CN116228193A - Maintenance method and device for robot, terminal equipment and readable storage medium - Google Patents
Maintenance method and device for robot, terminal equipment and readable storage medium Download PDFInfo
- Publication number
- CN116228193A CN116228193A CN202211696091.8A CN202211696091A CN116228193A CN 116228193 A CN116228193 A CN 116228193A CN 202211696091 A CN202211696091 A CN 202211696091A CN 116228193 A CN116228193 A CN 116228193A
- Authority
- CN
- China
- Prior art keywords
- robot
- functional module
- maintenance
- target
- current
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/20—Administration of product repair or maintenance
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/10—Office automation; Time management
- G06Q10/103—Workflow collaboration or project management
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application is applicable to the technical field of robots and provides a maintenance method, a maintenance device, terminal equipment and a readable storage medium for robots. The maintenance method of the robot specifically comprises the following steps: when the current functional module of the robot meets the updating condition, controlling the robot to update the current functional module so as to load the target functional module by the robot; after the robot finishes updating, acquiring the operation data of the robot; determining the degree of adaptation between the target functional module and the robot according to the operation data; and if the adaptation degree is smaller than the degree threshold, controlling the robot to update the target functional module again. The embodiment of the application can improve the maintenance effectiveness of the robot.
Description
Technical Field
The application belongs to the technical field of robots, and particularly relates to a maintenance method and device for a robot, terminal equipment and a readable storage medium.
Background
The robot is intelligent equipment capable of semi-autonomous or fully autonomous working, and can execute tasks through cooperation of all functional modules. The periodic maintenance of the robot is an important ring for guaranteeing the task completion effect of the robot. In the related art, the aged functional module is often required to be updated to a new functional module manually, however, the robot is an instrument with precise structure, and the new functional module may not be matched with other functional modules or may not be accurately loaded on the robot, so that the robot cannot normally execute tasks based on the new functional module. Therefore, the effectiveness of robot maintenance is low.
Disclosure of Invention
The embodiment of the application provides a maintenance method, a maintenance device, terminal equipment and a readable storage medium for a robot, which can solve the problem of insufficient effectiveness of robot maintenance in the related technology.
A first aspect of an embodiment of the present application provides a maintenance method for a robot, including: when the current functional module of the robot meets the updating condition, controlling the robot to update the current functional module so as to load the target functional module by the robot; after the robot finishes updating, acquiring the operation data of the robot; determining the degree of adaptation between the target functional module and the robot according to the operation data; and if the adaptation degree is smaller than the degree threshold, controlling the robot to update the target functional module again.
In some embodiments of the present application, the operation data includes operation data of each loaded functional module of the robot at a plurality of sampling moments, and the loaded functional module includes the target functional module; the determining, according to the operation data, the degree of adaptation of the target function module to the robot includes: determining the stability degree of each loaded functional module according to the working data of each loaded functional module at different sampling moments; and determining the adaptation degree according to the stability degree, wherein the adaptation degree is positively correlated with the stability degree.
In some embodiments of the present application, the operation data includes operation data of each loaded functional module of the robot, the loaded functional module including the target functional module; the method comprises the steps of carrying out a first treatment on the surface of the The determining, according to the operation data, the degree of adaptation of the target function module to the robot includes: acquiring historical working data of each loaded functional module, wherein the historical working data is working data before the robot updates the current functional module; and comparing the working data of each loaded functional module with the corresponding historical working data to determine the adaptation degree.
In some embodiments of the present application, the controlling the robot to update the current functional module to load the robot with the target functional module includes: acquiring the position of a maintenance point corresponding to the current functional module; and controlling the robot to go to the maintenance point corresponding to the current functional module according to the position of the maintenance point corresponding to the current functional module so as to update the current functional module to the target functional module.
In some embodiments of the present application, the number of the current functional modules is a plurality, and the number of the maintenance points corresponding to each current functional module is one or a plurality; and controlling the robot to go to the maintenance point corresponding to the current functional module according to the position of the maintenance point corresponding to the current functional module so as to update the current functional module to the target functional module, wherein the method comprises the following steps: determining candidate moving paths according to positions of maintenance points corresponding to the current functional modules, wherein the maintenance points passed by each candidate moving path comprise maintenance points corresponding to the current functional modules; determining the path cost value of each candidate moving path; screening a target path from the candidate moving paths according to the path cost value; and controlling the robot to go to the maintenance point corresponding to each current functional module according to the target path so as to update each current functional module into the corresponding target functional module.
In some embodiments of the present application, the current functional module is a software functional module; the controlling the robot to update the current functional module so as to load the robot with the target functional module includes: if the current network signal of the robot is abnormal, controlling the robot to go to a charging pile; and after the robot reaches the charging pile, controlling the robot to be connected with a network of the charging pile, and downloading and installing the target functional module through the network of the charging pile.
In some embodiments of the present application, the maintenance method of the robot further includes: acquiring the use time length of the current functional module; and if the using time is longer than a time threshold, confirming that the current functional module meets the updating condition.
A maintenance device for a robot provided in a second aspect of the present application includes: the first maintenance unit is used for controlling the robot to update the current functional module when the current functional module of the robot meets the update condition so as to load the target functional module on the robot; the acquisition unit is used for acquiring the operation data of the robot after the robot finishes updating; the determining unit is used for determining the adaptation degree between the target functional module and the robot according to the operation data; and the second maintenance unit is used for controlling the robot to update the target functional module again if the adaptation degree is smaller than the degree threshold.
A third aspect of the embodiments of the present application provides a terminal device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor implements the steps of the method for maintaining a robot described above when the processor executes the computer program.
A fourth aspect of the embodiments of the present application provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the maintenance method of a robot described above.
A fifth aspect of the embodiments of the present application provides a computer program product, which when run on a terminal device, causes the terminal device to perform the method for maintaining a robot according to the first aspect described above.
In the embodiment of the application, when the current functional module of the robot meets the update condition, the robot is controlled to update the current functional module so that the robot loads the target functional module, after the robot finishes updating, the adaptation degree between the target functional module and the robot is determined according to the operation data of the robot, if the adaptation degree is smaller than the degree threshold, the robot is controlled to update the target functional module again, after the robot maintenance is performed, the adaptation degree between the target functional module and the robot can be determined, and when the adaptation degree is smaller than the degree threshold, the robot maintenance is performed again, so that the problem that the robot cannot normally execute tasks due to the fact that the target functional module is not adapted to the robot can be avoided, and the effectiveness of the robot maintenance is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic implementation flow chart of a maintenance method of a robot according to an embodiment of the present application;
fig. 2 is a schematic diagram of a mechanism of a robot according to an embodiment of the present application;
fig. 3 is a schematic flowchart of a specific implementation of controlling a robot to autonomously perform maintenance according to an embodiment of the present application;
fig. 4 is a schematic structural diagram of a maintenance device of a robot according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a terminal device provided in an embodiment of the present application.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, are intended to be protected herein.
In order to illustrate the technical solution of the present application, the following description is made by specific examples.
Fig. 1 shows a schematic implementation flow chart of a maintenance method for a robot, which is provided in an embodiment of the present application, and the method may be applied to a terminal device, and may be applicable to a situation where the effectiveness of maintenance of the robot needs to be improved.
The terminal device may refer to a robot, or may refer to a scheduling device of the robot, for example, may be an intelligent device such as a mobile phone, a computer, a tablet computer, or the like. It should be understood that the robot may be a dispensing robot, a cleaning robot, a guidance robot, a patrol robot, or other type of robot, which is not limiting to the present application.
Specifically, the maintenance method of the robot may include the following steps S101 to S104.
Step S101, when the current functional module of the robot meets the updating condition, the robot is controlled to update the current functional module so as to load the target functional module.
In the embodiment of the application, the functional module is a module for realizing each function of the robot, and comprises a software functional module and a hardware functional module. The software functional module may be called firmware, and is a program stored inside the robot for realizing the corresponding function. The hardware functional module is a structure of the robot for realizing the corresponding function. The current functional module can be any functional module currently loaded by the robot.
In the embodiment of the application, the terminal device can control the robot to perform self-checking on the current functional module to determine whether the current functional module of the robot meets the update condition. If the current functional module of the robot does not meet the updating condition, the current functional module is temporarily not required to be maintained, and at the moment, the terminal equipment can control the robot to execute tasks by using the current functional module. If the current functional module of the robot meets the update condition, the current functional module needs to be maintained, and the terminal equipment can control the robot to update the current functional module so that the robot loads the target functional module.
Specifically, if the current functional module is a software functional module, the terminal device may control the robot to acquire a software package of the target functional module. When the software package is an installation package, the robot may install the target function module using the installation package of the target function module after uninstalling the current function module. When the software package is an incremental update package between the current functional module and the target functional module, the robot may incrementally update the current functional module to the target functional module using the incremental update package. If the current functional module is a hardware functional module, the terminal equipment can control the robot to detach the current functional module through the mechanical arm and install the target functional module at a position before the current functional module is detached.
Step S102, after the robot finishes updating, operation data of the robot are obtained.
Specifically, the operation data may be data generated when the robot operates based on the target function module, and may include working data of each loaded function module of the robot. The loaded functional module refers to a functional module loaded by the robot, and may include a target functional module and other functional modules other than the target functional module. After the current functional module is updated to the target functional module, the robot can perform self-checking on each loaded functional module at a preset frequency to acquire the working data. For example, the robot may perform self-checking on electrical parameters such as current, voltage, power, etc. of each loaded functional module during the task execution to obtain working data, or may determine a feedback signal of each loaded functional module for executing the task according to the execution result of the task to obtain working data of each loaded functional module.
Step S103, according to the operation data, the adaptation degree between the target functional module and the robot is determined.
In embodiments of the present application, the degree of adaptation may be used to characterize the suitability between the target functional module and the robot. According to the operation data, whether the operation state of the robot is abnormal or not can be judged, for example, whether the robot can normally execute tasks or not and whether each loaded functional module is abnormal or not can be judged, and then the adaptation degree between the target functional module and the robot can be determined.
And step S104, if the adaptation degree is smaller than the degree threshold, controlling the robot to update the target functional module again.
In the embodiment of the application, if the adaptation degree is smaller than the degree threshold, it is indicated that the suitability of the target functional module and the robot is low, and the robot may not normally execute the task based on the target functional module, or other functional modules are easily damaged, at this time, the robot may be controlled to update the target functional module again, for example, the robot may be controlled to update the target functional module into a new functional module. When the target function module is a software function module, the robot can be controlled to carry out version rollback on the target function module.
If the adaptation degree is greater than or equal to the degree threshold, the target function module and the robot are higher in adaptation, and maintenance can be finished at the moment, and the robot is controlled to update the target function module until the target function module meets the updating condition.
In the embodiment of the application, when the current functional module of the robot meets the update condition, the robot is controlled to update the current functional module so that the robot loads the target functional module, after the robot finishes updating, the adaptation degree between the target functional module and the robot is determined according to the operation data of the robot, if the adaptation degree is smaller than the degree threshold, the robot is controlled to update the target functional module again, after the robot maintenance is performed, the adaptation degree between the target functional module and the robot can be determined, and when the adaptation degree is smaller than the degree threshold, the robot maintenance is performed again, so that the problem that the robot cannot normally execute tasks due to the fact that the target functional module is not adapted to the robot can be avoided, and the effectiveness of the robot maintenance is improved.
Specifically, in some embodiments, the terminal device may obtain the usage time length of the current functional module, and if the usage time length is greater than the time length threshold, it indicates that the current functional module is aged, and it may be determined that the current functional module meets the update condition, so as to control the robot to update the current functional module, so that the robot loads the target functional module. If the using time length is smaller than or equal to the time length threshold value, the current functional module still has longer service life, and the current functional module is confirmed to not meet the updating condition.
In other embodiments, the terminal device may further obtain a current version identifier of the current functional module, and if the current version identifier is different from the version identifier of the latest version, which indicates that the current functional module needs to be updated, it may be confirmed that the current functional module meets an update condition, so as to control the robot to update the current functional module, so that the robot loads the target functional module of the latest version. If the current version identifier is the same as the version identifier of the latest version, which indicates that the current functional module does not need to be updated, it can be confirmed that the current functional module does not meet the update condition.
In other embodiments, the terminal device may further obtain historical working data of the current functional module, where the historical working data is working data before the current functional module is updated by the robot, and may include electrical parameters of the current functional module, or a feedback signal generated when the current functional module performs a task or performs self-checking. The terminal device may detect whether there is an abnormality in the history work data. If the historical working data is abnormal, the current functional module needs to be maintained, and the current functional module can be confirmed to meet the updating condition so as to control the robot to update the current functional module. If the historical working data is not abnormal, the current functional module is not required to be maintained, and the current functional module can be confirmed to not meet the updating condition.
By way of example, as shown in fig. 2, the functional modules of the robot may include an interaction module (e.g., a touch panel) for implementing man-machine interaction, a communication module (e.g., a 4G/5G, bluetooth, WIFI, or RFID radio frequency component, etc.) for implementing data transmission, a positioning navigation module (e.g., a laser radar, a depth camera) for performing positioning navigation, a power module (e.g., a battery) for powering other functional modules, a chassis module, a rack module, a multimedia module for outputting information through an output device such as a speaker, etc. When the interactive module cannot be powered on for display, the current is abnormal, the voltage is abnormal, or a part of electronic devices of the interactive module do not feed back a confirmation signal in the self-checking process, the interactive module can be confirmed to meet the updating condition. When the speaker cannot generate vibration, has no sound, has abnormal current or abnormal voltage, it can be confirmed that the multimedia module satisfies the update condition. When the robot cannot access the network or the Bluetooth communication and the RFID radio frequency communication are abnormal, the communication module can be confirmed to meet the updating condition. When the robot is abnormally charged, it can be confirmed that the power supply module satisfies the update condition.
In order to improve the convenience of robot maintenance, when the current functional module meets the update condition, the terminal equipment can control the robot to maintain autonomously.
Specifically, the terminal device may obtain the position of the maintenance point corresponding to the current functional module, and control the robot to go to the maintenance point corresponding to the current functional module according to the position of the maintenance point corresponding to the current functional module, so as to update the current functional module to the target functional module.
For example, if the interaction module meets the update condition, the terminal device may control the robot to go to the maintenance point a corresponding to the interaction module, so as to update the interaction module. If the power supply module meets the updating condition, the terminal equipment can control the robot to go to a maintenance point B corresponding to the power supply module to update the interaction module.
When the number of the current functional modules is multiple, the terminal equipment can control the robot to sequentially go to the maintenance point corresponding to each interaction module to update the regional functional modules. For example, when the interaction module and the power module both meet the update condition, the terminal device may control the robot to sequentially go to a maintenance point a corresponding to the interaction module and a maintenance point B corresponding to the power module, and update the interaction module and the power module.
In some embodiments, the number of repair points corresponding to each current functional module may be one or more. At this time, as shown in fig. 3, the terminal device can control the robot to perform maintenance through steps S301 to S304.
Step S301, determining candidate moving paths according to the positions of maintenance points corresponding to each current functional module.
Specifically, the terminal device may perform path planning according to the position of the maintenance point corresponding to each current functional module to obtain candidate moving paths, where each maintenance point where each candidate moving path passes includes the maintenance point corresponding to each current functional module, and then the robot may update each current functional module according to any one candidate moving path.
Step S302, determining the path cost value of each candidate moving path.
Step S303, screening a target path from the candidate moving paths according to the path cost value.
Step S304, the control robot goes to the maintenance points corresponding to the current functional modules according to the target paths so as to update each current functional module into the corresponding target functional module.
As an example, the path cost value may represent a degree of loss of the candidate moving path to the robot, e.g., represent power consumption required by the robot to use the candidate moving path. The target path is the movement path actually used by the robot. The terminal device can weight and add the cost factors according to the cost factors such as the total length of the path, the turning frequency and the like of each candidate moving path to obtain the path cost value of the corresponding candidate moving path. Correspondingly, the terminal equipment can take the candidate moving path with the lowest path cost value as a target path, and control the robot to go to the maintenance point corresponding to each current functional module according to the target path so as to update each current functional module into the corresponding target functional module. At this time, based on the target path, the robot can complete the update of each current functional module with the lowest loss.
As another example, the path cost value may represent a degree of influence of the candidate moving path on the robot performing a task. The terminal equipment can acquire the currently unfinished target task of the robot, calculate the distance between the maintenance point finally reached by each candidate moving path and the target point according to the target point required to be reached by the target task, and take the distance as the path cost value. Correspondingly, the terminal equipment can take the candidate moving path with the lowest path cost value as a target path, and control the robot to go to the maintenance point corresponding to each current functional module according to the target path so as to update each current functional module into the corresponding target functional module. At this time, based on the target path, the robot can perform the target task to the target site at the fastest speed after completing the update.
In other embodiments, when the current functional module is a software functional module, if there is no abnormality in the current network signal of the robot, for example, the signal strength of the current network signal is greater than or equal to a preset threshold, the terminal device may control the robot to download a software package by using the network to which the robot is currently connected, so as to update the current functional module to the target functional module by using the software package. It should be appreciated that the software package may be an installation package for the target functional module or an incremental update package between the target functional module and the current functional module.
If the current network signal of the robot is abnormal, for example, the robot is in a network-free state, or the signal strength of the current network signal is lower than a preset threshold value, the robot cannot download the software package by using the current connected network. In order to avoid the failure of the update of the robot, the terminal equipment can control the robot to go to the charging pile, and after the robot reaches the charging pile, the terminal equipment can control the robot to be connected with a network of the charging pile and download and install the target functional module through the network of the charging pile.
Specifically, when the current network signal of the robot is abnormal, the terminal device can control the robot to go to the charging pile and dock with the charging pile. When the robot can be charged by the charging stake, it is confirmed that the robot reaches the charging stake. At this time, the robot can connect to the network of the charging pile based on the WIFI hotspot opened by the charging pile, download and install the software package, and further update the current functional module to the target functional module by using the software package.
After the robot finishes updating, the terminal device can determine the adaptation degree between the target functional module and the robot according to the operation data of the robot.
Specifically, the operation data may include operation data of each loaded functional module of the robot at a plurality of sampling moments. At this time, according to the working data of each loaded functional module at different sampling moments, the stability degree of each loaded functional module can be determined, and the adaptation degree can be determined according to the stability degree. The degree of smoothness may characterize the stability of the loaded functional module after the robot has completed an update. Wherein, the adaptation degree and the stability degree are positively correlated.
For example, the smoothness of the current, voltage, and power of each loaded functional module may be determined based on the current, voltage, and power of each loaded functional module at different sampling times. If the stability of the current, voltage and power of each loaded functional module is low, it indicates that the stability of the loaded functional module is poor after the robot completes updating, the adaptation degree is determined according to the interval where the stability is located, if the stability is low, the adaptation degree is low, and if the stability of the loaded functional module is poor, the terminal equipment can update the target functional module again.
In other embodiments, the terminal device may also obtain historical working data of each loaded functional module, where the historical working data is working data before the robot updates the current functional module. And comparing the working data of each loaded functional module with the corresponding historical working data to determine the adaptation degree.
For example, by making a difference between the working data and the historical working data, it can be determined that the error amount between the working data of the loaded functional module before and after the update of the robot is larger, which means that the working data of the loaded functional module after the update of the robot is completed has larger change, and the target functional module is not adapted to the robot, and when the adaptation degree is lower, the terminal device can update the target functional module again when the target functional module is not adapted to the robot.
In other embodiments, the terminal device may further control the robot to self-check whether there is an abnormality after the update is completed. For example, it may be self-checking whether the positioning module can be initialized and repositioned, and if so, confirming that the degree of adaptation is greater than or equal to the degree threshold. If the positioning module cannot be initialized and repositioned, the adaptation degree is confirmed to be smaller than the degree threshold value.
According to the embodiment of the application, the robot is controlled to autonomously load the target functional module, so that the maintenance convenience of the robot can be improved, meanwhile, after the robot is updated, the adaptation degree between the target functional module and the robot is analyzed by combining the operation data of the robot, the robot can be maintained again when the target functional module is not matched with the robot, and the maintenance effectiveness of the robot is improved.
It should be noted that, for the sake of simplicity of description, the foregoing method embodiments are all expressed as a series of combinations of actions, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order according to the present application.
Fig. 4 is a schematic structural diagram of a maintenance device 400 of a robot according to an embodiment of the present application, where the maintenance device 400 of the robot is configured on a terminal device.
Specifically, the maintenance device 400 of the robot may include:
a first maintenance unit 401, configured to control, when a current functional module of a robot meets an update condition, the robot to update the current functional module, so that the robot loads a target functional module;
an obtaining unit 402, configured to obtain operation data of the robot after the robot completes updating;
a determining unit 403, configured to determine, according to the operation data, a degree of adaptation between the target functional module and the robot;
and the second maintenance unit 404 is configured to control the robot to update the target function module again if the adaptation degree is smaller than the degree threshold.
In some embodiments of the present application, the operation data may include operation data of each loaded functional module of the robot at a plurality of sampling moments, the loaded functional module may include a target functional module, and the determining unit 403 may specifically be configured to: determining the stability degree of each loaded functional module according to the working data of each loaded functional module at different sampling moments; and determining the adaptation degree according to the stability degree, wherein the adaptation degree is positively correlated with the stability degree.
In some embodiments of the present application, the operation data may include operation data of each loaded functional module of the robot, the loaded functional module may include a target functional module, and the determining unit 403 may specifically be configured to: acquiring historical working data of each loaded functional module, wherein the historical working data is working data before the robot updates the current functional module; and comparing the working data of each loaded functional module with the corresponding historical working data to determine the adaptation degree.
In some embodiments of the present application, the first maintenance unit 401 may be specifically configured to: acquiring the position of a maintenance point corresponding to the current functional module; and controlling the robot to go to the maintenance point corresponding to the current functional module according to the position of the maintenance point corresponding to the current functional module so as to update the current functional module to the target functional module.
In some embodiments of the present application, the number of the current functional modules is a plurality, and the number of the maintenance points corresponding to each current functional module is one or a plurality; the first maintenance unit 401 may be specifically configured to: determining candidate moving paths according to positions of maintenance points corresponding to the current functional modules, wherein the maintenance points passed by each candidate moving path comprise maintenance points corresponding to the current functional modules; determining the path cost value of each candidate moving path; screening a target path from the candidate moving paths according to the path cost value; and controlling the robot to go to the maintenance points corresponding to the current functional modules according to the target path so as to update each current functional module into the corresponding target functional module.
In some embodiments of the present application, the current functional module is a software functional module, and the first maintenance unit 401 may specifically be configured to: if the current network signal of the robot is abnormal, controlling the robot to go to a charging pile; and after the robot reaches the charging pile, controlling the robot to be connected with a network of the charging pile, and downloading and installing the target functional module through the network of the charging pile.
In some embodiments of the present application, the maintenance device 400 of the robot may include a power supply obtaining unit configured to obtain a usage time period of the current functional module; and if the using time is longer than a time threshold, confirming that the current functional module meets the updating condition.
It should be noted that, for convenience and brevity of description, the specific working process of the maintenance device 400 of the robot may refer to the corresponding process of the method described in fig. 1 to 3, and will not be described herein again.
Fig. 5 is a schematic diagram of a terminal device according to an embodiment of the present application. The terminal device 5 may include: a processor 50, a memory 51 and a computer program 52 stored in said memory 51 and executable on said processor 50, for example a maintenance program for a robot. The processor 50, when executing the computer program 52, implements the steps in the maintenance method embodiments of the respective robots described above, such as steps S101 to S104 shown in fig. 1. Alternatively, the processor 50 may implement the functions of the modules/units in the above-described apparatus embodiments when executing the computer program 52, such as the first maintenance unit 401, the acquisition unit 402, the determination unit 403, and the second maintenance unit 404 shown in fig. 4.
The computer program may be divided into one or more modules/units which are stored in the memory 51 and executed by the processor 50 to complete the present application. The one or more modules/units may be a series of computer program instruction segments capable of performing the specified functions, which instruction segments are used for describing the execution of the computer program in the terminal device.
For example, the computer program may be split into: the device comprises a first maintenance unit, an acquisition unit, a determination unit and a second maintenance unit. The specific functions of each unit are as follows: the first maintenance unit is used for controlling the robot to update the current functional module when the current functional module of the robot meets the update condition so as to load the target functional module on the robot; the acquisition unit is used for acquiring the operation data of the robot after the robot finishes updating; the determining unit is used for determining the adaptation degree between the target functional module and the robot according to the operation data; and the second maintenance unit is used for controlling the robot to update the target functional module again if the adaptation degree is smaller than the degree threshold.
The terminal device may include, but is not limited to, a processor 50, a memory 51. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a terminal device and is not meant to be limiting, and that more or fewer components than shown may be included, or certain components may be combined, or different components may be included, for example, the terminal device may also include input and output devices, network access devices, buses, etc.
The processor 50 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 51 may be an internal storage unit of the terminal device, such as a hard disk or a memory of the terminal device. The memory 51 may also be an external storage device of the terminal device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card) or the like, which are provided on the terminal device. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device. The memory 51 is used for storing the computer program as well as other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It should be noted that, for convenience and brevity of description, the structure of the above terminal device may also refer to a specific description of the structure in the method embodiment, which is not repeated herein.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment 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, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other manners. For example, the apparatus/terminal device embodiments described above are merely illustrative, e.g., the division of the modules or units is merely a logical function division, and there may be additional divisions in actual implementation, e.g., multiple units 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 may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.
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 on 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 each embodiment of the present application 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 modules/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 present application may implement all or part of the flow of the method of the above embodiment, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by a processor, the computer program may implement the steps of each method embodiment described above. Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium contains content that can be appropriately scaled according to the requirements of jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is subject to legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunication signals.
The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (10)
1. A method of maintaining a robot, comprising:
when the current functional module of the robot meets the updating condition, controlling the robot to update the current functional module so as to load the target functional module by the robot;
after the robot finishes updating, acquiring the operation data of the robot;
determining the adaptation degree of the target functional module and the robot according to the operation data;
and if the adaptation degree is smaller than the degree threshold, controlling the robot to update the target functional module again.
2. The method of maintenance of a robot of claim 1, wherein the operational data includes operational data of each loaded functional module of the robot at a plurality of sampling moments, the loaded functional module including the target functional module;
The determining, according to the operation data, the degree of adaptation of the target function module to the robot includes:
determining the stability degree of each loaded functional module according to the working data of each loaded functional module at different sampling moments;
and determining the adaptation degree according to the stability degree, wherein the adaptation degree is positively correlated with the stability degree.
3. The method of maintenance of a robot of claim 1, wherein the operational data includes operational data of each loaded functional module of the robot, the loaded functional module including the target functional module;
the determining, according to the operation data, the degree of adaptation of the target function module to the robot includes:
acquiring historical working data of each loaded functional module, wherein the historical working data is working data before the robot updates the current functional module;
and comparing the working data of each loaded functional module with the corresponding historical working data to determine the adaptation degree.
4. The method of maintenance of a robot according to claim 1, wherein the controlling the robot to update the current functional module to load the robot with a target functional module includes:
Acquiring the position of a maintenance point corresponding to the current functional module;
and controlling the robot to go to the maintenance point corresponding to the current functional module according to the position of the maintenance point corresponding to the current functional module so as to update the current functional module to the target functional module.
5. The method for maintaining a robot according to claim 4, wherein the number of the current functional modules is plural, and the number of the maintenance points corresponding to each of the current functional modules is one or plural;
and controlling the robot to go to the maintenance point corresponding to the current functional module according to the position of the maintenance point corresponding to the current functional module so as to update the current functional module to the target functional module, wherein the method comprises the following steps:
determining candidate moving paths according to positions of maintenance points corresponding to the current functional modules, wherein the maintenance points passed by each candidate moving path comprise maintenance points corresponding to the current functional modules;
determining the path cost value of each candidate moving path;
screening a target path from the candidate moving paths according to the path cost value;
and controlling the robot to go to the maintenance point corresponding to each current functional module according to the target path so as to update each current functional module into the corresponding target functional module.
6. The maintenance method of a robot according to any one of claims 1 to 5, wherein the current functional module is a software functional module;
the controlling the robot to update the current functional module so as to load the robot with the target functional module includes:
if the current network signal of the robot is abnormal, controlling the robot to go to a charging pile;
and after the robot reaches the charging pile, controlling the robot to be connected with a network of the charging pile, and downloading and installing the target functional module through the network of the charging pile.
7. The maintenance method of a robot according to any one of claims 1 to 5, characterized in that the maintenance method of a robot further comprises:
acquiring the use time length of the current functional module;
and if the using time is longer than a time threshold, confirming that the current functional module meets the updating condition.
8. A maintenance device for a robot, comprising:
the first maintenance unit is used for controlling the robot to update the current functional module when the current functional module of the robot meets the update condition so as to load the target functional module on the robot;
The acquisition unit is used for acquiring the operation data of the robot after the robot finishes updating;
the determining unit is used for determining the adaptation degree of the target functional module and the robot according to the operation data;
and the second maintenance unit is used for controlling the robot to update the target functional module again if the adaptation degree is smaller than the degree threshold.
9. Terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor, when executing the computer program, realizes the steps of the method for maintaining a robot according to any one of claims 1 to 7.
10. A computer-readable storage medium storing a computer program, characterized in that the computer program, when executed by a processor, implements the steps of the maintenance method of a robot according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211696091.8A CN116228193A (en) | 2022-12-28 | 2022-12-28 | Maintenance method and device for robot, terminal equipment and readable storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211696091.8A CN116228193A (en) | 2022-12-28 | 2022-12-28 | Maintenance method and device for robot, terminal equipment and readable storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116228193A true CN116228193A (en) | 2023-06-06 |
Family
ID=86575892
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211696091.8A Pending CN116228193A (en) | 2022-12-28 | 2022-12-28 | Maintenance method and device for robot, terminal equipment and readable storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116228193A (en) |
-
2022
- 2022-12-28 CN CN202211696091.8A patent/CN116228193A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4839361B2 (en) | Virtual machine migration management server and virtual machine migration method | |
| US20200126167A1 (en) | Programmable manufacturing advisor for smart production systems | |
| US11836686B2 (en) | Feedback based automated maintenance system | |
| US10037203B1 (en) | Real-time software upgrade | |
| US20200217751A1 (en) | Equipment inspection system, equipment inspection method, and program | |
| JP2020149345A (en) | Automatic updating system, and updating method and program therefor | |
| CN115113058A (en) | Following method for displaying SOC value of battery and related device | |
| CN116228193A (en) | Maintenance method and device for robot, terminal equipment and readable storage medium | |
| CN113419825B (en) | Resource performance prediction method, device and system and electronic equipment | |
| CN109242269A (en) | Job instruction generation method, device, system, electronic equipment and storage medium | |
| KR100352314B1 (en) | Lot carrier control system and carrier controlling method thereof | |
| CN117149378A (en) | Task scheduling method, device, equipment and medium of intelligent automobile operating system | |
| KR20130011186A (en) | A method for downloading firmware of module for plc | |
| CN113119117B (en) | Robot control method, controller, robot and control system | |
| CN110618826A (en) | Method and device for updating application program and terminal equipment | |
| CN110889490B (en) | Prediction method, prediction device, computing equipment and medium | |
| CN114826676B (en) | Network security data sharing and control method and system | |
| EP4369193A1 (en) | Job schedule quality prediction and job scheduling | |
| CN115890743A (en) | Function test method and device of robot, terminal equipment and readable storage medium | |
| CN115046563A (en) | Method, apparatus, storage medium, and program product for generating travel route allocation plan | |
| Steneberg | MILP model for multi-product, multi-part and multi-hoist cycle shops | |
| CN117032223A (en) | Speed control method and device of self-mobile device, electronic device and storage medium | |
| CN112454354A (en) | Working method and device of industrial robot and storage medium | |
| CN115042641A (en) | Battery using method, device, equipment and medium | |
| CN115774423A (en) | Material processing method based on digital twinning |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |