CN116749162A - Automatic fault identification method, device, equipment and storage medium - Google Patents
Automatic fault identification method, device, equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- 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
- B25J9/1666—Avoiding collision or forbidden zones
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- 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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
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Abstract
The embodiment of the application discloses a method, a device, equipment and a storage medium for automatically identifying faults. When the robot is determined to have faults, the functional system generates alarm information comprising alarm codes and sends the alarm information to the main control module, the main control module uploads the alarm information to the operation and maintenance platform through the background message center, and the operation and maintenance platform generates corresponding fault content information according to the alarm information and then sends the alarm information and the fault content information to the target address. The embodiment of the application improves the accuracy and efficiency of the troubleshooting of the robot and solves the technical problems of low efficiency and low accuracy in the troubleshooting process of the robot in the prior art.
Description
Technical Field
The embodiment of the application relates to the field of automation, in particular to a fault automatic identification method, device, equipment and storage medium.
Background
At present, along with the continuous development of technology, the development of robot technology is also changed day by day, and at present, partial robots can be fully automated. Because the robot system is complex, when the robot fails, the robot must be troubleshooted to locate the problem. However, as a complex system, the robot is a system engineering, and in the process of troubleshooting, maintenance personnel are required to understand the functional systems and control principles of the robot, and various test means are applied to the robot, which requires the development team to highly cooperate with the maintenance personnel to have deep professional knowledge storage, so that the implementation conditions are severe, and the technical problems of low efficiency and low accuracy in the process of troubleshooting of the robot are caused.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for automatically identifying faults, which can improve the efficiency and the accuracy of the troubleshooting of a robot and solve the technical problems of low efficiency and low accuracy in the troubleshooting process of the robot in the prior art.
In a first aspect, an embodiment of the present invention provides a method for automatically identifying a fault, where the method is applicable to a functional system of a robot, where the functional system divides a circuit module in advance according to a function of the robot, and the method includes:
Collecting state data and operation data of basic functional elements of the robot;
analyzing the state data and the operation data in real time to determine whether the robot has a fault or not;
when the robot is determined to have faults, generating alarm information, wherein the alarm information comprises alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm codes comprise information of different dimensions of the fault;
and sending the alarm information to a main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to an operation and maintenance platform through a background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, and after determining fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to a target address.
In a second aspect, an embodiment of the present invention provides an automatic fault identification device, where the device is applicable to a functional system of a robot, where the functional system divides a circuit module into functions of the robot in advance, and the device includes:
the data acquisition module is used for acquiring state data and operation data of the basic functional elements of the robot;
The fault analysis module is used for analyzing the state data and the operation data in real time and determining whether the robot has a fault or not;
the information generation module is used for generating alarm information when the robot is determined to have faults, wherein the alarm information comprises alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm codes comprise information of different dimensionalities of the fault;
and the information reporting module is used for sending the alarm information to the main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to the operation and maintenance platform through the background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, and after determining fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to a target address.
In a third aspect, an embodiment of the present invention provides an automatic fault identification device, including a processor and a memory;
the memory is used for storing a computer program and transmitting the computer program to the processor;
The processor is configured to execute a fault automatic identification method according to the first aspect according to instructions in the computer program.
In a fourth aspect, embodiments of the present invention provide a storage medium storing computer-executable instructions which, when executed by a computer processor, are adapted to carry out a method of fault automatic identification as described in the first aspect.
In the embodiment of the invention, the state data and the operation data of the basic functional elements of the robot are collected by utilizing the functional system of the robot, and the state data and the operation data are analyzed in real time to determine whether the robot has a fault. When the robot is determined to have faults, the functional system generates alarm information comprising alarm codes and sends the alarm information to the main control module, the main control module uploads the alarm information to the operation and maintenance platform through the background message center, and the operation and maintenance platform generates corresponding fault content information according to the alarm information and then sends the alarm information and the fault content information to the target address. The operation and maintenance personnel can quickly locate and troubleshoot the faults of the robot by checking the fault content information at the target address, so that the accuracy and the efficiency of troubleshooting the faults of the robot are improved, and the technical problems of low efficiency and low accuracy in the fault troubleshooting process of the robot in the prior art are solved.
Drawings
Fig. 1 is a flowchart of a fault automatic identification method according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a data transmission relationship among a robot, a background message center, an operation and maintenance platform and a mobile terminal according to an embodiment of the present application.
Fig. 3 is a flowchart of another automatic fault identification method according to an embodiment of the present application.
Fig. 4 is a schematic diagram of a structure of a fault automatic identification method according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of an automatic fault recognition device according to an embodiment of the present application.
Fig. 6 is a schematic structural diagram of an automatic fault identification device according to an embodiment of the present application.
Detailed Description
The following description and the drawings sufficiently illustrate specific embodiments of the application to enable those skilled in the art to practice them. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in, or substituted for, those of others. The scope of embodiments of the application encompasses the full ambit of the claims, as well as all available equivalents of the claims. Embodiments may be referred to herein, individually or collectively, by the term "application" merely for convenience and without intending to voluntarily limit the scope of this application to any single application or inventive concept if more than one is in fact disclosed. Relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed. Various embodiments are described herein in a progressive manner, each embodiment focusing on differences from other embodiments, and identical and similar parts between the various embodiments are sufficient to be seen with each other. The structures, products and the like disclosed in the embodiments correspond to the parts disclosed in the embodiments, so that the description is relatively simple, and the relevant parts refer to the description of the method parts.
As shown in fig. 1, fig. 1 is a flowchart of a fault automatic identification method according to an embodiment of the present invention. The fault automatic identification method provided by the embodiment of the invention is suitable for a functional system of a robot, wherein the functional system refers to a system for executing one or more specific functions. In this embodiment, the functional system may be obtained by dividing a circuit module according to a function of the robot in advance, for example, the functional system may be divided into a navigation system, a DCU system, a communication system, a man-machine system, and the like of the robot, where the navigation system is used to implement a path navigation function of the robot, and the navigation system may include a positioning module, a map module, a path planning module, a motion control module, an obstacle avoidance planning module, and the like in the robot. The DCU system is used for realizing the driving control function of the robot, and can comprise a main control module, a motor module, a driving module, a sensor module, a power module and the like in the robot. The communication system is used for realizing the communication function of the robot, such as communication between the man-machine system and the navigation system, communication between the man-machine system and the DCU system, communication between the navigation system and the DCU system, communication between the man-machine system and the system background, and the like. The man-machine system is used for realizing the man-machine interaction function of the robot. It can be understood that the functional system in this embodiment may be divided according to actual needs, and is not specifically limited in this embodiment.
The automatic fault identification method provided by the embodiment of the invention comprises the following steps:
and 101, collecting state data and operation data of basic functional elements of the robot.
In this embodiment, each functional system needs to collect state data and operation data of a basic functional element of the robot in real time, where the basic functional element of the robot refers to an element for implementing a basic function of the robot, and the basic functional element includes, for example, a battery, a sensor, a radar, a motor, and other elements. The state data of the basic functional element comprises data of the current working state of the basic functional element, such as whether the basic functional element is in a running state and the working mode of the basic functional element; the operation data of the basic functional element comprises data in the operation process of the basic functional element, such as current data, voltage data, power data and the like of the basic functional element.
In one embodiment, each functional system is internally provided with a data acquisition unit, and the data acquisition unit can be implemented in a software and/or hardware mode and is used for acquiring state data and operation data of basic functional elements of the robot. The data acquisition unit can acquire the state data and the operation data in various modes, for example, the state data and the operation data can be acquired through hardware monitoring physical signals, the state data and the operation data can be acquired through timing detection and reporting data and interface data communication analysis, and the state data and the operation data can be acquired through ROS topic acquisition mechanism and master-slave communication. The ROS Topic acquisition mechanism is used for communicating between the functional systems through topics (Topic), the topics are channels for transmitting data, and basic functional elements of the robot can be monitored by acquiring and analyzing ROS Topic information.
And 102, analyzing the state data and the operation data in real time to determine whether the robot has a fault.
After the state data and the operation data are acquired by each functional system, the state data and the operation data need to be analyzed in real time, and faults generated in the operation process of the robot are determined from multiple dimensions such as hardware faults, software Bug, parameter setting errors, data distortion, communication faults, environment changes, module loads, improper maintenance, business processes and the like. In one embodiment, each functional system may only detect whether each module subordinate to itself has a fault, for example, the navigation system only detects a fault of a module such as a positioning module and a map module, and the DCU system only detects a fault of a module such as a main control module and a motor module.
In one embodiment, the functional system may analyze the status data and the operation data according to preset conditions to determine whether a fault is generated. For example, the DCU system determines whether the state data and the operation data of the BMS (BATTERY MANAGEMENT SYSTEM) satisfy preset conditions to determine whether the BMS has failed. For example, comparing the voltage data of the BMS with a preset voltage range threshold value to judge whether a fault occurs; comparing the temperature data of the BMS with a preset battery temperature range threshold value during battery charging and discharging to judge whether a fault occurs; and comparing the current data of the BMS with a preset battery continuous discharge current threshold value to judge whether a fault occurs. Or the DCU system judges whether the laser radar has faults according to whether the communication state of the laser radar is normal, whether the laser radar has fault states and the data reported by the laser radar.
Step 103, when the robot is determined to have faults, alarm information is generated, wherein the alarm information comprises alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm codes comprise information with different dimensions of the fault.
When the functional system determines that the robot has a fault, the functional system generates corresponding alarm information, the generated alarm information comprises alarm codes corresponding to the fault, one type of fault corresponds to one type of alarm code, and different code segments in the alarm code comprise information with different dimensions of the fault. For example, assume that one code segment of the alert code includes location information for the fault, such as which functional system or which module in the functional system the fault is in; one code segment includes faulty attribute information, such as whether the fault belongs to a current fault, a voltage fault, a sensor fault, etc.; one code segment includes fault type information such as current undervoltage or current overvoltage, etc. In one embodiment, when the fault is a battery voltage overvoltage, the alert code is 601001; when the fault is the voltage under-voltage of the battery, the alarm code is 601002, wherein the position information corresponding to the first two bits 60 is the battery, the attribute information corresponding to the middle two bits 10 is the current, the type information corresponding to the last two bits 01 is bigger, and the type information corresponding to the last two bits 02 is smaller. It will be appreciated that the specific value of the alarm code may be set according to actual needs, for example, the alarm code may be a number, a letter, or a combination of a number and a letter, which is not specifically limited in this embodiment.
And 104, sending the alarm information to a main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to an operation and maintenance platform through a background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, and after determining fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to a target address.
After the alarm information is generated, each functional system needs to send the alarm module to a main control module, wherein the main control module is a control center of the robot. After summarizing the alarm information of each functional system, the master control module further sends the summarized alarm information to a background message center, and the alarm information of the background message center is uploaded to the operation and maintenance platform of the cloud. In another embodiment, the man-machine interaction system can be used as an interface for communication between the robot and the external connection, the master control module sends the collected alarm information to the man-machine interaction system, and the man-machine interaction system uploads the collected alarm information to the operation and maintenance platform of the cloud.
After receiving the alarm information, the operation and maintenance platform analyzes the alarm code from the alarm information, and analyzes the alarm code according to a preset rule, namely, identifies the information of faults corresponding to different code segments in the alarm code according to the preset rule, and generates fault content information corresponding to the alarm code after the analysis is completed, wherein the fault content information comprises fault content corresponding to the alarm code, for example, the fault content information corresponding to the alarm code 601001 is "battery voltage overvoltage", and the fault content information corresponding to the alarm code 601002 is "battery voltage undervoltage". After generating the fault content information, the operation and maintenance platform can further send the alarm information and the fault content information corresponding to the alarm code in the alarm information to a target address, for example, the target address can be a mailbox, a chat account number, a mobile terminal, a monitoring center and the like of operation and maintenance personnel. The data transmission relationship among the robot, the background message center, the operation and maintenance platform and the mobile terminal is shown in fig. 2. After the operation and maintenance personnel receive the alarm information and the fault content information at the target address, the specific contents of the faults and the faults of the robot can be known by checking the alarm information and the fault content information at the target address, so that the faults of the robot can be rapidly positioned, and the accuracy and the efficiency of the fault detection of the robot are improved.
In the embodiment of the invention, the state data and the operation data of the basic functional elements of the robot are collected by utilizing the functional system of the robot, and the state data and the operation data are analyzed in real time to determine whether the robot has a fault. When the robot is determined to have faults, the functional system generates alarm information comprising alarm codes and sends the alarm information to the main control module, the main control module uploads the alarm information to the operation and maintenance platform through the background message center, and the operation and maintenance platform generates corresponding fault content information according to the alarm information and then sends the alarm information and the fault content information to the target address. The operation and maintenance personnel can quickly locate and troubleshoot the faults of the robot by checking the fault content information at the target address, so that the accuracy and the efficiency of troubleshooting the faults of the robot are improved, and the technical problems of low efficiency and low accuracy in the fault troubleshooting process of the robot in the prior art are solved.
As shown in fig. 3, fig. 3 is a schematic structural diagram of a fault automatic identification method provided by an embodiment of the present invention, and the fault automatic identification method provided in fig. 3 is a specific implementation of the fault automatic identification method, and the method includes:
Step 201, collecting state data and operation data of basic functional elements of the robot.
Step 202, obtaining corresponding fault occurrence conditions, wherein each functional system has corresponding fault occurrence conditions.
In this embodiment, after the status data and the operation data of the basic functional elements are collected, each functional system obtains a corresponding fault occurrence condition, where each functional system has a corresponding fault occurrence condition, and the fault occurrence condition is an alarm triggering condition. For example, since the DCU system includes a power module including a BMS and a battery and a motor module including a motor. The fault occurrence conditions corresponding to the DCU system include a condition for judging whether the BMS has a fault, a condition for judging whether the battery has a fault, a condition for judging whether the motor has a fault, and the like. In one embodiment, the user may pre-store the fault occurrence condition corresponding to each of the functional systems in each of the functional systems.
Step 203, determining in real time whether the status data and the operation data meet the corresponding fault occurrence conditions, wherein one fault corresponds to one fault occurrence condition.
After each functional system acquires the corresponding fault occurrence condition, whether the state data and the operation data meet the corresponding fault occurrence condition or not is determined in real time, wherein one fault corresponds to one fault occurrence condition. Illustratively, each functional system includes a fault determination unit, which may be implemented in software and/or hardware. The fault judging unit is used for determining whether the state data and the operation data meet corresponding fault occurrence conditions. In one embodiment, the fault occurrence condition is an expression of whether a calculation result of the data meets the condition, the expression is composed of an identifier and an operator, the fault judging unit performs matching calculation on the received state data and the operation data, if the calculation result meets the condition, the fault occurrence condition is indicated, and the expression can be flexibly set according to requirements of different types of equipment, modules and scenes. For example, when the scram button of the robot is pressed, the robot cannot move when 1 minute, 5 minutes, 30 minutes and 1 hour elapse, so that the robot cannot perform tasks and business cannot be processed, and at this time, the user can set a corresponding fault occurrence condition in the navigation system to determine whether the robot cannot move. Or, when the network is in a normal state, the user can remotely control the robot to execute tasks, and when the network signal is abnormal and the network abnormal time exceeds a threshold value, the robot may have a fault, and at this time, the user can set a corresponding fault occurrence condition in the communication system to judge whether the network of the robot is normal.
And 204, determining that the robot generates a fault when the fault occurrence condition is met.
Step 205, when determining that the robot has a fault, generating alarm information, wherein the alarm information comprises alarm codes, and one alarm code corresponds to one fault; the robot at least comprises one functional system, the code value range of the alarm code is divided according to the functional system, the alarm code corresponding to the fault of the functional system is positioned in the code value range corresponding to the functional system, and different code segments in the alarm code comprise fault position information, fault attribute information and fault type information.
When the fault judging unit in the functional system determines that the robot has faults, alarm information is generated, and the alarm information comprises alarm codes. In this embodiment, the robot includes at least one functional system, the code value range of the alarm code is divided according to the functional system, and the alarm code corresponding to the fault of the functional system is located in the code value range corresponding to the functional system, for example, the code value range of the navigation system is 50 XXXX-59 XXXX, the code value range of the DCU system is 60 XXXX-69 XXXX, the code value range of the communication system is 70 XXXX-79 XXXX, the code value range of the man-machine system is 80 XXXX-89 XXXX, and the like. In addition, different code segments in the alarm code comprise fault position information, fault attribute information and fault type information. For example, assume that the code segment in the alert code is AABBCC, wherein the first code segment AA includes location information of the fault, such as which functional system or which module in the functional system the fault is in; the second code segment BB includes faulty attribute information, such as whether the fault belongs to a current fault, a voltage fault, a sensor fault, etc.; the third CC includes fault type information such as current undervoltage or current overvoltage, etc. In one embodiment, when AA is 60, the corresponding location is a battery. If BB is 10, the corresponding attribute is voltage, if BB is 11, the corresponding attribute is temperature, and if BB is 12, the corresponding attribute is current. When CC is 01, the corresponding type is bigger, and when CC is 02, the corresponding type is smaller. For example, for DCU systems, when the voltage of the power supply fails, the generated alarm code is 6010xx-6010xx, for example, the alarm code of the overvoltage fault of the battery voltage is 601001, and the alarm code of the undervoltage of the battery voltage is 601002. For the battery temperature fault, the generated alarm code is 6011xx-6011xx, the generated alarm code with the excessively high battery temperature is 60101, and the alarm code with the excessively low battery temperature is 60102. For a battery current fault, the alarm code is 6012xx-6012xx, for example, the alarm code for an excessive battery current is 601201. In addition, when the motor module in the DCU system fails, AA denotes a left motor, AA denotes a right motor, 62 denotes a right motor, BB denotes a communication failure, and BB denotes an overload failure. If the alarm code of the left motor communication abnormality is 611300, the alarm code of the right motor communication abnormality is 621300, if the alarm code of the left motor overload fault is 611400, the alarm code of the right motor overload fault is 621400 and the like.
In addition, in this embodiment, the alarm information further includes a fault occurrence time and a fault level, and the fault level is divided in advance according to the influence of the fault on the robot. For example, the fault level may be classified into a first level, a second level and a third level, where the first level is a fault that causes the robot to fail to operate and work, and the importance level is highest; the secondary level is a fault which has limited influence on the operation and the operation of the robot, and the importance degree is moderate; the three-level is a fault which does not influence the operation of the robot, and the importance degree is low. In one embodiment, the failure level corresponding to the failure of the power module, the motor module, and the sensor module may be set to a first level. It is understood that the division of the failure level may be set according to actual needs, and is not particularly limited in this embodiment.
And 206, sending the alarm information to a main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to an operation and maintenance platform through a background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, determines a corresponding target address according to the fault level in the alarm information after determining the fault content information corresponding to the alarm code, and sends the alarm information and the fault content information to the corresponding target address.
After the function system generates the alarm information, the function system further sends the information to the main control module, and the main control module collects the alarm information of each function system and uploads the alarm information to the operation and maintenance platform through the background message center. In another embodiment, the resources of each functional system of the robot are related to each other, and when one of the functional systems is abnormal, the functional system related to the one functional system is abnormal, so that a series of alarm information is generated and reported to the main control module for processing.
After receiving the alarm information, the operation and maintenance platform firstly analyzes the alarm code and the fault grade from the alarm information, and generates corresponding fault content information after analyzing the alarm code according to a preset rule, and then further determines a corresponding target address according to the fault grade. In one embodiment, when the failure level is a first-level failure, the target address may be a mobile phone short message account of the operation and maintenance person, a mailbox account of the operation and maintenance person, a chat software account of the operation and maintenance person, and a monitoring center; when the fault is a secondary fault, the target address can be a mobile phone short message account number of an operation and maintenance person, a chat software account number of the operation and maintenance person and a monitoring center; when the fault is a three-level fault, the destinationaddress may be a mailbox account number of the operation and maintenance person. The mobile phone short message account and the chat software account are suitable for emergent faults and faults with high requirements on responsiveness, and the mailbox account is suitable for non-emergent faults.
After the target address is determined, the operation and maintenance platform sends the alarm information and the fault content information to the corresponding target address, and an operation and maintenance person can quickly locate and troubleshoot the fault of the robot by checking the fault content information at the target address, wherein the specific process is shown in fig. 4.
On the basis of the above embodiment, the method further comprises:
step 207, receiving a fault expansion instruction, and expanding fault occurrence conditions and alarm codes.
In one embodiment, as the service system is increasingly complex, the user can further expand the fault occurrence condition and the alarm code in each functional system in the case of a new fault. Specifically, the user can expand the fault occurrence condition and the alarm code by sending a fault expansion instruction to the functional system. After the functional system receives the fault expansion instruction, the fault occurrence condition and the alarm code can be expanded according to the input of the user. It can be understood that after the user expands the fault occurrence condition and the alarm code in the functional system, a corresponding rule needs to be further added in the operation and maintenance platform, so that the operation and maintenance platform can analyze the fault content information corresponding to the alarm code.
On the basis of the above embodiment, after determining that the robot has failed, the method further includes:
and step 208, analyzing the faults and the historical faults which occur within the current preset time period, and judging whether to trigger a new fault.
In one embodiment, if the functional system determines that the robot has a fault, the functional system further analyzes the fault that the robot has currently occurred and the historical fault that has occurred within a current preset time period from the current fault, so as to determine whether to trigger a new fault. The preset duration may be set according to actual needs, for example, the preset duration may be set to 5 minutes or 10 minutes, and in this embodiment, specific values of the preset duration are not limited. Illustratively, if the DCU system experiences an under-voltage power failure ten minutes ago and an overload motor failure ten minutes later, the DCU system will further analyze whether both the under-voltage power failure and the overload motor failure trigger a new failure. In one embodiment, a pre-trained neural network may be utilized to make predictions in analyzing whether to trigger a new fault.
In the embodiment of the invention, the state data and the operation data of the basic functional elements of the robot are collected by utilizing the functional system of the robot, and the state data and the operation data are analyzed in real time to determine whether the robot has a fault. When the robot is determined to have faults, the functional system generates alarm information comprising alarm codes and fault levels and sends the alarm information to the main control module, the main control module uploads the alarm information to the operation and maintenance platform through the background message center, and the operation and maintenance platform determines corresponding target addresses according to the fault levels after generating corresponding fault content information according to the alarm information and sends the alarm information and the fault content information to the corresponding target addresses. The operation and maintenance personnel can quickly locate and troubleshoot the faults of the robot by checking the fault content information at the corresponding target address, so that the accuracy and the efficiency of troubleshooting the faults of the robot are improved, and the technical problems of low efficiency and low accuracy in the fault troubleshooting process of the robot in the prior art are solved.
As shown in fig. 5, fig. 5 is a schematic structural diagram of an automatic fault recognition device provided in an embodiment of the present invention, where, as shown in fig. 5, the device is applicable to a functional system of a robot, where the functional system divides a circuit module into functions of the robot in advance, and the device includes:
the data acquisition module 301 is configured to acquire status data and operation data of basic functional elements of the robot;
the fault analysis module 302 is configured to analyze the state data and the operation data in real time, and determine whether the robot has a fault;
the information generating module 303 is configured to generate alarm information when it is determined that the robot has a fault, where the alarm information includes alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm code include information with different dimensions of the fault;
the information reporting module 304 is configured to send the alarm information to the main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to the operation and maintenance platform through the background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, and after determining the fault content information corresponding to the alarm code, sends the alarm information and the fault content information to the target address.
On the basis of the embodiment, the robot at least comprises one functional system, the code value range of the alarm codes is divided according to the functional system, the alarm codes corresponding to faults of the functional system are located in the code value range corresponding to the functional system, and different code segments in the alarm codes comprise fault position information, fault attribute information and fault type information.
On the basis of the embodiment, the alarm information further comprises fault occurrence time and fault grades, and the fault grades divide the influence of the faults on the robot in advance.
On the basis of the above embodiment, the information reporting module 304 is specifically configured to send the alarm information to the main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to the operation and maintenance platform through the background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, determines the corresponding target address according to the fault level in the alarm information after determining the fault content information corresponding to the alarm code, and sends the alarm information and the fault content information to the corresponding target address.
Based on the above embodiment, the fault analysis module 302 includes:
A condition acquisition unit for acquiring corresponding fault occurrence conditions, each functional system having a corresponding fault occurrence condition;
the fault judging unit is used for determining whether the state data and the operation data meet the corresponding fault occurrence conditions in real time, wherein one fault corresponds to one fault occurrence condition;
and the fault determining unit is used for determining that the robot generates a fault when the fault occurrence condition is met.
On the basis of the above embodiment, the method further comprises:
the fault expansion module is used for receiving the fault expansion instruction and expanding fault occurrence conditions and alarm codes.
On the basis of the above embodiment, the method further comprises:
the fault triggering module is used for analyzing the faults and the historical faults which occur within the current preset time length, and judging whether to trigger new faults.
The automatic fault identification device provided by the embodiment of the invention is contained in the automatic fault identification equipment, can be used for executing the automatic fault identification method provided by the embodiment, and has corresponding functions and beneficial effects.
It should be noted that, in the embodiment of the automatic fault identification device, each unit and module included are only divided according to the functional logic, but not limited to the above division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.
The present embodiment also provides an automatic fault recognition device, as shown in fig. 6, the automatic fault recognition device 40 includes a processor 400 and a memory 401;
the memory 401 is used for storing a computer program 402 and transmitting the computer program 402 to the processor 400;
the processor 400 is configured to perform the steps of one of the embodiments of the fault automatic identification method described above in accordance with instructions in the computer program 402.
By way of example, computer program 402 may be partitioned into one or more modules/units, which are stored in memory 401 and executed by processor 400 to accomplish the present application. One or more of the modules/units may be a series of computer program instruction segments capable of performing a specific function for describing the execution of the computer program 402 in the automatic fault identification device 40.
The fault automatic recognition device 40 may be a computing device such as a desktop computer, a notebook computer, a palm computer, and a cloud server. The fault automatic identification device 40 may include, but is not limited to, a processor 400, a memory 401. It will be appreciated by those skilled in the art that fig. 6 is merely an example of the automatic fault identification device 40 and is not meant to be limiting of the automatic fault identification device 40, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the automatic fault identification device 40 may also include input and output devices, network access devices, buses, etc.
The processor 400 may be a central processing unit (Central Processing Unit, CPU), other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 401 may be an internal storage unit of the failure automatic identification equipment 40, such as a hard disk or a memory of the failure automatic identification equipment 40. The memory 401 may also be an external storage device of the failure automatic identification device 40, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card) or the like, which are provided on the failure automatic identification device 40. Further, the memory 401 may also include both an internal storage unit and an external storage device of the failure automatic identification device 40. The memory 401 is used to store a computer program and other programs and data required for the failure automatic identification device 40. The memory 401 may also be used to temporarily store data that has been output or is to be output.
It will be clear to those skilled in the art that, for convenience and brevity of description, specific working procedures of the above-described systems, apparatuses and units may refer to corresponding procedures in the foregoing method embodiments, which are not repeated herein.
In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, e.g., the division of elements is merely a logical functional division, and there may be additional divisions of actual implementation, e.g., multiple elements or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in the embodiments of the present invention may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a storage medium, including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the embodiments of the present invention. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media in which computer programs can be stored.
The embodiments of the present invention also provide a storage medium containing computer-executable instructions, which when executed by a computer processor, are configured to perform a method for automatically identifying faults, the method comprising the steps of:
collecting state data and operation data of basic functional elements of the robot;
analyzing the state data and the operation data in real time to determine whether the robot has a fault or not;
when the occurrence of a fault of the robot is determined, generating alarm information, wherein the alarm information comprises alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm codes comprise information with different dimensionalities of the fault;
the alarm information is sent to the main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to the operation and maintenance platform through the background message center, the operation and maintenance platform analyzes the alarm code according to preset rules, and after fault content information corresponding to the alarm code is determined, the alarm information and the fault content information are sent to the target address.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the embodiments of the present invention are not limited to the particular embodiments described herein, but are capable of numerous obvious changes, rearrangements and substitutions without departing from the scope of the embodiments of the present invention. Therefore, while the embodiments of the present invention have been described in connection with the above embodiments, the embodiments of the present invention are not limited to the above embodiments, but may include many other equivalent embodiments without departing from the spirit of the embodiments of the present invention, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.
Claims (10)
1. The automatic fault identification method is suitable for a functional system of a robot, wherein the functional system is obtained by dividing circuit modules in advance according to the functions of the robot, and the method comprises the following steps:
collecting state data and operation data of basic functional elements of the robot;
analyzing the state data and the operation data in real time to determine whether the robot has a fault or not;
when the robot is determined to have faults, generating alarm information, wherein the alarm information comprises alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm codes comprise information of different dimensions of the fault;
and sending the alarm information to a main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to an operation and maintenance platform through a background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, and after determining fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to a target address.
2. The method according to claim 1, wherein the robot includes at least one functional system, the code value range of the alarm code is divided according to the functional system, the alarm code corresponding to the fault of the functional system is located in the code value range corresponding to the functional system, and different code segments in the alarm code include location information of the fault, attribute information of the fault, and type information of the fault.
3. The automatic fault identification method according to claim 1, wherein the alarm information further comprises a fault occurrence time and a fault level, and the fault level divides the influence of the robot in advance according to the fault.
4. The method for automatically identifying a fault according to claim 3, wherein the analyzing, by the operation and maintenance platform, the alarm code according to a preset rule, and after determining the fault content information corresponding to the alarm code, sending the alarm information and the fault content information to a target address, includes:
analyzing the alarm code by the operation and maintenance platform according to a preset rule, determining the corresponding target address according to the fault level in the alarm information after determining the fault content information corresponding to the alarm code, and sending the alarm information and the fault content information to the corresponding target address.
5. The method of claim 1, wherein said analyzing said status data and said operational data in real time to determine if said robot is malfunctioning comprises:
Acquiring corresponding fault occurrence conditions, wherein each functional system has corresponding fault occurrence conditions;
determining in real time whether the status data and the operational data satisfy the corresponding fault occurrence conditions, the one fault corresponding to the one fault occurrence condition;
and when the fault occurrence condition is met, determining that the robot breaks down.
6. The method for automatically identifying a fault as claimed in claim 5, further comprising:
and receiving a fault expansion instruction, and expanding the fault occurrence condition and the alarm code.
7. The method of claim 1, further comprising, after determining that the robot has failed:
and analyzing the faults and the historical faults which occur within the current preset time length, and judging whether to trigger a new fault.
8. An automatic fault recognition device, wherein the device is suitable for a functional system of a robot, the functional system divides a circuit module into functions of the robot in advance, and the device comprises:
the data acquisition module is used for acquiring state data and operation data of the basic functional elements of the robot;
The fault analysis module is used for analyzing the state data and the operation data in real time and determining whether the robot has a fault or not;
the information generation module is used for generating alarm information when the robot is determined to have faults, wherein the alarm information comprises alarm codes, one alarm code corresponds to one fault, and different code segments in the alarm codes comprise information of different dimensionalities of the fault;
and the information reporting module is used for sending the alarm information to the main control module, so that the main control module gathers the alarm information of each functional system and then uploads the alarm information to the operation and maintenance platform through the background message center, the operation and maintenance platform analyzes the alarm code according to a preset rule, and after determining fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to a target address.
9. An automatic fault identification device, characterized in that the automatic fault identification device comprises a processor and a memory;
the memory is used for storing a computer program and transmitting the computer program to the processor;
the processor is configured to execute a fault automatic identification method according to any one of claims 1-7 according to instructions in the computer program.
10. A storage medium storing computer executable instructions which, when executed by a computer processor, are adapted to perform a fault automatic identification method as claimed in any one of claims 1 to 7.
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