Operation robot and operation monitoring method and system thereof

Abstract

A work robot (1) and a work monitoring method and system thereof. The operation monitoring method comprises the following steps: the operation robot (1) sends out a first interaction signal at intervals, wherein the first interaction signal comprises first interaction information; the operation robot (1) judges whether a second interaction signal is received or not within a preset time period when the first interaction signal is sent out, and the second interaction signal comprises second interaction information; when the operation robot (1) collects the second interaction signal, whether first interaction information in the first interaction signal is matched with second interaction information in the second interaction signal or not is judged; and when the operation robot (1) determines that the first interaction information in the first interaction signal is matched with the second interaction information in the second interaction signal, the operation robot (1) is controlled to maintain a first state, and the first state is a normal operation state of the operation robot (1).

Description

Working robot and working monitoring method and system thereof Technical Field

[0001] The present application relates to the field of robots, and in particular to an operating robot and an operation monitoring method and system thereof. Background Art

[0002] When operating autonomously, robots, such as large lawn mowers, are generally recommended to be supervised at all times to prevent them from becoming trapped or causing other problems that could harm the surrounding environment or even personnel. This supervision relies on the individual operator's performance. If the operator becomes distracted or even falls asleep, the robot could be left unsupervised for extended periods, which violates safety regulations.

[0003] Summary of the Invention

[0004] In view of this, the present application provides an operating robot and an operation monitoring method and system thereof to solve the above technical problems.

[0005] In a first aspect, the present application provides an operation monitoring method, applied to an operation robot, the monitoring method comprising:

[0006] The operating robot sends a first interaction signal at intervals, wherein the first interaction signal includes first interaction information;

[0007] The working robot determines whether a second interaction signal is received within a preset time period after the first interaction signal is sent, wherein the second interaction signal includes second interaction information;

[0008] When the working robot collects the second interaction signal, it determines whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal;

[0009] When the working robot determines that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal, the working robot controls the working robot to maintain a first state, wherein the first state is a state in which the working robot operates normally.

[0010] In a second aspect, the present application provides a working robot, comprising:

[0011] processor;

[0012] A memory storing a computer program, wherein the memory runs the computer program to execute the steps of the operation monitoring method according to the first aspect.

[0013] In a third aspect, the present application provides an operation monitoring system for an operation robot, comprising a control device and at least one operation robot, wherein the operation robot is the operation robot described in the second aspect, and the operation robot sends a first interaction signal at intervals, wherein the first interaction signal includes first interaction information;

[0014] The working robot determines whether it has received a second interaction signal sent by a control device matched with the working robot within a preset time period after sending the first interaction signal, wherein the second interaction signal includes second interaction information;

[0015] When the working robot receives the second interaction signal, it determines whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal;

[0016] When the working robot determines that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal, the working robot controls the working robot to maintain a first state, wherein the first state is a state in which the working robot operates normally.

[0017] Therefore, after the operator starts the operating robot, the operating robot starts to operate autonomously according to the map. During the autonomous operation process, the operating robot sends out a specific sampling signal at a certain sampling cycle, namely the first interactive signal. The operator can only accurately observe the signal if he is within a certain supervision distance of the operating robot and his vision is not obstructed. After the operating robot sends this sampling signal, the operator must generate a response instruction, namely the second interactive signal, through the control device within a relatively short response time. Once the operator makes an operation error, the operating robot will be switched to its working state to ensure that the operator's attention will not continue to leave the operating robot, to avoid the operating robot from being in a dangerous situation without the operator's attention, so as to achieve the purpose of improving the operator's attention. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is a schematic diagram of a module of a working robot in one embodiment of the present application.

[0020] FIG2 is a module diagram of a control device in an embodiment of the present application.

[0021] FIG3 is a schematic diagram showing the state of an operator holding a control device and remotely controlling the operating robot.

[0022] FIG4 is a flow chart of a method for monitoring a working state in the first embodiment of the present application.

[0023] FIG5 is a module diagram of an operation monitoring device in an embodiment of the present application. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0026] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. Similar words such as "one", "an", or "the" used in this application do not indicate a quantitative limitation, but are only used to indicate the existence of at least one. Similar words such as "include" or "comprise" mean that the elements or objects preceding the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Similar words such as "connected" or connected are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect.

[0027] Throughout this specification, reference to terms such as "embodiment," "specific embodiment," and "example" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0028] The following will first provide a detailed introduction to the hardware structure of the working robot 1 and the control device 2. After introducing the hardware structure of the working robot 1 and the control device 2, the working monitoring solution applied to the working robot 1 will be described in detail.

[0029] Please refer to Figure 1, which is a schematic diagram of a working robot 1 in one embodiment of the present application. The working robot 1 may be, but is not limited to, a semi-automatic lawn mowing robot, a fully-automatic lawn mowing robot, a semi-automatic agricultural machine, an autonomous drone, etc. The working robot 1 includes a robot body 11, a signal initiation unit 12, and a signal collection unit 13 disposed on the robot body 11. The robot body 11 is capable of performing robot-related functions. For example, when the working robot 1 is a lawn mowing robot, the robot body 11 is capable of performing mowing functions; when the working robot 1 is a semi-automatic agricultural machine, the robot body 11 is capable of performing agricultural machine-related functions, such as plowing, sowing, or harvesting; and when the working robot 1 is an autonomous drone, the robot body 11 is capable of performing some drone functions, such as spraying pesticides. The working robot 1 also includes a processor 14 and a memory 15. The processor 14 is electrically connected to the memory 15, the signal initiation unit 12, and the signal collection unit 13, respectively. The processor 14 may be, but is not limited to, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The memory 15 may be, but is not limited to, a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, a register, or other storage media well-known in the art.

[0030] Please refer to Figures 2 and 3. Figure 2 is a schematic diagram of the modules of the control device 2 in one embodiment of the present application, and Figure 3 is a schematic diagram of the state in which an operator holds the control device 2 and remotely controls the working robot 1. The control device 2 is used to control the working robot 1 to perform various corresponding operations. It is understood that the control device 2 can control the working robot 1 by transmitting infrared rays, or the control device 2 can remotely control the working robot 1 to perform corresponding operations by communicating with the working robot 1 wirelessly or via a wired network.

[0031] The control device 2 includes at least a controller 21, which may be, but is not limited to, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The control device 2 also includes a response module 22 and a signal transmission unit 23. The signal transmission unit 23 and the response module 22 are respectively electrically connected to the controller 21.

[0032] The response module 22 may be, but is not limited to, a light unit, a button unit, a voice input unit, a camera unit, or at least one of other units with an operation input function.

[0033] The lighting unit includes at least one light-emitting element and at least one control switch. The light-emitting element may be, but is not limited to, an LED light, an infrared light, etc. The control switch controls the corresponding light-emitting element to emit light of different colors and / or different lighting durations to generate corresponding visual information.

[0034] The key unit may be, but is not limited to, a mechanical key, a touch key, or a virtual key displayed on the display screen of the control device 2, and key trigger information may be generated when the key unit is pressed.

[0035] Wherein, the voice input unit is used for voice collection information.

[0036] Wherein, the camera unit is used to input video acquisition information.

[0037] In some embodiments, the response module 22 can generate a second interaction signal based on one or more operations performed by the operator within a preset time period, or the response module 22 can generate a second interaction signal based on each operation of the operator, thereby generating a second interaction signal group consisting of multiple second interaction signals based on multiple operations performed by the operator within a preset time period. For example, when the response module 22 is a key unit, the response module 22 generates the second interaction signal in response to various pressing operations performed by the operator within a preset time period. When the response module 22 is a light unit, the response module 22 does not package the light signals and / or infrared signals generated within the preset time period, but instead the signal collection unit 13 of the operating robot 1 collects them one by one. The second interaction signal is the signal group collected by the signal collection unit 13 of the operating robot 1 within the preset time period. In this case, the signal transmission unit 23 can be omitted. In other embodiments, when the signal collection unit 13 is a voice input unit and / or a camera unit, the signal collection unit 13 itself can collect voice collection signals and / or video collection signals. Since the status feedback signal of the operator can be collected by the signal collection unit 13 itself, the control device 2 itself can be omitted.

[0038] In some embodiments, when the signal transmission unit 23 is an infrared emitting unit, the signal collecting unit 13 is an infrared receiving unit. The infrared emitting unit sends the second interaction signal to the working robot 1. The working robot 1 receives the second interaction signal through the infrared receiving unit. In some other embodiments, when a wireless or wired network connection is established between the working robot 1 and the control device 2, it can be understood that the wireless network can be but is not limited to a short-range wireless network or a long-range wireless network, and the short-range wireless network can be but is not limited to WIFI, Bluetooth, etc. The long-range wireless network can be but is not limited to a cellular mobile network, etc. Similarly, the signal transmission unit 23 sends the second interaction signal to the working robot 1. The working robot 1 receives the second interaction signal through the signal collecting unit 13. Obviously, any device that can realize signal transmission between the working robot 1 and the control device 2 can be used as the signal transmission device and signal receiving device of this application.

[0039] The following will describe in detail the operation monitoring solution applied to the operation robot 1.

[0040] In some embodiments, the processor 14 controls the signal initiating unit 12 to send a first interaction signal at intervals, wherein the first interaction signal includes first interaction information. The operator observes the first interaction signal and performs corresponding operations based on the first interaction information of the first interaction signal observed to generate a second interaction signal, wherein the second interaction signal includes second interaction information. The processor 14 determines whether the second interaction signal is received within a preset time period since the first interaction signal was sent; when the signal collecting unit 13 collects the second interaction signal, the processor 14 determines whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal; when the processor 14 determines that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal, it controls the operating robot 1 to maintain a first state, wherein the first state is a state in which the operating robot 1 operates normally.

[0041] Thus, after the operator starts the operating robot 1, the operating robot 1 starts autonomous operation according to the preset map. During the autonomous operation process, the operating robot 1 sends out a specific sampling signal at a certain sampling cycle, namely the first interactive signal. The operator can only accurately observe the signal if he is within a certain supervision distance of the operating robot 1 and his vision is not obstructed. After the operating robot 1 sends out this sampling signal, the operator must perform the corresponding operation within a short response time to generate a response instruction, namely the second interactive signal. Once the operation is incorrect or no operation is performed, the operating robot 1 will not maintain the first state to ensure that the operator's attention will not continue to leave the operating robot 1, to avoid the operating robot 1 from being in a dangerous situation without the operator's attention, so as to achieve the purpose of improving the operator's attention.

[0042] In some embodiments, the first interaction information and the second interaction information present a dual mapping function relationship. It is understandable that in other embodiments, the first interaction information and the second interaction information are not limited to a dual mapping function relationship, but can also be a one-to-many or many-to-one relationship. For example, when the first interaction information is a flashing red light, the second interaction information that matches the first interaction information can be pressing the first button twice or pressing the third button twice. For another example, when the first interaction information is a flashing green light or a yellow light, the second interaction information that matches the second interaction information is pressing the second button once. The above is only an example. In actual application, a correspondence table is stored in the memory 15 of the operating robot 1, and the correspondence table records a variety of correspondences between the preset robot-side interaction information and the user-side interaction information.

[0043] In some embodiments, the second interactive signal is generated by an operator operating the control device 2. In some specific embodiments, the signal initiating unit 12 is a lighting unit provided on the robot body 11. The response module 22 is a mechanical button provided on the control device 2. The processor 14 controls the lighting unit to emit a first interactive signal, i.e., the first interactive signal is a visual signal including the number of flashes and / or the duration of the flashes. For example, the processor 14 controls the lighting unit to flash three times at a preset time interval. It is understood that in other embodiments, the processor 14 can also control the lighting unit to flash another suitable number of times at a preset time interval. In other embodiments, the processor 14 can also control the lighting unit to flash at irregular time intervals, for example, the time interval between the first and second flashes is 1 second, the time interval between the second and third flashes is 3 seconds, and the time interval between the third and fourth flashes is 4 seconds. The second interactive signal is a key trigger signal including the number of key presses and / or the duration of the key presses. For example, when the first interactive signal is to control the lighting unit to flash three times according to a preset time interval, the second interactive signal is to press the mechanical button three times according to a preset time interval. It is understandable that the number of flashes and / or the lighting duration in the first interactive signal may not be equal to the number of key presses and / or the key press duration in the second interactive signal, but they need to have a corresponding relationship. For example, the number of flashes in the first interactive signal is three, and the number of key presses in the second interactive signal is three, and the two have a corresponding relationship; for another example, the number of flashes in the first interactive signal is two, and the number of key presses in the second interactive signal corresponding to the first interactive signal is four. For another example, the lighting duration in the first interactive signal is 2 seconds or 4 seconds, and the key press duration in the second interactive signal corresponding to the first interactive signal is 3 seconds, but both have a corresponding relationship.

[0044] Therefore, by matching the number of flashes and / or the duration of the light in the first interactive signal with the number of key presses and / or the duration of the key presses in the second interactive signal, it is possible to determine whether the current operator's attention is focused, so as to avoid dangerous situations in the operating robot 1 when the operator is not paying attention, thereby achieving the purpose of improving the operator's attention.

[0045] In some other embodiments, the first interaction signal may also be a visual signal including a flashing light color. The second interaction signal matching the first interaction signal is a key trigger signal including a different key, key press count, and / or key color. For example, when the first interaction signal is a red light flashing twice, the second interaction signal is pressing the first key twice; when the first interaction signal is a green light flashing twice, the second interaction signal is pressing the second key twice.

[0046] Thus, visual signals of different flashing light colors can match different key trigger signals.

[0047] In some other embodiments, the signal initiating unit 12 may be a display unit. The display unit is oriented toward the operator, or the operator adjusts their position to face the display unit. The content displayed on the display unit by the processor 14 is the first interactive signal, i.e., the first interactive signal is a visual signal containing the displayed content. Accordingly, the response module 22 is a mechanical button provided on the control device 2. The second interactive signal is a feedback signal containing the number of key presses, the duration of the key presses, the voice content, and / or the gesture content associated with the displayed content. The operator can only observe the content displayed on the display unit when they are within a certain monitoring distance of the working robot 1 and have unobstructed vision. The content displayed on the display unit can instruct the operator to perform a corresponding response operation. For example, the display unit may display the message "Operator, please press the button three times within 5 seconds" and begin a countdown on the screen: 5, 4, 3, 2, 1. After observing the content displayed on the display unit, the operator presses the mechanical button on the control device 2 three times within 5 seconds to generate the second interactive signal. The controller 21 controls the signal transmission unit 23 to feed back the second interaction signal to the working robot 1, and the signal collection unit 13 of the working robot 1 receives the second interaction signal. The processor 14 determines whether a second interaction signal from a control device 2 matching the working robot 1 is received within a preset time period after the first interaction signal is sent. If so, the processor 14 determines whether the first interaction information of the first interaction signal matches the second interaction information of the second interaction signal. If the first interaction information of the first interaction signal matches the second interaction information of the second interaction signal, the processor 14 determines that the working state of the operator holding the control device 2 is normal, and then controls the working robot 1 to maintain the first state, that is, normal operation.

[0048] Thus, the first interactive signal can be sent through the display unit, which enriches the way of sending the first interactive signal, so as to avoid the operating robot 1 from encountering dangerous situations when the operator is not paying attention, so as to achieve the purpose of improving the operator's attention.

[0049] In some embodiments, the first interactive signal includes but is not limited to a visual signal including the number of flashes and / or the duration of the light being on, or a visual signal including display content, and may also be an auditory signal or other signal.

[0050] In some embodiments, the second interaction signal may also be a voice command, a gesture command, etc.

[0051] In one specific embodiment, the display unit displays content such as "Please answer 5 + 4 =?" or "Please answer the third character of the idiom 'five lakes? sea'." It is understood that in some embodiments, the control device 2 further includes a microphone. The microphone collects the operator's voice information and generates a second interaction signal. The controller 21 controls the signal transmission unit 23 to feed the second interaction signal back to the working robot 1.

[0052] In some embodiments, the microphone of the control device 2 can be omitted, and the signal collection unit 13 also includes a microphone. The microphone of the signal collection unit 13 collects the voice information of the operator and generates a second interaction signal, and sends the second interaction signal to the processor 14, thereby omitting the relevant steps of the control device 2 sending the second interaction signal to the working robot 1.

[0053] In one specific embodiment, the display unit displays the message "Worker, please face the camera and wave your hands left and right once." The signal collection unit 13 further includes a camera, which is mounted on the robot body 11 and is aimed at the worker. After transmitting the first interaction signal, the processor 14 controls the camera to rotate and aim at the worker to record the video, thereby generating a second interaction signal, and transmits the second interaction signal to the processor 14. The processor 14 determines the worker's current working status based on the second interaction signal.

[0054] That is to say, in some other embodiments, the second interaction signal is generated based on the voice information or body information of the operator collected by the signal collection unit 13 of the working robot 1.

[0055] In summary, when the control device 2 is omitted, the first interaction information includes visual information of at least one of the number of flashes and the duration of the light, and / or the first interaction information includes display content, and the second interaction information includes at least one of the following associated with the first interaction information:

[0056] Voice collection information including voice content; and

[0057] Including video collection information with body movements;

[0058] The first interaction information and the second interaction information have a preset corresponding relationship.

[0059] When the working robot 1 is controlled by the control device 2, the first interaction information includes at least one of the following:

[0060] The visual information includes at least one of the number of flashes and the duration of the flashes;

[0061] including display information of displayed content;

[0062] The second interaction information includes at least one of the following associated with the first interaction information:

[0063] Visual information including at least one of the number of flashes and the duration of the flash;

[0064] Key trigger information including at least one of the number of key presses and the duration of the key press;

[0065] Voice collection information including voice content; and

[0066] Including video collection information with body movements;

[0067] The first interaction information and the second interaction information have a preset corresponding relationship.

[0068] Thus, not only can the first interaction signal be generated in a variety of ways, but the second interaction signal can also be generated in a variety of ways. This variety of ways facilitates device configuration and allows the selection of an appropriate configuration based on different operating conditions. Of course, the above different configurations can exist simultaneously, allowing the user to select which method to generate the first interaction signal and the second interaction signal. It is understandable that one of the methods can also be randomly selected at different times to generate the first interaction signal.

[0069] In addition, the processor 14 controls the signal initiating unit 12 to generate the first interactive signal at various intervals.

[0070] In some embodiments, the processor 14 controls the signal initiating unit 12 to send the first interaction signal for an unfixed duration. For example, the processor 14 controls the signal initiating unit 12 to send the first interaction signal for a period of 5 minutes after the first time, send the first interaction signal for a second time after a period of 10 minutes, send the first interaction signal for a third time after a period of 8 minutes, and send the first interaction signal for a fourth time, etc.

[0071] Therefore, the first interactive signal sent out in an irregular manner can further prompt the operator to increase his attention to avoid dangerous situations of the working robot 1 when the operator is not paying attention, so as to achieve the purpose of increasing the operator's attention.

[0072] In some specific embodiments, the processor 14 is configured to increase the interval between the processor 14 generating the next first interaction signal each time the first interaction information of the newly generated first interaction signal matches the second interaction information of the second interaction signal received again. The processor 14 is configured to shorten the interval between the processor 14 generating the next first interaction signal each time the first interaction information of the newly generated first interaction signal does not match the second interaction information of the second interaction signal received again.

[0073] Therefore, in the present application, when the number of times the first interaction information of the first interaction signal matches the second interaction information of the second interaction signal increases, the processor 14 indicates that the operator's working status is good, and the interval time for the processor 14 to generate the next first interaction signal is increased; when the number of times the first interaction information of the first interaction signal does not match the second interaction information of the second interaction signal increases, the processor 14 indicates that the operator's working status is poor, and the interval time for the processor 14 to generate the next first interaction signal is shortened. That is to say, the generation cycle of the first interaction signal can be adjusted according to the working status of the operator.

[0074] In some embodiments, when the processor 14 determines that the second interaction signal is not received within a preset time period since the first interaction signal was sent, or the first interaction information of the first interaction signal does not match the second interaction information of the second interaction signal, it determines that the working state of the operator holding the control device 2 is abnormal, and then controls the working robot 1 to switch from the first state to the second state, where the second state is one of the following three situations:

[0075] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0076] The second state is a deceleration state;

[0077] The second state is a pause state.

[0078] The second state is consistent with the motion state of the first state, but the second state has a preset duration, for example, one minute. If the processor 14 does not receive the second interaction signal from the control device 2 matched with the working robot 1 within one minute, the working robot 1 is controlled to shut down. Therefore, since the second state is safer than the first state, when it is determined that the first interaction signal and the second interaction signal do not match, the second state can be temporarily switched to, placing the working robot 1 in a safer state and avoiding accidents.

[0079] In some embodiments, the processor 14 is used to determine whether the signal collection unit 13 receives a new second interaction signal again within a preset time length after the working robot 1 switches from the first state to the second state; when it is determined that the signal collection unit 13 receives the new second interaction signal again within the preset time length, determine whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again; when it is determined that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again, control the working robot 1 to switch from the second state to the first state.

[0080] In some embodiments, upon determining that the first interaction information in the first interaction signal does not match the second interaction information in the second interaction signal received a preset number of times, the processor 14 controls the working robot 1 to switch to a third state, wherein the third state is a shutdown state. The shutdown state is a locked state that requires manual activation. The difference between the shutdown state and the paused state is that both are in a stationary state, but the paused state can automatically switch back to the first state when the first interaction signal matches the second interaction signal.

[0081] Therefore, when the first interaction signal and the second interaction signal do not match for the first time, the system will not immediately enter the shutdown state, but will receive a new second interaction signal for re-matching until the second interaction signal is received a preset number of times and still does not match the first interaction signal, then the system will enter the shutdown state, thereby avoiding unnecessary shutdowns caused by operator errors.

[0082] In some embodiments, the signal collection unit 13 is configured to receive a first signal generated by the control device 2, wherein the first signal is generated when the control device 2 is held; and the processor 14 controls the working robot 1 to maintain a first state based on the first signal. In some embodiments, the signal collection unit 13 is configured to receive a second signal generated by the control device 2, wherein the second signal is generated when the control device 2 is not held; and the processor 14 controls the working robot 1 to switch from the first state to a second state or a third state based on the second signal, wherein the second state is one of the following three situations:

[0083] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0084] The second state is a deceleration state;

[0085] The second state is a pause state;

[0086] Wherein, the third state is a shutdown state.

[0087] Specifically, the control device 2 also includes a sensor electrically connected to the controller 21. The sensor is configured to sense whether the operator is holding the control device 2 and generate a first signal or a second signal, wherein the first signal is generated when the control device 2 is held, and the second signal is generated when the control device 2 is not held. The controller 21 controls the signal transmission unit 23 to transmit the first signal or the second signal to the working robot 1. The processor 14 continues the operation based on the first signal and changes the operation state based on the second signal.

[0088] Therefore, when the operator does not hold the control device 2 outside the normal sampling inspection period, it indicates that the operator's current working state is also abnormal, and the working robot 1 is controlled to stop working. When the operator still holds the control device 2 outside the normal sampling inspection period, it indicates that the operator's current working state is normal, and the working robot 1 is controlled to continue working.

[0089] In some embodiments, the working robot 1 also includes a start button arranged on the robot body 11, and the start button generates a press trigger signal based on the pressing operation of the operator; the processor 14 is used to determine whether the working robot 1 generates a start button trigger signal when controlling the working robot 1 to be in the second state or the third state; when it is determined that the working robot 1 generates a start button trigger signal, a start signal is generated; the working robot 1 responds to the start signal to control the working robot 1 to switch from the second state or the third state to the first state.

[0090] Therefore, when the working robot 1 is in the second state or the third state, the operator can personally come to the side of the working robot 1 and manually press its start button to enter the first state again for normal operation, which can remind the operator to pay more attention.

[0091] In some embodiments, the processor 14 is configured to determine a supervision distance between the working robot 1 and the control device 2 ; and adjust a signal strength of the first interaction signal based on the supervision distance.

[0092] Therefore, the processor 14 also adjusts the strength of the first interaction signal based on the supervisory distance between the working robot 1 and the control device 2. That is, when the safety level of the working robot 1 is relatively high, the signal visibility of the first interaction signal can be enhanced, allowing it to have a longer transmission distance. For example, when the first interaction signal is a visual signal, the brightness of the visual signal can be increased so that workers at a greater distance can also detect it in a timely manner. When the first interaction signal is a display content, the font size of the display content can be increased so that workers at a greater distance can also detect it in a timely manner. Conversely, when the safety level of the working robot 1 is relatively low, the signal visibility of the first interaction signal can be reduced. For example, when the first interaction signal is a visual signal, the brightness of the visual signal can be reduced so that workers at a closer distance can also detect it in a timely manner. When the first interaction signal is a display content, the font size of the display content can be reduced so that workers at a closer distance can only detect it in a timely manner.

[0093] In some embodiments, the processor 14 is configured to determine the distance between the working robot 1 and the control device 2, determine whether the distance exceeds the supervision distance, and control the working robot 1 from the first state to enter the second state or the third state when it is determined that the distance exceeds the supervision distance, wherein the third state is a shutdown state, and wherein the second state is one of the following three situations:

[0094] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0095] The second state is a deceleration state;

[0096] The second state is a pause state;

[0097] Wherein, the third state is a shutdown state.

[0098] Thus, the operating personnel can be supervised to ensure that they do not exceed the supervision distance, which facilitates the operating personnel to safely supervise the operating robot 1.

[0099] In some embodiments, when the safety performance of the working robot 1 is greater than a preset threshold, the processor 14 controls the working robot 1 to maintain the first state during the process of sending the first interaction signal and waiting to receive the second interaction signal; or

[0100] When the safety performance of the working robot 1 is less than or equal to the preset threshold, the working robot 1 is controlled to switch from the first state to the second state during the process of sending the first interaction signal and waiting to receive the second interaction signal, wherein the second state is one of the following three situations:

[0101] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0102] The second state is a deceleration state;

[0103] The second state is a pause state;

[0104] When the second interaction signal is received and the second interaction information in the second interaction signal matches the first interaction information in the first interaction signal, the working robot 1 is controlled to switch from the current second state to the first state.

[0105] Therefore, in the case of higher safety performance, the first state can be maintained while waiting for the second interactive signal; in the case of relatively low safety performance, without determining whether the working status of the operator is normal, it can be switched to the second state to reduce the operating risk and avoid a series of dangerous situations caused by the poor working status of the operator.

[0106] In some embodiments, the processor 14 is configured to control the working robot 1 and / or the control device 2 to send a warning signal when the working robot 1 switches to the second state or the third state.

[0107] Thus, the operators can be reminded to pay more attention in time.

[0108] In some embodiments, the memory 15 stores an operation map, and the warning area is marked in the operation map. The warning area can be automatically generated by the obstacle information obtained when the processor 14 builds the map, or added by the user to the map information (such as a restricted area, etc.). The processor 14 obtains the operation map. When the operation robot 1 approaches the warning area, the processor 14 controls the issuance of the first interactive signal and / or controls the corresponding warning module to issue a warning signal. For example, the warning signal can be, but is not limited to, controlling the increase in the flashing frequency in the first interactive signal generated by the signal initiating unit 12, or controlling the speaker of the operation robot 1 to play a voice prompt such as "Currently entering the warning area, please operators step up precautions" to further remind operators to pay more attention.

[0109] Thus, by forcing the first interactive signal or issuing the warning signal, the user is forced to pay attention to the current working status of the working robot 1, so that the user can concentrate in areas with higher risks.

[0110] Please refer to Figure 4, which is a flow chart of a method for monitoring the working state of an embodiment of the present application. The method is applied to the working robot 1, and the method includes:

[0111] Step 11: The working robot 1 sends a first interaction signal at intervals, wherein the first interaction signal includes first interaction information;

[0112] Step 12: The working robot 1 determines whether a second interaction signal is received within a preset time period after the first interaction signal is sent, and the second interaction signal contains second interaction information. If so, the process proceeds to step 13; otherwise, the process proceeds to step 15.

[0113] Step 13: When the working robot 1 collects the second interaction signal, it determines whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal; if the first interaction signal matches the second interaction signal, the process proceeds to step 14; otherwise, the process proceeds to step 15;

[0114] Step 14: Control the working robot 1 to maintain a first state, wherein the first state is a state in which the working robot 1 operates normally;

[0115] Step 15: Control the working robot 1 to switch from the first state to a second state, where the second state is one of the following three situations:

[0116] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0117] The second state is a deceleration state;

[0118] The second state is a pause state.

[0119] Thus, after the operator starts the operating robot 1, the operating robot 1 starts autonomous operation according to the preset map. During the autonomous operation process, the operating robot 1 sends out a specific sampling signal at a certain sampling cycle, namely the first interactive signal. The operator can only accurately observe the signal if he is within a certain supervision distance of the operating robot 1 and his vision is not obstructed. After the operating robot 1 sends out this sampling signal, the operator must perform the corresponding operation within a short response time to generate a response instruction, namely the second interactive signal. Once the operation is incorrect or no operation is performed, the operating robot 1 will not maintain the first state to ensure that the operator's attention will not continue to leave the operating robot 1, to avoid the operating robot 1 from being in a dangerous situation without the operator's attention, so as to achieve the purpose of improving the operator's attention.

[0120] In some embodiments, the working robot 1 sends a first interaction signal at intervals, including:

[0121] The working robot 1 generates the first interaction signal after an unfixed time interval.

[0122] In some embodiments, the working robot 1 generates the first interaction signal at intervals of an unfixed duration, including:

[0123] The working robot 1 increases the interval time for generating the next first interaction signal each time the first interaction information of the newly generated first interaction signal matches the second interaction information of the second interaction signal received again;

[0124] When the first interaction information of the first interaction signal newly generated by the working robot 1 does not match the second interaction information of the second interaction signal received again, the working robot 1 shortens the interval time for generating the next first interaction signal.

[0125] Thus, the first interactive signal, which is sent out at an irregular period, can further encourage the operator to increase his or her attention, so as to avoid the operating robot 1 from being in a dangerous situation without the operator's attention, thereby achieving the purpose of increasing the operator's attention. When the number of matches between the first interactive signal and the second interactive signal received again increases, it indicates that the operator's working state is quite good, and the interval length for generating the next first interactive signal is increased; when the number of mismatches between the first interactive signal and the second interactive signal received increases, it indicates that the operator's working state is poor, and the interval length for generating the next first interactive signal is shortened. In other words, the generation period of the first interactive signal can be adjusted according to the quality of the operator's working state.

[0126] In some embodiments, when the control device 2 is omitted, the first interaction information includes visual information of at least one of the number of flashes and the duration of the light being on, and / or the first interaction information includes display content, and the second interaction information includes at least one of the following associated with the first interaction information:

[0127] Voice collection information including voice content; and

[0128] Including video collection information with body movements;

[0129] The first interaction information and the second interaction information have a preset corresponding relationship.

[0130] When the working robot 1 is controlled by the control device 2, the second interaction signal is generated by the control device 2 corresponding to the working robot 1 based on the input operation of the operator. In this case, the first interaction information includes at least one of the following:

[0131] The visual information includes at least one of the number of flashes and the duration of the flashes;

[0132] including display information of displayed content;

[0133] The second interaction information includes at least one of the following associated with the first interaction information:

[0134] Visual information including at least one of the number of flashes and the duration of the flash;

[0135] Key trigger information including at least one of the number of key presses and the duration of the key press;

[0136] Voice collection information including voice content; and

[0137] Including video collection information of body movements;

[0138] The first interaction information and the second interaction information have a preset corresponding relationship.

[0139] Thus, not only can the first interaction signal be generated in a variety of ways, but the second interaction signal can also be generated in a variety of ways. This variety of ways facilitates device configuration and allows the selection of an appropriate configuration based on different operating conditions. Of course, the above different configurations can exist simultaneously, allowing the user to select which method to generate the first interaction signal and the second interaction signal. It is understandable that one of the methods can also be randomly selected at different times to generate the first interaction signal.

[0140] In some embodiments, the job monitoring method further includes:

[0141] When the working robot 1 determines that the first interaction signal does not match the second interaction signal, the working robot 1 is controlled to switch from the first state to a second state, where the second state is one of the following three situations:

[0142] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0143] The second state is a deceleration state;

[0144] The second state is a pause state.

[0145] In some embodiments, the monitoring method includes:

[0146] When it is determined that the first interaction signal does not match the second interaction signal, the working robot 1 is controlled to switch from the first state to a second state, where the second state is one of the following three situations:

[0147] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0148] The second state is a deceleration state;

[0149] The second state is a pause state.

[0150] Therefore, since the second state is safer than the first state, when it is determined that the first interaction signal does not match the second interaction signal, it can be temporarily switched to the second state, so that the working robot 1 is in a safer state to avoid accidents.

[0151] In some embodiments, the monitoring method further comprises:

[0152] After the working robot 1 switches from the first state to the second state, determining whether the working robot 1 receives a new second interaction signal again within a preset time period;

[0153] When it is determined that the working robot 1 receives the new second interaction signal again within the preset time period, determining whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again;

[0154] When the working robot 1 determines that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again, the working robot 1 controls the working robot 1 to switch from the second state to the first state.

[0155] In some embodiments, the monitoring method further comprises:

[0156] After the working robot 1 switches from the first state to the second state, determine whether a new second interaction signal is received again within the preset time length; when it is determined that the new second interaction signal is received again within the preset time length, determine whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again; when it is determined that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again, control the working robot 1 to switch from the second state to the first state.

[0157] In some embodiments, the monitoring method further comprises:

[0158] When it is determined that the first interaction information in the first interaction signal does not match the second interaction information in the second interaction signal received a preset number of times, the operating robot 1 is controlled to switch to a third state, wherein the third state is a stop state. The stop state is a locked state that requires manual activation. The difference between the stop state and the pause state is that both are in a stationary state, but the pause state can automatically switch back to the first state when the first interaction signal matches the second interaction signal.

[0159] Therefore, when the first interaction signal and the second interaction signal do not match for the first time, the machine will not immediately enter the shutdown state, but will receive a new second interaction signal for re-matching until the second interaction signal is received a preset number of times and still does not match the first interaction signal, then enter the shutdown state, reducing the chance of the machine being locked due to operator key errors. After the operator presses the wrong button for the first time, a new first interaction signal is immediately generated and waits for the operator to re-enter it, and so on. The machine will be locked after a certain number of trial and error times, avoiding unnecessary shutdowns due to operator operational errors.

[0160] In some embodiments, the monitoring method further comprises:

[0161] receiving a first signal generated by the control device 2, wherein the first signal is generated when the control device 2 is held;

[0162] The working robot 1 maintains the first state based on the first signal.

[0163] In some embodiments, the job monitoring method further includes:

[0164] receiving a second signal generated by the control device 2, wherein the second signal is generated when the control device 2 is not held;

[0165] The working robot 1 controls the working robot 1 to switch from the first state to the second state or the third state based on the second signal, wherein the second state is one of the following three situations:

[0166] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0167] The second state is a deceleration state;

[0168] The second state is a pause state;

[0169] Wherein, the third state is a shutdown state.

[0170] Therefore, when the operator does not hold the control device 2 outside the normal sampling inspection period, it indicates that the operator's current working state is also abnormal, and the working robot 1 is controlled to stop working. When the operator still holds the control device 2 outside the normal sampling inspection period, it indicates that the operator's current working state is normal, and the working robot 1 is controlled to continue working.

[0171] In some embodiments, the job monitoring method further includes:

[0172] When the working robot 1 is controlled to be in the second state or the third state, determining whether the working robot 1 generates a start button trigger signal;

[0173] When it is determined that the working robot 1 generates a start button trigger signal, a start signal is generated;

[0174] The working robot 1 controls the working robot 1 to switch from the second state or the third state to the first state in response to the start signal.

[0175] Therefore, when the working robot 1 is in the second state or the third state, the operator can personally come to the side of the working robot 1 and manually press its start button to enter the first state again for normal operation, which can remind the operator to pay more attention.

[0176] In some embodiments, the job monitoring method further includes:

[0177] Determining a supervision distance between the working robot 1 and the control device 2;

[0178] The signal strength of the first interaction signal is adjusted based on the supervision distance.

[0179] Thus, the strength of the first interaction signal is adjusted based on the monitored distance between the operating robot 1 and the control device 2. That is, when the safety level of the operating robot 1 is relatively high, the signal visibility of the first interaction signal can be enhanced, allowing it to have a longer transmission distance. For example, when the first interaction signal is a visual signal, the brightness of the visual signal can be increased so that workers at a greater distance can promptly detect it. When the first interaction signal is a display content, the font size of the display content can be increased so that workers at a greater distance can promptly detect it. Conversely, when the safety level of the operating robot 1 is relatively low, the signal visibility of the first interaction signal can be reduced. For example, when the first interaction signal is a visual signal, the brightness of the visual signal can be decreased so that workers at a closer distance can promptly detect it. When the first interaction signal is a display content, the font size of the display content can be decreased so that workers at a closer distance can promptly detect it.

[0180] In some embodiments, the job monitoring method further includes:

[0181] Determining the distance between the working robot 1 and the control device 2;

[0182] Determining whether the separation distance exceeds the supervision distance;

[0183] When it is determined that the interval distance exceeds the supervision distance, the working robot 1 is controlled to enter the second state or the third state from the first state, wherein the third state is a shutdown state, and the second state is one of the following three situations:

[0184] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0185] The second state is a deceleration state;

[0186] The second state is a pause state.

[0187] Thus, the operating personnel can be supervised to ensure that they do not exceed the supervision distance, which facilitates the operating personnel to safely supervise the operating robot 1.

[0188] In some embodiments, the job monitoring method further includes:

[0189] When the safety performance of the working robot is greater than a preset threshold, controlling the working robot to maintain the first state during the process of sending the first interaction signal and waiting to receive the second interaction signal; or

[0190] When the safety performance of the working robot 1 is less than or equal to the preset threshold, the working robot 1 is controlled to switch from the first state to the second state during the process of sending the first interaction signal and waiting to receive the second interaction signal, wherein the second state is one of the following three situations:

[0191] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0192] The second state is a deceleration state;

[0193] The second state is a pause state;

[0194] When the second interaction signal is received and the second interaction information in the second interaction signal matches the first interaction information in the first interaction signal, the working robot 1 is controlled to switch from the current second state to the first state.

[0195] Therefore, in the case of higher safety performance, the first state can be maintained while waiting for the second interactive signal; in the case of relatively low safety performance, without determining whether the working status of the operator is normal, it can be switched to the second state to reduce the operating risk and avoid a series of dangerous situations caused by the poor working status of the operator.

[0196] In some embodiments, the job monitoring method further includes:

[0197] When the working robot 1 switches to the second state or the third state, the working robot 1 and / or the control device 2 is controlled to send out a warning signal.

[0198] Thus, the operators can be reminded to pay more attention in time.

[0199] In some embodiments, the memory 15 stores an operation map, and the operation map has warning areas marked. The warning areas can be automatically generated by the operation robot 1 when obtaining obstacle information when building a map, or added by the user to the map information (such as a restricted area, etc.). The operation monitoring method further includes:

[0200] The working robot 1 obtains a working map;

[0201] When the working robot 1 approaches the warning area, the working robot 1 issues the first interactive signal and / or warning signal. For example, the warning signal may include, but is not limited to, controlling the flashing frequency of the first interactive signal generated by the signal initiating unit 12 to increase, or controlling the speaker of the working robot 1 to play a voice prompt such as "Currently entering the warning area, please be vigilant" to further remind the operator to pay attention.

[0202] Thus, by forcing the first interactive signal or issuing the warning signal, the user is forced to pay attention to the current working status of the working robot 1, so that the user can concentrate in areas with higher risks.

[0203] An embodiment of the present application also provides a computer storage medium, wherein the computer storage medium stores a computer program, which enables a computer to execute part or all of the steps of any one of the job monitoring methods described in the above method embodiments.

[0204] Please refer to FIG. 5 , which is a module diagram of an operation monitoring device in an embodiment of the present application.

[0205] The operation monitoring device 500 includes:

[0206] The interaction signal initiating module 510 is used to control the working robot 1 to send a first interaction signal at intervals, wherein the first interaction signal includes first interaction information;

[0207] a signal reception determination module 520, configured to determine whether a second interaction signal is received within a preset time period after the first interaction signal is sent, wherein the second interaction signal includes second interaction information;

[0208] a signal matching determination module 530, configured to, upon collecting the second interaction signal, determine whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal;

[0209] The state adjustment module 540 is configured to control the working robot 1 to maintain a first state when it is determined that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal, wherein the first state is a state in which the working robot 1 is operating normally; and to control the working robot 1 to switch from the first state to a second state when it is determined that the first interaction signal does not match the second interaction signal, wherein the second state is one of the following three situations:

[0210] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0211] The second state is a deceleration state;

[0212] The second state is a pause state.

[0213] In some embodiments, the state adjustment module 540 is further configured to control the working robot 1 to switch from the first state to the second state when it is determined that the second interaction signal is not received within a preset time period since the first interaction signal was sent, or when the first interaction information of the first interaction signal does not match the second interaction information of the second interaction signal, determine that the working state of the operator holding the control device 2 is abnormal, and the second state is one of the following three situations:

[0214] The second state is consistent with the motion state of the first state, but the second state has a preset duration;

[0215] The second state is a deceleration state;

[0216] The second state is a pause state.

[0217] The second state is consistent with the motion state of the first state, but the second state has a preset duration.

[0218] It should be noted that, for simplicity of description, the aforementioned method embodiments are described as a series of combined actions. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, as certain steps may be performed in a different order or simultaneously, depending on the application. Furthermore, those skilled in the art should also be aware that the embodiments described in this specification are all optional, and the actions and modules involved are not necessarily required for this application. Memory 15 may include: a flash drive, read-only memory (ROM), random access memory (RAM), a magnetic disk, or an optical disk, etc. Processor 14 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The processor may implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The processor may be an image processor, a microprocessor, or any conventional processor. The steps of the methods disclosed in conjunction with the embodiments of the present invention may be directly executed by a hardware decoding processor, or by a combination of hardware and software modules within the decoding processor. The software module may be located in a storage medium well-known in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, an electrically erasable programmable memory, or a register. The storage medium is located in a memory, and for example, the processor 14 can read the application program, computer instructions, or data in the memory and, in conjunction with its hardware, perform the steps of the above method.

[0219] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the creative concept of the present application, and these all fall within the scope of protection of the present application.

Claims

1. A method for monitoring an operation, applied to an operation robot, the monitoring method include: The operating robot sends a first interaction signal at a certain interval, wherein the first interaction signal includes first interaction information; The working robot determines whether a second interaction signal is received within a preset time period after the first interaction signal is sent, wherein the second interaction signal includes second interaction information; When the working robot collects the second interaction signal, determining whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal; When determining that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal, the working robot controls the working robot to maintain a first state, wherein the first state is a state in which the working robot operates normally.

2. The remote monitoring method according to claim 1, It is characterized in that The motion robot sends a first interaction signal at a certain interval, including: The motion robot generates the first interaction signal after an unfixed time interval.

3. The operation monitoring method according to claim 2, It is characterized in that The motion robot generates the first interaction signal after an unfixed time interval, including: When the first interaction information of the first interaction signal newly generated by the working robot matches the second interaction information of the second interaction signal received again, the working robot increases the interval time for generating the next first interaction signal; When the first interaction information of the first interaction signal newly generated by the working robot does not match the second interaction information of the second interaction signal received again each time, the working robot shortens the interval time for generating the next first interaction signal.

4. The operation monitoring method according to any one of claims 1 to 3, It is characterized in that The first interaction information includes at least one of visual information of the number of flashes and the duration of the light on, and / or the first interaction information includes display content, and the second interaction information includes at least one of the following associated with the first interaction information: including voice collection information with voice content; and Including video collection information with body movements; The first interaction information and the second interaction information have a preset corresponding relationship.

5. The operation monitoring method according to any one of claims 1 to 3, It is characterized in that The second interactive signal is generated by a control device corresponding to the working robot based on an input operation of an operator.

6. The operation monitoring method according to claim 5, It is characterized in that The first interaction information includes at least one of the following: The visual information includes at least one of the number of flashes and the duration of the flashes; including display information of displayed content; The second interaction information includes at least one of the following associated with the first interaction information: The visual information includes at least one of the number of flashes and the duration of the flashes; Key trigger information including at least one of the number of key presses and the duration of the key presses; including voice collection information with voice content; and Including video collection information with body movements; The first interaction information and the second interaction information have a preset corresponding relationship.

7. The operation monitoring method according to any one of claims 1 to 6, It is characterized in that The monitoring method further comprises: When the working robot determines that the first interaction signal does not match the second interaction signal, the working robot is controlled to switch from the first state to a second state, where the second state is one of the following three situations: The second state is consistent with the motion state of the first state, but the second state has a preset duration. Duration; The second state is a deceleration state; The second state is a pause state.

8. The operation monitoring method according to claim 7, It is characterized in that The monitoring method further comprises: After the working robot switches from the first state to the second state, determining whether the working robot receives a new second interaction signal again within a preset time period; When it is determined that the working robot receives the new second interaction signal again within the preset time period, determining whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again; When the working robot determines that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal received again, the working robot controls the working robot to switch from the second state to the first state.

9. The operation monitoring method according to claim 8, It is characterized in that The monitoring method further comprises: When the working robot determines that the first interaction information in the first interaction signal does not match the second interaction information in the second interaction signal received a preset number of times, the working robot controls the working robot to switch to a third state, wherein the third state is a shutdown state.

10. The operation monitoring method according to claim 1, It is characterized in that The monitoring method further comprises: receiving a first signal generated by the control device, wherein the first signal is generated when the control device is held; The working robot maintains the first state based on the first signal.

11. The operation monitoring method according to claim 10, It is characterized in that The operation monitoring method further includes: receiving a second signal generated by the control device, wherein the second signal is generated when the control device is not held; The working robot controls the working robot to switch from the first state to the second state or the third state based on the second signal, wherein the second state is one of the following three situations: The second state is consistent with the motion state of the first state, but the second state has a preset duration; The second state is a deceleration state; The second state is a pause state; Wherein, the third state is a shutdown state.

12. The operation monitoring method according to any one of claims 7, 9 and 11, It is characterized in that The operation monitoring method further includes: When the working robot is controlled to be in the second state or the third state, determining whether the working robot generates a start button trigger signal; When it is determined that the working robot generates a start button trigger signal, generating a start signal; The working robot controls the working robot to switch from the second state or the third state to the first state in response to the start signal.

13. The operation monitoring method according to claim 1, It is characterized in that The operation monitoring method further includes: Determining a supervision distance between the working robot and the control device; The signal strength of the first interaction signal is adjusted based on the supervision distance.

14. The operation monitoring method according to claim 13, It is characterized in that The operation monitoring method further includes: Determining the spacing distance between the working robot and the control device; Determining whether the interval distance exceeds the supervision distance; When it is determined that the interval distance exceeds the supervision distance, the working robot is controlled to enter a second state or a third state from the first state, wherein the second state is one of the following three situations: The second state is consistent with the motion state of the first state, but the second state has a preset duration; The second state is a deceleration state; The second state is a pause state; Wherein, the third state is a shutdown state.

15. The operation monitoring method according to claim 1, It is characterized in that The operation monitoring method further includes: When the safety performance of the working robot is greater than a preset threshold, the working robot is controlled to maintain the first state during the process of sending the first interaction signal and waiting to receive the second interaction signal; or, When the safety performance of the working robot is less than or equal to the preset threshold, the working robot is controlled to switch from the first state to the second state during the process of sending the first interaction signal and waiting to receive the second interaction signal, wherein the second state is one of the following three situations: The second state is consistent with the motion state of the first state, but the second state has a preset duration; The second state is a deceleration state; The second state is a pause state; When the second interaction signal is received and the second interaction information in the second interaction signal matches the first interaction information in the first interaction signal, the working robot is controlled to switch from the current second state to the first state.

16. The operation monitoring method according to any one of claims 7, 11 or 15, It is characterized in that The operation monitoring method further includes: When the working robot switches to the second state or the third state, the working robot and / or the control device is controlled to send out a warning signal.

17. The operation monitoring method according to any one of claims 1 to 16, It is characterized in that The operation monitoring method further includes: The working robot obtains a working map, wherein the working map has a warning area marked thereon. When the robot approaches the warning area, the robot sends out the first interaction signal and / or warning signal.

18. A working robot, It is characterized in that include: processor; A memory storing a computer program, wherein the memory runs the computer program to execute the steps of the operation monitoring method according to any one of claims 1 to 17.

19. The working robot according to claim 18, It is characterized in that The operating robot is a semi-automatic lawn mowing robot, a fully automatic lawn mowing robot, a semi-automatic agricultural machine or an autonomous drone.

20. An operation monitoring system for an operation robot, comprising a control device and at least one operation robot, wherein the operation robot is the operation robot according to claim 18 or 19, wherein the operation robot sends a first interaction signal at intervals, wherein the first interaction signal includes first interaction information; The working robot determines whether a second interaction signal sent by a control device matched with the working robot is received within a preset time period after sending the first interaction signal, wherein the second interaction signal includes second interaction information; When receiving the second interaction signal, the working robot determines whether the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal; When the working robot determines that the first interaction information in the first interaction signal matches the second interaction information in the second interaction signal, the working robot controls the working robot to maintain a first state. in, The first state is a state in which the working robot is operating normally.

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