Safety management method and system for ceiling panel installation robot

Abstract

The application discloses a kind of ceiling board installation robot safety control method and system, including the following steps: laser radar, binocular camera, inclination sensor, torque sensor, photosensitive sensor, weighing sensor, collision sensor, laser range finder, obstacle avoidance sensor, emergency stop switch, warning light, buzzer and operation panel are set on ceiling board installation robot;Event tree analysis is carried out to robot operation whole process, event tree model of robot operation is established, and robot safety risk index system is obtained;Establish judgment standard and score for accident frequency grade, accident consequence grade;The risk degree of each index is calculated, when there are multiple indexes risk, the total risk degree of system is calculated by summation;Total risk degree of system is based on numerical height and is divided into grades, corresponding different early warning levels and early warning are carried out.The application can comprehensively analyze risk and early warning.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction robots, and particularly relates to a safety control method and system of a suspended ceiling panel installation robot. BACKGROUND

[0002] Many buildings are high, and the installation of suspended ceiling panels inside the building is high-altitude work. A suspended ceiling panel installation robot can allow an operator to work safely on a high-altitude platform, and can quickly fork and take a stack of suspended ceiling panels, lift the suspended ceiling panels one by one to a suitable height, and facilitate installation by personnel. The suspended ceiling panel installation robot needs to be controlled and managed in safety during operation. The prior art mainly analyzes the failure modes of some engineering operation equipment by using a safety checklist method, an analytic hierarchy process method, and the like, and then establishes a safety early warning index system. However, the safety control method of the prior art cannot take into account the particularity of the operation environment and operation process of the suspended ceiling panel installation robot and the complexity of safety influencing factors. SUMMARY

[0003] The first object of the present application is to provide a safety control method for a suspended ceiling panel installation robot that can comprehensively analyze risks and perform early warning.

[0004] The second object of the present application is to provide a safety control system for a suspended ceiling panel installation robot.

[0005] Technical solution: To achieve the above objects, the present application discloses a safety control method for a suspended ceiling panel installation robot, comprising the following steps:

[0006] (1) A laser radar, a binocular camera, an inclination sensor, a torque sensor, a photosensitive sensor for monitoring the environment, a weighing sensor, a collision sensor, a laser range finder, an obstacle avoidance sensor, an emergency stop switch, a warning light, a buzzer, and an operation panel are arranged on the suspended ceiling panel installation robot;

[0007] (2) From the perspective of a process flow, event tree analysis is performed on the whole process of robot operation, all possible operation sequences are analyzed, an event tree model of robot operation is established, and a robot safety risk index system is obtained;

[0008] (3) Judgment criteria and scores are established for the accident frequency level and the accident consequence level, the corresponding accident frequency level scores are set according to the size of the accident frequency, the accident frequency level scores are divided into 1, 2, 3, 4, and 5, the higher the accident frequency, the greater the accident frequency level score, the corresponding accident consequence level scores are set according to the size of the accident consequence severity, the accident consequence level scores are divided into 2, 4, 6, 8, and 10, the more serious the accident consequence, the greater the accident consequence level score, the risk degree of each index is calculated, and when multiple indexes appear risks, the system total risk degree is calculated by summation;

[0009] (4) The total risk degree of the system is graded based on the numerical value, and different early warning levels are corresponded; the early warning levels are divided into five grades: no early warning, light early warning, medium early warning, high early warning and stop operation, in the no early warning grade, the robot does not send warning signals; in the light early warning grade, the robot highlights the corresponding risk indicators in a visually prominent font at the corresponding position of the operation panel; in the medium early warning grade, the robot will send warning signals through warning lights and highlight the corresponding risk indicators in a visually prominent font on the operation panel; in the high early warning grade, the robot will send warning signals through warning lights and buzzers, and display the related risk indicators in the form of a pop-up window on the operation panel; in the stop operation grade, the robot will stop moving according to the steps of the safety mode and no longer respond to most operations until the related warning is removed or a special operation mode is entered.

[0010] In step (1), the inclination sensor is arranged on the chassis, the torque sensor is arranged on the manned operation platform and the fork, the weighing sensor is arranged on the manned operation platform, the collision sensor is arranged on the chassis, the obstacle avoidance sensor is arranged on the chassis, and the laser range finder is arranged on the chassis.

[0011] Preferably, step (2) specifically comprises the following steps: obtaining the whole operation process of the robot, performing event tree analysis on the whole operation process, analyzing all possible operation process sequences, obtaining the accident frequency level, the accident frequency level score, the accident consequence level and the accident consequence level score corresponding to each event in the robot operation process, and establishing an event tree model of the robot operation; based on the event tree model, the safety influence factors of the robot operation are analyzed and intensively combined to obtain a robot safety risk index system; the robot safety risk index system includes a device risk index system, a personnel risk index system, a material risk index system, an environmental risk index system and a management risk index system.

[0012] Furthermore, the device risk index system includes that the chassis inclination is too large to cause overturning risk, the chassis moving speed exceeds the threshold value, the manned platform load exceeds the threshold value, the robot is too close to the obstacle, there is a collision risk in the process of the robot approaching the obstacle, the voltage is insufficient, and the communication between the control system and the robot is abnormal; the personnel risk index system includes that the operation personnel are not qualified, the personnel work for too long, and the personnel ignore the risk, the material risk index system includes that the material stacking size is abnormal to affect automatic loading, the material stacking is too heavy and exceeds the device fork capacity, and the material is abnormal and the robot automatic lifting fails, the environmental risk index system includes that the site obstacles are too many to affect the robot movement, the environmental field of view is not clear to affect visual judgment, the site light is insufficient, and the actual situation of the site does not match the pre-established model and cannot be normally positioned, and the management risk index system includes that the number of operation personnel is insufficient, the robot is not regularly checked and maintained, and the operation log cannot be transmitted to the cloud.

[0013] Further, the risk degree of each index in step (3) is calculated according to the following formula,

[0014] R = (L + a) * (S + b)

[0015] In the formula, R is the risk degree, L is the accident frequency level score, a is the accident frequency level score correction value when there is no operator on the robot platform, the value of a is 1 for the risk indicators of the chassis moving speed exceeding the threshold, the robot being too close to the obstacle, the robot having a collision risk in the process of moving towards the obstacle, the abnormal size of the material stack affecting automatic loading, the abnormal material and the robot failing to automatically lift, too many obstacles in the field affecting the movement of the robot, the unclear field of view affecting visual judgment, insufficient light in the field, and the actual situation in the field not matching the pre-established model and being unable to normally locate; the value of a is 0 for the risk indicators of the chassis having a large inclination angle and having a risk of overturning, the load on the platform exceeding the threshold, insufficient voltage, abnormal communication between the control system and the robot, insufficient personnel qualification, the personnel working for too long, the personnel ignoring the risk, the material stack being too heavy and exceeding the equipment fork taking capacity, insufficient number of operating personnel, the robot not being regularly checked and maintained, and being unable to transmit operation logs to the cloud; S is the accident consequence level score, b is the accident consequence level score correction value when there is no operator on the robot platform, the value of b is -3 for the risk indicators of the chassis moving speed exceeding the threshold, the robot being too close to the obstacle, abnormal communication between the control system and the robot, insufficient personnel qualification, the personnel working for too long, the personnel ignoring the risk, insufficient number of operating personnel, and the robot not being regularly checked and maintained; the value of b is -5 for the risk indicators of the chassis having a large inclination angle and having a risk of overturning, and the robot having a collision risk in the process of moving towards the obstacle; the value of b is 0 for the risk indicators of the load on the platform exceeding the threshold, insufficient voltage, the abnormal size of the material stack affecting automatic loading, the material stack being too heavy and exceeding the equipment fork taking capacity, the abnormal material and the robot failing to automatically lift, too many obstacles in the field affecting the movement of the robot, the unclear field of view affecting visual judgment, insufficient light in the field, the actual situation in the field not matching the pre-established model and being unable to normally locate, and being unable to transmit operation logs to the cloud.

[0016] The total risk degree of the system is calculated according to the following formula,

[0017] ,

[0018] In the formula, is the number of indexes included in the calculation, is the serial number of the current index in the indexes included in the calculation, is the total risk degree of the system, is the risk degree of the index ranked as j.

[0019] The application discloses a safety management and control system of a suspended ceiling plate mounting robot, which comprises:

[0020] The laser radar, binocular camera, inclination sensor, torque sensor, photosensitive sensor for monitoring the environment, weighing sensor, collision sensor, laser range finder, obstacle avoidance sensor, emergency stop switch, warning light, buzzer and operation panel are arranged on the suspended ceiling plate mounting robot.

[0021] The robot safety risk index system acquisition module performs event tree analysis on the whole process of robot operation from the perspective of the process flow, analyzes all possible operation sequences, establishes an event tree model of robot operation, and obtains a robot safety risk index system.

[0022] The system total risk degree calculation module establishes a judgment standard and a score for the accident frequency level and the accident consequence level, sets corresponding accident frequency level scores according to the size of the accident frequency, and divides the accident frequency level scores into 1, 2, 3, 4 and 5; the higher the accident frequency, the greater the accident frequency level score; corresponding accident consequence level scores are set according to the size of the accident consequence severity, and the accident consequence level scores are divided into 2, 4, 6, 8 and 10; the more serious the accident consequence, the greater the accident consequence level score; the risk degree of each index is calculated, and when multiple indexes appear risk, the system total risk degree is calculated by summation.

[0023] The grading early warning module grades the system total risk degree based on the numerical value, and corresponds to different early warning levels; the early warning levels are divided into five grades of no early warning, light early warning, medium early warning, high early warning and stop operation; in the no early warning grade, the robot does not send a warning signal; in the light early warning grade, the robot highlights the corresponding risk index in a visually prominent font at the corresponding position of the operation panel; in the medium early warning grade, the robot sends a warning signal through the warning light and highlights the corresponding risk index in a visually prominent font on the operation panel; in the high early warning grade, the robot sends a warning signal through the warning light and the buzzer, and displays the related risk index in the form of a pop-up window on the operation panel; in the stop operation grade, the robot will stop moving according to the steps of the safety mode and will no longer respond to most operations until the related warning is removed or a special operation mode is entered.

[0024] Based on the same technical concept, the application discloses a safety management and control system of a suspended ceiling plate mounting robot, wherein the inclination sensor is arranged on the chassis, the torque sensor is arranged on the man-accessible operation platform and the prongs, the weighing sensor is arranged on the man-accessible operation platform, the collision sensor is arranged on the chassis, the obstacle avoidance sensor is arranged on the chassis, and the laser range finder is arranged on the chassis.

[0025] The robot safety risk index system acquisition module obtains the whole work flow of the robot, performs event tree analysis on the whole work flow, analyzes all possible work flow sequences, obtains the accident frequency level, the accident frequency level score, the accident consequence level and the accident consequence level score corresponding to each event in the robot work flow, and establishes an event tree model of the robot work.

[0026] Preferably, the equipment risk index system includes the risk of overturning due to excessive inclination angle of the chassis, the risk of moving at a speed exceeding the threshold, the risk of exceeding the threshold load on the platform, the risk of being too close to the obstacle, the risk of collision during the process of approaching the obstacle, the risk of insufficient voltage, and the risk of abnormal communication between the control system and the robot; the personnel risk index system includes the risk of insufficient qualification of the workers, the risk of working for too long, and the risk of ignoring the risk; the material risk index system includes the risk of abnormal stacking size affecting automatic loading, the risk of excessive stacking weight exceeding the device fork capacity, and the risk of abnormal materials and automatic lifting failure of the robot; the environmental risk index system includes the risk of excessive obstacles affecting the movement of the robot, the risk of unclear field of view affecting visual judgment, the risk of insufficient light, and the risk of inconsistency between the actual situation and the pre-established model and the inability to normally position; and the management risk index system includes the risk of insufficient number of workers, the risk of not performing regular security checks and maintenance, and the risk of being unable to transmit operation logs to the cloud.

[0027] Furthermore, the risk degree of each index in the system total risk degree calculation module is calculated according to the following formula,

[0028] R=(L+a)*(S+b)

[0029] In the formula, R is the risk degree, L is the accident frequency level score, a is the accident frequency level score correction value when there is no operator on the robot man platform, and the value of a is 1 for the risk indicators that the chassis moving speed exceeds the threshold, the robot is too close to the obstacle, there is a collision risk in the process of the robot to the obstacle, the abnormal size of the material stacking affects automatic loading, the material is abnormal and the robot automatic lifting fails, too many obstacles in the field affect the robot movement, the field of view is not clear, the light in the field is insufficient, and the actual situation in the field does not match the pre-established model and cannot be normally positioned; the value of a is 0 for the risk indicators that the chassis inclination is too large to exist the risk of overturning, the load of the man platform exceeds the threshold, the voltage is insufficient, the communication between the control system and the robot is abnormal, the operator's qualification is insufficient, the operator's continuous working time is too long, the operator ignores the risk, the material is stacked too heavy and exceeds the equipment fork taking capacity, the number of operators is insufficient, the robot is not regularly security checked and maintained, and operation logs cannot be transmitted to the cloud. S is the accident consequence level score, b is the accident consequence level score correction value when there is no operator on the robot man platform, and the value of b is-3 for the risk indicators that the chassis moving speed exceeds the threshold, the robot is too close to the obstacle, the communication between the control system and the robot is abnormal, the operator's qualification is insufficient, the operator's continuous working time is too long, the operator ignores the risk, the number of operators is insufficient, and the robot is not regularly security checked and maintained; the value of b is-5 for the risk indicators that the chassis inclination is too large to exist the risk of overturning and there is a collision risk in the process of the robot to the obstacle; the value of b is 0 for the risk indicators that the load of the man platform exceeds the threshold, the voltage is insufficient, the abnormal size of the material stacking affects automatic loading, the material is stacked too heavy and exceeds the equipment fork taking capacity, the material is abnormal and the robot automatic lifting fails, too many obstacles in the field affect the robot movement, the field of view is not clear, the light in the field is insufficient, the actual situation in the field does not match the pre-established model and cannot be normally positioned, and operation logs cannot be transmitted to the cloud.

[0030] The total risk degree of the system is calculated according to the following formula,

[0031] ,

[0032] In the formula, is the number of indicators included in the calculation, is the serial number of the current indicator in the indicators included in the calculation, is the total risk degree of the system, is the risk degree of the indicator ranked as j.

[0033] Beneficial effects: Compared with the prior art, the present application has the following remarkable advantages: the present application, in view of the actual work scene, operation process and interaction with equipment, personnel, materials, environment and management of the suspended ceiling plate robot, combined with various sensors of the robot, proposes a safety control method and system of the suspended ceiling plate installation robot with certain universality, which can comprehensively analyze the work risk and give early warning. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical scheme and advantages of the present application clearer and more apparent, the present application will be further described in detail below in combination with specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and do not limit the present application. EMBODIMENTS

[0035] The suspended ceiling plate installation robot is applied to an industrial plant, and a plurality of color steel plates with tray at the bottom are stacked on the ground inside the plant, and a suspended ceiling furring has been installed on the top, and now a layer of color steel plate suspended ceiling plate needs to be installed on the furring.

[0036] The safety control method of the suspended ceiling plate installation robot of the present application in embodiment 1 comprises the following steps:

[0037] (1) A laser radar, a binocular camera, an inclination sensor, a torque sensor, a light-sensitive sensor for monitoring the environment, a weighing sensor, a collision sensor, a laser range finder, an obstacle avoidance sensor, an emergency stop switch, a warning light, a buzzer and an operation panel are arranged on the suspended ceiling plate installation robot; wherein the inclination sensor is arranged on the chassis, the torque sensor is arranged on the man-accessible work platform and the prongs, the weighing sensor is arranged on the man-accessible work platform, the collision sensor is arranged on the chassis, the obstacle avoidance sensor is arranged on the chassis, and the laser range finder is arranged on the chassis;

[0038] (2) From the perspective of process flow, event tree analysis is performed on the whole process of robot work, all possible work flow sequences are analyzed, an event tree model of robot work is established, and a robot safety risk index system is obtained;

[0039] Referring to the robot instruction manual, the robot operation manual and the construction technical scheme, all process flows of the robot in the ceiling board installation work are analyzed, the whole work flow of the robot is obtained, event tree analysis is performed on the whole work flow, all possible work flow sequences are analyzed, the accident frequency level, the accident frequency level score, the accident consequence level and the accident consequence level score corresponding to each event in the robot work flow are obtained, and an event tree model of the robot work is established; based on the event tree model, the safety influence factors of the robot work are analyzed and intensively combined, and a robot safety risk index system is obtained; the robot safety risk index system includes a device risk index system, a personnel risk index system, a material risk index system, an environment risk index system and a management risk index system,

[0040] The device risk index system A includes that the bottom disc inclination is too large to have a risk of overturning, the bottom disc moving speed exceeds a threshold value, the personnel platform load exceeds a threshold value, the robot is too close to an obstacle, there is a collision risk in the process of the robot moving towards the obstacle (including a material, a work surface and a building component), the voltage is insufficient, and the communication between the control system and the robot is abnormal, the risk of the bottom disc inclination being too large to overturn is judged by measuring the inclination through an inclination sensor, the risk of the bottom disc moving speed exceeding the threshold value is judged by measuring the moving speed of the bottom disc through an encoder of a wheel motor, the risk of the personnel platform load exceeding the threshold value is judged by measuring the load on the platform through a pressure sensor of a personnel platform jacking cylinder, the risk of the robot being too close to the obstacle is judged through an obstacle avoidance sensor, the risk of the robot moving towards the obstacle (including the material, the work surface and the building component) has a collision risk, which is judged by measuring the moving speed and acceleration through the encoder of the wheel motor and the distance measured through a laser range finder, the risk of the voltage being insufficient is judged through a voltage sensor of a battery module on the robot, the risk of the communication between the control system and the robot being abnormal is judged through a preset communication mechanism, and the communication between the control system and the robot is determined to be abnormal by the preset communication mechanism, and common communication abnormalities include connection timeout, data transmission error, connection interruption and opposite end abnormal closing;

[0041] The personnel risk index system B includes that the work personnel qualification is insufficient, the personnel continuous working time is too long, and the personnel ignore risk, wherein the operation personnel log in through the operation panel, the database information is compared, and it is checked whether the personnel qualification meets the requirements; after the operation personnel log in the system, the robot continuously works for a long time, that is, the personnel continuous working time is too long; the personnel ignore risk refers to that the operation violates the regulations, for example, after the robot issues a high warning for 20 minutes, the personnel do not eliminate the corresponding fault, and still operate the robot to construct;

[0042] The material risk index system C includes material stacking size abnormality affecting automatic loading, material stacking being too heavy and exceeding the fork taking capacity of the equipment, and material abnormality and automatic lifting failure of the robot, the material stacking size abnormality affecting automatic loading is detected and judged by the laser radar and the binocular camera, the material stacking being too heavy and exceeding the fork taking capacity of the equipment is measured and judged by the torque sensor on the fork teeth, and the material abnormality and automatic lifting failure of the robot means that the torque sensor built in the servo motor of the robot senses abnormal data in the lifting process, indicating that the plate material is not successfully grabbed or multiple plate materials are grabbed;

[0043] The environmental risk index system D includes too many obstacles in the site affecting the movement of the robot, unclear field of view affecting visual judgment, insufficient light at the scene, and actual situation at the scene not matching the pre-established model and failing to normally position, the too many obstacles in the site affecting the movement of the robot is detected and judged by the obstacle avoidance sensor, the laser radar and the binocular camera, the unclear field of view affecting visual judgment is judged by the binocular camera, the insufficient light at the scene is judged by the light-sensitive sensor, and the actual situation at the scene not matching the pre-established model and failing to normally position is judged by the laser radar;

[0044] The management risk index system E includes insufficient number of operation personnel, the robot not being regularly security checked and maintained, and the operation log being unable to be transmitted to the cloud, the insufficient number of operation personnel means that the operation personnel login is performed on the operation panel, the database information is compared, and whether the number of personnel meets the requirements is checked, the robot not being regularly security checked and maintained means that the equipment manager fails to timely authorize on the operation panel, and the operation log being unable to be transmitted to the cloud means that due to the network, the server, or the setting, the control system of the robot is unable to send the log to the cloud;

[0045] Taking the bottom disc inclination being too large to exist the risk of overturning A1, the insufficient qualification of operation personnel B1, the material stacking size abnormality affecting automatic loading C1, the too many obstacles in the site affecting the movement of the robot D1, the unclear field of view affecting visual judgment D2, and the insufficient number of operation personnel E1 as examples;

[0046] (3) Establishing judgment criteria and scores for the accident frequency level and the accident consequence level, setting the corresponding accident frequency level scores according to the size of the accident frequency, and dividing the accident frequency level scores into 1, 2, 3, 4 and 5, the higher the accident frequency, the greater the accident frequency level score; setting the corresponding accident consequence level score according to the size of the accident consequence severity, and dividing the accident consequence level score into 2, 4, 6, 8 and 10, the more serious the accident consequence, the greater the accident consequence level score; Table 1 is the accident frequency level and possibility, and Table 2 is the accident consequence level and consequence severity; wherein the accident frequency in Table 1 can be obtained by big data statistics, and the number of accidents occurring within 1 year is counted, if the frequency of a certain accident is below 0.05%, it is considered that the frequency of the accident is basically impossible to occur, if the frequency of a certain accident is between 0.05% and 0.3%, it is considered that the frequency of the accident is very small to occur, if the frequency of a certain accident is between 0.3% and 1.2%, it is considered that the frequency of the accident is occasional to occur, if the frequency of a certain accident is between 1.2% and 4.6%, it is considered that the frequency of the accident is possible to occur, if the frequency of a certain accident is between 4.6% and 13.4%, it is considered that the frequency of the accident is frequent to occur;

[0047] Table 1

[0048]

[0049] Table 2

[0050]

[0051] The risk degree of each index is calculated, when there are multiple indexes with risks, the total risk degree of the system is calculated by summation, and the risk degree of each safety index in Table 3 is obtained;

[0052] The risk degree of each index is calculated according to the following formula,

[0053] R=(L+a)*(S+b)

[0054] In the formula, R is the risk degree, L is the accident frequency level score, a is the accident frequency level score correction value when there is no operator on the robot platform, the value of a is 1 for the risk indicators that the chassis moving speed exceeds the threshold, the robot is too close to the obstacle, there is a collision risk in the process of the robot to the obstacle, the abnormal size of the material stacking affects automatic loading, the material is abnormal and the robot automatic lifting fails, too many obstacles in the field affect the robot movement, the field of view is not clear, the light is insufficient, and the actual situation of the field does not match the pre-established model and cannot be normally positioned; the value of a is 0 for the risk indicators that the chassis inclination is too large to exist the risk of overturning, the load of the platform exceeds the threshold, the voltage is insufficient, the communication between the control system and the robot is abnormal, the operator's qualification is insufficient, the operator's continuous working time is too long, the operator ignores the risk, the material stacking is too heavy and exceeds the equipment fork taking capacity, the number of operators is insufficient, the robot is not regularly security checked and maintained, and the operation log cannot be transmitted to the cloud; S is the accident consequence level score, b is the accident consequence level score correction value when there is no operator on the robot platform, the value of b is-3 for the risk indicators that the chassis moving speed exceeds the threshold, the robot is too close to the obstacle, the communication between the control system and the robot is abnormal, the operator's qualification is insufficient, the operator's continuous working time is too long, the operator ignores the risk, the number of operators is insufficient, and the robot is not regularly security checked and maintained; the value of b is-5 for the risk indicators that the chassis inclination is too large to exist the risk of overturning and there is a collision risk in the process of the robot to the obstacle; the value of b is 0 for the risk indicators that the load of the platform exceeds the threshold, the voltage is insufficient, the abnormal size of the material stacking affects automatic loading, the material stacking is too heavy and exceeds the equipment fork taking capacity, the material is abnormal and the robot automatic lifting fails, too many obstacles in the field affect the robot movement, the field of view is not clear, the light is insufficient, the actual situation of the field does not match the pre-established model and cannot be normally positioned, and the operation log cannot be transmitted to the cloud.

[0055] The total risk degree of the system is calculated according to the following formula,

[0056] ,

[0057] In the formula, is the number of indicators included in the calculation of the formula, is the serial number of the current indicator in the indicators included in the calculation of the formula, is the total risk degree of the system, is the risk degree of the indicator ranked as j;

[0058] Table 3

[0059]

[0060] When multiple indicators appear risks, the total risk degree of the system is calculated by summation, assuming that the risk indicators in the current system are only B1 and E1, the total risk degree of the system is 24+18=42. Taking A1, the risk of excessive inclination of the chassis in the embodiment, as an example, when the robot perceives that there is no personnel on the work platform through the weighing sensor, the accident consequence level score will be lower than when there is personnel (it is not easy to injure personnel when an accident occurs), which is 8-5=3, and its risk degree is 5*3=15. On the other hand, taking D2, the influence of unclear field of view on visual judgment in the embodiment, as an example, when the robot perceives that there is no personnel on the work platform through the weighing sensor, the accident frequency level score will be higher than when there is personnel, because the lack of manual judgment as a necessary remedy, so the probability of causing risks after the influence of machine vision is higher, which is 2+1=3, and its risk degree is 3*2=6.

[0061] (4) The total risk degree of the system is graded based on the numerical value, corresponding to different warning levels;

[0062] The warning levels are divided into no warning, light warning, medium warning, high warning and stop operation five grades, and Table 4 is the risk level division and warning degree division. In the no warning grade, the robot does not issue a warning signal; in the light warning grade, the robot highlights the corresponding risk indicators in red font on the operation panel; in the medium warning grade, the robot will issue a warning signal through the warning light and highlight the corresponding risk indicators in red font on the operation panel; in the high warning grade, the robot will issue a warning signal through the warning light and buzzer, and display the related risk indicators in the form of a pop-up window on the operation panel; in the stop operation grade, the robot will stop moving according to the steps of the safety mode, and will no longer respond to most operations until the related warning is removed or a special operation mode is entered.

[0063] Table 4

[0064]

[0065] Taking Table 4 as the judgment, when only the risk indicator D1, the excessive number of site obstacles affecting the movement of the robot, appears in the system, the overall risk level of the system is grade I, and the warning degree is no warning, and the robot does not issue a warning signal; when the risk indicators B1, the insufficient qualification of the operation personnel, and E1, the insufficient number of operation personnel, appear at the same time, the overall risk level of the system is grade V, and the warning degree is stop operation, and the warning method is that the robot will stop moving according to the steps of the safety mode, and will no longer respond to most operations until the related warning is removed or a special operation mode is entered. Embodiment

[0066] The safety management and control system of the ceiling plate mounting robot in the embodiment 2 of the application comprises:

[0067] The laser radar, binocular camera, tilt sensor, torque sensor, light-sensitive sensor for monitoring the environment, weighing sensor, collision sensor, laser range finder, obstacle avoidance sensor, emergency stop switch, warning light, buzzer and operation panel are arranged on the ceiling panel installation robot; the tilt sensor is arranged on the chassis, the torque sensor is arranged on the man-accessible work platform and the prongs, the weighing sensor is arranged on the man-accessible work platform, the collision sensor is arranged on the chassis, the obstacle avoidance sensor is arranged on the chassis, and the laser range finder is arranged on the chassis;

[0068] The robot safety risk index system acquisition module refers to the robot instruction manual, the robot operation manual and the construction technical scheme, analyzes all the process flows of the robot in the ceiling panel installation work, performs event tree analysis on the robot operation whole process from the perspective of the process flow, analyzes all possible operation sequence, establishes an event tree model of the robot operation, and obtains a robot safety risk index system;

[0069] The robot safety risk index system acquisition module refers to the robot instruction manual, the robot operation manual and the construction technical scheme, analyzes all the process flows of the robot in the ceiling panel installation work, performs event tree analysis on the robot operation whole process from the perspective of the process flow, analyzes all possible operation sequence, establishes an event tree model of the robot operation, and obtains a robot safety risk index system;

[0070] The device risk index system A includes that a chassis inclination is too large to have a risk of overturning, a chassis moving speed exceeds a threshold value, a man platform load exceeds a threshold value, a robot is too close to an obstacle, a robot has a collision risk in a process of moving towards the obstacle (including materials, a work surface, and a building component), voltage is insufficient, and a control system and the robot have abnormal communication. The chassis inclination is too large to have the risk of overturning is judged by measuring an inclination through an inclination sensor. The chassis moving speed exceeds the threshold value is judged by measuring a chassis moving speed through an encoder of a wheel motor. The man platform load exceeds the threshold value is judged by measuring a load on the platform through a pressure sensor of a man platform jacking cylinder. The robot is too close to the obstacle is judged through an obstacle avoidance sensor. The robot has the collision risk in the process of moving towards the obstacle (including the materials, the work surface, and the building component) is judged by measuring a moving speed and acceleration through the encoder of the wheel motor and measuring a distance through a laser range finder. The voltage is insufficient is judged through a voltage sensor of a battery module on the robot. The control system and the robot have the abnormal communication is judged through a preset communication mechanism. The communication between the control system and the robot is determined as abnormal by the preset communication mechanism. Common communication abnormalities include connection timeout, data transmission error, connection interruption, and opposite end abnormal closing.

[0071] The personnel risk index system B includes that an operation personnel qualification is insufficient, personnel continuous working time is too long, and personnel ignore risks. An operation panel logs in an operation personnel, compares database data, and checks whether the personnel qualification meets a requirement. The robot continuous working time is too long after the operation personnel logs in the system. The personnel ignore risks refer to that an operation violates a regulation, for example, after the robot issues a high early warning for 20 minutes, the personnel do not eliminate corresponding faults, and still operate the robot to construct.

[0072] The material risk index system C includes that material stacking size abnormalities affect automatic loading, material stacking is too heavy and exceeds a device fork taking capacity, and material abnormalities and robot automatic lifting failure. The material stacking size abnormalities affect the automatic loading are judged through common detection and judgment of a laser radar and a binocular camera. The material stacking is too heavy and exceeds the device fork taking capacity are judged through measurement of a torque sensor on a fork tooth. The material abnormalities and the robot automatic lifting failure refer to that a torque sensor built in a servo motor of the robot senses data abnormalities in a lifting process, which indicates that a plate material is not successfully grabbed or multiple plate materials are grabbed.

[0073] The environmental risk index system D includes that too many obstacles in the field affect the movement of the robot, the unclear field of view affects visual judgment, the insufficient light on site, and the actual situation on site does not match the pre-established model and cannot be normally positioned. The too many obstacles in the field affecting the movement of the robot is detected and judged by the obstacle avoidance sensor, the laser radar and the binocular camera. The unclear field of view affecting visual judgment is judged by the binocular camera. The insufficient light on site is judged by the light-sensitive sensor. The actual situation on site does not match the pre-established model and cannot be normally positioned is judged by the laser radar.

[0074] The management risk index system E includes that the number of operating personnel is insufficient, the robot is not regularly security checked and maintained, and the operation log cannot be transmitted to the cloud. The insufficient number of operating personnel means that the operating personnel logs in the operation panel, compares the database information, and checks whether the duty and the number meet the requirements. The robot is not regularly security checked and maintained means that the equipment manager does not timely authorize on the operation panel. The operation log cannot be transmitted to the cloud means that due to the network, the server or the setting, the control system of the robot cannot send the log to the cloud.

[0075] Taking the bottom inclination being too large to exist the risk of overturning A1, the operating personnel being insufficient in qualification B1, the material stacking size being abnormal to affect the automatic loading C1, the too many obstacles in the field affecting the movement of the robot D1, the unclear field of view affecting visual judgment D2, and the insufficient number of operating personnel E1 as examples.

[0076] The system total risk degree calculation module establishes the judgment standard and the score for the accident frequency level and the accident consequence level, sets the corresponding accident frequency level score according to the size of the accident frequency, the accident frequency level score is divided into 1, 2, 3, 4 and 5, the higher the accident frequency, the greater the accident frequency level score. The corresponding accident consequence level score is set according to the size of the accident consequence severity, the accident consequence level score is divided into 2, 4, 6, 8 and 10, the more serious the accident consequence, the greater the accident consequence level score. Table 1 is the accident frequency level and the possibility, and Table 2 is the accident consequence level and the consequence severity. The accident frequency in Table 1 can be obtained by big data statistics. The number of accidents occurring within 1 year is counted. If the frequency of a certain accident is below 0.05%, it is considered that the accident is basically impossible to occur. If the frequency of a certain accident is between 0.05% and 0.3%, it is considered that the accident is very unlikely to occur. If the frequency of a certain accident is between 0.3% and 1.2%, it is considered that the accident is occasionally likely to occur. If the frequency of a certain accident is between 1.2% and 4.6%, it is considered that the accident is likely to occur. If the frequency of a certain accident is between 4.6% and 13.4%, it is considered that the accident is frequently likely to occur.

[0077] Table 1

[0078]

[0079] Table 2

[0080]

[0081] Calculate the risk of each indicator. When there are risks in multiple indicators, calculate the total risk of the system by summing them up, and obtain the risk of each safety indicator in Table 3;

[0082] The risk level of each indicator is calculated according to the following formula:

[0083] R=(L+a)*(S+b)

[0084] In the formula: R is the risk degree, L is the accident frequency level score, a is the accident frequency level score correction value when there is no operator on the robot manned platform, for the risk indicators chassis movement speed exceeds the threshold, the distance between the robot and the obstacle is too close, there is a collision risk in the process of the robot moving towards the obstacle, the abnormal material stacking size affects automatic loading, the material is abnormal and the robot fails to automatically lift, too many obstacles on the site affect the robot movement, the environmental field is unclear and affects visual judgment, the site light is insufficient, and the actual situation on the site does not match the pre-established model and cannot be positioned normally, the value of a is 1; for the risk indicators chassis tilt angle is too large and there is a risk of overturning, the load on the manned platform exceeds the threshold, the voltage is insufficient, the communication between the control system and the robot is abnormal, the operator qualifications are insufficient, the operator works for too long continuously, the operator ignores the risk, the material stacking is too heavy and exceeds the equipment forking capacity, the number of operators is insufficient, the robot has not been regularly inspected and maintained, and the operation log cannot be transmitted to the cloud, the value of a is 0; S is the event Therefore, the consequence level score, b, is the correction value of the accident consequence level score when there is no operator on the robot manned platform. For the risk indicators of chassis movement speed exceeding the threshold, the distance between the robot and the obstacle is too close, the communication between the control system and the robot is abnormal, the operator qualifications are insufficient, the operator works for too long continuously, the operator ignores the risk, the number of operators is insufficient, and the robot is not regularly inspected and maintained, the value of b is -3; for the risk indicators of chassis tilt angle being too large and there is a risk of overturning and the robot colliding with the obstacle in the process of approaching the obstacle, the value of b is -5; for the risk indicators of manned platform load exceeding the threshold, insufficient voltage, abnormal material stacking size affecting automatic loading, material stacking is too heavy and exceeds the equipment forking capacity, material abnormality and robot automatic lifting failure, too many obstacles on the site affecting robot movement, unclear environmental field of view affecting visual judgment, insufficient on-site lighting, the actual situation on the site does not match the pre-established model and cannot be positioned normally, and cannot transmit operation logs to the cloud, the value of b is 0;

[0085] The total risk of the system is calculated according to the following formula:

[0086] ,

[0087] wherein: is the number of indicators included in the calculation of the formula, is the serial number of the current indicator in the indicators included in the calculation of the formula, is the total risk degree of the system, is the risk degree of the indicator ranked j;

[0088] Table 3

[0089]

[0090] When multiple indicators appear risks, the total risk degree of the system is calculated by summation. Assuming that the risk indicators in the current system are only B1 and E1, the total risk degree of the system is 24+18=42. Taking A1, the risk of excessive inclination of the chassis in the embodiment, as an example, when the robot perceives through the weighing sensor that there is no personnel on the work platform, the accident consequence level score will be lower than when there is personnel (it is not easy to injure personnel when an accident occurs), which is 8-5=3, and its risk degree is 5*3=15. On the other hand, taking D2, the influence of unclear field of view on visual judgment in the embodiment, as an example, when the robot perceives through the weighing sensor that there is no personnel on the work platform, the accident frequency level score will be higher than when there is personnel, because the lack of manual judgment as a necessary remedy, so the probability of causing risks after the influence of machine vision is higher, which is 2+1=3, and its risk degree is 3*2=6.

[0091] The grading early warning module grades the total risk degree of the system based on the numerical value, and corresponds to different early warning levels;

[0092] The early warning levels are divided into five grades: no early warning, light early warning, medium early warning, high early warning, and stop operation. Table 4 is the risk level division and early warning degree division. In the no early warning grade, the robot does not issue a warning signal; in the light early warning grade, the robot highlights the corresponding risk indicators in red font on the operation panel; in the medium early warning grade, the robot will issue a warning signal through the warning light and highlight the corresponding risk indicators in red font on the operation panel; in the high early warning grade, the robot will issue a warning signal through the warning light and buzzer, and display the relevant risk indicators in the form of a pop-up window on the operation panel; in the stop operation grade, the robot will stop moving according to the steps of the safety mode, and will no longer respond to most operations until the relevant warning is removed or a special operation mode is entered.

[0093] Table 4

[0094]

[0095] As shown in Table 4, when only the risk index of too many site obstacles affecting the movement of the robot D1 appears in the system, the overall risk level of the system is level I, the warning degree is no warning, and the robot does not issue a warning signal; when the risk indexes of insufficient qualification of the operating personnel B1 and insufficient number of operating personnel E1 appear at the same time, the overall risk level of the system is level V, the warning degree is to stop operation, and the warning mode is that the robot will stop moving according to the steps of the safety mode, will not respond to most operations, and will not be removed until the relevant warning or special operation mode is entered.

Claims

1. A safety control method for a ceiling panel installation robot, characterized in that: The steps include: (1) Install a laser radar, a binocular camera, an inclination sensor, a torque sensor, a light sensor for monitoring the environment, a weighing sensor, a collision sensor, a laser rangefinder, an obstacle avoidance sensor, an emergency stop switch, a warning light, a buzzer, and an operation panel on the ceiling panel installation robot; (2) From the perspective of the process flow, an event tree analysis is performed on the entire process of the robot operation, all possible operation process sequences are analyzed, an event tree model of the robot operation is established, and a robot safety risk index system is obtained; the step (2) specifically includes the following steps: obtaining the entire process of the robot operation, performing an event tree analysis on the entire process of the operation, analyzing all possible operation process sequences, obtaining the accident frequency level, accident frequency level score, accident consequence level and accident consequence level score corresponding to each event in the robot operation process, and establishing an event tree model of the robot operation; based on the event tree model, the factors affecting the safety of the robot operation are analyzed and intensively merged to obtain a robot safety risk index system; the robot safety risk index system includes an equipment risk index system, a personnel risk index system, a material risk index system, an environmental risk index system and a management risk index system; The equipment risk indicator system includes the risk of overturning due to excessive chassis tilt angle, chassis movement speed exceeding a threshold, load on the access platform exceeding a threshold, the robot being too close to an obstacle, the risk of collision when the robot moves towards an obstacle, insufficient voltage, and abnormal communication between the control system and the robot. The personnel risk indicator system includes insufficient qualifications of operators, excessive continuous working hours of operators and personnel neglect of risks. The material risk indicator system includes abnormal material stacking size affecting automatic loading, excessive material stacking exceeding the equipment's fork capacity, and abnormal materials causing the robot to fail to automatically lift. The environmental risk indicator system includes too many obstacles on the site that affect the robot's movement, unclear field of view that affects visual judgment, insufficient lighting on the site, and the actual situation on the site that does not match the pre-established model and cannot be positioned normally. The management risk indicator system includes insufficient number of operators, lack of regular safety inspections and maintenance of robots, and inability to transmit operation logs to the cloud; (3) Establish judgment criteria and scores for the accident frequency level and accident consequence level, and set corresponding accident frequency level scores according to the frequency of accidents. The accident frequency level scores are divided into 1, 2, 3, 4 and 5. The higher the accident frequency, the greater the accident frequency level score; According to the severity of the accident consequences, the corresponding accident consequence level score is set. The accident consequence level score is divided into 2, 4, 6, 8 and 10. The more serious the accident consequences, the larger the accident consequence level score. The risk level of each indicator is calculated. When there are risks in multiple indicators, the total risk level of the system is calculated by summing them up. The risk of each indicator in step (3) is calculated according to the following formula: R=(L+a)*(S+b) In the formula: R is the risk degree, L is the accident frequency level score, a is the accident frequency level score correction value when there is no operator on the robot manned platform, for the risk indicators chassis movement speed exceeds the threshold, the distance between the robot and the obstacle is too close, there is a collision risk in the process of the robot moving towards the obstacle, the abnormal material stacking size affects automatic loading, the material is abnormal and the robot fails to automatically lift, too many obstacles on the site affect the robot movement, the environmental field is unclear and affects visual judgment, the site light is insufficient, and the actual situation on the site does not match the pre-established model and cannot be positioned normally, the value of a is 1; for the risk indicators chassis tilt angle is too large and there is a risk of overturning, the load on the manned platform exceeds the threshold, the voltage is insufficient, the communication between the control system and the robot is abnormal, the operator qualifications are insufficient, the operator works for too long continuously, the operator ignores the risk, the material stacking is too heavy and exceeds the equipment forking capacity, the number of operators is insufficient, the robot has not been regularly inspected and maintained, and the operation log cannot be transmitted to the cloud, the value of a is 0; S is the event Therefore, the consequence level score, b, is the correction value of the accident consequence level score when there is no operator on the robot manned platform. For the risk indicators of chassis movement speed exceeding the threshold, the distance between the robot and the obstacle is too close, the communication between the control system and the robot is abnormal, the operator qualifications are insufficient, the operator works for too long continuously, the operator ignores the risk, the number of operators is insufficient, and the robot is not regularly inspected and maintained, the value of b is -3; for the risk indicators of chassis tilt angle being too large and there is a risk of overturning and the robot colliding with the obstacle in the process of approaching the obstacle, the value of b is -5; for the risk indicators of manned platform load exceeding the threshold, insufficient voltage, abnormal material stacking size affecting automatic loading, material stacking is too heavy and exceeds the equipment forking capacity, material abnormality and robot automatic lifting failure, too many obstacles on the site affecting robot movement, unclear environmental field of view affecting visual judgment, insufficient on-site lighting, the actual situation on the site does not match the pre-established model and cannot be positioned normally, and cannot transmit operation logs to the cloud, the value of b is 0; The total risk of the system is calculated according to the following formula: , Where: is the number of indicators included in the calculation, is the serial number of the current indicator among the indicators included in the calculation, is the total system risk, is the risk level of the indicator ranked as j; (4) The total risk of the system is classified into different levels based on the numerical value, corresponding to different warning levels; The warning levels are divided into five levels: no warning, light warning, medium warning, high warning and stop operation. In the no warning level, the robot does not issue a warning signal; In the light warning mode, the robot highlights the corresponding risk indicators in visually prominent fonts at the corresponding position on the operation panel; In the medium warning mode, the robot will send out a warning signal through the warning light and highlight the corresponding risk indicators in visually prominent fonts on the operation panel; in the high warning mode, the robot will send out a warning signal through the warning light and buzzer and display the relevant risk indicators in the form of a pop-up window on the operation panel; in the stop operation mode, the robot will stop moving according to the steps of the safety mode and no longer respond to most operations until the relevant warning is lifted or the robot enters the special operation mode.

2. The safety control method for a ceiling panel installation robot according to claim 1, characterized in that: In the step (1), the tilt sensor is arranged on the chassis, the torque sensor is arranged on the man-mounted working platform and the fork teeth, the weighing sensor is arranged on the man-mounted working platform, the collision sensor is arranged on the chassis, the obstacle avoidance sensor is arranged on the chassis, and the laser rangefinder is arranged on the chassis.

3. A safety control system for a ceiling panel installation robot, characterized in that: include: The ceiling panel installation robot is equipped with a laser radar, a binocular camera, an inclination sensor, a torque sensor, a light sensor for monitoring the environment, a weighing sensor, a collision sensor, a laser rangefinder, an obstacle avoidance sensor, an emergency stop switch, a warning light, a buzzer, and an operation panel; The robot safety risk indicator system acquisition module, starting from the perspective of the process flow, conducts an event tree analysis on the entire robot operation process, analyzes all possible operation process sequences, establishes an event tree model of the robot operation, and obtains the robot safety risk indicator system; the robot safety risk indicator system acquisition module obtains the entire robot operation process, conducts an event tree analysis on the entire operation process, analyzes all possible operation process sequences, obtains the accident frequency level, accident frequency level score, accident consequence level and accident consequence level score corresponding to each event in the robot operation process, and establishes an event tree model for the robot operation; based on the event tree model, the factors affecting the safety of the robot operation are analyzed and intensively merged to obtain the robot safety risk indicator system; the robot safety risk indicator system includes an equipment risk indicator system, a personnel risk indicator system, a material risk indicator system, an environmental risk indicator system, and a management risk indicator system. Risk indicator system; the equipment risk indicator system includes the risk of overturning due to excessive chassis inclination, chassis movement speed exceeding a threshold, load on the access platform exceeding a threshold, the robot being too close to an obstacle, the risk of collision when the robot moves towards an obstacle, insufficient voltage, and abnormal communication between the control system and the robot; the personnel risk indicator system includes insufficient qualifications of operators, excessive continuous working time of operators, and risk of negligence of operators; the material risk indicator system includes abnormal material stacking size affecting automatic loading, excessive material stacking exceeding the equipment forking capacity, and material abnormality causing automatic lifting failure of the robot; the environmental risk indicator system includes too many obstacles on the site affecting robot movement, unclear environmental field of view affecting visual judgment, insufficient on-site lighting, and the actual situation on the site not matching the pre-established model and failing to locate normally; the management risk indicator system includes insufficient number of operators, robots not undergoing regular security inspections and maintenance, and failure to transmit operation logs to the cloud; The system's total risk calculation module establishes judgment criteria and scores for the accident frequency level and accident consequence level. The corresponding accident frequency level score is set according to the frequency of accidents. The accident frequency level score is divided into 1, 2, 3, 4 and 5. The higher the accident frequency, the greater the accident frequency level score. According to the severity of the accident consequences, the corresponding accident consequence level score is set. The accident consequence level score is divided into 2, 4, 6, 8 and 10. The more serious the accident consequence, the larger the accident consequence level score. The risk of each indicator is calculated. When there are risks in multiple indicators, the total risk of the system is calculated by summing them. The risk of each indicator in the system total risk calculation module is calculated according to the following formula: R=(L+a)*(S+b) In the formula: R is the risk degree, L is the accident frequency level score, a is the accident frequency level score correction value when there is no operator on the robot manned platform, for the risk indicators chassis movement speed exceeds the threshold, the distance between the robot and the obstacle is too close, there is a collision risk in the process of the robot moving towards the obstacle, the abnormal material stacking size affects automatic loading, the material is abnormal and the robot fails to automatically lift, too many obstacles on the site affect the robot movement, the environmental field is unclear and affects visual judgment, the site light is insufficient, and the actual situation on the site does not match the pre-established model and cannot be positioned normally, the value of a is 1; for the risk indicators chassis tilt angle is too large and there is a risk of overturning, the load on the manned platform exceeds the threshold, the voltage is insufficient, the communication between the control system and the robot is abnormal, the operator qualifications are insufficient, the operator works for too long continuously, the operator ignores the risk, the material stacking is too heavy and exceeds the equipment forking capacity, the number of operators is insufficient, the robot has not been regularly inspected and maintained, and the operation log cannot be transmitted to the cloud, the value of a is 0; S is the event Therefore, the consequence level score, b, is the correction value of the accident consequence level score when there is no operator on the robot manned platform. For the risk indicators of chassis movement speed exceeding the threshold, the distance between the robot and the obstacle is too close, the communication between the control system and the robot is abnormal, the operator qualifications are insufficient, the operator works for too long continuously, the operator ignores the risk, the number of operators is insufficient, and the robot is not regularly inspected and maintained, the value of b is -3; for the risk indicators of chassis tilt angle being too large and there is a risk of overturning and the robot colliding with the obstacle in the process of approaching the obstacle, the value of b is -5; for the risk indicators of manned platform load exceeding the threshold, insufficient voltage, abnormal material stacking size affecting automatic loading, material stacking is too heavy and exceeds the equipment forking capacity, material abnormality and robot automatic lifting failure, too many obstacles on the site affecting robot movement, unclear environmental field of view affecting visual judgment, insufficient on-site lighting, the actual situation on the site does not match the pre-established model and cannot be positioned normally, and cannot transmit operation logs to the cloud, the value of b is 0; The total risk of the system is calculated according to the following formula: , Where: is the number of indicators included in the calculation, is the serial number of the current indicator among the indicators included in the calculation, is the total system risk, is the risk level of the indicator ranked as j; The tiered warning module divides the system's total risk into different levels based on the numerical value, corresponding to different warning levels; The warning levels are divided into five levels: no warning, light warning, medium warning, high warning and stop operation. In the no warning level, the robot does not issue a warning signal; In the light warning mode, the robot highlights the corresponding risk indicators in visually prominent fonts at the corresponding position on the operation panel; In the medium warning mode, the robot will send out a warning signal through the warning light and highlight the corresponding risk indicators in visually prominent fonts on the operation panel; in the high warning mode, the robot will send out a warning signal through the warning light and buzzer and display the relevant risk indicators in the form of a pop-up window on the operation panel; in the stop operation mode, the robot will stop moving according to the steps of the safety mode and no longer respond to most operations until the relevant warning is lifted or the robot enters the special operation mode.

4. A safety control system for a ceiling panel installation robot according to claim 3, characterized in that: The tilt sensor is arranged on the chassis, the torque sensor is arranged on the man-mounted working platform and the fork teeth, the weighing sensor is arranged on the man-mounted working platform, the collision sensor is arranged on the chassis, the obstacle avoidance sensor is arranged on the chassis, and the laser rangefinder is arranged on the chassis.

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