Remote monitoring system for unloading robot

Abstract

The embodiment of the invention provides a remote monitoring system for an unloading robot. The system comprises an acquisition and storage module used for storing real-time data of operation of the unloading robot during data acquisition; when the data are stored, segmenting the real-time data after the row storage, and compressing the real-time data after the row storage in a column form to obtain first data; transmitting the first data to a 5G multi-channel technology module; the 5G multi-channel technology module is used for transmitting the first data to the cloud server; the remote monitoring and diagnosis module is used for monitoring the running state of the unloading robot and detecting faults and abnormities; the multi-channel management module is used for adjusting real-time data transmission of 5G multi-channels to obtain a data stream instruction; transmitting the data stream instruction to an intelligent scheduling algorithm module; and the intelligent scheduling algorithm module is used for outputting a scheduling scheme and a feedback instruction to the 5G multi-channel so as to schedule resources of the 5G multi-channel. According to the embodiment of the invention, the data storage space is saved, so that the subsequent data transmission rate is improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of robot remote monitoring, and in particular to a remote monitoring system for an unloading robot. Background Art

[0002] With the rapid development of the logistics industry, automation and intelligence have become the key to improving logistics efficiency. However, existing unloading robots have problems in remote monitoring, such as large storage space occupied by real-time data of unloading robot operations, data transmission delay, and poor real-time monitoring.

[0003] Therefore, how to solve technical problems such as the large storage space occupied by the real-time data of unloading robot operations, data transmission delays, and poor real-time monitoring has become an important issue. Summary of the invention

[0004] The embodiment of the present invention provides a remote monitoring system for an unloading robot, which is used to solve technical problems such as large storage space occupied by real-time data of unloading robot operations, data transmission delay, and poor real-time monitoring.

[0005] In a first aspect, an embodiment of the present invention provides a remote monitoring system for an unloading robot, comprising:

[0006] The acquisition and storage module is used for row-storing the real-time data of the unloading robot operation when acquiring data; when storing data, segmenting the real-time data after row storage, compressing the real-time data after row storage in the form of columns to obtain first data; transmitting the first data to the 5G multi-channel technology module, wherein the first data is the compressed real-time data after row storage;

[0007] A 5G multi-channel technology module, used for acquiring first data using a 5G multi-channel, and transmitting the first data to a cloud server;

[0008] a remote monitoring and diagnosis module, configured to monitor the operation status of the unloading robot according to the first data from the cloud server, detect faults and anomalies, output the operation status of the unloading robot and the fault and anomaly detection results, transmit the fault and anomaly detection results to the multi-channel management module, and transmit the operation status of the unloading robot to the intelligent scheduling algorithm module;

[0009] The multi-channel management module is used to adjust the real-time data transmission of the 5G multi-channel according to the first data from the cloud server and the fault and abnormality detection results from the remote monitoring and diagnosis module, and obtain a data flow instruction; and transmit the data flow instruction to the intelligent scheduling algorithm module;

[0010] The intelligent scheduling algorithm module is used to output scheduling plans and feedback instructions to the 5G multi-channel to schedule the resources of the 5G multi-channel according to the data flow instructions from the multi-channel management module and the operating status of the unloading robot from the remote monitoring and diagnosis module.

[0011] In a possible implementation, the acquisition and storage module, when collecting data, performs row storage on the first time point of the real-time data of the unloading robot operation, the collected data of n data objects corresponding to the first time point, and the collected data of n data objects corresponding to the time points after the first time point, to obtain the collected data at the time points after the row storage; divides the collected data at the time points after the row storage, compresses the collected data at the time points after the row storage in the form of columns, obtains the first data, and transmits the first data to the 5G multi-channel technology module, where the first time point is the time of the first collection point.

[0012] In a possible implementation, the 5G multi-channel technology module is specifically used to use 5G multi-channel to obtain first data, and compress the first data; and transmit the compressed first data to a cloud server.

[0013] In a possible implementation, the data compression includes: preprocessing, video encoding and sensor encoding, the preprocessing includes data filtering and noise reduction, the video encoding includes motion estimation and motion compensation, and the sensor encoding includes data merging and incremental encoding.

[0014] In a possible implementation, the multi-channel management module is specifically used to perform priority allocation of the first data and bandwidth optimization of the 5G multi-channel for transmitting the first data after priority allocation based on the first data from the cloud server and the fault and abnormality detection results from the remote monitoring and diagnosis module, and obtain data flow instructions; and transmit the data flow instructions to the intelligent scheduling algorithm module.

[0015] In one possible implementation, the 5G multi-channel is realized by arranging multiple antennas at one end of the unloading robot and arranging multiple antennas at the opposite end of the unloading robot.

[0016] In a possible implementation, the remote monitoring and diagnosis module is also used to output an alarm signal.

[0017] In a possible implementation, the real-time data includes sensor data, image data, linear velocity, angular velocity, path information fed back by the joints of the unloading robot, and fault information of the unloading robot.

[0018] The embodiments of the present invention disclose the following technical effects:

[0019] 1) When collecting data, the embodiment of the present invention stores the real-time data of the unloading robot operation in rows. When storing data, the real-time data after row storage is segmented and compressed in the form of columns, thereby saving data storage space, thereby increasing the subsequent data transmission rate, reducing the data transmission delay, and improving the real-time performance of data monitoring.

[0020] 2) In the embodiment of the present invention, multiple antennas are arranged at one end of the unloading robot and multiple antennas are arranged at the opposite end of the unloading robot to achieve parallel transmission of data streams, thereby improving bandwidth utilization and transmission rate;

[0021] 3) The embodiment of the present invention uses 5G multi-channel to transmit the first data to the cloud server, which increases the data transmission rate, reduces the data transmission delay, and improves the real-time performance of data monitoring;

[0022] 4) The embodiment of the present invention further increases the data transmission rate, reduces the data transmission delay, and improves the real-time performance of data monitoring through further data compression.

[0023] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the present invention 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 some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 A schematic block diagram of a remote monitoring system for an unloading robot provided by an embodiment of the present invention;

[0026] Figure 2 A schematic diagram of collected data of m data objects corresponding to n time points provided by an embodiment of the present invention;

[0027] Figure 3 A schematic diagram of arranging multiple antennas at one end of an unloading robot and arranging multiple antennas at an end opposite to the unloading robot provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The terms used in the embodiments of the present invention are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The singular forms "a", "said" and "the" used in the embodiments of the present invention and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings.

[0030] It should be understood that the term "and / or" used in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0031] The word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrases "if determining" or "if monitoring (stated condition or event)" may be interpreted as "when determining" or "in response to determining" or "when detecting (stated condition or event)" or "in response to detecting (stated condition or event)", depending on the context.

[0032] In terms of remote monitoring, existing unloading robots have problems such as large storage space occupied by real-time data of unloading robot operations, data transmission delay, and poor real-time monitoring.

[0033] In view of this, an embodiment of the present invention provides a remote monitoring system for an unloading robot. Figure 1 FIG. 4 shows an exemplary system architecture of the unloading robot remote monitoring system. Figure 1 As shown in , the system architecture may include a collection and storage module 101, a 5G multi-channel technology module 102, a remote monitoring and diagnosis module 103, a multi-channel management module 104, and an intelligent scheduling algorithm module 105.

[0034] First, the module 101, namely the “collection storage module”, is described in detail in conjunction with the embodiment of the present invention.

[0035] The acquisition and storage module 101 is used to store the real-time data of the unloading robot operation in rows when acquiring data; when storing data, the real-time data after row storage is segmented, and the real-time data after row storage is compressed in the form of columns to obtain first data; the first data is transmitted to the 5G multi-channel technology module, and the first data is the compressed real-time data after row storage. When acquiring data, the embodiment of the present invention stores the real-time data of the unloading robot operation in rows, and when storing data, the real-time data after row storage is segmented, and the real-time data after row storage is compressed in the form of columns, thereby saving data storage space, thereby increasing the subsequent data transmission rate, reducing data transmission delay, and improving the real-time performance of data monitoring.

[0036] As a possible implementation method, the collection and storage module is specifically used to collect data, and when collecting data, the first time point of the real-time data of the unloading robot operation, the collected data of the m data objects corresponding to the first time point, and the collected data of the m data objects corresponding to the time points after the first time point are stored in rows to obtain the collected data at the time point after the row storage; the collected data at the time point after the row storage is divided, and the collected data at the time point after the row storage is compressed in the form of columns to obtain the first data, and the first data is transmitted to the 5G multi-channel technology module, and the first time point is the time of the first collection point. For example, Figure 2 As shown, the first time point may be t0, the second time point may be t1, ..., and the nth time point may be t n , the m data objects corresponding to n time points are Obj0, Obj1, ..., Obj m Among them, Obj0, Obj1, ..., Obj m They can be the joint angle, angular velocity, ..., and linear velocity of the unloading robot respectively. The collected data of the m data objects corresponding to the time point t0 are V00, V01, ..., V0m, ..., t n The collected data of the m data objects corresponding to the time points are Vn0, Vn1, ..., Vnm respectively. The embodiment of the present invention only performs row storage for the first time point of the real-time data, the collected data of the n data objects corresponding to the first time point, and the collected data of the n data objects corresponding to the time points after the first time point, and does not perform row storage for the time points after the first time point, thereby saving data storage space. In addition, by segmenting the collected data at the time point after the row storage, compressing the collected data at the time point after the row storage in the form of columns to obtain the first data, it can be seen that the embodiment of the present invention compresses the same type of data, thereby further saving data storage space.

[0037] In an embodiment of the present invention, the real-time data may include sensor data, image data, linear velocity, angular velocity, path information fed back by the joints of the unloading robot, and fault information of the unloading robot.

[0038] The module 102, i.e., the “5G multi-channel technology module”, is described in detail below in conjunction with an embodiment of the present invention.

[0039] The 5G multi-channel technology module 102 is used to obtain the first data using the 5G multi-channel and transmit the first data to the cloud server. Figure 3 As shown in Figure 1, 5G multi-channel is achieved by arranging multiple antennas at one end of the unloading robot and multiple antennas at the opposite end of the unloading robot. Specifically, during the remote control operation of the unloading robot, the signal delay, packet loss rate and anti-interference ability directly affect the real-time and reliability of the operation. First, the antenna array design and deployment position are optimized. By Figure 3 The transmitter and receiver shown are arranged with multiple antennas to realize parallel transmission of data streams, thereby improving bandwidth utilization and transmission rate. Secondly, in terms of interference suppression, by detecting interference signals in the environment in real time, the transmission frequency and transmission direction of the antenna are automatically adjusted to avoid signal conflicts, that is, the signal with the highest signal-to-noise ratio is selected from multiple paths to effectively enhance the quality of the received signal. The above steps are used to improve signal coverage, reduce interference, and improve signal stability. The embodiment of the present invention obtains the first data through 5G multi-channel and transmits the first data to the cloud server, thereby improving the data transmission rate, reducing the data transmission delay, and improving the real-time performance of data monitoring.

[0040] As a possible implementation method, the 5G multi-channel technology module 102 is specifically used to use 5G multi-channel to obtain the first data, and compress the first data; and transmit the compressed first data to the cloud server. Among them, data compression includes: preprocessing, video encoding and sensor encoding. Preprocessing includes data filtering and noise reduction. Video encoding includes motion estimation and motion compensation. Sensor encoding includes data merging and incremental encoding. The embodiment of the present invention further improves the data transmission rate, reduces the data transmission delay, and improves the real-time performance of data monitoring through further data compression.

[0041] It should be noted that in terms of data compression of the unloading robot, the present invention removes redundant data in the video frame through inter-frame prediction, motion estimation and motion compensation of multiple unloading cycles, thereby realizing compression of the monitoring and acquisition data. Specifically, the difference between adjacent frames in the monitoring video is usually small, and the encoder can only transmit the changed part, which greatly reduces the amount of data. At the same time, the frame rate of the video is dynamically adjusted. In static scenes, such as when the unloading robot is waiting for work, the frame rate is reduced, and the frame rate is increased during normal unloading, thereby reducing unnecessary data transmission. At the same time, the unloading robot operation data is cached on the client side, and the number of real-time data requests is reduced in the case of abnormal network fluctuations; through data pre-fetching, the next frame of data can be downloaded in advance when the network signal is good, thereby improving the continuity of data transmission.

[0042] The above module 103, namely the “remote monitoring and diagnosis module” is described in detail below in conjunction with an embodiment of the present invention.

[0043] The remote monitoring and diagnosis module 103 is used to monitor the operating status of the unloading robot according to the first data from the cloud server, detect faults and anomalies, output the operating status of the unloading robot and the fault and anomaly detection results, and transmit the fault and anomaly detection results to the multi-channel management module, and transmit the operating status of the unloading robot to the intelligent scheduling algorithm module.

[0044] It is understandable that the remote monitoring and diagnosis module 103 can also be used to output an alarm signal.

[0045] The module 104, namely the “multi-channel management module”, is described in detail below in conjunction with an embodiment of the present invention.

[0046] The multi-channel management module 104 is used to adjust the real-time data transmission of the 5G multi-channel according to the first data from the cloud server and the fault and abnormality detection results from the remote monitoring and diagnosis module, and obtain data flow instructions; and transmit the data flow instructions to the intelligent scheduling algorithm module.

[0047] As a possible implementation method, the multi-channel management module is specifically used to perform priority allocation of the first data and bandwidth optimization of the 5G multi-channel for transmitting the first data after priority allocation according to the first data from the cloud server and the fault and abnormality detection results from the remote monitoring and diagnosis module, and obtain data flow instructions; and transmit the data flow instructions to the intelligent scheduling algorithm module.

[0048] The module 105, namely the “intelligent scheduling algorithm module”, is described in detail below in conjunction with an embodiment of the present invention.

[0049] The intelligent scheduling algorithm module 105 is used to output a scheduling plan and feedback instructions to the 5G multi-channel to schedule the resources of the 5G multi-channel according to the data flow instructions from the multi-channel management module and the operating status of the unloading robot from the remote monitoring and diagnosis module 103.

[0050] From the above content, it can be seen that when the data is collected by the collection and storage module 101, the embodiment of the present invention stores the real-time data of the unloading robot operation in rows. When storing data, the real-time data after row storage is segmented and compressed in the form of columns, saving data storage space, thereby improving the subsequent data transmission rate, reducing the data transmission delay, and improving the real-time performance of data monitoring. In the 5G multi-channel technology module 102, further data compression is performed to further improve the data transmission rate, reduce the data transmission delay, and improve the real-time performance of data monitoring.

[0051] It should be noted that the unloading robot remote monitoring system of the embodiment of the present invention can be expanded as follows:

[0052] Expansion of application scenarios: Suitable for loading scenarios and humanoid robot mobile application scenarios, because the operation control and multi-joint coordination of humanoid robots require lower latency and accuracy.

[0053] Expansion of functions and performance: The solution described in this invention can be extended to the field of robot remote control and operation and maintenance technology, including data acquisition platform, Internet of Things cloud platform, data display platform, remote control platform and operation and maintenance scheduling platform, etc., to achieve comprehensive monitoring and analysis of the robot status.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the embodiments of the present invention, rather than to limit them. Although the embodiments of the present invention have been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A remote monitoring system for an unloading robot, characterized in that: include: The collection and storage module is used to store the real-time data of the unloading robot operation in rows when collecting data; When storing data, the real-time data after row storage is segmented, and the real-time data after row storage is compressed in the form of columns to obtain first data; Transmitting first data to the 5G multi-channel technology module, wherein the first data is compressed row-stored real-time data; A 5G multi-channel technology module, used for acquiring first data using a 5G multi-channel, and transmitting the first data to a cloud server; a remote monitoring and diagnosis module, configured to monitor the operation status of the unloading robot according to the first data from the cloud server, detect faults and anomalies, output the operation status of the unloading robot and the fault and anomaly detection results, transmit the fault and anomaly detection results to the multi-channel management module, and transmit the operation status of the unloading robot to the intelligent scheduling algorithm module; The multi-channel management module is used to adjust the real-time data transmission of the 5G multi-channel according to the first data from the cloud server and the fault and abnormality detection results from the remote monitoring and diagnosis module, and obtain a data flow instruction; and transmit the data flow instruction to the intelligent scheduling algorithm module; The intelligent scheduling algorithm module is used to output scheduling plans and feedback instructions to the 5G multi-channel to schedule the resources of the 5G multi-channel according to the data flow instructions from the multi-channel management module and the operating status of the unloading robot from the remote monitoring and diagnosis module.

2. The system according to claim 1, characterized in that The acquisition and storage module is used to store the first time point of the real-time data of the unloading robot operation, the collected data of n data objects corresponding to the first time point, and the collected data of n data objects corresponding to the time points after the first time point in rows when collecting data, and obtain the collected data at the time point after the row storage; The data collected at the time point after the row storage is segmented, and the data collected at the time point after the row storage is compressed in the form of columns to obtain first data, and the first data is transmitted to the 5G multi-channel technology module, where the first time point is the time of the first collection point.

3. The system according to claim 1, characterized in that The 5G multi-channel technology module is specifically used to use 5G multi-channel to obtain first data, and compress the first data; and transmit the compressed first data to a cloud server.

4. The system according to claim 3, characterized in that The data compression includes: preprocessing, video coding and sensor coding, the preprocessing includes data filtering and noise reduction, the video coding includes motion estimation and motion compensation, and the sensor coding includes data merging and incremental coding.

5. The system according to claim 1, characterized in that The multi-channel management module is specifically used to perform priority allocation of the first data and bandwidth optimization of the 5G multi-channel for transmitting the first data after priority allocation according to the first data from the cloud server and the fault and abnormality detection results from the remote monitoring and diagnosis module, and obtain data flow instructions; and transmit the data flow instructions to the intelligent scheduling algorithm module.

6. The system according to claim 1, characterized in that The 5G multi-channel is achieved by arranging multiple antennas at one end of the unloading robot and arranging multiple antennas at the opposite end of the unloading robot.

7. The system according to any one of claims 1 to 6, characterized in that: The remote monitoring and diagnosis module is also used to output an alarm signal.

8. The system according to any one of claims 1 to 6, characterized in that: The real-time data includes sensor data, image data, linear velocity, angular velocity, path information fed back by the joints of the unloading robot, and fault information of the unloading robot.

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