Adjusting Robot Safety Limits Based On Network Connectivity
Example systems and methods are disclosed for limiting capabilities of a robot during teleoperation based on a network connection strength. The method may include determining tiers of operations that can be performed by a robot. One or more network strength thresholds corresponding to one or more of the tiers of operations of the robot may also be determined. The robot may then measure the network strength for the communication network between the robot and a remote control system. Based on the measured network strength and the determined network strength thresholds, one or more of the tiers of operations may be enabled for selection by the remote control system. The robot may determine network strength based on network latency and/or packet loss rate. The robot may provide a notification to the remote control system about the disabling of a previously enabled tier of operations due to decreased network strength.
1 . A method comprising:
determining a plurality of network strength thresholds, wherein each network strength threshold corresponds to one of a plurality of tiers of operations that can be performed by a robot;
measuring a network strength for a network used by the robot receive commands from a remote control system to execute one or more of the operations;
determining that a first operation commanded by the remote control system is within a first tier of operations that has a first corresponding network strength threshold that is greater than the measured network strength;
based on determining that the first operation is within the first tier of operations, preventing the robot from performing the first operation;
determining that a second operation commanded by the remote control system is within a second tier of operations that has a second corresponding network strength threshold that is less than or equal to the measured network strength; and
based on determining that the second operation is within the second tier of operations, causing the robot to perform the second operation.
2 . The method of claim 1 , wherein the network strength is measured at the robot.
3 . The method of claim 2 , wherein measuring the network strength comprises:
sending a first message from the robot to the remote control system, wherein the message includes an encrypted timestamp;
receiving, by the robot, a second message from the remote control system including the encrypted timestamp; and
determining, by the robot, the network strength based on the encrypted timestamp from the received second message.
4 . The method of claim 3 , wherein measuring the network strength further comprises:
determining a network latency based on the encrypted timestamp in the received second message; and
determining the network strength based on the network latency.
5 . The method of claim 1 , wherein measuring the network strength further comprises:
determining a packet loss rate; and
determining the network strength based on the packet loss rate.
6 . The method of claim 1 , further comprising:
determining that the network strength has decreased; and
disabling the second tier of operations due to the decreased network strength.
7 . The method of claim 6 , further comprising:
determining that a third operation commanded by the control system is within the disabled second tier of operations; and
responsively causing the robot to switch to a fail-safe operation mode for the robot.
8 . The method of claim 6 , further comprising:
providing a notification to the remote control system indicating the disabling of the previously enabled second tier of operations due to the decreased network strength.
9 . The method of claim 1 , further comprising:
providing a signal to the remote control system indicating that the second tier of operations will be disabled if the network strength decreases below the network strength threshold corresponding to the second tier of operations, wherein the signal indicates to pause or complete operations within the second tier of operations.
10 . The method of claim 1 , further comprising:
providing an indication of the measured network strength by way of a user interface of the remote control system.
11 . The method of claim 1 , wherein the first tier of operations has a higher network sensitivity than the second tier of operations.
12 . The method of claim 11 , wherein the first tier of operations includes robot arm control, wherein the second tier of operations includes gathering robot sensor data.
13 . A non-transitory computer-readable medium storing instructions that are executable by one or more computing devices associated with a robot, wherein executing the instructions causes the one or more computing devices to perform functions comprising:
determining a plurality of network strength thresholds, wherein each network strength threshold corresponds to one of a plurality of tiers of operations that can be performed by a robot;
measuring a network strength for a network used by the robot to receive commands from a remote control system to execute one or more of the operations;
determining that a first operation commanded by the remote control system is within a first tier of operations that has a first corresponding network strength threshold that is greater than the measured network strength;
based on determining that the first operation is within the first tier of operations, preventing the robot from performing the first operation;
determining that a second operation commanded by the remote control system is within a second tier of operations that has a second corresponding network strength threshold that is less than or equal to the measured network strength; and
based on determining that the second operation is within the second tier of operations, causing the robot to perform the second operation.
14 . The non-transitory computer-readable medium of claim 13 , wherein the network strength is measured at the robot, wherein measuring the network strength comprises:
sending a first message to the remote control system, wherein the message includes an encrypted timestamp;
receiving a second message from the remote control system including the encrypted timestamp; and
determining the network strength based on the encrypted timestamp from the received second message.
15 . The non-transitory computer-readable medium of claim 13 , the functions further comprising:
determining that the network strength has decreased;
disabling the second tier of operations due to the decreased network strength; and
providing a notification to the remote control system indicating the disabling of the previously enabled second tier of operations due to the decreased network strength.
16 . The non-transitory computer-readable medium of claim 13 , wherein the first tier of operations has a higher network sensitivity than the second tier of operations.
17 . The non-transitory computer-readable medium of claim 16 , wherein the first tier of operations includes manual navigation control of the robot, wherein the second tier includes destination-based navigation control of the robot.
18 . A robot comprising:
a processor; and
a memory storing instructions that when executed by the processor cause the robot to perform functions comprising:
determining a plurality of network strength thresholds, wherein each network strength threshold corresponds to one of a plurality of tiers of operations that can be performed by a robot;
measuring a network strength for a network used by the robot receive commands from a remote control system to execute one or more of the operations;
determining that a first operation commanded by the remote control system is within a first tier of operations that has a first corresponding network strength threshold that is greater than the measured network strength;
based on determining that the first operation is within the first tier of operations, preventing the robot from performing the first operation;
determining that a second operation commanded by the remote control system is within a second tier of operations that has a second corresponding network strength threshold that is less than or equal to the measured network strength; and
based on determining that the second operation is within the second tier of operations, causing the robot to perform the second operation.
19 . The robot of claim 18 , wherein the instructions for measuring the network strength further cause the robot to perform functions comprising:
sending a first message to the remote control system, wherein the message includes an encrypted timestamp;
receiving a second message from the remote control system including the encrypted timestamp; and
determining the network strength based on the encrypted timestamp from the received second message.
20 . The robot of claim 18 , wherein the first tier of operations has a higher network sensitivity than the second tier of operations.