CN116749162A - Automatic fault identification method, device, equipment and storage medium - Google Patents

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

An automatic fault identification method, device, equipment and storage medium

Technical field

Embodiments of the present application relate to the field of automation, and in particular, to an automatic fault identification method, device, equipment and storage medium.

Background technique

At present, with the continuous development of science and technology, the development of robot technology is also changing with each passing day. At present, some robots can achieve full automation. Since the robot system is relatively complex, when the robot malfunctions, it is necessary to troubleshoot the robot fault to locate the problem. However, as a complex system, troubleshooting of a robot is a systematic project. The troubleshooting process requires maintenance personnel to understand the functional systems and control principles of the robot, and to skillfully apply various testing methods. This requires a high degree of cooperation and maintenance from the R&D team. The personnel have in-depth professional knowledge reserves and the implementation conditions are relatively stringent, resulting in technical problems of low efficiency and low accuracy in the robot troubleshooting process.

Contents of the invention

The embodiments of the present invention provide an automatic fault identification method, device, equipment and storage medium. The embodiments of the present invention can improve the efficiency and accuracy of troubleshooting robot faults, and solve the problems in the troubleshooting process of robots in the prior art. technical problems of low efficiency and low accuracy.

In a first aspect, embodiments of the present invention provide a method for automatic fault identification. The method is suitable for a functional system of a robot. The functional system is obtained by dividing circuit modules in advance according to the functions of the robot. The method includes:

Collect status data and operating data of the basic functional components of the robot;

Analyze the status data and the operation data in real time to determine whether the robot malfunctions;

When it is determined that the robot is faulty, alarm information is generated. The alarm information includes an alarm code. One alarm code corresponds to a fault, and different code segments in the alarm code include different dimensions of the fault. information;

Send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center, and the operation and maintenance platform uses the preset rules to After analyzing the alarm code and determining the fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to the target address.

In a second aspect, embodiments of the present invention provide an automatic fault identification device. The device is suitable for a functional system of a robot. The functional system is obtained by dividing the functions of the robot into circuit modules in advance. The device includes:

Data acquisition module, used to collect status data and operating data of basic functional components of the robot;

A fault analysis module, used to analyze the status data and the operation data in real time to determine whether the robot has failed;

An information generation module, configured to generate alarm information when it is determined that the robot is faulty. The alarm information includes an alarm code, one of the alarm codes corresponds to one kind of fault, and different code segments in the alarm code include: Information about different dimensions of the fault;

The information reporting module is used to send the alarm information to the main control module, so that the main control module summarizes the alarm information of each of the functional systems and uploads it to the operation and maintenance platform through the background message center. The dimension platform analyzes the alarm code according to the preset rules, 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.

In a third aspect, embodiments of the present invention provide an automatic fault identification device, which includes a processor and a memory;

The memory is used to store a computer program and transmit the computer program to the processor;

The processor is configured to execute an automatic fault identification method as described in the first aspect according to instructions in the computer program.

In a fourth aspect, embodiments of the present invention provide a storage medium that stores computer-executable instructions, which when executed by a computer processor are used to perform an automatic fault identification method as described in the first aspect. .

As mentioned above, the embodiment of the present invention uses the robot's functional system to collect the status data and operating data of the basic functional components of the robot, and analyzes the status data and operating data in real time to determine whether the robot has malfunctioned. When it is determined that the robot is faulty, the functional system generates alarm information including an alarm code and sends the alarm information to the main control module. The main control module then uploads the alarm information to the operation and maintenance platform through the background message center. After the platform generates corresponding fault content information based on the alarm information, it sends the alarm information and fault content information to the target address. Operation and maintenance personnel can quickly locate and troubleshoot the robot's fault by viewing the fault content information at the target address, improving the accuracy and efficiency of troubleshooting the robot's fault, and solving the inefficiency of the robot's troubleshooting process in the existing technology. and technical issues with poor accuracy.

Description of the drawings

Figure 1 is a flow chart of an automatic fault identification method provided by an embodiment of the present invention.

Figure 2 is a schematic diagram of the data transmission relationship between a robot, a background message center, an operation and maintenance platform and a mobile terminal provided by an embodiment of the present invention.

Figure 3 is a flow chart of another automatic fault identification method provided by an embodiment of the present invention.

Figure 4 is a schematic architectural diagram of an automatic fault identification method provided by an embodiment of the present invention.

Figure 5 is a schematic structural diagram of an automatic fault identification device provided by an embodiment of the present invention.

Figure 6 is a schematic structural diagram of an automatic fault identification device provided by an embodiment of the present invention.

Detailed ways

The following description and drawings illustrate specific embodiments of the application sufficiently to enable those skilled in the art to practice them. The examples represent only possible variations. Unless explicitly required, individual components and features are optional and the order of operations may vary. Portions and features of some embodiments may be included in or substituted for those of other embodiments. The scope of embodiments of the present application includes the entire scope of the claims, and all available equivalents of the claims. Each embodiment may be referred to herein, individually or collectively, by the term "invention" for convenience only and is not intended to automatically limit the scope of the application to any one if the fact that more than one invention is disclosed is disclosed. A single invention or inventive concept. Herein, relational terms such as first, second, etc. are used only to distinguish one entity or operation from another entity or operation without requiring or implying that any actual relationship exists between these entities or operations or order. Furthermore, the terms "comprises," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, or apparatus that includes a list of elements includes not only those elements, but also others not expressly listed. elements. Each embodiment in this article is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other. For the structures, products, etc. disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the descriptions are relatively simple. For relevant details, please refer to the description of the method section.

As shown in Figure 1, Figure 1 is a flow chart of an automatic fault identification method provided by an embodiment of the present invention. The automatic fault identification method provided by the embodiment of the present invention is applicable to the functional system of the robot, where the functional system refers to a system used to perform one or more specific functions. In this embodiment, the functional system is obtained by dividing circuit modules in advance according to the functions of the robot. For example, the functional system can be divided into the robot's navigation system, DCU system, communication system, human-machine system, etc., where the navigation system is used for To realize the path navigation function of the robot, the navigation system can include the positioning module, map module, path planning module, motion control module and obstacle avoidance planning module in the robot. The DCU system is used to realize the drive control function of the robot. The DCU system can include the main control module, motor module, drive module, sensor module and power module in the robot. The communication system is used to realize the communication function of the robot, such as the communication between the human-machine system and the navigation system, the communication between the human-machine system and the DCU system, the communication between the navigation system and the DCU system, and the communication between the human-machine system and the system background. The human-machine system is used to realize the human-machine interaction function of the robot. It can be understood that the functional system in this embodiment can 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 present invention includes the following steps:

Step 101: Collect status data and operating data of the basic functional components of the robot.

In this embodiment, each functional system needs to collect status data and operation data of the basic functional components of the robot in real time. The basic functional components of the robot refer to components used to realize the basic functions of the robot. For example, the basic functional components include batteries, Sensors, radars, motors and other components. The status data of the basic functional components includes data on the current working status of the basic functional components, such as whether the basic functional components are in running state and the working mode of the basic functional components; the operating data of the basic functional components includes the data on the basic functional components during operation. Data, such as current data, voltage data and power data of basic functional components.

In one embodiment, each functional system is equipped with a data acquisition unit. The data acquisition unit can be implemented through software and/or hardware and is used to collect status data and operating data of the basic functional components of the robot. The data acquisition unit can collect status data and operation data in a variety of ways. For example, it can collect status data and operation data through hardware monitoring of physical signals, collect status data and operation data through regular detection and reporting data and interface data communication analysis, and through ROS topics. The collection mechanism communicates with the master-slave to collect status data and operating data. The ROS topic collection mechanism refers to communication between functional systems through topics. Topics are channels used to transmit data. By collecting and analyzing ROS topic information, the basic functional components of the robot can be monitored.

Step 102: Analyze the status data and operating data in real time to determine whether the robot malfunctions.

After each functional system obtains status data and operation data, it needs to analyze the status data and operation data in real time, and analyze the status data and operation data from hardware failures, software bugs, parameter setting errors, data distortion, communication failures, environmental changes, module loads, and maintenance. Determine the faults that occur during the operation of the robot from multiple dimensions such as improper operation and business processes. In one embodiment, each functional system can only detect whether each of its subordinate modules is faulty. For example, the navigation system only detects faults in modules such as the positioning module and map module, and the DCU system only detects faults in modules such as the main control module and motor module. .

In one embodiment, the functional system can analyze status data and operating data according to preset conditions to determine whether a fault has occurred. For example, the DCU system determines whether the status data and operating data of the BMS (BATTERY MANAGEMENT SYSTEM, battery management system) meet the preset conditions to determine whether the BMS has malfunctioned. For example, the voltage data of the BMS is compared with the preset voltage range threshold to determine whether a fault occurs; the temperature data of the BMS is compared with the preset battery temperature range threshold during battery charging and discharging to determine whether a fault occurs; the current data of the BMS is compared with the preset battery temperature range threshold during battery charging and discharging to determine whether a fault occurs; The preset battery continuous discharge current threshold is compared to determine whether a fault occurs. Or the DCU system determines whether the lidar has malfunctioned based on whether the communication status of the lidar is normal, whether the lidar has a fault status, and the data reported by the lidar.

Step 103: When it is determined that the robot is faulty, generate alarm information. The alarm information includes an alarm code. One alarm code corresponds to one kind of fault, and different code segments in the alarm code include information on different dimensions of the fault.

When the functional system determines that a fault occurs on the robot, the functional system will generate corresponding alarm information, and the generated alarm information includes an alarm code corresponding to the fault. One fault corresponds to one alarm code, and different alarm codes include The code segment contains information about different dimensions of the fault. For example, assume that a code segment of the alarm code includes fault location information, such as which functional system or module in the functional system the fault is in; a code segment includes fault attribute information, such as whether the fault belongs to a current fault, a voltage fault, or Sensor failure, etc.; one code segment includes fault type information, such as current undervoltage or current overvoltage, etc. In one embodiment, when the fault is battery voltage overvoltage, the alarm code is 601001; when the fault is battery voltage undervoltage, the alarm code is 601002, where the first two digits 60 correspond to the location information of the battery, and the middle two digits 10 correspond to The attribute information is current, the type information corresponding to the last two digits 01 is too large, and the type information corresponding to the last two digits 02 is too small. It can be understood that the specific numerical value of the alarm code can be set according to actual needs. For example, the alarm code can be a number, a letter, or a combination of numbers and letters, etc., which is not specifically limited in this embodiment.

Step 104. Send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules. , after determining the fault content information corresponding to the alarm code, send the alarm information and fault content information to the target address.

After generating alarm information, each functional system needs to send the alarm module to the main control module, where the main control module is the control center of the robot. After the main control module summarizes the alarm information of each functional system, it will further send the summarized alarm information to the backend message center, and then the alarm information from the backend message center will be uploaded to the cloud operation and maintenance platform. In another embodiment, the human-computer interaction system can also be used as an interface for the robot to communicate with external devices. The main control module sends the summarized alarm information to the human-computer interaction system, and the human-computer interaction system sends the summarized alarm information. Upload to the cloud operation and maintenance platform.

After receiving the alarm information, the operation and maintenance platform will parse the alarm code from the alarm information and analyze the alarm code according to the preset rules. That is, it will identify the fault information corresponding to different code segments in the alarm code according to the preset rules. , after the analysis is completed, the fault content information corresponding to the alarm code is generated. The fault content information includes the 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 alarm code 601002 is "battery voltage undervoltage". After the operation and maintenance platform generates the fault content information, it can further send the alarm information and the fault content information corresponding to the alarm code in the alarm information to the target address. For example, the target address can be the email, chat account, mobile phone number of the operation and maintenance personnel. Terminals and monitoring centers, etc. The data transmission relationship between the robot, the background message center, the operation and maintenance platform and the mobile terminal is shown in Figure 2. After the operation and maintenance personnel receive the alarm information and fault content information at the target address, they can know the fault of the robot and the specific content of the fault by checking the alarm information and fault content information at the target address, so as to quickly locate the robot fault. Improve the accuracy and efficiency of troubleshooting robot failures.

As mentioned above, the embodiment of the present invention uses the robot's functional system to collect the status data and operating data of the basic functional components of the robot, and analyzes the status data and operating data in real time to determine whether the robot has malfunctioned. When it is determined that the robot is faulty, the functional system generates alarm information including an alarm code and sends the alarm information to the main control module. The main control module then uploads the alarm information to the operation and maintenance platform through the background message center. After the platform generates corresponding fault content information based on the alarm information, it sends the alarm information and fault content information to the target address. Operation and maintenance personnel can quickly locate and troubleshoot the robot's fault by viewing the fault content information at the target address, improving the accuracy and efficiency of troubleshooting the robot's fault, and solving the inefficiency of the robot's troubleshooting process in the existing technology. and technical issues with poor accuracy.

As shown in Figure 3, Figure 3 is a schematic structural diagram of an automatic fault identification method provided by an embodiment of the present invention. The automatic fault identification method provided in Figure 3 is a embodiment of the above automatic fault identification method. The method includes:

Step 201: Collect status data and operating data of the basic functional components of the robot.

Step 202: Obtain corresponding fault occurrence conditions. Each functional system has corresponding fault occurrence conditions.

In this embodiment, after each functional system collects the status data and operating data of the basic functional components, it will obtain the corresponding fault occurrence conditions, where each functional system has corresponding fault occurrence conditions, and the fault occurrence conditions are Trigger conditions for alarms. For example, since the DCU system includes a power module and a motor module, the power module includes a BMS and a battery, and the motor module includes a motor. Therefore, the fault occurrence conditions corresponding to the DCU system include conditions for judging whether the BMS fails, conditions for judging whether the battery fails, conditions for judging whether the motor fails, etc. In one embodiment, the user can pre-store the fault occurrence conditions corresponding to each functional system in each functional system.

Step 203: Determine in real time whether the status data and operating data meet the corresponding fault occurrence conditions. One fault corresponds to one fault occurrence condition.

After each functional system obtains the corresponding fault occurrence conditions, it will determine in real time whether the status data and operating data meet the corresponding fault occurrence conditions. One type of fault corresponds to one type of fault occurrence condition. For example, each functional system includes a fault judgment unit, which can be implemented in software and/or hardware. The fault judgment unit is used to determine whether the status data and operating data meet the corresponding fault occurrence conditions. In one embodiment, the fault occurrence condition is an expression indicating whether the calculation result of the data satisfies the condition. The expression consists of an identifier and an operator. The fault judgment unit performs matching calculation on the received status data and operating data. If the calculated result If the conditions are met, it means a fault has occurred. The expression can be flexibly set according to the needs of different types of equipment, modules and scenarios. For example, after the emergency stop button of the robot is pressed, the robot cannot move after 1 minute, 5 minutes, 30 minutes and 1 hour, resulting in the robot being unable to perform tasks and the business being unable to be processed. At this time, the user can set the corresponding settings in the navigation system. The fault occurrence conditions are used to determine whether the robot cannot move. Or, when the network is normal, the user can remotely control the robot to perform tasks. However, when the network signal is abnormal and the network abnormal time exceeds the threshold, the robot may have a fault. At this time, the user can set the corresponding fault conditions in the communication system. To determine whether the robot's network is normal.

Step 204: When the fault occurrence conditions are met, it is determined that the robot has failed.

Step 205: When it is determined that a fault occurs on the robot, alarm information is generated. The alarm information includes an alarm code, and one alarm code corresponds to one fault; the robot includes at least one functional system, and the code value range of the alarm code is divided according to the functional system, and the function The alarm code corresponding to the system fault is located in the code value range corresponding to the functional system. Different code segments in the alarm code include fault location information, fault attribute information, and fault type information.

When the fault judgment unit in the functional system determines that the robot has failed, an alarm message will be generated, and the alarm message includes an alarm code. 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, such as the navigation system. The code value range is 50XXXX~59XXXX, the code value range of the DCU system is 60XXXX~69XXXX, the code value range of the communication system is 70XXXX~79XXXX, and the code value range of the human-machine system is 80XXXX~89XXXX, etc. In addition, different code segments in the alarm code include fault location information, fault attribute information, and fault type information. For example, assume that the code segment in the alarm code is AABBCC. The first code segment AA includes the fault location information, such as which functional system or module in the functional system the fault is in; the second code segment BB includes the faulty location information. Attribute information, such as whether the fault is a current fault, voltage fault, or 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 position is the battery. When BB is 10, the corresponding attribute is voltage, when BB is 11, the corresponding attribute is temperature, and when BB is 12, the corresponding attribute is current. When CC is 01, the corresponding type is larger; when CC is 02, the corresponding type is smaller. For example, in the DCU system, when the power supply voltage fails, the alarm codes generated at this time are 6010xx-6010xx. For example, the alarm code for battery overvoltage fault is 601001, and the alarm code for battery undervoltage is 601002. For battery temperature faults, the alarm codes generated at this time are 6011xx-6011xx, the alarm code generated when the battery temperature is too high is 601101, and the alarm code generated when the battery temperature is too low is 601102. For battery current faults, the alarm codes are 6012xx-6012xx. For example, the alarm code for excessive battery current is 601201. In addition, when the motor module in the DCU system fails, AA is 61 for the left motor, AA for 62 represents the right motor, BB for 13 represents a communication failure, and BB14 represents an overload fault. For example, the alarm code for left motor communication abnormality is 611300, and the alarm code for right motor communication abnormality is 621300. For example, the alarm code for left motor overload fault is 611400, and the alarm code for right motor overload fault is 621400, etc.

In addition, in this embodiment, the alarm information also includes the fault occurrence time and the fault level, and the fault levels are divided in advance according to the impact of the fault on the robot. For example, fault levels can be divided into first-level, second-level and third-level levels. The first-level level is the fault that causes the robot to be unable to operate and work, which is the most important; the second-level level is the fault that has limited impact on the robot's operation and work. The faults are of medium importance; the level three faults are faults that do not affect the operation of the robot and are of low importance. In one embodiment, the fault level corresponding to the fault of the power module, the motor module and the sensor module can be set to the first level. It can be understood that the classification of fault levels can be set according to actual needs, and is not specifically limited in this embodiment.

Step 206: Send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules. , after determining the fault content information corresponding to the alarm code, determine the corresponding target address according to the fault level in the alarm information, and send the alarm information and fault content information to the corresponding target address.

After the functional system generates alarm information, it will further send the information to the main control module. The main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. In another embodiment, the resources of each functional system of the robot are interrelated. When an abnormality occurs in one of the functional systems, the functional system associated with it will also generate an abnormality, thereby generating a series of alarm information. And report it to the main control module for processing.

After receiving the alarm information, the operation and maintenance platform will first parse the alarm code and fault level from the alarm information, and after parsing the alarm code according to the preset rules, generate the corresponding fault content information, and then further determine according to the fault level. The corresponding target address. In one embodiment, when the fault level is a level one fault, the target address may be the operation and maintenance personnel's mobile phone SMS account, the operation and maintenance personnel's email account, the operation and maintenance personnel's chat software account and the monitoring center; when the fault level is a level two fault, When a fault occurs, the target address can be the SMS account of the operation and maintenance personnel, the chat software account of the operation and maintenance personnel, and the monitoring center; when the fault is a level three fault, the target address can be the email account of the operation and maintenance personnel. Among them, mobile phone SMS accounts and chat software accounts are suitable for emergencies and faults that require high responsiveness, while email accounts are suitable for non-urgent faults.

After determining the target address, the operation and maintenance platform will send the alarm information and fault content information to the corresponding target address. The operation and maintenance personnel can quickly locate and troubleshoot the fault of the robot by viewing the fault content information at the target address. The specific process is shown in Figure 4.

On the basis of the above embodiments, it also includes:

Step 207: Receive the fault expansion instruction and expand the fault occurrence conditions and alarm codes.

In one embodiment, as the business system becomes increasingly complex, when a new fault occurs, the user can further expand the fault occurrence conditions and alarm codes in each functional system. Specifically, the user can extend the fault occurrence conditions and alarm codes by sending fault expansion instructions to the functional system. After receiving the fault expansion instruction, the functional system can expand the fault occurrence conditions and alarm codes based on the user's input. It is understandable that after users expand the fault occurrence conditions and alarm codes in the functional system, they need to further add corresponding rules to the operation and maintenance platform so that the operation and maintenance platform can parse the fault content information corresponding to the alarm code.

Based on the above embodiment, after it is determined that the robot is faulty, it also includes:

Step 208: Analyze the fault and historical faults that have occurred within the current preset time period to determine whether a new fault is triggered.

In one embodiment, if the functional system determines that a fault has occurred on the robot, the functional system will also analyze the current fault of the robot and the historical faults that have occurred within the current preset time period to determine whether to trigger a new fault. The preset duration can be set according to actual needs. For example, the preset duration can be set to 5 minutes or 10 minutes. In this embodiment, the specific value of the preset duration is not limited. For example, if a power supply undervoltage fault occurred in the DCU system ten minutes ago and a motor overload fault occurred ten minutes later, the DCU system will further analyze whether the power supply undervoltage fault and the motor overload fault will trigger a new fault. failure. In one embodiment, when analyzing whether a new fault is triggered, a pre-trained neural network can be used to make predictions.

As mentioned above, the embodiment of the present invention uses the robot's functional system to collect the status data and operating data of the basic functional components of the robot, and analyzes the status data and operating data in real time to determine whether the robot has malfunctioned. When it is determined that the robot has failed, the functional system generates alarm information including an alarm code and fault level, and sends the alarm information to the main control module. The main control module then uploads the alarm information to the operation and maintenance platform through the background message center. After the operation and maintenance platform generates the corresponding fault content information based on the alarm information, the corresponding target address is determined according to the fault level, and the alarm information and fault content information are sent to the corresponding target address. Operation and maintenance personnel can quickly locate and troubleshoot robot faults by viewing the fault content information at the corresponding target address, improve the accuracy and efficiency of troubleshooting robot faults, and solve the problems in the robot troubleshooting process in the existing technology. technical problems of low efficiency and low accuracy.

As shown in Figure 5, Figure 5 is a schematic structural diagram of an automatic fault identification device provided by an embodiment of the present invention. As shown in Figure 5, the device is suitable for the functional system of the robot. The functional system performs pre-processing of the function of the robot on the circuit module. Divided, the devices include:

The data collection module 301 is used to collect status data and operating data of the basic functional components of the robot;

The fault analysis module 302 is used to analyze status data and operating data in real time to determine whether the robot has failed;

The information generation module 303 is used to generate alarm information when it is determined that the robot is faulty. The alarm information includes an alarm code. One alarm code corresponds to a fault, and different code segments in the alarm code include information about different dimensions of the fault;

The information reporting module 304 is used to send alarm information to the main control module, so that the main control module can summarize the alarm information of each functional system and upload it to the operation and maintenance platform through the background message center, and the operation and maintenance platform will report the alarm information according to the preset rules. After parsing the alarm code and determining the fault content information corresponding to the alarm code, the alarm information and fault content information are sent to the target address.

On the basis of the above embodiments, 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 within the code value range corresponding to the functional system. Different code segments in the code include fault location information, fault attribute information and fault type information.

Based on the above embodiment, the alarm information also includes the fault occurrence time and fault level, and the fault level is divided in advance according to the impact of the fault on the robot.

Based on the above embodiment, the information reporting module 304 is specifically used to send alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to the preset rules, determines the fault content information corresponding to the alarm code, determines the corresponding target address according to the fault level in the alarm information, and sends the alarm information and fault content information to the relevant The corresponding target address.

Based on the above embodiments, the fault analysis module 302 includes:

The condition acquisition unit is used to obtain the corresponding fault occurrence conditions. Each functional system has corresponding fault occurrence conditions;

The fault judgment unit is used to determine in real time whether the status data and operating data meet the corresponding fault occurrence conditions. One fault corresponds to one fault occurrence condition;

A fault determination unit is used to determine that a fault occurs on the robot when the fault occurrence conditions are met.

On the basis of the above embodiments, it also includes:

The fault expansion module is used to receive fault expansion instructions and expand the fault occurrence conditions and alarm codes.

On the basis of the above embodiments, it also includes:

The fault trigger module is used to analyze faults and historical faults that have occurred within the current preset time period to determine whether to trigger a new fault.

The automatic fault identification device provided by the embodiment of the present invention is included in the automatic fault identification equipment, and can be used to execute the automatic fault identification method provided in the above embodiment, and has corresponding functions and beneficial effects.

It is worth noting that in the above-mentioned embodiment of the automatic fault identification device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned divisions, as long as the corresponding functions can be realized; in addition, The specific names of each functional unit are only for the convenience of distinguishing each other and are not used to limit the scope of the present invention.

This embodiment also provides an automatic fault identification device. As shown in Figure 6, the automatic fault identification device 40 includes a processor 400 and a memory 401;

The memory 401 is used to store the computer program 402 and transmit the computer program 402 to the processor 400;

The processor 400 is configured to execute the steps in the above embodiment of an automatic fault identification method according to instructions in the computer program 402 .

For example, the computer program 402 can be divided into one or more modules/units, and one or more modules/units are stored in the memory 401 and executed by the processor 400 to complete the present application. One or more modules/units may be a series of computer program instruction segments capable of completing specific functions. The instruction segments are used to describe the execution process of the computer program 402 in the automatic fault identification device 40 .

The automatic fault identification device 40 can be a computing device such as a desktop computer, a notebook, a handheld computer, a cloud server, etc. The automatic fault identification device 40 may include, but is not limited to, a processor 400 and a memory 401 . Those skilled in the art can understand that FIG. 6 is only an example of the automatic fault identification device 40 and does not constitute a limitation on the automatic fault identification device 40. It may include more or fewer components than shown in the figure, or combine certain components. Or different components, for example, 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 (CPU), or other general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), Ready-made field-programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

The memory 401 may be an internal storage unit of the automatic fault identification device 40 , such as a hard disk or memory of the automatic fault identification device 40 . The memory 401 can also be an external storage device of the automatic fault identification device 40, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SD) card, or a flash memory equipped on the automatic fault identification device 40. Flash Card, etc. Further, the memory 401 may also include both an internal storage unit of the automatic fault identification device 40 and an external storage device. The memory 401 is used to store computer programs and other programs and data required by the automatic fault identification device 40 . The memory 401 can also be used to temporarily store data that has been output or is to be output.

Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the systems, devices and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be described again here.

In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the coupling or direct coupling or communication connection between each other shown or discussed may be through some interfaces, and the indirect coupling or communication connection of the devices or units may be in electrical, mechanical or other forms.

A unit described as a separate component may or may not be physically separate. A component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or it may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated units can be implemented in the form of hardware or software functional units.

Integrated units may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as independent products. Based on this understanding, the technical solution of the present invention is essentially or contributes to the existing technology or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present invention. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store computer programs. .

Embodiments of the present invention also provide a storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are used to perform an automatic fault identification method. The method includes the following steps:

Collect status data and operating data of the basic functional components of the robot;

Analyze status data and operating data in real time to determine whether the robot has malfunctioned;

When it is determined that the robot is faulty, alarm information is generated. The alarm information includes an alarm code. One alarm code corresponds to a fault, and different code segments in the alarm code include information about different dimensions of the fault;

Send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to the preset rules and determines the corresponding After receiving the fault content information corresponding to the alarm code, the alarm information and fault content information are sent to the target address.

Note that the above are only the preferred embodiments and the technical principles used in the embodiments of the present invention. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments here. Various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present invention. Therefore, although the embodiments of the present invention have been described in detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may also include more other equivalents without departing from the concept of the embodiments of the present invention. embodiments, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims (10)

1. An automatic fault identification method, characterized in that the method is suitable for a functional system of a robot, and the functional system is obtained by dividing circuit modules in advance according to the functions of the robot. The method includes: Collect status data and operating data of the basic functional components of the robot; Analyze the status data and the operation data in real time to determine whether the robot malfunctions; When it is determined that the robot is faulty, alarm information is generated. The alarm information includes an alarm code. One alarm code corresponds to a fault, and different code segments in the alarm code include different dimensions of the fault. information; Send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center, and the operation and maintenance platform uses the preset rules to After analyzing the alarm code and determining the fault content information corresponding to the alarm code, the alarm information and the fault content information are sent to the target address. 2. An automatic fault identification method according to claim 1, characterized in that 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 functional system The alarm code corresponding to the fault is located in the code value range corresponding to the functional system. Different code segments in the alarm code include the location information of the fault, the attribute information of the fault and the location information of the fault. Type information. 3. An automatic fault identification method according to claim 1, characterized in that the alarm information also includes fault occurrence time and fault level, and the fault level is determined in advance based on the impact of the fault on the robot. divide. 4. An automatic fault identification method according to claim 3, characterized in that the operation and maintenance platform analyzes the alarm code according to preset rules to determine the fault corresponding to the alarm code. After content information, the alarm information and the fault content information are sent to the target address, including: The operation and maintenance platform parses the alarm code according to preset rules. After determining the fault content information corresponding to the alarm code, the corresponding target address is determined according to the fault level in the alarm information, and the corresponding target address is determined. The alarm information and the fault content information are sent to the corresponding target address. 5. An automatic fault identification method according to claim 1, characterized in that the real-time analysis of the status data and the operation data to determine whether the robot fails includes: Obtain corresponding fault occurrence conditions, and each functional system has corresponding fault occurrence conditions; Determine in real time whether the status data and the operation data satisfy the corresponding fault occurrence conditions, and the one fault corresponds to one of the fault occurrence conditions; When the failure occurrence condition is met, it is determined that the robot has failed. 6. An automatic fault identification method according to claim 5, further comprising: Receive a fault expansion instruction and expand the fault occurrence conditions and the alarm code. 7. An automatic fault identification method according to claim 1, characterized in that, after determining that the robot is faulty, it further includes: Analyze the fault and historical faults that have occurred within the current preset time period to determine whether to trigger a new fault. 8. An automatic fault identification device, characterized in that the device is suitable for a functional system of a robot, and the functional system is obtained by dividing the functions of the robot into circuit modules in advance. The device includes: Data acquisition module, used to collect status data and operating data of basic functional components of the robot; A fault analysis module, used to analyze the status data and the operation data in real time to determine whether the robot has failed; An information generation module, configured to generate alarm information when it is determined that the robot is faulty. The alarm information includes an alarm code, one of the alarm codes corresponds to one kind of fault, and different code segments in the alarm code include: Information about different dimensions of the fault; The information reporting module is used to send the alarm information to the main control module, so that the main control module summarizes the alarm information of each of the functional systems and uploads it to the operation and maintenance platform through the background message center. The dimension platform analyzes the alarm code according to the preset rules, 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. 9. An automatic fault identification device, characterized in that the automatic fault identification device includes a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is configured to execute an automatic fault identification method according to any one of claims 1-7 according to instructions in the computer program. 10. A storage medium that stores computer-executable instructions, characterized in that, when executed by a computer processor, the computer-executable instructions are used to perform a fault automatic operation as described in any one of claims 1-7. recognition methods.