CN111844022A - Vehicle gauge level safety strategy configuration system - Google Patents
Vehicle gauge level safety strategy configuration system Download PDFInfo
- Publication number
- CN111844022A CN111844022A CN202010571811.2A CN202010571811A CN111844022A CN 111844022 A CN111844022 A CN 111844022A CN 202010571811 A CN202010571811 A CN 202010571811A CN 111844022 A CN111844022 A CN 111844022A
- Authority
- CN
- China
- Prior art keywords
- module
- information
- robot
- security policy
- fds
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims abstract description 17
- 230000008447 perception Effects 0.000 claims description 29
- 238000004891 communication Methods 0.000 claims description 28
- 238000007726 management method Methods 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 18
- 230000001133 acceleration Effects 0.000 claims description 16
- 230000009471 action Effects 0.000 claims description 10
- 238000012545 processing Methods 0.000 claims description 10
- 239000000779 smoke Substances 0.000 claims description 3
- 238000013461 design Methods 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 22
- 230000009286 beneficial effect Effects 0.000 description 8
- 238000004590 computer program Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 4
- 230000003068 static effect Effects 0.000 description 4
- 241000282414 Homo sapiens Species 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000005457 optimization Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000003860 storage Methods 0.000 description 3
- 238000009776 industrial production Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle gauge level safety strategy configuration system, which is suitable for autonomous mobile robots in cluster operation and comprises the following components: the system comprises a machine security policy module, a service security policy module, a roadside security policy module and an FDS security policy module; the FDS security policy module is respectively connected with the machine security policy module, the service security policy module and the roadside security policy module. The four-level safety strategy is adopted to realize the safety design of the vehicle-scale autonomous transportation system through the machine safety strategy module, the service safety strategy module, the roadside safety strategy module and the FDS safety strategy module so as to achieve the effect that the failure probability of the overall safety detection is lower than that of the overall safety detection
Description
Technical Field
The invention relates to the technical field of robot safety, in particular to a vehicle gauge level safety strategy configuration system.
Background
When the cluster type autonomous mobile robot is put into large-scale industrial production and transportation, enough theoretical analysis and practical demonstration need to be carried out on the reliability of the cluster type autonomous mobile robot, and a quantitative data is given by comparing the driving behaviors and specifications of human beings so as to measure whether the reliability of the cluster type autonomous mobile robot can reach the automatic product standard for industrial production. At present, a verified reliable security policy system and standard for an autonomous mobile robot operating in a cluster mode do not exist yet, so that sufficient security guarantee is provided, and the autonomous mobile robot can continuously, safely and efficiently operate. The autonomous mobile robot comprises an AGV, an automatic driving vehicle and a man-machine hybrid operation vehicle (such as a man-made operation vehicle and an automatic driving vehicle), a perception system of the autonomous mobile robot is used for simulating eyes of a human, but the eye resolution ratio can not be far reached, and the autonomous planning and decision-making capability of the autonomous mobile robot is far inferior to that of the human, so that the reliability of the autonomous mobile robot which operates independently is poor, the autonomous mobile robot is easy to break down, the failure rate is high, and the operation efficiency is difficult to guarantee.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the art described above. Therefore, the invention aims to provide a vehicle gauge level safety strategy configuration system, which designs a four-level safety strategy, reduces the failure probability of an autonomous mobile robot, prolongs the average fault-free operation time and improves the safety and reliability.
In order to achieve the above object, an embodiment of the present invention provides a vehicle-level safety policy configuration system, which is suitable for a cluster-type autonomous mobile robot, and includes: the system comprises a machine security policy module, a service security policy module, a roadside security policy module and an FDS security policy module; the FDS security policy module is respectively connected with the machine security policy module, the service security policy module and the roadside security policy module; wherein,
the machine security policy module is used for acquiring equipment information of the robot and sending the equipment information of the robot to the FDS security policy module;
the service security policy module is used for performing service security planning on the operation action, the operation space and the operation time sequence of the robot, generating robot execution service information and sending the robot execution service information to the FDS security policy module;
The roadside safety strategy modules are arranged on two sides of a road where the robot works and used for acquiring real-time road condition information and sending the real-time road condition information to the FDS safety strategy module;
the FDS security policy module is to:
receiving equipment information sent by the machine security policy module, and supervising the equipment state of the robot;
receiving the execution service information sent by the service security policy module, and supervising the execution service condition of the robot;
receiving road condition information sent by the road side safety strategy module, and supervising the road condition of robot operation;
and comprehensively processing according to the equipment information, the executive service information and the road condition information, and providing data support for the FDS security policy module to make global planning decision.
According to the vehicle-scale safety strategy configuration system provided by the embodiment of the invention, the machine safety strategy module collects the equipment information of the robot and sends the equipment information to the FDS safety strategy module to supervise the equipment state of the robot. The equipment information includes equipment management information (static) and some parameter information (dynamic) during robot operation, including: position information, longitudinal acceleration, lateral acceleration, yaw rate, velocity, and the like; the equipment management information comprises equipment model, maintenance record and service life. The comprehensiveness of data information is ensured by collecting static and dynamic information of the robot, and the safety level of the robot is improved. The service safety strategy module is used for carrying out service safety planning on the operation action, the operation space and the operation time sequence of the robot, carrying out standardized management on the operation of the robot, realizing the optimization of the operation of the robot and improving the operation efficiency, and also generating and sending robot execution service information to the FDS safety strategy module to supervise the robot execution service condition; and the roadside safety strategy modules are arranged on two sides of a road for the robot operation and used for acquiring real-time road condition information and sending the real-time road condition information to the FDS safety strategy module to supervise the road condition of the robot operation. An FDS security policy module for performing comprehensive processing according to the equipment information, the executive service information and the road condition information The method has the advantages that global planning decision is carried out to provide data support, global optimal scheduling and optimal path planning of each robot are achieved, meanwhile, the equipment state, the service execution condition and the road condition of the robot are supervised during operation of the robot, a four-level safety strategy is designed, the failure probability of the autonomous mobile robot is reduced, the mean time of fault-free operation is prolonged, and the safety and reliability are improved. The four-level safety strategy realizes the safety design of the vehicle-scale autonomous transportation system through a machine safety strategy module, a business safety strategy module, a roadside safety strategy module and an FDS (fully drawn Standard) safety strategy module so as to achieve the effect that the failure probability of the overall safety detection is lower than that of the overall safety detection
。
According to some embodiments of the invention, the machine security policy module comprises:
the environment perception module is used for perceiving the environment around the robot, generating environment perception information and sending the environment perception information to the control module;
the lane line identification module is used for identifying lane lines on the robot working road, generating lane line identification information and sending the lane line identification information to the control module;
the first brake module is used for generating brake force to enable the robot to be in a stop state;
the first brake detection module is connected with the first brake module and used for judging whether the first brake module breaks down or not, and generating fault information and sending the fault information to the control module when the first brake module breaks down;
The equipment information acquisition module is used for acquiring equipment information of the robot and sending the equipment information to the control module;
the control module is respectively connected with the environment sensing module, the lane line identification module, the first brake detection module and the equipment information acquisition module;
the control module is used for:
receiving environment perception information sent by the environment perception module, and controlling the robot to accelerate, decelerate or stop according to the environment perception information;
receiving environment perception information sent by the environment perception module, and controlling a voice prompt module connected with a control module to send prompt information when judging that the distance between the robot and the obstacle is smaller than a preset distance threshold value according to the environment perception information;
receiving lane line identification information sent by the lane line identification module, and controlling the robot to run in a preset area according to the lane line identification information;
receiving fault information sent by the first brake detection module, and controlling a second brake module connected with the control module to brake the robot;
and receiving the equipment information sent by the equipment information acquisition module, and sending the equipment information to the FDS security policy module through a communication module connected with the control module.
According to some embodiments of the invention, the device information collecting module comprises:
the positioning module is used for receiving satellite signals and analyzing the satellite signals to obtain the position information of the robot;
the gyroscope is used for acquiring the longitudinal acceleration and the transverse acceleration of the robot;
the yaw velocity sensor is used for acquiring the yaw velocity of the robot;
the speed sensor is used for acquiring the speed of the robot;
the equipment management module is used for acquiring equipment management information of the robot;
and the transceiving module is connected with the positioning module, the gyroscope, the yaw rate sensor, the speed sensor and the equipment management module and is used for receiving the position information, the longitudinal acceleration, the transverse acceleration, the yaw rate, the speed and the equipment management information of the robot and sending the information to the control module.
According to some embodiments of the invention, the device management information includes a device model, a service record, a duration of use.
According to some embodiments of the invention, the roadside security policy module comprises:
the vision sensor is used for acquiring image information of the robot running path;
the laser radar sensor is used for acquiring distance information of a running path of the robot;
The first communication module is connected with the vision sensor and the laser radar sensor and used for sending the image information and the position information to a roadside monitoring server;
the roadside monitoring server, the roadside security policy module includes:
the vision sensor is used for acquiring image information of the robot running path;
the laser radar sensor is used for acquiring distance information of a running path of the robot;
the first communication module is connected with the vision sensor and the laser radar sensor and used for sending the image information and the position information to a roadside monitoring server;
the road side monitoring server is used for:
receiving the image information and the position information, and judging whether a plurality of robots follow to run or not according to the image information and the position information; when the multiple robots are determined to follow and run, judging whether the following distance between the robots is smaller than a preset following distance or not; when the following distance between the robots is determined to be smaller than the preset following distance, controlling the robots to adjust the following distances;
and receiving the image information and the position information and sending the image information and the position information to the FDS security policy module.
According to some embodiments of the invention, the vision sensor comprises one or more of a camera, a video camera, a CDD camera;
The laser radar sensor comprises one or more of a single-line laser radar and a double-line laser radar;
the first communication module comprises one or more of a 4G communication module, a GPRS communication module and a GSM communication module.
According to some embodiments of the present invention, the service security policy module is connected to the roadside security policy module, and the service security policy module receives road condition information sent by the roadside security policy module and performs service security planning for an operation action, an operation space, and an operation timing sequence of the robot according to the road condition information.
According to some embodiments of the invention, the FDS security policy module is further to:
judging whether the robot fails according to the equipment information sent by the machine safety strategy module, and sending first failure information to background personnel when the robot is determined to fail;
judging whether the robot executes a preset service according to the execution service information sent by the service security policy module, and sending second fault information to background personnel when the robot is determined not to execute the preset service;
and when the road condition information sent by the road side safety strategy module is judged to be a bad road condition, sending third fault information to background personnel.
According to some embodiments of the invention, the bad road conditions include at least one of obstacles, heavy smoke, fire, congestion, and accidents on a traveling path of the robot.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and drawings.
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
FIG. 1 is a block diagram of a vehicle scale level security policy configuration system according to one embodiment of the present invention;
FIG. 2 is a block diagram of a machine security policy module according to one embodiment of the present invention;
FIG. 3 is a block diagram of a roadside security policy module according to one embodiment of the invention;
FIG. 4 is a schematic diagram of a vehicle class level security policy configuration system in accordance with one embodiment of the present invention;
FIG. 5 is a block diagram of a gather device information module, according to one embodiment of the present invention;
FIG. 6 is a diagram of an application scenario of an FDS security policy module, according to one embodiment of the present invention;
FIG. 7 is a topological diagram of an application scenario for a robot, according to an embodiment of the present invention;
fig. 8 is a diagram of an application scenario of a roadside security policy module according to an embodiment of the present invention.
Reference numerals:
the system comprises a machine safety strategy module 1, an environment perception module 11, a lane line identification module 12, a first braking module 13, a first braking detection module 14, a device information acquisition module 15, a positioning module 151, a gyroscope 152, a yaw rate sensor 153, a speed sensor 154, a device management module 155, a transceiver module 156, a control module 16, a voice prompt module 17, a second braking module 18, a communication module 19, a business safety strategy module 2, a roadside safety strategy module 3, a vision sensor 31, a laser radar sensor 32, a first communication module 33, a roadside monitoring server 34 and an FDS safety strategy module 4.
Detailed Description
The preferred embodiments of the present invention will be described in conjunction with the accompanying drawings, and it will be understood that they are described herein for the purpose of illustration and explanation and not limitation.
A vehicle-scale security policy configuration system according to an embodiment of the present invention is described below with reference to fig. 1 to 8.
As shown in fig. 1 and fig. 4, an embodiment of the present invention provides a vehicle-level safety policy configuration system, which is suitable for a cluster-type autonomous mobile robot, and includes: the system comprises a machine security policy module 1, a service security policy module 2, a roadside security policy module 3 and an FDS security policy module 4; the FDS security policy module 4 is respectively connected with the machine security policy module 1, the service security policy module 2 and the roadside security policy module 3; wherein,
the machine security policy module 1 is configured to acquire device information of a robot, and send the device information of the robot to the FDS security policy module 4;
the service security policy module 2 is configured to perform service security planning on operation actions, operation spaces and operation time sequences of the robot, generate robot execution service information, and send the robot execution service information to the FDS security policy module 4;
the roadside safety strategy module 3 is arranged on two sides of a road where the robot works, and is used for acquiring real-time road condition information and sending the real-time road condition information to the FDS safety strategy module 4;
the FDS security policy module 4 is configured to:
Receiving the equipment information sent by the machine security policy module 1, and supervising the equipment state of the robot;
receiving the execution service information sent by the service security policy module 2, and supervising the execution service condition of the robot;
receiving road condition information sent by the roadside safety strategy module 3, and supervising the road condition of robot operation;
and comprehensively processing the device information, the executive service information and the road condition information to provide data support for the FDS security policy module 4 to make global planning decision.
The working principle of the technical scheme is as follows: the autonomous mobile robot comprises an AGV (automatic guided vehicle), an automatic driven vehicle and the like, and is constructed by vehicle-level parts to meet vehicle-level requirements. The machine security policy module 1 collects the equipment information of the robot and sends the information to the FDS security policy module 4, so as to supervise the equipment state of the robot. Fds (quickdispatching system) is a cluster dispatching system. The equipment information includes equipment management information (static) and some parameter information (dynamic) during robot operation, including: position information, longitudinal acceleration, lateral acceleration, yaw rate, velocity, and the like; the equipment management information comprises equipment model, maintenance record and service life. The comprehensiveness of data information is ensured by collecting static and dynamic information of the robot, and the safety level of the robot is improved. The service safety strategy module 2 is used for performing service safety planning on the operation action, the operation space and the operation time sequence of the robot, performing standardized management on the operation of the robot, realizing the optimization of the operation of the robot and improving the operation efficiency, and generating and sending robot execution service information to the FDS safety strategy module 4 for supervising the robot execution service condition; and the roadside safety strategy module 3 is arranged on two sides of a road for the robot operation, and is used for acquiring real-time road condition information and sending the real-time road condition information to the FDS safety strategy module 4 to supervise the road condition of the robot operation. And the FDS security policy module 4 performs comprehensive processing according to the equipment information, the executive service information and the road condition information, and provides data support for the FDS security policy module 4 to perform global planning decision making.
The beneficial effects of the above technical scheme are that: the four-level safety strategy realizes the safety design of the vehicle-scale autonomous transportation system through the machine safety strategy module, the service safety strategy module, the roadside safety strategy module and the FDS safety strategy module so as to achieve the effect that the failure probability of the overall safety detection is lower than that of the overall safety detection
。
FIG. 2 is a block diagram of a machine security policy module according to one embodiment of the present invention; as shown in fig. 2, the machine security policy module 1 includes:
the environment perception module 11 is used for perceiving the environment around the robot, generating environment perception information and sending the environment perception information to the control module 16;
the lane line identification module 12 is used for identifying lane lines on the robot working road, generating lane line identification information and sending the lane line identification information to the control module 16;
the first brake module 13 is used for generating brake force to enable the robot to be in a stop state;
The first brake detection module 14 is connected to the first brake module 13, and is configured to determine whether the first brake module 13 fails, and when it is determined that the first brake module 13 fails, generate failure information and send the failure information to the control module 16;
the acquisition equipment information module 15 is used for acquiring equipment information of the robot and sending the equipment information to the control module 16;
the control module 16 is respectively connected with the environment sensing module 11, the lane line identification module 12, the first brake module 13, the first brake detection module 14 and the equipment information acquisition module 15;
the control module 16 is configured to:
receiving environment perception information sent by the environment perception module 11, and controlling the robot to accelerate, decelerate or stop according to the environment perception information;
receiving environment perception information sent by the environment perception module 11, and controlling a voice prompt module 17 connected with a control module 16 to send prompt information when judging that the distance between the robot and the obstacle is smaller than a preset distance threshold value according to the environment perception information;
receiving lane line identification information sent by the lane line identification module 12, and controlling the robot to run in a preset area according to the lane line identification information;
Receiving the fault information sent by the first brake detection module 14, and controlling a second brake module 18 connected with the control module 16 to brake the robot;
and receiving the device information sent by the device information collecting module 15, and sending the device information to the FDS security policy module through a communication module 19 connected with the control module 16.
The working principle of the technical scheme is as follows: when the environment sensing module 11 identifies that there are objects moving in opposite directions in the advancing direction of the robot, the motion of the robot is determined, for example, the robot is controlled to accelerate, decelerate or stop, so that the robot can be prevented from colliding with the objects, the intelligent control is realized, and the safety level of the robot is improved. When the distance between the robot and the obstacle is judged to be smaller than the preset distance threshold value according to the environment sensing information detected by the environment sensing module 11, the voice prompt module 17 connected with the control module 16 is controlled to send out prompt information, so that the robot is prevented from colliding with the obstacle, and the safety level of the robot is improved. The lane line recognition module 12 is configured to recognize a lane line on a working road of the robot, and the robot stores an electronic fence map, which can ensure that the robot travels in a preset area, where the preset area may be a lane where the robot travels. The first brake detection module 14 is arranged to detect whether the first brake module 13 fails, and when the first brake module 13 fails, the second brake module 18 is started, and the second brake module 18 is an independent emergency brake, so that the robot can be accurately and reliably stopped under the abnormal condition of the first brake module 13. The control module 16 sends the device information sent by the device information collecting module 15 to the FDS security policy module through the communication module 19, so as to provide the device information for the FDS security policy module, which is beneficial to the global planning of the FDS security policy module. The communication module 19 can be a wifi module and/or a 5G module, and the communication links are independent communication links which are redundant to each other, so that the communication reliability is guaranteed. When the robot bypasses the obstacle, the distance between the robot and the obstacle is controlled within the range of 1 +/-0.2 m, and the safety and reliability guarantee is provided when the robot bypasses the obstacle.
The beneficial effects of the above technical scheme are that: the safety level of the robot is improved.
FIG. 5 is a block diagram of a gather device information module, according to one embodiment of the present invention; as shown in fig. 5, the device information collecting module 15 includes:
the positioning module 151 is configured to receive a satellite signal and analyze the satellite signal to obtain position information of the robot;
a gyroscope 152 for acquiring longitudinal acceleration and lateral acceleration of the robot;
a yaw rate sensor 153 for acquiring a yaw rate of the robot;
a speed sensor 154 for acquiring the speed of the robot;
a device management module 155 for acquiring device management information of the robot;
and a transceiver module 156 connected to the positioning module 151, the gyroscope 152, the yaw rate sensor 1153, the speed sensor 154, and the device management module 155, and configured to receive position information, longitudinal acceleration, lateral acceleration, yaw rate, speed, and device management information of the robot and send the information to the control module 16.
The beneficial effects of the above technical scheme are that: hardware modularization and software modularization are achieved, multiple groups of sensors are used, equipment information of the robot is collected, reliability and stability of the whole automatic driving vehicle-mounted module are improved, high robustness is obtained, transverse deviation errors within +/-20 cm of straight line driving are achieved, and fixed-point parking repeatability precision is +/-5-10 cm. The equipment information of robot is gathered comprehensively, guarantees the comprehensiveness of information of gathering, is favorable to improving the security of robot, according to the equipment information of robot, when judging that the robot breaks down, in time handles, reduces the loss.
The service safety strategy module 2 plans the service safety of the robot, and according to the specific operation action of the robot, such as turning back and backing up and lifting a bucket and dumping earthwork (aiming at a mining vehicle), or turning back and backing up and carrying out a mounting tray (aiming at a mountable tray and a soft-trailer vehicle), the path planning and the time sequence planning of turning back and backing up are designed in cooperation with the FDS safety strategy module. In the operation area of the robot, the business safety strategy module 2 is used for planning the safety of the robot, planning the operation path of another robot opposite to the robot and planning the operation time sequence of a plurality of robots, and ensures that enough buffer space exists during the synchronous coordination operation of the plurality of robots so as to ensure the linkage operation.
FIG. 3 is a block diagram of a roadside security policy module according to one embodiment of the invention; as shown in fig. 3, the roadside security policy module 3 includes:
a vision sensor 31 for acquiring image information of a robot travel path;
the laser radar sensor 32 is used for acquiring distance information of a robot traveling path;
the first communication module 33 is connected with the vision sensor 31 and the laser radar sensor 32, and is used for sending the image information and the position information to the roadside monitoring server 34;
The roadside monitoring server 34 is configured to:
receiving the image information and the position information, and judging whether a plurality of robots follow to run or not according to the image information and the position information; when the multiple robots are determined to follow and run, judging whether the following distance between the robots is smaller than a preset following distance or not; when the following distance between the robots is determined to be smaller than the preset following distance, controlling the robots to adjust the following distances;
and receiving the image information and the position information and sending the image information and the position information to the FDS security policy module.
The working principle of the technical scheme is as follows: the image information of the robot running path acquired by the vision sensor 31 and the distance information acquired by the laser radar sensor 32 are more comprehensive in acquiring the road condition information, can clearly reflect the real road condition information, and transmits the road condition information to the road side monitoring server 34 through the first communication module 33, and the road side monitoring server 34 transmits the road condition information to the FDS safety strategy module 4. The roadside monitoring server 34 also monitors the robots in the designated area, receives the image information and the position information, and judges whether a plurality of robots follow the driving according to the image information and the position information; when the multiple robots are determined to follow and run, judging whether the following distance between the robots is smaller than a preset following distance or not; and controlling the robots to adjust the following intervals when the following intervals among the robots are determined to be smaller than the preset following intervals.
The beneficial effects of the above technical scheme are that: the robot is effectively monitored, collision caused by the fact that a plurality of robots follow to run is avoided, safety and reliability are improved, overall layout of each robot is facilitated, and layout optimization is achieved.
According to some embodiments of the invention, the vision sensor 31 comprises one or more of a camera, a video camera, a CDD camera;
the lidar sensor 32 comprises one or more of a single line lidar, a twin line lidar;
the first communication module 33 includes one or more of a 4G communication module 19, a GPRS communication module 19, and a GSM communication module 19.
According to some embodiments of the present invention, the service security policy module 2 is connected to the roadside security policy module 3, and the service security policy module 2 receives the road condition information sent by the roadside security policy module 3, and performs service security planning for the operation action, the operation space, and the operation timing sequence of the robot according to the road condition information.
The working principle of the technical scheme is as follows: the image information of the robot running path acquired by the vision sensor 31 and the distance information acquired by the laser radar sensor 32 are more comprehensive in acquiring the road condition information, can clearly reflect the real road condition information, and transmits the road condition information to the road side monitoring server 34 through the first communication module 33, and the road side monitoring server 34 transmits the road condition information to the service safety strategy module 2.
The beneficial effects of the above technical scheme are that: the method is beneficial to performing business safety planning on the operation action, the operation space and the operation time sequence of the robot, and improves the safety level of the robot during operation.
According to some embodiments of the invention, the FDS security policy module 4 is further configured to:
judging whether the robot fails according to the equipment information sent by the machine safety strategy module 1, and sending first failure information to background personnel when the robot is determined to fail;
judging whether the robot executes a preset service according to the execution service information sent by the service security policy module 2, and sending second fault information to background personnel when the robot is determined not to execute the preset service;
and when the road condition information sent by the road side safety strategy module 3 is judged to be a bad road condition, sending third fault information to background personnel.
The beneficial effects of the above technical scheme are that: the system is convenient for background personnel to process in time, reduces loss and improves safety and reliability.
According to some embodiments of the invention, the bad road conditions include at least one of obstacles, heavy smoke, fire, congestion, and accidents on a traveling path of the robot.
FIG. 6 is a diagram of an application scenario for an FDS security policy module, according to one embodiment of the present invention; as shown in fig. 6, the FDS security policy module 4 is responsible for global path planning of all robots, and performs comprehensive processing according to the device information, the execution service information, and the road condition information, and the FDS may change in real time according to the road condition and provide real-time optimized path planning, for example, provide global driving path planning for all robots under control thereof according to road segment robot traffic, road segment road conditions, and the like.
When starting a detour obstacle, the robot A sends information requesting detour to the FDS safety strategy module 4 through the machine safety strategy module, the FDS safety strategy module 4 receives the information requesting detour and judges whether the robot A is allowed to detour according to the execution service information and the road condition information, when determining that the robot A can detour, a feedback instruction allowing detour is sent to the robot A, meanwhile, a corresponding opposite lane is closed, and the other opposite robot B waits for the robot A to pass through at a specified place according to the instruction sent by the FDS safety strategy module; under the scene, the FDS safety strategy module can judge whether to detour firstly or start the detour by the robot A after the robot B passes firstly according to the speed per hour and the task priority of the robot A and the robot B, so that traffic safety guarantee is provided for the robot A, and the safety and reliability are improved.
FIG. 7 is a topological diagram of an application scenario for a robot, according to an embodiment of the present invention; as shown in fig. 7, the robot may be a container tractor, a baggage tractor, an obstacle clearing vehicle, an automated driving ferry vehicle; the robot is connected with the server through a wireless network, and the server is used for monitoring the conditions of the robot such as machine safety, service safety and road side safety and controlling the FDS to be displayed on a large screen, so that a user can check the condition conveniently.
FIG. 8 is a diagram of an application scenario of a roadside security policy module according to one embodiment of the invention; as shown in fig. 8, the roadside safety policy module 3 is configured to monitor the operation process and the operation space state of the robot, for example, monitor that the robot C travels along the path 1 and the robot D travels along the path 2, and may also perform independent real-time monitoring on the monitoring area E, such as monitoring the travel direction and the position information of the robot D, and feed the travel direction and the position information of the robot D back to the robot C and the FDS safety policy module 4, so as to improve the safety level.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (9)
1. A vehicle-scale safety strategy configuration system is suitable for autonomous mobile robots in cluster operation, and is characterized by comprising: the system comprises a machine security policy module, a service security policy module, a roadside security policy module and an FDS security policy module; the FDS security policy module is respectively connected with the machine security policy module, the service security policy module and the roadside security policy module; wherein,
The machine security policy module is used for acquiring equipment information of the robot and sending the equipment information of the robot to the FDS security policy module;
the service security policy module is used for performing service security planning on the operation action, the operation space and the operation time sequence of the robot, generating robot execution service information and sending the robot execution service information to the FDS security policy module;
the roadside safety strategy modules are arranged on two sides of a road where the robot works and used for acquiring real-time road condition information and sending the real-time road condition information to the FDS safety strategy module;
the FDS security policy module is to:
receiving equipment information sent by the machine security policy module, and supervising the equipment state of the robot;
receiving the execution service information sent by the service security policy module, and supervising the execution service condition of the robot;
receiving road condition information sent by the road side safety strategy module, and supervising the road condition of robot operation;
and comprehensively processing according to the equipment information, the executive service information and the road condition information, and providing data support for the FDS security policy module to make global planning decision.
2. The vehicle scale level security policy configuration system of claim 1 wherein the machine security policy module comprises:
The environment perception module is used for perceiving the environment around the robot, generating environment perception information and sending the environment perception information to the control module;
the lane line identification module is used for identifying lane lines on the robot working road, generating lane line identification information and sending the lane line identification information to the control module;
the first brake module is used for generating brake force to enable the robot to be in a stop state;
the first brake detection module is connected with the first brake module and used for judging whether the first brake module breaks down or not, and generating fault information and sending the fault information to the control module when the first brake module breaks down;
the equipment information acquisition module is used for acquiring equipment information of the robot and sending the equipment information to the control module;
the control module is respectively connected with the environment sensing module, the lane line identification module, the first brake detection module and the equipment information acquisition module;
the control module is used for:
receiving environment perception information sent by the environment perception module, and controlling the robot to accelerate, decelerate or stop according to the environment perception information;
receiving environment perception information sent by the environment perception module, and controlling a voice prompt module connected with a control module to send prompt information when judging that the distance between the robot and the obstacle is smaller than a preset distance threshold value according to the environment perception information;
Receiving lane line identification information sent by the lane line identification module, and controlling the robot to run in a preset area according to the lane line identification information;
receiving fault information sent by the first brake detection module, and controlling a second brake module connected with the control module to brake the robot;
and receiving the equipment information sent by the equipment information acquisition module, and sending the equipment information to the FDS security policy module through a communication module connected with the control module.
3. The vehicle scale level security policy configuration system of claim 2, wherein the collecting device information module comprises:
the positioning module is used for receiving satellite signals and analyzing the satellite signals to obtain the position information of the robot;
the gyroscope is used for acquiring the longitudinal acceleration and the transverse acceleration of the robot;
the yaw velocity sensor is used for acquiring the yaw velocity of the robot;
the speed sensor is used for acquiring the speed of the robot;
the equipment management module is used for acquiring equipment management information of the robot;
and the transceiving module is connected with the positioning module, the gyroscope, the yaw rate sensor, the speed sensor and the equipment management module and is used for receiving the position information, the longitudinal acceleration, the transverse acceleration, the yaw rate, the speed and the equipment management information of the robot and sending the information to the control module.
4. The vehicle scale level security policy configuration system of claim 3 wherein the device management information comprises device model, service record, length of use.
5. The vehicle-scale level security policy configuration system of claim 1, wherein the roadside security policy module comprises:
the vision sensor is used for acquiring image information of the robot running path;
the laser radar sensor is used for acquiring distance information of a running path of the robot;
the first communication module is connected with the vision sensor and the laser radar sensor and used for sending the image information and the position information to a roadside monitoring server;
the road side monitoring server is used for:
receiving the image information and the position information, and judging whether a plurality of robots follow to run or not according to the image information and the position information; when the multiple robots are determined to follow and run, judging whether the following distance between the robots is smaller than a preset following distance or not; when the following distance between the robots is determined to be smaller than the preset following distance, controlling the robots to adjust the following distances;
and receiving the image information and the position information and sending the image information and the position information to the FDS security policy module.
6. The vehicle scale level security policy configuration system of claim 5, wherein the vision sensor comprises one or more of a camera, a video camera, a CDD camera;
the laser radar sensor comprises one or more of a single-line laser radar and a double-line laser radar;
the first communication module comprises one or more of a 4G communication module, a GPRS communication module and a GSM communication module.
7. The vehicle-scale safety strategy configuration system of claim 5, wherein the business safety strategy module is connected to the roadside safety strategy module, and the business safety strategy module receives road condition information sent by the roadside safety strategy module and performs business safety planning for operation actions, operation spaces and operation time sequences of the robot according to the road condition information.
8. The vehicle scale level security policy configuration system of claim 1, wherein the FDS security policy module is further to:
judging whether the robot fails according to the equipment information sent by the machine safety strategy module, and sending first failure information to background personnel when the robot is determined to fail;
Judging whether the robot executes a preset service according to the execution service information sent by the service security policy module, and sending second fault information to background personnel when the robot is determined not to execute the preset service;
and when the road condition information sent by the road side safety strategy module is judged to be a bad road condition, sending third fault information to background personnel.
9. The vehicle class safety strategy configuration system of claim 8, wherein the rough road conditions include at least one of obstacles, heavy smoke, fire, congestion, and accidents on a traveling path of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010571811.2A CN111844022A (en) | 2020-06-22 | 2020-06-22 | Vehicle gauge level safety strategy configuration system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010571811.2A CN111844022A (en) | 2020-06-22 | 2020-06-22 | Vehicle gauge level safety strategy configuration system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111844022A true CN111844022A (en) | 2020-10-30 |
Family
ID=72987773
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010571811.2A Pending CN111844022A (en) | 2020-06-22 | 2020-06-22 | Vehicle gauge level safety strategy configuration system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111844022A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9513627B1 (en) * | 2016-04-25 | 2016-12-06 | inVia Robotics, LLC | Autonomous coordination of resources amongst robots |
| US9663292B1 (en) * | 2016-09-09 | 2017-05-30 | Amazon Technologies, Inc. | Forecasted robotic drive unit dispatch |
| CN106856493A (en) * | 2015-12-08 | 2017-06-16 | 广东科达洁能股份有限公司 | A kind of AGV cluster center management systems based on Web |
| CN107272683A (en) * | 2017-06-19 | 2017-10-20 | 中国科学院自动化研究所 | Parallel intelligent vehicle control based on ACP methods |
| CN107705045A (en) * | 2017-11-01 | 2018-02-16 | 山东大学 | A kind of production logistics intelligent distribution AGV system and its application based on cloud website framework |
| CN109079792A (en) * | 2018-09-05 | 2018-12-25 | 顺德职业技术学院 | A kind of target based on multirobot surrounds and seize method and system |
| CN110308730A (en) * | 2019-07-18 | 2019-10-08 | 滁州学院 | A Multi-robot Coordinated Control System |
-
2020
- 2020-06-22 CN CN202010571811.2A patent/CN111844022A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106856493A (en) * | 2015-12-08 | 2017-06-16 | 广东科达洁能股份有限公司 | A kind of AGV cluster center management systems based on Web |
| US9513627B1 (en) * | 2016-04-25 | 2016-12-06 | inVia Robotics, LLC | Autonomous coordination of resources amongst robots |
| US9663292B1 (en) * | 2016-09-09 | 2017-05-30 | Amazon Technologies, Inc. | Forecasted robotic drive unit dispatch |
| CN107272683A (en) * | 2017-06-19 | 2017-10-20 | 中国科学院自动化研究所 | Parallel intelligent vehicle control based on ACP methods |
| CN107705045A (en) * | 2017-11-01 | 2018-02-16 | 山东大学 | A kind of production logistics intelligent distribution AGV system and its application based on cloud website framework |
| CN109079792A (en) * | 2018-09-05 | 2018-12-25 | 顺德职业技术学院 | A kind of target based on multirobot surrounds and seize method and system |
| CN110308730A (en) * | 2019-07-18 | 2019-10-08 | 滁州学院 | A Multi-robot Coordinated Control System |
Non-Patent Citations (1)
| Title |
|---|
| 熊有伦等: "《机器人学 建模、控制与视觉》", 31 March 2018 * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7339635B2 (en) | Intelligent Road Infrastructure Systems (IRIS): systems and methods | |
| NL1043485B1 (en) | Full-automatic underground mining transportation system | |
| US20230056023A1 (en) | Vehicle-road driving intelligence allocation | |
| WO2020164237A1 (en) | Method and apparatus for driving control, device, medium, and system | |
| CN113936491B (en) | Automatic driving road condition navigation method, system and medium based on 5G network | |
| CN110409550A (en) | A fully automatic operation underground mining scraper | |
| CN111932882B (en) | Real-time early warning system, method and equipment for road accidents based on image recognition | |
| KR102291318B1 (en) | Driving analysis server moniotring autonomous vehicles | |
| CN105279958A (en) | Fleet management system and method | |
| CN109153393A (en) | vehicle control system | |
| CN111882474B (en) | FDS function design method for automatic driving vehicle cluster scheduling | |
| CN113763740A (en) | A big data traffic guidance system and guidance method | |
| CN118134209B (en) | Intelligent harbor mine integrated management, control and scheduling system and method | |
| CN111429734A (en) | Real-time monitoring system and method for inside and outside port container trucks | |
| CN113031594A (en) | Maintenance operation-based adjoint type active safety warning robot, system and method | |
| US11183052B2 (en) | Enhanced vehicle operation | |
| CN105825313A (en) | Method and system for safety operation management of mining area | |
| CN111844022A (en) | Vehicle gauge level safety strategy configuration system | |
| CN114248766A (en) | Apparatus and method for ensuring travel track of own vehicle | |
| CN117930727A (en) | Vehicle formation safety monitoring system based on remote driving | |
| CN111627240A (en) | Intelligent urban bus special lane facility system and control method | |
| US20240067195A1 (en) | Transfer Learning with Experience Filter for Vehicle Operation | |
| CN111619584B (en) | State supervision method and device for unmanned automobile | |
| CN117494029B (en) | Road casting event identification method and device | |
| CN118192686A (en) | A speed control method for an unmanned vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201030 |