AMR anti-theft method and system

Abstract

The invention provides an AMR anti-theft method and system, and the method comprises the steps: obtaining the motion state of an AMR of an autonomous mobile robot, and carrying out the abnormal movement judgment; when it is judged that the motion state is abnormal movement, whether a person with an electronic tag approaches or not is detected; when it is detected that the person with the electronic tag approaches, operation authority identification is carried out; if the AMR identifies the operation authority, the AMR enters a standby mode; otherwise, the AMR starts alarming. The abnormal movement of the AMR is judged based on the movement state of the AMR, whether the AMR is stolen or not is further judged by performing identity verification and authority verification on an operator, and if the AMR is stolen, alarming and positioning tracking are performed in time, so that the safety of the AMR is ensured.

Description

Technical Field

[0001] This application relates to the field of AMR technology, and in particular to an AMR anti-theft method and system. Background Technology

[0002] Autonomous Mobile Robots (AMRs) generally refer to warehouse robots capable of autonomous positioning and navigation. An AMR is a robot that can understand its environment and navigate without direct operator supervision and is not limited to fixed, preset routes. AMRs are generally small and easily moved, thus posing a risk of theft. Chinese patent application CN109398311A discloses an anti-theft method for autonomous vehicles. This method includes: "determining whether the driving mode of the unmanned vehicle is a free driving mode or a remote control driving mode; in free driving mode, identifying the driver's identity, and sending location information and alarm information to the control center when the vehicle is moving and the driver's identity is not a preset driver; in remote control driving mode, sending location information and alarm information to the control center when the vehicle is moving and the remote control command differs from the actual movement." This anti-theft method overcomes the lack of existing anti-theft methods for autonomous vehicles, achieving anti-theft for autonomous vehicles and effectively ensuring their safety. However, on the one hand, as a type of AGV with a backrest, the AMR's vehicle space is not as suitable as that of a ride-on AGV for installing devices such as facial recognition and fingerprint recognition. Furthermore, installing these devices would be susceptible to interference from cargo and dust contamination of the detection equipment. Therefore, the method disclosed in CN109398311A, which involves "collecting the driver's image information and comparing it with the image information of a preset driver to confirm whether the driver is the preset driver," is not suitable for AMRs. On the other hand, the method disclosed in CN109398311A, which involves "using an RFID identification module to identify the driver's identity information and comparing the collected identity information with the identity information of a preset driver to confirm whether the driver is the preset driver," simply uses an RFID identification module to identify the driver's identity information and compares it with the identity information of a preset driver to confirm whether the driver is the preset driver. This cannot prevent the possibility of the identification module being stolen and used to open the vehicle. Relying solely on external devices such as RFID is not very secure. Summary of the Invention

[0003] To address the aforementioned technical problems, this invention provides an AMR anti-theft method and system. Based on the AMR's motion state, it determines abnormal movement of the AMR. Furthermore, by verifying the identity and permissions of the operator, it uses multiple verification methods to determine whether the AMR has been stolen. If stolen, it promptly triggers an alarm and tracks the location. This targeted approach provides more efficient and precise anti-theft measures for AMR scenarios, ensuring the safety of the AMR.

[0004] The present invention adopts the following technical solutions:

[0005] On the one hand, an AMR anti-theft method includes:

[0006] Acquire the motion state of the autonomous mobile robot (AMR) and identify abnormal movements;

[0007] When the movement is determined to be abnormal, detect whether a person wearing an electronic tag is approaching;

[0008] When an operator with an electronic tag is detected approaching, access rights are verified.

[0009] If access is detected, the AMR enters standby mode; otherwise, the AMR activates an alarm.

[0010] Preferably, the motion state of the autonomous mobile robot (AMR) is acquired, and abnormal movement is detected, specifically including:

[0011] Acquire the three-dimensional attitude data of the AMR detected by the attitude sensor, and determine whether the three-dimensional attitude data exceeds the preset three-dimensional attitude data;

[0012] If the value exceeds the limit, the movement state is determined to be abnormal.

[0013] Preferably, the motion state of the autonomous mobile robot (AMR) is acquired, and abnormal movement is detected, specifically including:

[0014] Obtain the ground distance of the AMR detected by the ranging sensor, and determine whether the ground distance exceeds the preset distance;

[0015] If the value exceeds the limit, the movement state is determined to be abnormal.

[0016] Preferably, the motion state of the autonomous mobile robot (AMR) is acquired, and abnormal movement is detected, specifically including:

[0017] Obtain the current location data of the AMR, and determine whether the AMR is within the preset safe area based on the current location data.

[0018] If not, the movement status is determined to be abnormal movement.

[0019] Preferably, the motion state of the autonomous mobile robot (AMR) is acquired, and abnormal movement is detected, specifically including:

[0020] Obtain navigation data from the downward detection of the AMR's QR code scanner;

[0021] If navigation data cannot be recognized, and the AMR's speed is detected to be 0 or less than the preset speed, the movement state is determined to be abnormal.

[0022] Preferably, the motion state of the autonomous mobile robot (AMR) is acquired, and abnormal movement is detected, specifically including:

[0023] Acquire video images of the AMR captured by the AMR working area video surveillance system;

[0024] If the AMR is detected to be moving in the video image and the AMR has not received a valid movement command, the motion state is determined to be abnormal movement.

[0025] Preferably, radio frequency identification (RFID) technology or near-field communication (NFC) is used to detect whether a person with an electronic tag is approaching.

[0026] Preferably, operation permission identification is performed, specifically including:

[0027] The AMR management system sends a verification code to the registered phone number of the identified electronic tag;

[0028] If the AMR management system receives a verification code that matches the sent verification code within a preset time, it will recognize that the user has the necessary permissions; otherwise, it will recognize the theft as an act of theft.

[0029] Preferably, after the AMR alarm is activated, it also includes:

[0030] AMR sends information about theft to the AMR management system;

[0031] The AMR management system remotely controls the movement of AMRs and tracks their location using positioning technology.

[0032] On the other hand, an AMR anti-theft system includes:

[0033] The abnormal movement detection module is configured to acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection.

[0034] The identity verification module is configured to detect whether a person wearing an electronic tag is approaching when the movement status is determined to be abnormal.

[0035] The operation permission recognition module is configured to recognize operation permissions when a person with an electronic tag is detected approaching.

[0036] The AMR processing module is configured to enter standby mode if it detects that an operator has permission; otherwise, the AMR will activate an alarm.

[0037] The present invention has the following beneficial effects:

[0038] (1) Based on the characteristic that AMR is easily moved, this invention judges the movement status of AMR during the movement of AMR based on attitude sensor, distance sensor, QR code scanner, video monitoring, etc., and actively judges abnormal movement based on the movement status. After judging abnormal movement, identity verification and permission verification are immediately initiated, thereby efficiently realizing AMR anti-theft.

[0039] (2) After successful identity verification, the present invention also performs permission verification, which is a dual identity authentication, thus avoiding the risk of AMR being stolen due to the loss of NFC cards or RFID cards, and has higher security and anti-theft performance.

[0040] (3) The present invention detects the approach of people carrying electronic tags by installing card readers, base stations, etc. on AMR, and further verifies the permissions by SMS. That is, it uses radio frequency identification, near field communication technology, etc. to identify identity and permissions, without the need to install face recognition, fingerprint recognition, etc. Radio frequency identification, near field communication technology, etc. have strong anti-interference capabilities and are not easily affected by cargo interference or dust pollution.

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Attached Figure Description

[0042] Figure 1 This is a flowchart of the AMR anti-theft method of the present invention;

[0043] Figure 2 This is an example flowchart of the AMR anti-theft method of the present invention;

[0044] Figure 3 This is a structural block diagram of the AMR anti-theft system according to an embodiment of the present invention. Detailed Implementation

[0045] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0046] In the description of this invention, it should be noted that the terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the step identifiers S101, S102, S103, etc. are only used for convenience of description and do not indicate the execution order. The corresponding execution order can be adjusted.

[0048] See Figure 1 and Figure 2 As shown, the present invention provides an AMR anti-theft method, comprising:

[0049] S101, acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement judgment;

[0050] S102, when the movement is determined to be abnormal, detect whether a person with an electronic tag is approaching;

[0051] S103, When an operator with an electronic tag is detected approaching, operation permission identification is performed;

[0052] S104 If an operator is detected with permission, the AMR enters standby mode; otherwise, the AMR activates an alarm.

[0053] In this embodiment, before step S101, the AMR needs to be started and initialized. That is, this embodiment mainly focuses on the anti-theft detection of the AMR during operation. Starting and initializing the AMR specifically includes:

[0054] AMR starts up and enters working mode;

[0055] Initialize all sensors and verification systems.

[0056] In one embodiment, acquiring the motion state of an autonomous mobile robot (AMR) and performing abnormal movement detection specifically includes:

[0057] Acquire the three-dimensional attitude data of the AMR detected by the attitude sensor, and determine whether the three-dimensional attitude data exceeds the preset three-dimensional attitude data;

[0058] If the value exceeds the limit, the movement state is determined to be abnormal.

[0059] Specifically, the attitude sensor is a six-axis IMU attitude sensor mounted on the AMR, which collects the AMR's three-dimensional attitude data in real time, such as current tilt and height parameters. The six-axis IMU attitude sensor can send the collected data to the AMR's controller, which then determines abnormal movement.

[0060] In one embodiment, acquiring the motion state of an autonomous mobile robot (AMR) and performing abnormal movement detection specifically includes:

[0061] Obtain the ground distance of the AMR detected by the ranging sensor, and determine whether the ground distance exceeds the preset distance;

[0062] If the value exceeds the limit, the movement state is determined to be abnormal.

[0063] Specifically, the ranging sensor is an ultrasonic ranging sensor installed at the bottom of the AMR. It measures the distance from the ground, such as by infrared or photoelectric sensors. The ultrasonic ranging sensor can send the collected distance data to the AMR controller, which then determines abnormal movement.

[0064] In one embodiment, acquiring the motion state of an autonomous mobile robot (AMR) and performing abnormal movement detection specifically includes:

[0065] Obtain the current location data of the AMR, and determine whether the AMR is within the preset safe area based on the current location data.

[0066] If not, the movement status is determined to be abnormal movement.

[0067] Specifically, a safe zone, similar to an electronic fence, and its operating range are pre-set through the AMR controller or the backend of the AMR management system. When the AMR controller determines that the AMR has left the safe zone, it is considered to be moving abnormally.

[0068] There are two methods to obtain the current location data of an AMR.

[0069] The first method only detects departure and does not provide precise location. Specifically, RFID base stations are placed in the four corners of the AMR's working environment, and electronic tags are placed on the AMR. When the AMR leaves the set base station, it is determined that the AMR has left the preset safe area, which can trigger an alarm.

[0070] The second method utilizes the navigation feature of the AMR itself using QR codes. Specifically, the ground is covered with a dense array of QR codes. Each QR code not only indicates the AMR's next direction of movement but also contains specific location information. Based on the QR code scanned in the previous moment, the location of the AMR within the area can be determined, thereby identifying whether the AMR has left the preset safe zone.

[0071] In one embodiment, the motion state of the autonomous mobile robot (AMR) is acquired, and abnormal movement is judged, specifically including:

[0072] Obtain navigation data from the downward detection of the AMR's QR code scanner;

[0073] If navigation data cannot be recognized, and the AMR's speed is detected to be 0 or less than the preset speed, the movement state is determined to be abnormal.

[0074] AMR typically uses bottom QR code scanning for navigation. It uses its own QR code scanner to detect downwards in real time. When the AMR controller detects that parameters such as focus cannot be focused and the vehicle speed is 0 or less than the preset speed, it determines that the movement is abnormal.

[0075] In one embodiment, acquiring the motion state of an autonomous mobile robot (AMR) and performing abnormal movement detection specifically includes:

[0076] Acquire video images of the AMR captured by the AMR working area video surveillance system;

[0077] If the AMR is detected to be moving in the video image and the AMR has not received a valid movement command, the motion state is determined to be abnormal movement.

[0078] Specifically, it can be integrated with the warehouse or factory video surveillance system to monitor the AMR's operating status and environmental conditions in real time, and detect abnormal moving behavior. If the AMR is detected to have been moved without receiving a legitimate moving instruction (such as a remote control instruction or a preset moving path), the AMR controller or AMR management system determines that the movement is abnormal.

[0079] It should be noted that when judging abnormal movement, any one of the above judgment methods can be used, or two or more of the above methods can be used in combination. This embodiment does not impose any restrictions.

[0080] In step S102, when it is determined that the movement is abnormal, it detects whether a person with an electronic tag is approaching, as follows.

[0081] When abnormal movement is detected, the AMR detects whether there are people wearing electronic tags nearby. These people are identified through a preset authentication method (such as an RFID / NFC card, a mobile phone with NFC / RFID functionality, an RFID / NFC wristband, or a worn electronic tag).

[0082] It should be noted that if the electronic tag uses an RFID / NFC card, a corresponding card reader should be installed on the AMR; if the electronic tag uses an RFID / NFC wristband or a worn electronic tag, a corresponding base station should be installed on the AMR; if the electronic tag uses a mobile phone with NFC / RFID functionality, a card reader or base station can be installed on the AMR. The specific pairing or configuration is required as needed, and this embodiment does not impose any restrictions.

[0083] In step S103, when an operator with an electronic tag is detected approaching, operation permission identification is performed, as follows.

[0084] Based on the responsibilities and needs of staff, different operating permissions can be assigned to them. For example, only specific personnel may be allowed to operate AMR or access critical areas, thus requiring a system verification function to confirm whether the personnel have the corresponding permissions.

[0085] Specifically, after triggering the abnormal movement detection mechanism, the AMR management system backend will send an SMS verification code to the registered mobile phone number of the identified NFC card to prevent theft. If an unauthorized person passes the authentication and moves the AMR abnormally, the AMR management system should determine that the behavior is theft and immediately trigger an alarm.

[0086] Furthermore, after the AMR activates its alarm, it also includes remote locking and tracking. That is, once the theft of the AMR is detected, the AMR's motion function can be locked through the AMR management remote control, and its location can be tracked via GPS or other positioning technologies.

[0087] In summary, this invention analyzes the AMR's movement trajectory, speed, acceleration, and other parameters, as well as surrounding environmental information (such as camera monitoring and data from other sensors), to determine whether the AMR has been stolen. If theft is detected, the AMR immediately issues a high-decibel alarm and attempts to send the theft information to the management center via wireless communication. If non-theft is detected (such as accidental operation or legitimate handling), the alarm is deactivated, the event is recorded, and the AMR enters standby mode, achieving efficient and accurate anti-theft measures.

[0088] See Figure 3 As shown, this embodiment also discloses an AMR anti-theft system, including:

[0089] The abnormal movement judgment module 301 is configured to acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement judgment.

[0090] The identity verification module 302 is configured to detect whether a person wearing an electronic tag is approaching when the movement status is determined to be abnormal.

[0091] The operation permission recognition module 303 is configured to perform operation permission recognition when it detects that a person with an electronic tag is approaching.

[0092] The AMR processing module 304 is configured to enter standby mode if it detects that there is operation permission; otherwise, the AMR will start an alarm.

[0093] Other specific implementations of an AMR anti-theft system and the same AMR anti-theft method will not be described again in this embodiment.

[0094] The above description is merely a preferred embodiment of the present invention; however, the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and its improved concepts, should be covered within the scope of protection of the present invention.

Claims

1. An AMR anti-theft method, characterized in that, include: Acquire the motion state of the autonomous mobile robot (AMR) and identify abnormal movements; When the movement is determined to be abnormal, detect whether a person wearing an electronic tag is approaching; When an operator with an electronic tag is detected approaching, access rights are verified. If access is detected, the AMR enters standby mode; otherwise, the AMR activates an alarm.

2. The AMR anti-theft method according to claim 1, characterized in that, Acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection, specifically including: Acquire the three-dimensional attitude data of the AMR detected by the attitude sensor, and determine whether the three-dimensional attitude data exceeds the preset three-dimensional attitude data; If the value exceeds the limit, the movement state is determined to be abnormal.

3. The AMR anti-theft method according to claim 1, characterized in that, Acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection, specifically including: Obtain the ground distance of the AMR detected by the ranging sensor, and determine whether the ground distance exceeds the preset distance; If the value exceeds the limit, the movement state is determined to be abnormal.

4. The AMR anti-theft method according to claim 1, characterized in that, Acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection, specifically including: Obtain the current location data of the AMR, and determine whether the AMR is within the preset safe area based on the current location data. If not, the movement status is determined to be abnormal movement.

5. The AMR anti-theft method according to claim 1, characterized in that, Acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection, specifically including: Obtain navigation data from the downward detection of the AMR's QR code scanner; If navigation data cannot be recognized, and the AMR's speed is detected to be 0 or less than the preset speed, the movement state is determined to be abnormal.

6. The AMR anti-theft method according to claim 1, characterized in that, Acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection, specifically including: Acquire video images of the AMR captured by the AMR working area video surveillance system; If the AMR is detected to be moving in the video image and the AMR has not received a valid movement command, the motion state is determined to be abnormal movement.

7. The AMR anti-theft method according to claim 1, characterized in that, Detection is performed using radio frequency identification (RFID) technology or near-field communication to detect if anyone with an electronic tag is approaching.

8. The AMR anti-theft method according to claim 1, characterized in that, Perform operation permission identification, specifically including: The AMR management system sends a verification code to the registered phone number of the identified electronic tag; If the AMR management system receives a verification code that matches the sent verification code within a preset time, it will recognize that the user has the necessary permissions; otherwise, it will recognize the theft as an act of theft.

9. The AMR anti-theft method according to claim 1, characterized in that, After the AMR alarm is activated, it also includes: AMR sends information about theft to the AMR management system; The AMR management system remotely controls the movement of AMRs and tracks their location using positioning technology.

10. An AMR anti-theft system, characterized in that, include: The abnormal movement detection module is configured to acquire the motion state of the autonomous mobile robot (AMR) and perform abnormal movement detection. The identity verification module is configured to detect whether a person wearing an electronic tag is approaching when the movement status is determined to be abnormal. The operation permission recognition module is configured to recognize operation permissions when a person with an electronic tag is detected approaching. The AMR processing module is configured to enter standby mode if it detects that an operator has permission; otherwise, the AMR will activate an alarm.

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