WO2019080315A1

WO2019080315A1 - Method and system for fault self-diagnosis of service robot

Info

Publication number: WO2019080315A1
Application number: PCT/CN2017/116666
Authority: WO
Inventors: 张贯京; 葛新科; 王海荣; 张红治; 周亮
Original assignee: 深圳市前海安测信息技术有限公司
Priority date: 2017-10-28
Filing date: 2017-12-15
Publication date: 2019-05-02
Also published as: CN107891446A

Abstract

Disclosed in the present invention are a method and system for fault self-diagnosis of a service robot. The method comprises the following steps: sending a fault diagnosis activation signal; upon receiving the fault diagnosis activation signal, sending a fault diagnosis signal to a sensor in a preset manner; acquiring peripheral environment information collected by the sensor according to the fault diagnosis signal; determining a fault cause of the sensor according to the peripheral environment information collected by the sensor, matching a fault type of the sensor according to the fault cause, and determining a fault diagnosis result of the sensor; and storing the fault diagnosis result in a memory, and sending the same to a mobile terminal or a unified management platform communicatively connected to a service robot. The embodiment of the present invention can improve the service life and usability of a service robot and user experience.

Description

Service robot fault self-diagnosis system and method

Technical field

The present invention relates to the field of robot fault diagnosis technology, and in particular, to a service robot fault self-diagnosis system and method.

Background technique

With the rapid growth of the global service robot market, the application range of service robots is becoming more and more extensive, mainly engaged in maintenance, repair, transportation, cleaning, security, rescue, monitoring and so on. In recent years, the application in the field of medical services has been particularly extensive, and the role of service robots in replacing human labor has become increasingly prominent. However, due to long hours of work, faults will inevitably occur on sensors and other components, posing a safety hazard. Therefore, it is especially important to diagnose the service robots. It is timely to discover and report faults, which can better serve humans and reduce unnecessary losses. The existing fault diagnosis solutions for robots are fixed fault diagnosis devices designed for industrial robots. However, due to the diversity of service robots and the use environment, it is inconvenient to perform fault diagnosis on fixed fault diagnosis devices. The technical solution does not apply to the fault diagnosis of service robots.

Based on this, it is necessary to design a service robot fault self-diagnosis system and method. It is not necessary to design a special fault diagnosis device for each service robot. It is only necessary to design corresponding fault diagnosis programs for different service robots, which is low in cost and efficient. high.

technical problem

The object of the present invention is to provide a service robot fault self-diagnosis system and method, aiming at solving the technical problem that it is inconvenient to perform fault diagnosis on a fixed fault diagnosis device due to the diversity of the service robot and the use environment.

Technical solution

To achieve the above object, the present invention provides a service robot fault self-diagnosis system that runs in a service robot, the service robot including a memory and a plurality of sensors, each sensor having a unique number according to the type of the sensor and the position of the sensor setting. The service robot fault self-diagnosis system includes a startup module, an information sending module, an information collecting module, a fault analysis module, and a recording and transmission module, wherein:

The startup module is configured to send a fault diagnosis startup signal;

The information sending module is configured to send a fault diagnosis signal to the sensor according to a preset manner when receiving the fault diagnosis start signal; the preset manner refers to sequentially sending the corresponding fault diagnosis signal according to the unique number of the sensor to Corresponding sensor;

The information collection module is configured to: obtain, by the surrounding environment information acquiring sensor, surrounding environment information collected according to the fault diagnosis signal;

The fault analysis module is configured to determine a fault cause of the sensor according to the surrounding environment information collected by the sensor, and match the fault type of the sensor according to the fault cause, and determine a fault diagnosis result of the sensor;

The recording and transmission module is configured to store the fault diagnosis result in a memory and send it to a mobile terminal or a unified management platform that is in communication with the service robot.

Preferably, the sensor type of each sensor, the location of the sensor settings, and the unique numbered relationship table are pre-stored in a database of the memory.

Preferably, the relationship table of the unique number of each sensor, the type of failure, and the cause of the failure is stored in advance in a database of the memory.

Preferably, the reference environment information collected by each sensor under normal conditions is pre-stored in a database of the memory.

Preferably, the fault analysis module is specifically configured to determine the fault cause of the sensor according to the surrounding environment information collected by the sensor and the reference environment information of the sensor, according to the unique number of each sensor stored in the database, the type of the fault, and the cause of the fault. The table matches the fault type of the current sensor.

The present invention also provides a service robot fault self-diagnosis method, the service robot comprising a memory and a plurality of sensors, each sensor having a unique number according to the sensor type and the position of the sensor setting, the service robot fault self-diagnosis method including the following step:

Send a fault diagnosis start signal;

When receiving the fault diagnosis initiation signal, the fault diagnosis signal is sent to the sensor according to a preset manner; the preset manner refers to sequentially transmitting the corresponding fault diagnosis signal to the corresponding sensor according to the unique number of the sensor;

Obtaining surrounding environment information collected by the sensor according to the fault diagnosis signal;

Judging the fault cause of the sensor according to the surrounding environment information collected by the sensor, matching the fault type of the sensor according to the fault cause, and determining the fault diagnosis result of the sensor;

The fault diagnosis result is stored in a memory and sent to a mobile terminal or a unified management platform that is in communication with the service robot.

Preferably, the determining the fault cause of the sensor according to the surrounding environment information collected by the sensor, and matching the fault type of the sensor according to the fault cause, the step of determining the fault diagnosis result of the sensor specifically includes: surrounding environment information collected by the sensor and the sensor The reference environment information determines the cause of the fault of the sensor, and matches the fault type of the current sensor according to the unique number of each sensor stored in the database, the type of the fault, and the relationship table of the fault cause.

Beneficial effect

Compared with the prior art, the service robot fault self-diagnosis system and method of the present invention adopts the above technical solutions, and achieves the following technical effects: the embodiment of the invention sends a fault diagnosis signal to the sensor of the service robot periodically to acquire the sensor according to the fault. The surrounding environment information of the diagnostic signal acquisition and the reference environmental information determine the cause of the fault of the sensor, and match the fault type of the sensor, determine the fault diagnosis result of the sensor, store the fault diagnosis result in the memory for query, and send it to the mobile terminal or unified management The platform allows the user or manager to view the current fault condition of the service robot and process it in time, so that the service robot can realize fault self-diagnosis, and is not limited by time and space. It is only necessary to design corresponding fault diagnosis methods for different service robots. It can be low cost and high efficiency, which improves the service life and usability of the service robot and enhances the user experience.

DRAWINGS

1 is a schematic diagram of an operating environment of a preferred embodiment of a service robot fault self-diagnosis system according to the present invention;

2 is a flow chart of a preferred embodiment of the service robot fault self-diagnosis method of the present invention.

The object, features, and advantages of the invention will be further described in conjunction with the embodiments.

BEST MODE FOR CARRYING OUT THE INVENTION

The specific embodiments, structures, features and functions of the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. It is understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

To achieve the objectives of the present invention, the present invention provides a service robot fault self-diagnosis system and method.

Referring to FIG. 1, FIG. 1 is a schematic diagram of an operating environment of a preferred embodiment of a service robot fault self-diagnosis system according to the present invention.

The service robot fault self-diagnosis system 10 provided by the present invention runs in the service robot 1. The service robot 1 further includes a robot body (not shown), a sensor 12, a memory 14, a microcontroller 16, and a communication interface 18. And display 20. The sensor 12, the memory 14, the communication interface 18, and the display 20 are electrically coupled to the microcontroller 16, respectively.

In this embodiment, the sensor 12 is disposed on the robot body according to the application domain of the service robot. The sensor is the core component of the service robot. It is used to collect the surrounding environment information of the service robot. The normal operation of the sensor can provide basic information for the operation of the service robot to ensure the normal and stable operation of the service robot. The sensor 12 of the service robot generally includes a camera, a microphone, a gyroscope, an acceleration sensor, an infrared sensor, a temperature and humidity sensor, etc., for respectively collecting image information, voice information, direction information, acceleration information, obstacle conditions, and temperature and humidity of the surrounding environment. Information, etc.

In this embodiment, the microcontroller 16 can be a central processing unit (CPU), a microprocessor, a micro control unit chip (MCU), a data processing chip, or a control unit having data processing functions. The memory 14 can be a read only memory ROM, an electrically erasable memory EEPROM or a flash memory FLASH. The memory 14 is used to store pre-programmed computer program instructions that can be loaded and executed by the microcontroller 16 to service the robot to complete the fault self-diagnosis function. The communication interface 18 may be a communication interface supporting a remote communication protocol (such as TCP/IP protocol) or a short-range communication protocol (such as WIFI or Bluetooth, etc.) for transmitting the fault diagnosis result to the communication connection with the service robot. Mobile terminal or unified management platform.

In the embodiment, the service robot fault self-diagnosis system 10 includes, but is not limited to, a startup module 101, an information transmission module 102, an information collection module 103, a failure analysis module 104, and a recording and transmission module 105. A module referred to in the present invention refers to a series of computer program instructions that can be executed by the microcontroller 16 and that are capable of performing fixed functions, which are stored in the memory 14.

The startup module 101 is configured to send a fault diagnosis initiation signal. In the embodiment of the present invention, the fault diagnosis of the service robot can be performed within a preset period. When the preset period arrives, the fault diagnosis start signal is sent to the information sending module 102. For example, the preset period is one month, and the startup module 101 can perform timing by acquiring the system time of the service robot. In other embodiments of the invention, the service robot can also be diagnosed as needed. The startup module 101 provides a virtual button for the user to initiate fault diagnosis for the user to select. When the user selects to press the virtual button, the fault diagnosis start signal is sent to Information sending module 102.

The information sending module 102 is configured to send a fault diagnosis signal to the sensor 12 according to a preset manner when receiving the fault diagnosis start signal. Specifically, the service robot includes a plurality of sensors, and each sensor is provided with a unique number depending on the type of sensor and the position of the sensor settings. The sensor type of each sensor 12, the location of the sensor settings, and a uniquely numbered relationship table are pre-stored in a database of the memory 14. A relationship table of the unique number of each sensor 12, the type of failure, and the cause of the failure is stored in advance in the database of the memory 14. The preset manner refers to sequentially transmitting a corresponding fault diagnosis signal to the corresponding sensor 12 according to the unique number of the sensor 12, so as to test whether the surrounding environment information collected by the sensor 12 is a normal signal. Numbering

The information collection module 103 is configured to acquire surrounding environment information collected by the sensor 12 according to the fault diagnosis signal. After receiving the fault diagnosis signal, each sensor 12 collects surrounding environmental information to obtain surrounding environment information collected by the sensor 12, and sends the environmental information to the fault analysis module 104. Specifically, the fault diagnosis signals sent by different sensor types are different. For example, when the unique number is the camera located at the head of the service robot, the fault diagnosis signal sent is a control signal for controlling the camera to rotate 360 degrees, for the camera to rotate 360 degrees. Photos of the surrounding environment.

The fault analysis module 104 is configured to determine the fault cause of the sensor 12 according to the surrounding environment information collected by the sensor 12, and match the fault type of the sensor 12 according to the fault cause to determine the fault diagnosis result of the sensor 12. In this embodiment, the reference environment information collected by each sensor 12 under normal conditions is pre-stored in the database of the memory 14, and the cause of the failure of the sensor 12 is determined according to the surrounding environment information collected by the sensor 12 and the reference environment information of the sensor 12. The fault type of the current sensor 12 is matched according to the unique number of each sensor 12 stored in the database, the type of fault, and the relationship table of the cause of the fault.

The recording and transmitting module 105 is configured to store the fault diagnosis result in the memory 14 and send it to the mobile terminal or the unified management platform that is in communication with the service robot, so that the user or the administrator can view the current fault condition of the service robot. And deal with it in time. The fault diagnosis result includes a unique number of each sensor 12 of the service robot, collected surrounding environment information, a cause of the fault, and a fault type. In other embodiments, the fault diagnosis result of each sensor 12 can also be displayed on the display 20 for the user or manager to view the current fault condition of the service robot and process it in time.

The embodiment of the invention sends a fault diagnosis signal to the sensor of the service robot periodically, acquires the surrounding environment information collected by the sensor according to the fault diagnosis signal, and the reference environment information to determine the fault cause of the sensor, and matches the fault type of the sensor to determine the fault diagnosis result of the sensor. The fault diagnosis result is stored in the memory for querying, and is sent to the mobile terminal or the unified management platform for the user or the administrator to view the current fault condition of the service robot, and timely processed, so that the service robot can realize fault self-diagnosis, and Limited by time and space, it is only necessary to design corresponding fault diagnosis methods for different service robots, which is low in cost and high in efficiency, which improves the service life and usability of the service robot and enhances the user experience.

As shown in FIG. 2, FIG. 2 is a flow chart of a preferred embodiment of the service robot fault self-diagnosis method of the present invention. Referring to FIG. 1 at the same time, in the embodiment, the service robot fault self-diagnosis method is applied to the service robot fault self-diagnosis system 10, and various method steps of the service robot fault self-diagnosis method are implemented by a computer software program. The computer software program is in the form of computer program instructions and stored in a computer readable storage medium (e.g., memory 14), which may include read only memory, random access memory, magnetic or optical disks, etc., the computer program instructions being capable of being processed The device loads and executes the following steps S11 to S15.

In step S11, a fault diagnosis start signal is sent.

Specifically, the startup module 101 sends a fault diagnosis initiation signal to the information transmission module 102. In the embodiment of the present invention, the fault diagnosis of the service robot can be performed within a preset period. When the preset period arrives, the fault diagnosis start signal is sent to the information sending module 102. For example, the preset period is one month, and the startup module 101 can perform timing by acquiring the system time of the service robot. In other embodiments of the invention, the service robot can also be diagnosed as needed. The startup module 101 provides a virtual button for the user to initiate fault diagnosis for the user to select. When the user selects to press the virtual button, the fault diagnosis start signal is sent to Information sending module 102.

In step S12, when the fault diagnosis start signal is received, the fault diagnosis signal is sent to the sensor 12 in a preset manner.

Specifically, when receiving the fault diagnosis start signal, the information sending module 102 sends a fault diagnosis signal to the sensor 12 in a preset manner. The service robot includes a plurality of sensors 12, and each sensor is uniquely numbered according to the type of sensor and the location of the sensor settings. The sensor type of each sensor 12, the location of the sensor settings, and a uniquely numbered relationship table are pre-stored in a database of the memory 14. A relationship table of the unique number of each sensor 12, the type of failure, and the cause of the failure is stored in advance in the database of the memory 14. The preset manner refers to sequentially transmitting a corresponding fault diagnosis signal to the corresponding sensor 12 according to the unique number of the sensor 12, so as to test whether the surrounding environment information collected by the sensor 12 is a normal signal. Numbering

Step S13: Acquire ambient environment information collected by the sensor 12 according to the fault diagnosis signal.

Specifically, the information collection module 103 acquires surrounding environment information collected by the sensor 12. After receiving the fault diagnosis signal, each sensor 12 collects surrounding environmental information to obtain surrounding environment information collected by the sensor 12, and sends the environmental information to the fault analysis module 104. Specifically, the fault diagnosis signals sent by different sensor types are different. For example, when the unique number is the camera located at the head of the service robot, the fault diagnosis signal sent is a control signal for controlling the camera to rotate 360 degrees, for the camera to rotate 360 degrees. Photos of the surrounding environment.

Step S14, determining the cause of the fault of the sensor 12 according to the surrounding environment information collected by the sensor 12, and matching the fault type of the sensor 12 according to the fault cause, and determining the fault diagnosis result of the sensor 12.

Specifically, the fault analysis module 104 determines the cause of the fault of the sensor 12 according to the surrounding environment information collected by the sensor 12, and matches the fault type of the sensor 12 according to the fault cause, and determines the fault diagnosis result of the sensor 12. In this embodiment, the reference environment information collected by each sensor 12 under normal conditions is pre-stored in the database of the memory 14, and the cause of the failure of the sensor 12 is determined according to the surrounding environment information collected by the sensor 12 and the reference environment information of the sensor 12. The fault type of the current sensor 12 is matched according to the unique number of each sensor 12 stored in the database, the type of fault, and the relationship table of the cause of the fault.

In step S15, the fault diagnosis result is stored in the memory 14 and sent to the mobile terminal or the unified management platform communicatively connected with the service robot.

Specifically, the recording and transmission module 105 stores the fault diagnosis result in the memory 14 and sends it to the mobile terminal or the unified management platform communicatively connected with the service robot, so that the user or the administrator can view the current fault condition of the service robot, and Handle in time. The fault diagnosis result includes a unique number of each sensor 12 of the service robot, collected surrounding environment information, a cause of the fault, and a fault type. In other embodiments, the fault diagnosis result of each sensor 12 can also be displayed on the display 20 for the user or manager to view the current fault condition of the service robot and process it in time.

A person skilled in the art may understand that all or part of the steps of the various methods in the above embodiments may be completed by related program instructions, and the program may be stored in a computer readable storage medium, and the storage medium may include: a read only memory, a random access memory, Disk or disc, etc.

The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention. The equivalent structure or equivalent flow transformation made by the specification and the drawings of the present invention are equally included in the scope of patent protection of the present invention. Inside.

Industrial applicability

Claims

A service robot fault self-diagnosis system runs in a service robot, the service robot including a memory and a plurality of sensors, wherein each sensor is provided with a unique number according to a sensor type and a position set by the sensor, the service robot The fault self-diagnosis system includes a startup module, an information sending module, an information collecting module, a fault analysis module, and a recording and transmission module, wherein: the startup module is configured to send a fault diagnosis start signal; and the information sending module is configured to receive When the fault diagnosis start signal is sent, the fault diagnosis signal is sent to the sensor according to a preset manner; the preset manner refers to sequentially transmitting the corresponding fault diagnosis signal to the corresponding sensor according to the unique number of the sensor; the information collecting module, And acquiring the surrounding environment information collected by the sensor according to the fault diagnosis signal; the fault analysis module is configured to determine a fault cause of the sensor according to the surrounding environment information collected by the sensor, and match the fault type of the sensor according to the fault cause to determine the sensing Fault diagnosis; the recording and transmission module for a mobile terminal or unified management platform transmitting the fault diagnosis result stored in the memory and to the communication connection with the service robot.
The service robot fault self-diagnosis system according to claim 1, wherein the sensor type of each sensor, the position of the sensor setting, and the unique numbered relationship table are stored in advance in a database of the memory.
The service robot fault self-diagnosis system according to claim 1, wherein a relationship table of unique numbers, fault types, and cause of failure of each sensor is stored in advance in a database of the memory.
The service robot fault self-diagnosis system according to claim 3, wherein the reference environment information collected by each sensor under normal conditions is stored in advance in a database of the memory.
The service robot fault self-diagnosis system according to claim 4, wherein the fault analysis module is specifically configured to determine a fault cause of the sensor according to the surrounding environment information collected by the sensor and the reference environment information of the sensor, and store according to the database. The unique number of each sensor, the type of fault, and the relationship table of the cause of the fault match the fault type of the current sensor.
A service robot fault self-diagnosis method includes a memory and a plurality of sensors, wherein each sensor is provided with a unique number according to a sensor type and a position set by the sensor, and the service robot fault self-diagnosis method includes the following Step: sending a fault diagnosis start signal; when receiving the fault diagnosis start signal, sending a fault diagnosis signal to the sensor according to a preset manner; the preset manner refers to sequentially sending a corresponding fault diagnosis signal according to the unique number of the sensor to Corresponding sensor; acquiring ambient information collected by the sensor according to the fault diagnosis signal; determining a fault cause of the sensor according to surrounding environmental information collected by the sensor, matching the fault type of the sensor according to the fault cause, determining a fault diagnosis result of the sensor; The diagnostic results are stored in memory and sent to a mobile terminal or unified management platform that is in communication with the service robot.
The service robot fault self-diagnosis method according to claim 6, wherein the sensor type of each sensor, the position of the sensor setting, and the unique numbered relationship table are stored in advance in a database of the memory.
The service robot fault self-diagnosis method according to claim 6, wherein a relationship table of unique numbers, fault types, and cause of failure of each sensor is stored in advance in a database of the memory.
The service robot fault self-diagnosis method according to claim 8, wherein the reference environment information collected by each sensor under normal conditions is pre-stored in a database of the memory.
The service robot fault self-diagnosis method according to claim 9, wherein the determining the fault cause of the sensor according to the surrounding environment information collected by the sensor, and matching the fault type of the sensor according to the fault cause, determining the fault diagnosis result of the sensor. The step specifically includes: determining the fault cause of the sensor according to the surrounding environment information collected by the sensor and the reference environment information of the sensor, and matching the fault type of the current sensor according to the unique number of each sensor stored in the database, the fault type, and the relationship table of the fault cause. .