Control method and system of industrial robot

Abstract

The present invention discloses a control method and system for an industrial robot, wherein the control method for the industrial robot includes: obtaining a moving path of the industrial robot from an initial position to a target area; controlling the industrial robot to move along the moving path, and obtaining first path oxygen data corresponding to the moving path through an oxygen concentration detection module during the moving process; after the industrial robot reaches the target area, obtaining historical labor data corresponding to the target area and historical airflow data corresponding to the moving path; evaluating whether the first hypoxia risk reaches a first preset risk standard based on the historical labor data, historical airflow data, and first path oxygen data; wherein the first hypoxia risk is the hypoxia risk of the operator returning from the target area to the initial position after a preset time. The technical solution of the present invention solves the problem that the traditional exploratory industrial robot cannot predict the hypoxia phenomenon of the operator during the return process after the operation is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot control, and in particular to a control method and system for an industrial robot. Background Art

[0002] With the rapid development of artificial intelligence technology, humanoid robots, as the epitome of artificial intelligence technology, are gradually moving from laboratories to actual application scenarios. It is predicted that the global market size of humanoid robots will reach a CAGR of about 71% from 2021 to 2030. Especially in the field of manufacturing and production, humanoid robots have become a powerful tool for improving production efficiency, reducing labor costs, and ensuring production safety with their flexible operating capabilities, strong environmental adaptability, and high level of intelligence. Humanoid robots are highly flexible and adaptable and can work in various complex production environments. Compared with traditional industrial robots, humanoid robots are closer to the way humans work and can perform more delicate and complex tasks.

[0003] At present, in industrial resource collection scenarios, exploration-type industrial robots are usually used to detect whether the mining environment in mines is safe. However, since exploration-type industrial robots only judge the oxygen concentration in the working area, they ignore the oxygen concentration on the road returning from the mining working area and the fluidity of the airflow in the entire mine tunnel, which will cause the workers to suffer from hypoxia during the return process after the work is completed. Summary of the invention

[0004] The main purpose of the present invention is to provide a control method for an industrial robot, aiming to solve the problem that traditional exploratory industrial robots are unable to predict the hypoxia phenomenon of operators during their return process after completing their work.

[0005] To achieve the above object, the present invention provides a control method for an industrial robot, wherein the industrial robot is a humanoid robot, and an oxygen concentration detection module is provided at a position where the industrial robot is at the same height as a human nose. The control method for the industrial robot comprises:

[0006] Acquire a movement path of the industrial robot from an initial position to a target area;

[0007] Controlling the industrial robot to move along the moving path, and during the movement, obtaining first path oxygen data corresponding to the moving path through the oxygen concentration detection module;

[0008] After the industrial robot reaches a target area, acquiring historical labor data corresponding to the target area and historical airflow data corresponding to the moving path;

[0009] Based on the historical labor data, the historical airflow data, and the first path oxygen data, evaluate whether the first hypoxia risk reaches a first preset risk standard; wherein the first hypoxia risk is the hypoxia risk during the return process of the operator from the target area to the initial position after a preset time.

[0010] Optionally, during the movement, obtaining first path oxygen data corresponding to the movement path by the oxygen concentration detection module includes:

[0011] During the movement, the oxygen concentration data output by the oxygen concentration detection module is obtained once at a preset sampling time interval, and the position information of the industrial robot on the movement path is determined each time the oxygen concentration data is obtained;

[0012] Associating the oxygen concentration data acquired each time with the corresponding position information and storing them as a first oxygen concentration data subset;

[0013] All of the first oxygen concentration data subsets are used as the first path oxygen data.

[0014] Optionally, before the step of acquiring the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path, the control method of the industrial robot further includes:

[0015] evaluating, based on the oxygen data of the first path, whether the second hypoxia risk reaches a second preset risk standard;

[0016] If the second hypoxia risk does not reach the second preset risk standard, executing the step of acquiring the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path;

[0017] If the second hypoxia risk reaches a second preset risk standard, the step of obtaining the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path is stopped, and an entry alarm message is sent to the remote control terminal;

[0018] The second hypoxia risk is the hypoxia risk during the movement from the initial position inwardly into the target area.

[0019] Optionally, the step of evaluating whether the second hypoxia risk reaches a second preset risk standard according to the first path oxygen data includes:

[0020] Determine whether there are a preset number of consecutive oxygen concentration data that are not greater than a preset oxygen concentration threshold value among all the oxygen concentration data;

[0021] If there are a preset number of consecutive oxygen concentration data that are not greater than the preset oxygen concentration threshold value among all the oxygen concentration data, determining the actual number of consecutive oxygen concentration data that are not greater than the preset oxygen concentration threshold value;

[0022] Determine first position information and second position information respectively corresponding to the first oxygen concentration data and the last oxygen concentration data among the continuous actual number of oxygen concentration data;

[0023] Based on the first position information and the second position information, assess whether the second hypoxia risk reaches a second preset risk standard.

[0024] Optionally, the step of evaluating whether the second hypoxia risk reaches a preset risk standard according to the first position information and the second position information includes:

[0025] Determine a moving distance of the industrial robot along the moving path from a position corresponding to the first position information to a position corresponding to the second position information;

[0026] Determining whether the moving distance is greater than a preset moving distance;

[0027] If the moving distance is not less than the preset moving distance, determining that the second hypoxia risk reaches the second preset risk standard;

[0028] If the moving distance is less than the preset moving distance, it is determined that the second hypoxia risk does not reach the second preset risk standard.

[0029] Optionally, the step of evaluating whether the first hypoxia risk reaches a first preset risk standard according to the historical labor data, the historical airflow data, and the first path oxygen data includes:

[0030] Running the first neural network model to process historical labor data to predict oxygen consumption data within a preset time in the future;

[0031] Running a second neural network model to process the oxygen consumption data and the historical airflow data to obtain a corrected data set;

[0032] The first path oxygen data is corrected by using the correction data set to obtain the second path oxygen data corresponding to the moving path after a preset time;

[0033] According to the second path oxygen data, assess whether the first hypoxia risk reaches the first preset risk standard.

[0034] Optionally, the step of running a second neural network model to process the oxygen consumption data and the historical airflow data to obtain a corrected data set comprises:

[0035] Determine location information of all first oxygen concentration data subsets in the first path oxygen data;

[0036] Running a second neural network model to process the oxygen consumption data and the historical airflow data, and predicting the corrected data of the oxygen concentration data corresponding to each of the position information after a preset time;

[0037] Each of the correction data is associated with the corresponding position information and stored as a set of correction data subsets, and all of the correction data subsets are used as the correction data set.

[0038] Optionally, the step of correcting the oxygen data of the first path by using the correction data set to obtain the oxygen data of the second path corresponding to the moving path after a preset time includes:

[0039] Using the correction data in each correction data subset to correct the oxygen concentration data corresponding to the position information in the correction data subset;

[0040] The corrected oxygen concentration data is associated with the position information corresponding to the oxygen concentration data before correction and stored as a set of second oxygen concentration data subset;

[0041] All of the second oxygen concentration data subsets are used as the second path oxygen data.

[0042] The technical solution of the present invention further proposes an industrial robot control system, which is arranged in an industrial robot and comprises:

[0043] A control device is used to control the industrial robot to implement the control method of the industrial robot as described above.

[0044] The technical solution of the present invention predicts the oxygen concentration distribution on the return path after a period of operation by using historical labor data, historical airflow data and the second path oxygen data obtained during the process of entering the target area, so as to predict the second path oxygen data of the oxygen concentration distribution on the return path, and can further judge whether the first hypoxia risk of the operator during the return process will reach the first preset risk standard based on the second path oxygen data, thereby solving the problem that the traditional exploratory industrial robot cannot predict the hypoxia phenomenon of the operator during the return process after the completion of the operation. In addition, since the technical solution of the present invention adopts a humanoid robot, and the oxygen concentration detection module is set at a position as high as the human nose, compared with the oxygen sensor in the existing exploratory robot located at a lower height, the collected oxygen concentration data is more accurate, which can effectively improve the final calculation accuracy of the first hypoxia risk. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0046] Figure 1 A schematic diagram of a flow chart of an embodiment of a control method for an industrial robot according to the present invention;

[0047] Figure 2 A schematic flow chart of another embodiment of the control method of an industrial robot of the present invention;

[0048] Figure 3 A schematic flow chart of another embodiment of the control method of an industrial robot of the present invention;

[0049] Figure 4 It is a module schematic diagram of a control device in an embodiment of a control system of an industrial robot of the present invention.

[0050] Description of Figure Numbers:

[0051] Label name Label name Memory 11 Communication Bus 13 processor 12

[0052] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0054] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0055] Currently in the field of industrial mining, for mining areas that have been idle for a period of time, it is necessary to first use an exploratory industrial robot to drive to the miner's mining area to collect the oxygen concentration in the area, and determine whether the oxygen concentration meets the standard to further determine whether the working area is suitable for miners to carry out mining operations.

[0056] The defect of this judgment method is that it only judges the oxygen concentration in the mining operation area, while ignoring the oxygen concentration on the road returning from the mining operation area and the circulation of the airflow in the mine tunnel as a whole. Once the mining operation area is located at a deeper position, and there is a situation where the oxygen concentration is low in the section near the mining operation area, due to the idle period, although the oxygen in this section is low, it is sufficient to support the workers to travel and deliver oxygen to the mining operation area in a short time. However, it has been found that the essence of the low oxygen concentration in this section is often due to the fact that the structure of the mine tunnel in this section is not conducive to air circulation. Therefore, as the mining operation of the operators proceeds, the defect of poor air delivery capacity in this section will become more and more serious, resulting in the danger of hypoxia in the return process of the operators in the mining operation area after the continuous operation process. In addition, the currently used exploration industrial robots are usually short in height, and their oxygen sensors are usually located at a lower height due to the overall height of the robot. However, in fact, in the mine tunnel, carbon dioxide is more likely to gather at a lower position due to the influence of the environment in the mine tunnel, so it often makes the collected oxygen concentration data too low, which ultimately affects the accuracy of the collected oxygen concentration.

[0057] For the above problems, refer to Figure 1 This scheme proposes a control method for an industrial robot. The industrial robot is a humanoid robot. An oxygen concentration detection module is provided at a position at the same height as the human nose. The control method for the industrial robot includes:

[0058] Step S100, obtaining a moving path of the industrial robot from an initial position to a target area;

[0059] Step S200, controlling the industrial robot to move along the moving path, and during the movement, obtaining first path oxygen data corresponding to the moving path through the oxygen concentration detection module;

[0060] Step S300: After the industrial robot reaches the target area, historical labor data corresponding to the target area and historical airflow data corresponding to the moving path are obtained;

[0061] Step S400, based on historical labor data, historical airflow data, and first path oxygen data, assess whether the first hypoxia risk reaches a first preset risk standard; wherein the first hypoxia risk is the hypoxia risk of moving from the target area to the initial position after a preset time.

[0062] The execution subject of the control method of the industrial robot of the present invention may be a control device in the industrial robot, the control device may be connected to a remote control terminal for communication, and the remote control terminal may issue a response instruction in response to the user's operation. The communication connection may be a wired communication connection, or may also be a wireless communication connection, which is not limited in this embodiment.

[0063] In this embodiment, based on step S100, the control device can receive the moving path sent by the remote control terminal, and the moving path is used to indicate the moving path of the industrial robot from the initial position to the target area. It should be noted that in this embodiment, the initial position can be located at the entrance of the mine tunnel, and the target area can be located deeper in the mine tunnel.

[0064] Based on step S200, when it is determined that the industrial robot has reached the initial position, the control device can control the displacement module of the industrial robot to work, so as to drive the industrial robot to move from the initial position according to the moving path; wherein the displacement module may include a drive motor and a track assembly. During the movement process, the control device can simultaneously control the oxygen concentration detection module to work, and continuously obtain the oxygen concentration data representing the oxygen concentration at the position output by the oxygen concentration detection module when working. The control device can store the obtained oxygen concentration data in correspondence with its own position on the moving path when the oxygen concentration data is obtained, so as to obtain the first path oxygen data representing the oxygen concentration distribution on the moving path. It should be noted that before executing step S200, the current position of the industrial robot can be obtained first, and it can be determined whether its current position is the same as the initial position of the moving path. If the current position is the same as the initial position, step S200 can be executed; if the current position is different from the initial position, the industrial robot can be controlled to move to the initial position before executing step S200.

[0065] Based on step S300, the industrial robot can confirm that it has reached the target area after completing the movement according to the moving path; or, after completing the movement according to the moving path, the corresponding information of the location, such as GPS location information and captured image information, can be transmitted to the remote control terminal, and after receiving the arrival confirmation instruction returned by the remote control terminal, the industrial robot can confirm that it has reached the target area. The control device can call the pre-stored historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path, or can also communicate with the remote control terminal to obtain the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path, which is not limited in this embodiment.

[0066] Based on step S400, the historical labor data is the labor data related to the labor of the operator in the target area, and the historical airflow data is the air circulation data of each location on the moving path. The control device can first predict the oxygen consumption data related to the operator during the normal working time in the target area based on the historical labor data, and then predict the path oxygen data of the new oxygen concentration distribution on the moving path after the preset time based on the oxygen consumption and the historical airflow data, that is, the second path oxygen data, and can further evaluate the hypoxia risk (i.e., the first hypoxia risk) in the process of the operator returning from the target area to the initial position along the section matching the moving path after the preset time of working in the target area based on the second path oxygen data, and can further judge whether the first hypoxia risk reaches the first preset risk standard.

[0067] In this embodiment, if the first risk reaches the first preset risk standard, it means that the operator is at a greater risk of experiencing hypoxia during the return process, the hypoxia phenomenon lasts longer, and will cause physiological damage to the operator. At this time, the control device can send the assessment result of the first hypoxia risk and the return alarm information to the remote control device, so that relevant personnel can know through the remote control device and prevent the operator from entering the mine tunnel in advance.

[0068] The technical solution of the present invention predicts the oxygen concentration distribution on the return path after a period of operation by using historical labor data, historical airflow data and the second path oxygen data obtained during the process of entering the target area, so as to predict the second path oxygen data of the oxygen concentration distribution on the return path, and can further judge whether the first hypoxia risk of the operator during the return process will reach the first preset risk standard based on the second path oxygen data, thereby solving the problem that the traditional exploratory industrial robot cannot predict the hypoxia phenomenon of the operator during the return process after the completion of the operation. In addition, since the technical solution of the present invention adopts a humanoid robot, and the oxygen concentration detection module is set at a position as high as the human nose, compared with the oxygen sensor in the existing exploratory robot located at a lower height, the collected oxygen concentration data is more accurate, which can effectively improve the final calculation accuracy of the first hypoxia risk.

[0069] It can be understood that if the first risk does not reach the first preset risk standard, it means that the risk of hypoxia occurring during the operator's return from the target area to the initial position along the section matching the moving path is relatively small, the duration of the hypoxia phenomenon is relatively short, and it will not cause physiological damage to the operator. At this time, the control device can also send the assessment result of the first hypoxia risk to the remote control device.

[0070] In an optional embodiment, in step S200: during the movement process, obtaining first path oxygen data corresponding to the moving path through the oxygen concentration detection module includes:

[0071] Step S210: During the movement process, the oxygen concentration data output by the oxygen concentration detection module is obtained once at a preset sampling time interval, and the position information of the industrial robot on the moving path is determined each time the oxygen concentration data is obtained;

[0072] Step S220, associating the oxygen concentration data acquired each time with the corresponding position information and storing them as a first oxygen concentration data subset;

[0073] Step S230: taking all first oxygen concentration data subsets as first path oxygen data.

[0074] Based on step S210, the control device can obtain its own real-time moving speed and its own moving time after moving from the initial position, and can calculate its own displacement distance in real time according to the above real-time moving speed and the moving time. It can be understood that the displacement distance is the interval distance between the position of the industrial robot on the moving path and the initial position along the moving path, so the control device can calculate the relevant information of the current position of the industrial robot on the moving path, that is, the position information, according to the displacement distance and the initial position.

[0075] Based on step S220, the control device may associate and store the oxygen concentration data acquired each time with the position information calculated this time, so as to obtain a first oxygen concentration data subset that can characterize the oxygen concentration distribution at the position information.

[0076] Based on step S230, as the industrial robot moves, the control device can obtain multiple sets of first oxygen concentration data subsets, and all the first oxygen concentration data subsets can represent the oxygen concentration distribution at various locations on the moving path. Therefore, the control device can use the existing oxygen concentration subsets as the first path oxygen data after reaching the target area.

[0077] Optionally, before acquiring historical labor data corresponding to the target area and historical airflow data corresponding to the moving path in step S300, the control method of the industrial robot further includes:

[0078] Step S500: evaluating whether the second hypoxia risk reaches a second preset risk standard according to the oxygen data of the first path;

[0079] Step S700: If the second hypoxia risk does not reach the second preset risk standard, the step of acquiring historical labor data corresponding to the target area and historical airflow data corresponding to the moving path is performed;

[0080] Step S800: if the second hypoxia risk reaches the second preset risk standard, the step of obtaining the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path is stopped, and an entry alarm message is sent to the remote control terminal;

[0081] The second hypoxia risk is the hypoxia risk during the movement from the initial position to the target area.

[0082] In this embodiment, step S500 may be performed after the control device confirms that the industrial robot has reached the target area and before acquiring historical labor data and historical airflow data.

[0083] Since the first path oxygen data can characterize the oxygen concentration distribution on the moving path, that is, it can represent the oxygen concentration distribution of the entire road section to the target area, the control device performs corresponding data processing on the path oxygen concentration data, and can evaluate the risk of hypoxia (i.e., the second hypoxia risk) of the operator during the entry process from the initial position to the target area along the section matching the moving path based on the processing results, and can further determine whether the second hypoxia risk standard meets the second preset risk standard.

[0084] In this embodiment, if the second hypoxia risk reaches the second preset risk standard, it means that the operator is at a greater risk of experiencing hypoxia when entering the target area from the initial position along the section matching the moving path, the hypoxia phenomenon lasts longer, and will cause physiological damage to the operator. At this time, the control device can send the assessment result of the second hypoxia risk and the entry alarm information to the remote control device, so that relevant personnel can know and prevent the operator from entering the mine tunnel through the remote control device, and the control device can also stop executing the subsequent steps of obtaining historical labor data and historical airflow data in step S300 to terminate the execution of the technical solution of the present invention.

[0085] If the second hypoxia risk does not reach the second preset risk standard, it means that the operator has a low risk of hypoxia when entering the target area from the initial position along the section matching the moving path, the duration of the hypoxia phenomenon is short, and it will not cause physiological damage to the operator. At this time, the control device can also send the assessment result of the second hypoxia risk to the remote control device, and execute the subsequent steps of obtaining historical labor data and historical airflow data in step S300.

[0086] Such an arrangement enables the technical solution of the present invention to utilize a set of first path oxygen data to simultaneously determine the first hypoxia risk of the operator during the return process and the second hypoxia risk during the entry process, thereby achieving the hypoxia risk judgment during the entry process without the need to use additional algorithms, which is conducive to simplifying the algorithm system design.

[0087] Further, step S500 of evaluating whether the second hypoxia risk reaches a second preset risk standard according to the first path oxygen data includes:

[0088] Step S510, determining whether there are a preset number of consecutive oxygen concentration data that are not greater than a preset oxygen concentration threshold value among all the oxygen concentration data;

[0089] Step S520: if there are a preset number of consecutive oxygen concentration data that are not greater than the preset oxygen concentration threshold among all the oxygen concentration data, then determine the actual number of consecutive oxygen concentration data that are not greater than the preset oxygen concentration threshold;

[0090] Step S530, determining first position information and second position information corresponding to the first oxygen concentration data and the last oxygen concentration data in the continuous actual number of oxygen concentration data respectively;

[0091] Step S540: Evaluate whether the second hypoxia risk reaches a second preset risk standard based on the first position information and the second position information.

[0092] Based on step S510, the preset number and the preset oxygen concentration threshold can be determined based on a large number of pre-experiments, wherein the preset oxygen concentration threshold can be determined based on the oxygen concentration in the environment when the human body suffers from hypoxia.

[0093] The control device may compare the oxygen concentration data with the preset oxygen concentration threshold value each time it obtains oxygen concentration data. If the comparison result is that the oxygen concentration data of this time is less than or equal to the preset oxygen concentration threshold value, a count value is increased by one; if the comparison result is that the oxygen concentration data of this time is greater than the preset oxygen concentration threshold value, the count value may be cleared. The control device may also compare the count value after increasing the count value by one with a preset number each time it increases the count value by one. If the count value is equal to the preset number, it is determined that at least a preset number of oxygen concentration data are continuously not greater than the preset oxygen concentration threshold value among all the oxygen concentration data; if the count value is less than the preset number, it is determined that at least a preset number of oxygen concentration data are continuously not greater than the preset oxygen concentration threshold value among all the oxygen concentration data.

[0094] Based on step S520, the count value in step S510 will not be immediately cleared after it is equal to the preset number. If the subsequent preset oxygen concentration data is still not greater than the preset oxygen concentration threshold, the count value will continue to accumulate until oxygen concentration data greater than the preset oxygen concentration threshold appears, and then the count value will be cleared. Therefore, the control device can determine the actual number of oxygen concentration data that are continuously not greater than the preset oxygen concentration threshold based on the count value after it is equal to the preset number and before it is cleared. It can be understood that the actual number is greater than or equal to the preset number.

[0095] Based on step S530, the control device can filter out the first oxygen concentration data and the last oxygen concentration data from the actual number of consecutive oxygen concentration data, and can correspondingly determine the first oxygen concentration data subset where the first oxygen concentration data and the last oxygen concentration data are located, so that the first position information and the second position information corresponding to the two can be determined from the first oxygen concentration data subset.

[0096] Based on step S540, since the first position information and the second position information are actually the starting position information and the end position information of the road section on the moving path where the oxygen concentration is extremely low and it is easy to cause hypoxia, the control device can calculate the hypoxia risk (i.e., the second hypoxia risk) of the operator during the movement process from the position corresponding to the first position information to the position of the second position information along the moving path according to the first position information and the second position information, and can further evaluate whether the hypoxia risk reaches the second preset risk standard.

[0097] Further, step S540 of evaluating whether the second hypoxia risk reaches a preset risk standard according to the first position information and the second position information includes:

[0098] Step S541, determining a moving distance of the industrial robot along the moving path from the position corresponding to the first position information to the position corresponding to the second position information;

[0099] Step S542, determining whether the moving distance is greater than a preset moving distance;

[0100] Step S543: if the moving distance is not less than the preset moving distance, determining that the second hypoxia risk reaches the second preset risk standard;

[0101] Step S544: If the moving distance is less than the preset moving distance, it is determined that the second hypoxia risk does not reach the second preset risk standard.

[0102] In this embodiment, the moving distance is to determine the moving distance of the industrial robot during the duration of the actual number of oxygen concentration data in the segment. It should be noted that the longer the human body walks in an oxygen-deficient environment, the easier it is to cause irreversible damage to its physiology, such as brain damage. Therefore, the preset distance can be determined according to the average distance that the human body can walk in an oxygen-deficient environment without causing damage to its physiology. Since the oxygen concentration data in this moving distance is lower than the preset oxygen concentration threshold, step S542 can be performed by comparing the moving distance determined in step 541 with the preset moving distance. If the comparison result is greater than or equal to the preset moving distance, it means that the risk of hypoxia is greater when the operator passes through this moving distance, the duration of hypoxia is longer, and it will cause physiological damage to the operator. At this time, it can be determined that the second hypoxia risk reaches the second preset risk standard. If the comparison result is less than the preset moving distance, it means that the risk of hypoxia is smaller when the operator passes through this moving distance, the duration of hypoxia is shorter, and it will not cause physiological damage to the operator. At this time, it can be determined that the second hypoxia risk does not reach the second preset risk standard. In this way, the oxygen data of the first path can be used to realize the second hypoxia risk judgment during the entry process.

[0103] Optionally, the preset moving distance may be selected as 100m.

[0104] Reference Figure 2 The step S400 of evaluating whether the first hypoxia risk reaches the first preset risk standard according to the historical labor data, the historical airflow data, and the first path oxygen data includes:

[0105] Step S410, running the first neural network model to process historical labor data to predict oxygen consumption within a future preset time;

[0106] Step S420, running the second neural network model to process the oxygen consumption data and the historical airflow data to obtain a corrected data set;

[0107] Step S430, correcting the oxygen data of the first path using the correction data set to obtain the oxygen data of the second path corresponding to the moving path after a preset time;

[0108] Step S440: evaluating whether the first hypoxia risk reaches a first preset risk standard according to the second path oxygen data.

[0109] Based on step S410, the historical labor data includes: historical labor types, labor time of each historical labor type, and other data related to historical labor. The first neural network model can use a pre-trained neural network model that is dedicated to calculating the oxygen consumption of the human body within a preset time based on relevant historical labor data. In a specific embodiment, the first neural network model can be implemented using an LSTM model.

[0110] Based on step S420, the historical airflow data includes the airflow velocity at each position in the moving path at different times. The second neural network model can be implemented by using a pre-trained neural network model that is used to calculate the change in oxygen concentration at each location on a non-closed path when oxygen consumption exists. And because the oxygen consumption data can be characterized as the main consumption source of oxygen in the moving path, and the historical airflow data can be characterized as the main supplementary source of oxygen in the moving path, by using the second neural network model based on the oxygen consumption data and the historical airflow data, the change in oxygen concentration data corresponding to the oxygen consumption data at each location on the moving path within a preset time can be predicted, and the change in oxygen concentration data at each location on the moving path can be stored as a corrected data set.

[0111] Based on step S430, the first path oxygen data is corrected accordingly according to the correction data set, so as to obtain the second path oxygen data.

[0112] Based on step S440, the control device can further evaluate, based on the oxygen data of the second path, the risk of hypoxia (i.e., the first hypoxia risk) during the operator's return process from the target area to the initial position along the section matching the moving path after working in the target area for a preset time, and can further determine whether the first hypoxia risk reaches the first preset risk standard.

[0113] Optionally, refer to Figure 3 , step S420 of running the second neural network model to process the oxygen consumption data and the historical airflow data to obtain a corrected data set includes:

[0114] Step S421, determining the position information of all first oxygen concentration data subsets in the first path oxygen data;

[0115] Step S422, running the second neural network model to process the oxygen consumption data and the historical airflow data, and predicting the correction data of the oxygen concentration data corresponding to each position information after a preset time;

[0116] Step S423: associate each correction data with the corresponding position information and store them as a set of correction data subsets, and use all the correction data subsets as a correction data set.

[0117] Further, step S430 of correcting the oxygen data of the first path by using the correction data set to obtain the oxygen data of the second path corresponding to the moving path after a preset time includes:

[0118] Step S431, using the correction data in each correction data subset to correct the oxygen concentration data corresponding to the position information in the correction data subset;

[0119] Step S432, associating the corrected oxygen concentration data with the position information corresponding to the oxygen concentration data before correction and storing them as a set of second oxygen concentration data subset;

[0120] Step S433: taking all second oxygen concentration data subsets as second path oxygen data.

[0121] Specifically, step S431 is: performing sum calculation on the first oxygen concentration data stored in association with each position information and the data stored in association with the position information, and the sum calculation result is the oxygen concentration data after correction of the position information. In this way, the oxygen data of the second path in this solution can be obtained.

[0122] Similarly, in the technical solution of the present invention, step S440 of evaluating whether the first hypoxia risk reaches the first preset risk standard according to the second path oxygen data can refer to step S500, that is, step S440 may include:

[0123] Step S441, determining whether there are at least a preset number of consecutive corrected oxygen concentration data that are not greater than a preset oxygen concentration threshold value among all corrected oxygen concentration data;

[0124] Step S442: if there are at least a continuous preset number of corrected oxygen concentration data that are not greater than the preset oxygen concentration threshold, determine the actual number of continuous corrected oxygen concentration data that are not greater than the preset oxygen concentration threshold;

[0125] Step S443, determining the third position information and the fourth position information corresponding to the first oxygen concentration data and the last oxygen concentration data in the continuous actual number of corrected oxygen concentration data respectively;

[0126] Step S444: evaluating whether the first hypoxia risk reaches a first preset risk standard based on the third position information and the fourth position information.

[0127] Further, step S444 of evaluating whether the second hypoxia risk reaches a preset risk standard according to the third position information and the fourth position information includes:

[0128] Determine a moving distance of the industrial robot along the moving path from a position corresponding to the third position information to a position corresponding to the fourth position information;

[0129] Determine whether the moving distance is greater than the preset moving distance;

[0130] If the moving distance is not less than the preset moving distance, it is determined that the first hypoxia risk reaches the first preset risk standard;

[0131] If the moving distance is less than the preset moving distance, it is determined that the first hypoxia risk does not reach the first preset risk standard.

[0132] The present invention also proposes an industrial robot control system, which is arranged in an industrial robot. The industrial robot control system includes a control device, which is used to control the industrial robot to implement the control method of the industrial robot as described above. The specific process steps of the control method of the industrial robot can refer to the above embodiment. Since the industrial robot control system adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought by the technical solutions of the above embodiments, which will not be described one by one here. Among them, the industrial robot control system can also include a communication module, which is used to realize the communication connection between the control device and the remote control terminal.

[0133] Further, refer to Figure 4 The control device includes a memory 11, a processor 12, and a control program of the industrial robot stored in the memory 11 and executed by the processor 12. When the control program of the industrial robot is executed by the processor 12, the control method of the industrial robot is realized. The memory 11 can be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. The memory 11 can also be a storage device independent of the aforementioned control device; the processor 12 can be a CPU. The memory 11 and the processor 12 are connected by a communication bus 13, which can be a UART bus or an I2C bus.

[0134] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A control method for an industrial robot, characterized in that: The industrial robot is a humanoid robot, an oxygen concentration detection module is provided at a position where the industrial robot is at the same height as a human nose, and the control method of the industrial robot includes: Acquire a movement path of the industrial robot from an initial position to a target area; Controlling the industrial robot to move along the moving path, and during the movement, obtaining first path oxygen data corresponding to the moving path through the oxygen concentration detection module; After the industrial robot reaches the target area, historical labor data corresponding to the target area and historical airflow data corresponding to the moving path are obtained; the historical labor data include historical labor types and labor time of each historical labor type, and the historical airflow data include airflow speeds at different times at each position in the moving path; According to the historical labor data, the historical airflow data, and the first path oxygen data, evaluating whether the first hypoxia risk reaches a first preset risk standard; wherein the first hypoxia risk is the hypoxia risk of the operator in the process of returning from the target area to the initial position after a preset time; The step of obtaining the first path oxygen data corresponding to the moving path by the oxygen concentration detection module during the moving process includes: During the movement, the oxygen concentration data output by the oxygen concentration detection module is obtained once at a preset sampling time interval, and the position information of the industrial robot on the movement path is determined each time the oxygen concentration data is obtained; Associating the oxygen concentration data acquired each time with the corresponding position information and storing them as a first oxygen concentration data subset; using all the first oxygen concentration data subsets as the first path oxygen data; Before the step of acquiring the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path, the control method of the industrial robot further includes: evaluating, based on the oxygen data of the first path, whether the second hypoxia risk reaches a second preset risk standard; If the second hypoxia risk does not reach the second preset risk standard, executing the step of acquiring the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path; If the second hypoxia risk reaches a second preset risk standard, the step of obtaining the historical labor data corresponding to the target area and the historical airflow data corresponding to the moving path is stopped, and an entry alarm message is sent to the remote control terminal; Wherein, the second hypoxia risk is the hypoxia risk during the movement from the initial position to the target area; The step of evaluating whether the second hypoxia risk reaches a second preset risk standard according to the first path oxygen data includes: Determine whether there are a preset number of consecutive oxygen concentration data that are not greater than a preset oxygen concentration threshold value among all the oxygen concentration data; If there are a preset number of consecutive oxygen concentration data that are not greater than the preset oxygen concentration threshold value among all the oxygen concentration data, determining the actual number of consecutive oxygen concentration data that are not greater than the preset oxygen concentration threshold value; Determine first position information and second position information corresponding to the first oxygen concentration data and the last oxygen concentration data of the continuous actual number of oxygen concentration data, respectively; the first position information is used to represent the starting position information of the section on the moving path where the oxygen concentration is extremely low and easily causes hypoxia, and the second position information is used to represent the end position information of the section on the moving path where the oxygen concentration is extremely low and easily causes hypoxia; evaluating, according to the first position information and the second position information, whether the second hypoxia risk reaches a second preset risk standard; The step of evaluating whether the second hypoxia risk reaches a preset risk standard according to the first position information and the second position information includes: Determine a moving distance of the industrial robot along the moving path from a position corresponding to the first position information to a position corresponding to the second position information; Determining whether the moving distance is greater than a preset moving distance; If the moving distance is not less than the preset moving distance, determining that the second hypoxia risk reaches the second preset risk standard; If the moving distance is less than the preset moving distance, it is determined that the second hypoxia risk does not reach the second preset risk standard; The step of evaluating whether the first hypoxia risk reaches a first preset risk standard according to the historical labor data, the historical airflow data, and the first path oxygen data comprises: Running the first neural network model to process historical labor data to predict oxygen consumption data within a future preset time; Running a second neural network model to process the oxygen consumption data and the historical airflow data to obtain a revised data set; Using the correction data set to correct the oxygen data of the first path, so as to obtain the oxygen data of the second path corresponding to the moving path after a preset time; According to the second path oxygen data, assess whether the first hypoxia risk reaches the first preset risk standard.

2. The control method of an industrial robot according to claim 1, characterized in that: The step of running a second neural network model to process the oxygen consumption data and the historical airflow data to obtain a corrected data set comprises: Determine location information of all first oxygen concentration data subsets in the first path oxygen data; Running a second neural network model to process the oxygen consumption data and the historical airflow data, and predicting the corrected data of the oxygen concentration data corresponding to each of the position information after a preset time; Each of the correction data is associated with the corresponding position information and stored as a set of correction data subsets, and all of the correction data subsets are used as the correction data set.

3. The control method of an industrial robot according to claim 2, characterized in that: The step of correcting the oxygen data of the first path by using the correction data set to obtain the oxygen data of the second path corresponding to the moving path after a preset time includes: Using the correction data in each correction data subset to correct the oxygen concentration data corresponding to the position information in the correction data subset; The corrected oxygen concentration data is associated with the position information corresponding to the oxygen concentration data before correction and stored as a set of second oxygen concentration data subset; All of the second oxygen concentration data subsets are used as the second path oxygen data.

4. An industrial robot control system, characterized in that: The industrial robot control system is provided in the industrial robot, and the industrial robot control system comprises: A control device, wherein the control device is used to control the industrial robot to implement the control method of the industrial robot according to any one of claims 1 to 3.

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