eliminated by repairing them. However, when a malfunction occurs during task execution, such as a drive system failure, the robot will be unable to move, preventing it from continuing its normal work and returning to its base. In such cases, it is necessary to rescue the malfunctioning robot and bring it back to the base for systematic repair.

[0060] In this embodiment, during the robot's task execution, the robot will continuously monitor its own status and fault information so that it can output a fault signal in a timely manner when a fault occurs.

[0061] Step S20: Based on the status information, determine whether the robot has a malfunction;

[0062] Among them, the status information is used to record the status of the functions of each mechanical component or system in the robot, such as the remaining energy of 30%.

[0063] Specifically, during the robot's task execution, it will continuously determine whether a malfunction has occurred based on the status information obtained from monitoring. Furthermore, when multiple robots are performing tasks separately, each robot will continuously determine whether a malfunction has occurred based on its own status information obtained from monitoring.

[0064] In this embodiment, if it is determined that the robot has a malfunction, the control method shown in this embodiment proceeds to step S30.

[0065] Step S30: Determine that it is a faulty robot, store the state information within a preset time before and after the fault occurred, and intermittently send rescue request signals;

[0066] In this embodiment, if the robot malfunctions, such as a hardware failure, a software failure, or gets stuck and cannot get out, it is identified as a malfunctioning robot. In this embodiment, a robot that has not malfunctioned will be controlled to rescue it.

[0067] Specifically, when the robot malfunctions, the time of the malfunction will be recorded, and the status information within a preset time before and after the malfunction will be stored. For example, the status information for 3 minutes before and after the malfunction will be stored. After storing the status information, a rescue request signal will be continuously sent.

[0068] It should be noted that the rescue request signal sent by the malfunctioning robot should include the robot's location, the type of malfunction, etc., so that the robot's back-end system or other robots can quickly rescue the malfunctioning robot after receiving the rescue request signal.

[0069] In this embodiment, the steps of identifying the robot as a malfunctioning robot, storing its state information within a preset time period before and after the malfunction, and intermittently sending rescue request signals specifically include:

[0070] The robot that malfunctions is identified as a faulty robot;

[0071] The fault information is analyzed to identify the time when the faulty robot malfunctioned.

[0072] Based on the time of the fault occurrence, the state information within a preset time before and after the time of the fault occurrence is stored in the preset storage device of the fault robot;

[0073] The robot feeds back its location information to a pre-set communication module in the faulty robot. The communication module processes the location information to generate a rescue request signal, which is then sent intermittently.

[0074] Step S40: When the rescue request signal is intercepted by other non-faulty robots or robot backend systems, the rescue response instruction issued by the non-faulty robot or robot backend system is obtained.

[0075] In this embodiment, when the robot's backend system intercepts a rescue request signal, it will analyze the rescue request signal to determine the location and type of the malfunction of the robot, then determine whether there are other robots that can rescue the malfunctioning robot, and finally respond to the malfunctioning robot by issuing a rescue response command.

[0076] For example, when a faulty robot A malfunctions at location A, the robot's backend system will perform status checks on other non-faulty robots near location A, such as non-faulty robots B, C, and D, to determine whether they meet the rescue conditions. For example, it will determine whether the non-faulty robots have sufficient remaining energy. Only when the rescue conditions are met can a non-faulty robot be identified as a rescue robot.

[0077] Step S50: After identifying the non-faulty robot that issued the rescue response command or the non-faulty robot specified by the robot backend system as the rescue robot, the rescue robot moves according to the position in the status information fed back by the faulty robot to carry out the rescue.

[0078] In this embodiment, when the faulty robot receives a rescue response command sent by the robot's backend system, one of the non-faulty robots that meets the rescue conditions is identified as the rescue robot. For example, the non-faulty robot B, which is closest to the location of the faulty robot A, is identified as the rescue robot. The rescue robot will move according to the position information fed back by the faulty robot to go to the rescue.

[0079] Specifically, the robot's backend system will extract the location information of the malfunctioning robot based on the status information reported by the malfunctioning robot, and extract the location information of the rescue robot based on the location information reported by the rescue robot. Based on the location information of the malfunctioning robot and the rescue robot, the system will plan a navigation path from the location of the rescue robot to the location of the malfunctioning robot, send the navigation path to the rescue robot, and control the rescue robot to move according to the navigation path to find the malfunctioning robot. After finding the malfunctioning robot, it can be rescued.

[0080] Step S60: Stop sending the rescue request signal, intermittently send rescue location information, and simultaneously search for the rescue robot;

[0081] In this embodiment, after the faulty robot receives the rescue response instruction sent by the robot's backend system, it means that the robot's backend system has assigned a rescue robot to rescue it. The faulty robot will stop sending rescue request signals and no longer needs to send rescue request signals to the outside world, thus saving some energy consumption.

[0082] Specifically, once it is confirmed that the rescue robot will rescue the malfunctioning robot, the malfunctioning robot will continuously send rescue location information to report its latest location. When the rescue robot receives the location of the malfunctioning robot, it can accurately determine its location and orientation, thus facilitating the search for the malfunctioning robot.

[0083] Furthermore, the malfunctioning robot searches for the rescue robot by transmitting microwave signals through a microwave detection module. This establishes a communication connection between the malfunctioning robot and the rescue robot, facilitating docking operations during subsequent rescue operations.

[0084] Step S70: When the rescue robot is found, actively establish a communication pairing connection with the rescue robot;

[0085] In this embodiment, after a rescue robot is located, a communication pairing request is actively sent to the rescue robot. When the rescue robot compares the faulty robot and determines that the faulty robot is the one that needs to be rescued, a communication connection between the faulty robot and the rescue robot will be established through the aforementioned communication pairing request.

[0086] After establishing a communication connection between the faulty robot and the rescue robot, the two can interact with each other independently, eliminating the need for a robot backend system as a communication bridge. The interaction between the two robots is simpler and more direct, and communication delays are less likely to occur, providing a good communication foundation for the precise docking of the faulty robot and the rescue robot.

[0087] Step S80: Complete the electrical and mechanical connection with the rescue robot, and have the rescue robot tow the faulty robot away.

[0088] In this embodiment, after the faulty robot and the rescue robot establish a communication connection, the signal interaction between the two is smoother. The faulty robot and the rescue robot send docking signals to each other. After receiving the docking signal, they can adjust their docking posture, which makes it easier for the faulty robot and the rescue robot to adjust their mechanical rescue connection device and rescue power supply and communication device respectively. After the faulty robot and the rescue robot are connected through their respective rescue power supply and communication devices and mechanical rescue connection devices, the electrical connection and mechanical connection between the faulty robot and the rescue robot can be realized. Then, when the rescue robot moves, it can drive the faulty robot to move, so as to realize the rescue of the faulty robot.

[0089] The rescue robot will execute the navigation path issued by the robot's backend system, dragging the malfunctioning robot from its current location to a target location, such as the robot's base.

[0090] Compared with existing technologies, the advantages of using the robot passive rescue control method shown in this embodiment are as follows:

[0091] During the robot's task execution, it monitors its own status information and determines whether a malfunction exists based on this information. If so, it is identified as a malfunctioning robot, and its status information before and after the malfunction for a preset period is stored. It intermittently sends rescue request signals. When other non-malfunctioning robots or the robot's backend system receive the rescue request signal, they will receive the rescue response signal and control a non-malfunctioning robot, i.e., the rescue robot, to move according to the position reported by the malfunctioning robot to provide rescue. A communication connection is established between the malfunctioning robot and the rescue robot so that they can dock. After the malfunctioning robot and the rescue robot complete electrical and mechanical docking, the rescue robot can continue to move to drag the malfunctioning robot away, thereby rescuing the malfunctioning robot. This solves the problem in existing technologies where robots cannot escape after malfunctioning or getting into danger.

[0092] Example 2

[0093] The second embodiment of the present invention provides a passive rescue control method for a robot. The control method shown in this embodiment is basically the same as the control method shown in the first embodiment, except that:

[0094] In some special circumstances, if the communication between the malfunctioning robot and its backend system is poor, such as when there are buildings blocking the signal or signal jamming, the robot's backend system may not be able to receive the rescue request signal. However, if the communication between the malfunctioning robot and other non-malfunctioning robots is good, then the non-malfunctioning robots may be able to receive the rescue request signal sent by the malfunctioning robot.

[0095] When a rescue request signal from a faulty robot is intercepted by other non-faulty robots performing tasks, the step of obtaining a rescue response command issued by the non-faulty robot or the robot's backend system upon interception of the rescue request signal specifically includes steps S31-S33:

[0096] Step S31: When the rescue request signal is intercepted by other non-faulty robots performing tasks;

[0097] Step S32: Control the non-faulty robot to upload the rescue request signal to the robot backend system, and the robot backend system will detect the status of the non-faulty robot.

[0098] In this embodiment, after the non-faulty robot receives the rescue request signal, it uploads the rescue request signal to the robot's backend system, which then processes the rescue request signal and assigns a rescue robot to rescue the faulty robot.

[0099] In other words, when a non-faulty robot receives a rescue request signal, it is not necessarily designated as the rescue robot. The robot's backend system needs to compare all non-faulty robots currently performing tasks to determine the one with the greatest rescue advantage and control that rescue robot to rescue the faulty robot.

[0100] It should be noted that the evaluation criteria for assigning a non-faulty robot as a rescue robot by the robot's backend system include: the remaining energy of the non-faulty robot, the distance between the non-faulty robot and the faulty robot, and the task priority of the non-faulty robot.

[0101] For example, when a faulty robot A fails at location A, the distances of other non-faulty robots B, C, and D, which are performing tasks, relative to location A will be evaluated. If non-faulty robot B is located at location B, which is closest to location A, it will be determined that non-faulty robot B is the closest and has the greatest rescue advantage. Therefore, non-faulty robot B can be designated as the rescue robot to rescue the faulty robot A.

[0102] Step S33: When the detection result of the non-faulty robot meets the preset rescue conditions, the non-faulty robot is allowed to rescue the faulty robot and sends a rescue response command to the faulty robot.

[0103] The rescue response command includes the identifier of the rescue robot;

[0104] In this embodiment, the steps of stopping the transmission of the rescue request signal, intermittently transmitting rescue location information, and simultaneously searching for the rescue robot specifically include:

[0105] When a rescue response command is received, the faulty robot intermittently updates its current position based on a preset positioning module;

[0106] After intermittent location updates, the latest rescue location information is sent, and a search is performed on the rescue robot to locate it.

[0107] Compared with existing technologies, the robot passive rescue control method shown in this embodiment has at least the following advantages:

[0108] During the robot's task execution, it monitors its own status information and determines whether a malfunction exists based on this information. If so, it is identified as a malfunctioning robot, and its status information before and after the malfunction for a preset period is stored. It intermittently sends rescue request signals. When other non-malfunctioning robots or the robot's backend system receive the rescue request signal, they will receive the rescue response signal and control a non-malfunctioning robot, i.e., the rescue robot, to move according to the position reported by the malfunctioning robot to provide rescue. A communication connection is established between the malfunctioning robot and the rescue robot so that they can dock. After the malfunctioning robot and the rescue robot complete electrical and mechanical docking, the rescue robot can continue to move to drag the malfunctioning robot away, thereby rescuing the malfunctioning robot. This solves the problem in existing technologies where robots cannot escape after malfunctioning or getting into danger.

[0109] Example 3

[0110] Please see Figure 2 The third embodiment of the present invention provides a robot passive rescue control system, the control system comprising: a status monitoring module 10, a fault judgment module 20, a signal sending module 30, a signal receiving module 40, a status feedback module 50, a location search module 60, a communication pairing module 70, and a rescue execution module 80.

[0111] The status monitoring module 10 is configured to monitor status information during the robot's task execution.

[0112] The fault determination module 20 is configured to determine whether the robot has a fault based on the status information.

[0113] The signal sending module 30 is configured to determine that the robot is a faulty robot when the fault judgment module 20 determines that the robot is faulty, store the state information within a preset time before and after the fault occurs, and intermittently send rescue request signals.

[0114] The signal receiving module 40 is configured to acquire the rescue response instruction issued by the non-faulty robot or the robot back-end system when the rescue request signal is intercepted by other non-faulty robots or robot back-end systems.

[0115] The status feedback module 50 is configured to, after determining the non-faulty robot that issued the rescue response command or the non-faulty robot specified by the robot backend system as the rescue robot, the rescue robot moves according to the position in the status information fed back by the faulty robot to carry out the rescue.

[0116] The location search module 60 is configured to stop sending the rescue request signal, intermittently send rescue location information, and simultaneously search for the rescue robot;

[0117] The communication pairing module 70 is configured to actively establish a communication pairing connection with the rescue robot when the rescue robot is detected.

[0118] The rescue execution module 80 is configured to establish an electrical and mechanical connection with the rescue robot, and for the rescue robot to tow the faulty robot away.

[0119] Compared with existing technologies, the advantages of adopting the robot passive rescue control system shown in this embodiment include at least the following:

[0120] During the robot's task execution, it monitors its own status information and determines whether a malfunction exists based on this information. If so, it is identified as a malfunctioning robot, and its status information before and after the malfunction for a preset period is stored. It intermittently sends rescue request signals. When other non-malfunctioning robots or the robot's backend system receive the rescue request signal, they will receive the rescue response signal and control a non-malfunctioning robot, i.e., the rescue robot, to move according to the position reported by the malfunctioning robot to provide rescue. A communication connection is established between the malfunctioning robot and the rescue robot so that they can dock. After the malfunctioning robot and the rescue robot complete electrical and mechanical docking, the rescue robot can continue to move to drag the malfunctioning robot away, thereby rescuing the malfunctioning robot. This solves the problem in existing technologies where robots cannot escape after malfunctioning or getting into danger.

[0121] Example 4

[0122] A fourth embodiment of the present invention provides a computer-readable storage medium having computer instructions stored thereon, which, when executed by a processor, implement the steps of the methods described in the above embodiments.

[0123] Example 5

[0124] A fifth embodiment of the present invention provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the methods described in the above embodiments.

[0125] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0126] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the inventive concept, and these all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A passive rescue control method for a robot, characterized in that, The control method includes: During the robot's task execution, its status information is monitored; Based on the status information, determine whether the robot has a malfunction; If so, it is determined to be a faulty robot, and the state information of the robot within a preset time before and after the fault occurs is stored, and rescue request signals are sent intermittently. When the rescue request signal is intercepted by other non-faulty robots or robot backend systems, the rescue response command issued by the non-faulty robot or robot backend system is obtained. After identifying the non-faulty robot that issued the rescue response command or the non-faulty robot designated by the robot backend system as the rescue robot, the rescue robot moves according to the position in the status information fed back by the faulty robot to carry out the rescue. Stop sending the rescue request signal, intermittently send rescue location information, and simultaneously search for the rescue robot; When the rescue robot is located, actively establish a communication pairing and connection with the rescue robot; The system establishes both electrical and mechanical connections with the rescue robot, which then tows the malfunctioning robot away. The step of obtaining the rescue response instruction issued by the non-faulty robot or robot backend system when the rescue request signal is intercepted by other non-faulty robots or robot backend systems includes: When the rescue request signal is intercepted by the robot's backend system; The location of the faulty robot is determined based on its status information. Obtain the location information of other non-faulty robots performing tasks, and compare the locations of the faulty robot with those of the non-faulty robots; Identify the non-faulty robot with the greatest rescue advantage as the rescue robot, and send a rescue response command to the faulty robot, the rescue response command containing the identifier of the rescue robot; The steps of stopping the transmission of the rescue request signal, intermittently transmitting rescue location information, and simultaneously searching for the rescue robot specifically include: When a rescue response command is received, the faulty robot intermittently updates its current position based on a preset positioning module; After intermittent location updates, the latest rescue location information is sent, and a search is performed on the rescue robot to locate it. The step of obtaining the rescue response instruction issued by the non-faulty robot or robot backend system when the rescue request signal is intercepted by other non-faulty robots or robot backend systems includes: When the distress signal is intercepted by other non-faulty robots performing their tasks; The non-faulty robot is controlled to upload the rescue request signal to the robot's backend system, and the robot's backend system detects the status of the non-faulty robot. When the detection results of the non-faulty robot meet the preset rescue conditions, the non-faulty robot is allowed to rescue the faulty robot and sends a rescue response command to the faulty robot. The rescue response command includes the identifier of the rescue robot.

2. The robot passive rescue control method according to claim 1, characterized in that, The steps of identifying the robot as a malfunctioning robot, storing its state information for a preset time period before and after the malfunction, and intermittently sending rescue request signals specifically include: The robot that malfunctions is identified as a faulty robot; The fault information is analyzed to identify the time when the faulty robot malfunctioned. Based on the time of the fault occurrence, the state information within a preset time before and after the time of the fault occurrence is stored in the preset storage device of the fault robot; The robot feeds back its location information to a pre-set communication module in the faulty robot. The communication module processes the location information to generate a rescue request signal, which is then sent intermittently.

3. The passive rescue control method for robots according to any one of claims 1-2, characterized in that, All of the robots mentioned are wheeled mobile robots.

4. The robot passive rescue control method according to claim 3, characterized in that, The robot is equipped with a mechanical rescue connection device and a rescue power supply and communication device.

5. A passive rescue control system for robots, characterized in that, The control system, applicable to the method of any one of claims 1-4, comprises: The status monitoring module is configured to monitor status information during the robot's task execution. The fault diagnosis module is configured to determine whether the robot has a fault based on the status information. The signal sending module is configured to determine that the robot is faulty when the fault judgment module determines that the robot is faulty, store the state information within a preset time before and after the fault occurs, and intermittently send rescue request signals. The signal receiving module is configured to acquire a rescue response command issued by the non-faulty robot or the robot back-end system when the rescue request signal is intercepted by other non-faulty robots or robot back-end systems. The status feedback module is configured to, after identifying the non-faulty robot that issued the rescue response command or the non-faulty robot specified by the robot backend system as the rescue robot, allow the rescue robot to move according to the position in the status information fed back by the faulty robot in order to carry out the rescue. The location search module is configured to stop sending the rescue request signal, intermittently send rescue location information, and simultaneously search for the rescue robot; The communication pairing module is configured to actively establish a communication pairing connection with the rescue robot when the rescue robot is detected. The rescue execution module is configured to establish electrical and mechanical connections with the rescue robot, and the rescue robot tows the faulty robot away.

6. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by the processor, this instruction implements the steps of the method as described in any one of claims 1-4.

7. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method as described in any one of claims 1-4.

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