CN106843000A - Climbing robot mobile control system restoration methods - Google Patents
Climbing robot mobile control system restoration methods Download PDFInfo
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- CN106843000A CN106843000A CN201710075737.3A CN201710075737A CN106843000A CN 106843000 A CN106843000 A CN 106843000A CN 201710075737 A CN201710075737 A CN 201710075737A CN 106843000 A CN106843000 A CN 106843000A
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- affairs
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
Abstract
The invention discloses a kind of climbing robot mobile control system restoration methods, following steps are specifically included：An action sequence for joint machinery in climbing robot moving process is represented in units of affairs, affairs and relevant information daily record are recorded sequentially in time；Failure judgement classification, is such as transaction failure, searches for daily record, transfers failure and the affairs recorded in moment daily record occur, and the mechanical action sequence that the affairs have been completed is cancelled by force；Such as it is control system failure, searches for daily record, the performance of moment affairs occurs according to failure, the affairs for having completed are reformed, the affairs for not completing carries out pressure revocation.The present invention makes state of the climbing robot mobile control system before automatic recovery failure after trouble shooting using redundant data, and the working condition that robot is inherited before failure is worked on, and principle is simple, easily implements, and stability is strong.
Description
Technical field
The present invention relates to technical field of robot control, particularly a kind of mobile control system of climbing robot.
Background technology
In recent years, intelligent robot undergoes an unusual development rapidly, is typically include climbing robot, wheeled robot and rotary wind type
The control system development of unmanned plane, wherein wheeled robot and rotary wind type unmanned plane also reaches its maturity, and widely should at present
For industrial and agricultural production process and resident living；And relatively, climbing robot is then also in developing stage at present.Climbing machine
People is broadly divided into bioadhesion formula, gripper type, electromagnetic adsorption type from absorption principle, and sufficient formula, wheeled is broadly divided into from travel mechanism；
Its mesopodium formula climbing robot mainly for detection of space truss structure, such as electric force pole tower, metal bridge, scaffold, signal tower etc.,
Its climbing environment is mainly the three dimensions truss of rod member composition., with the increase of the free degree, concurrency is at double for climbing robot
Increase, also exponentially level increases the complexity of control logic, and this is allowed for, and control system is potentially mutually coordinated, mutually restrict machine
System is more, and the control degree of coupling is higher.
General foot formula climbing robot needs to develop dedicated control system, and control system is unavoidably sent out in the process of running
Raw failure, but current control system is after breaking down, such as computing spilling, control system failure, robot power-off, climbs
Climbing robot generally needs the operation that starts anew again after failure is eliminated, it is difficult to from before sometime inheriting point complete and accurate
Phase works, and wastes time and energy.
The content of the invention
The technical problem to be solved in the invention is to provide a kind of recovery for being applied to climbing robot mobile control system
Method, can recover the state and data of climbing robot before failure occurs, and robot is inherited failure after Failure elimination
Preceding working condition works on.
In order to solve the above technical problems, the technical solution used in the present invention is as follows.
Climbing robot mobile control system restoration methods, specifically include following steps：
A. an action sequence for joint machinery in climbing robot moving process is represented in units of affairs, according to the time
Journal affairs and relevant information daily record；
B. failure judgement classification, is such as transaction failure, and system recovery is carried out using step C；It is such as control system failure, adopts
System recovery is carried out with step D；
C. daily record is searched for, failure is transferred and the affairs recorded in moment daily record is occurred, cancel what the affairs had been completed by force
Mechanical action sequence；
D. daily record is searched for, the performance of moment affairs occurs according to failure, the affairs for having completed are reformed,
Affairs for not completing carry out pressure revocation.
Above-mentioned climbing robot mobile control system restoration methods, step C specifically includes following steps：
C1. from reverse scan journal file at the ending of daily record, the mechanical action that failure occurs moment affairs is searched；
C2. the mechanical action to the affairs performs inverse operation；
C3. continue reverse scan daily record, search other mechanical actions of the affairs, and do same treatment；
C4. repeat step C3, until reading the beginning label of the affairs, transaction failure recovers to terminate.
Above-mentioned climbing robot mobile control system restoration methods, step D specifically includes following steps：
D1., transaction queues are set, transaction queues include having completed queue, just performing queue, cancel queue, queue of reforming；
D2. start anew to scan daily record, find out the affairs completed before failure generation, these affairs ID is included into weight
Do queue；Meanwhile, find out failure and the unfinished affairs of fashion occur, these affairs ID is included into revocation queue；
D3. the affairs in revocation queue are carried out forcing revocation treatment, specific method is reverse scan journal file, to every
The mechanical action of individual revocation affairs performs inverse operation；
D4. the affairs in queue of reforming are carried out with treatment of reforming, specific method is forward scan journal file, to each weight
Do affairs and re-execute the mechanical action recorded in daily record.
Above-mentioned climbing robot mobile control system restoration methods, in step A while log recording is carried out, increase steady
Fixed point records and records the index file of each point of safes address in journal file, and the dynamic during journal file is logged in
Safeguard daily record.
Above-mentioned climbing robot mobile control system restoration methods, the content of the point of safes record includes：Point of safes is built
All transaction queues being carrying out are carved immediately, and the address of the above-mentioned nearest log recording of affairs and climbing robot are steady
Fixed point sets up the positional information and directional information at moment.
Above-mentioned climbing robot mobile control system restoration methods, described to dynamically maintain daily record climbed in climbing robot
When climbing foot with stability characteristic (quality), point of safes is set up, preserve the positional information and directional information of climbing robot, specifically included following
Step：
A. on the journal file of all of existing log recording write-in disk in log buffer area；
B. a point of safes record is write in journal file；
C. all joint mechanical action sequences of current buffer are finished；
D. in index file being charged in address of the point of safes record in journal file.
Above-mentioned climbing robot mobile control system restoration methods, the specific steps of system recovery are carried out using point of safes
For：
First, address of the nearest point of safes record in journal file is found from index file, is existed by the address
Nearest point of safes record is found in journal file, the positional information and directional information of climbing robot is read, accordingly to climbing
Robot is climbed to be resetted；
Secondly, the transaction queues of all positive execution when point of safes is set up are obtained by aforementioned stable point record, while just holding
Row queue is temporarily put into revocation queue, and juxtaposition bare weight does queue；
Again, the forward scan journal file since point of safes, until journal file terminates；
Finally, destruction operation is performed to each affairs in revocation queue, weight is performed to each affairs in queue of reforming
Operate.
As a result of above technical scheme, the invention technological progress is as follows.
Present invention utilization redundant data makes climbing robot mobile control system before automatic recovery failure after trouble shooting
State, and the working condition that robot is inherited before failure is worked on, principle is simple, easily implements, and stability is strong；This hair
The index file of the bright point of safes and daily record that climbing robot is also set up on the basis of daily record, accelerates retrieval rate, improves
The resume speed of system.
Brief description of the drawings
Fig. 1 is schematic diagram of the invention；
Fig. 2 is daily record and the index file schematic diagram in the present invention with point of safes；
Fig. 3 is the recovery policy using point of safes in the present invention；
Fig. 4 is the mirror image technology principle in the present invention.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention will be described in further detail.
A kind of climbing robot mobile control system restoration methods, its principle are as shown in figure 1, be specially：Robot is controlled
In system caused by incorrect data and mechanical action failure can according to storage in system other local redundant datas come
Rebuild, these redundant datas are generally stored in the special daily record for creating before each joint mechanical action, and by point of safes
For index file is set up in daily record, accelerate retrieval rate；For failure caused by hardware problem, can be by ground handling station
Mirror image data and computing environment are recovered.Specifically include following steps.
A. an action sequence for joint machinery in climbing robot moving process is represented in units of affairs, according to the time
Journal affairs and relevant information daily record.
The affairs proposed in the present invention have three characteristics：Atomicity, stability, middle defeasibility.
Atomicity refers to the logical unit of work (LUW) of climbing robot, is an indivisible mechanical action sequence, or
Or all do do not do.
Stability refers to that climbing robot is carved at the beginning of affairs and finish time must be from a stability status
To another stability status.If control system breaks down in operation, some affairs do not complete also and are just forced to interrupt,
At this moment climbing robot is just not at a unstable state.The left front sufficient and right metapedes of such as four-footed climbing robot is all also not
Landing, because power down stops, robot is at a kind of unstable state.
Middle defeasibility refers to that affairs such as break down or system mistake in operation, can recall this affairs
The some mechanical action of completion, returns to original stability status.For example, find that barrier exceedes in climbing robot movement closing
The limit span ability of section, can recall completed mechanical action, be recalculated after returning to stability status.
With journaling techniques as core, daily record is the file for recording climbing robot mechanical action to the present invention.
Daily record has mechanical action type, coordinate type, compound three kinds of forms.
The daily record of mechanical action type records the mechanical action of each step sequentially in time, and its content is as shown in table 1.
Table 1
The daily record of coordinate type records the coordinate before and after each moved further sequentially in time, and its content is as shown in table 2.
Table 2
Compound daily record record sequentially in time the mechanical action of each step and it is mobile before and after coordinate, composite record machine
Tool is acted and mobile front and rear coordinate information, and its content is as shown in table 3.
Table 3
In order to ensure that all affairs all can be recovery, following two principle is must comply with during registration daily record：1) daily record
The chronological order that the order of registration is strictly performed by affairs；2) must first be registered in daily record, then perform affairs.Prevent in day
Will is registered there is the system failure and affairs between, cause daily record imperfect.
B. failure judgement classification, is such as transaction failure, and system recovery is carried out using step C；It is such as control system failure, adopts
System recovery is carried out with step D.
In the provisioning process, the failure during climbing robot is moved is divided into two classes, transaction failure and system event to the present invention
Barrier.
Transaction failure refers to that single affairs break down (computing spilling, emergent barrier etc.), it is impossible to run to
Expected terminal, climbing robot is in a kind of unsure state.
The system failure refers to any event for causing climbing robot to shut down, it is necessary to restarted, such as operational part
Part failure, system power failure, all affairs that this fault impact is currently running, force their non-normal terminations, cause climbing machine
Device people is in a kind of unsure state.
C. the restoration methods of transaction failure are：Search daily record, transfers failure and the affairs recorded in moment daily record occurs, not
In the case of influenceing other affairs to run, the completed some mechanical action of the affairs is cancelled by force, this is automatically complete by system
Into, user is without any operation.Specifically include following steps.
C1. from reverse scan journal file at the ending of daily record, the mechanical action that failure occurs moment affairs is searched.
C2. the mechanical action to the affairs performs inverse operation；Inverse operation such as forward motion is to retreat, the inverse operation of left-hand rotation
It is to turn right.
C3. continue reverse scan daily record, search other mechanical actions of the affairs, and do same treatment.
C4. repeat step C3, until reading the beginning label of the affairs, transaction failure recovers to terminate.
D. the recovery of the system failure is automatically performed in system reboot, it is not necessary to any operation of user.The system failure
Cause climbing robot it is unstable it is main have of both factor, one is completed affairs because failure causes the machinery of affairs
Action sequence has cancelled, and two is that unfinished affairs have been carried out partial joint mechanical action sequence.The system failure
Restoration methods are after system reboot, it is necessary to from the data Angle all unfinished mechanical actions of revocation, be reformed from mechanical angle
The affairs for having completed since sometime putting；Daily record is searched for, the performance of moment affairs occurs according to failure, it is right
Reformed in the affairs for having completed, the affairs for not completing carry out pressure revocation.Specifically include following steps.
D1., transaction queues are set, transaction queues include having completed queue, just performing queue, cancel queue, queue of reforming.
Wherein, it refers to the transaction queues that mechanical action sequence has been fully completed to have completed queue；Positive execution queue refers to mechanical action
The transaction queues that sequence is carrying out；Revocation queue refers to the transaction queues of mechanical action Sequence Program revocation；Queue of reforming is
Refer to the transaction queues that mechanical action Sequence Program is reformed.
D2. start anew to scan daily record, find out the affairs completed before failure generation, these affairs ID is included into weight
Do queue；Meanwhile, find out failure and the unfinished affairs of fashion occur, these affairs ID is included into revocation queue.
D3. the affairs in revocation queue are carried out forcing revocation treatment, specific method is reverse scan journal file, to every
The mechanical action of individual revocation affairs performs inverse operation.
D4. the affairs in queue of reforming are carried out with treatment of reforming, specific method is forward scan journal file, to each weight
Do affairs and re-execute the mechanical action recorded in daily record.
The present invention using daily record when system recovery is controlled, it is necessary to search for whole daily record, to determine which affairs is needed
Reform, which affairs needs to force revocation.Recovery process has two, and one is that the whole daily record of search will expend substantial amounts of
Time, two is that the reform treatment of queue needs to re-execute mechanical action sequence, wastes the plenty of time.In order to solve above-mentioned two
Individual problem, present invention further proposes the restoration methods with point of safes, i.e., while log recording is carried out, increases stabilization
Point records and records the index file of each point of safes address in journal file, and during journal file is logged in dynamically
Safeguard daily record.
The content of aforementioned stable point record includes：Point of safes sets up moment all transaction queues being carrying out, above-mentioned thing
It is engaged in the address of a nearest log recording and climbing robot sets up the positional information and directional information at moment in point of safes.
Index file is used for recording address of each point of safes record in journal file, and Fig. 2 describes to set up point of safes
Corresponding daily record and index file during Si.
It is, when climbing robot climbing foot has stability characteristic (quality), to set up point of safes to dynamically maintain daily record, preserves climbing
The positional information and directional information of robot, specifically include following steps.
A. on the journal file of all of existing log recording write-in disk in log buffer area.
B. a point of safes record is write in journal file.
C. all joint mechanical action sequences of current buffer are finished.
D. in index file being charged in address of the point of safes record in journal file.
Recovery efficiency can be greatly improved using point methods are stablized, is mainly reflected at following 2 points：First, it is as affairs T
All of joint mechanical action sequence was completed before a point of safes, when treatment recover, first climbing machine
Device people is placed by the position and direction of a nearest point of safes, it is not necessary to affairs T is performed and is reformed；Secondly, it is by rope
Point of safes record in quotation part, daily record can quickly find the corresponding log recording address of affairs, it is not necessary to start anew to scan day
Will file.
When control system breaks down, climbing robot restoration methods take different according to the different conditions that affairs are completed
Recovery policy, the different conditions that affairs are completed are as shown in Figure 3：It is dynamic that T1 affairs had completed all joint machineries before point of safes
Make sequence；T2 affairs started to perform joint mechanical action sequence before point of safes, all complete between point of safes and trouble point
Into；T3 affairs started to perform joint mechanical action sequence before point of safes, were not fully completed also at trouble point；T4 affairs exist
Start to perform joint mechanical action sequence after point of safes, be fully completed before trouble point；T5 affairs point of safes it
After start perform joint mechanical action sequence, be not fully completed also at trouble point.
T1 affairs be fully completed before point of safes, so operation of reforming need not be performed；T2 affairs and T4 affairs exist
Just be fully completed after point of safes, their joint mechanical action sequence be all finished when failure occurs, it is necessary to
Reform；The joint mechanical action sequence of T3 affairs and T5 affairs is also not carried out finishing when failure occurs, so from journal file
Force revocation.
In the present invention, comprising the following steps that for system recovery is carried out using aforementioned stable point.
First, address of the nearest point of safes record in journal file is found from index file, is existed by the address
Nearest point of safes record is found in journal file, the positional information and directional information of climbing robot is read, accordingly to climbing
Robot is climbed to be resetted.
Secondly, the transaction queues of all positive execution when point of safes is set up are obtained by aforementioned stable point record, while just holding
Row queue is temporarily put into revocation queue, and juxtaposition bare weight does queue.
Again, the forward scan journal file since point of safes, until journal file terminates.If any the affairs for newly starting
Ti, TiTemporarily it is put into revocation queue；If any the affairs T for completingj, TjQueue of reforming is moved on to from revocation queue.
Finally, destruction operation is performed to each affairs in revocation queue, weight is performed to each affairs in queue of reforming
Operate.
In the present invention, the present invention is in addition to above-mentioned transaction failure and the system failure, it is also possible to fall in moving process
There is situations such as loose contact, damage in situations such as falling, collide, entrained storage device and arithmetic facility.Control system occurs
After this failure, the information difficult of failure eve is reproduced, system is recovered to get up also relatively time-consuming.Harsher or not
In the environment of stabilization, can be recovered come help system using mirror image technology.Specifically, as shown in figure 4, in ground handling station
The storage environment and computing environment of the same scale that arrangement one and climbing robot body are carried, the data transmission equipment moment protect
Hold that ground handling station is consistent with the data storage of climbing robot body, the data at ground handling station are climbing robot body numbers
According to mirror image.After breaking down, the mirror image data and computing environment at ground handling station can be immediately enabled, continue to control climbing
Robot completes remaining work.After fault restoration, climbing robot control system can be recovered by mirror image data, solved
The hardware fault hardly possible recovery problem of system, improves method in the adaptability in face of harsh or unstable environment.
But no matter climbing robot itself storage data, or ground handling station record storage data, all be use
Stored as unit log and in the way of point of safes and index file are set up to daily record by affairs, this kind of mode is patrolled
It is volume simple that clear, stability is strong, Feasible degree is high, workable, substantially increase climbing robot mobile control system from
Dynamic recovery capability.
Claims (7)
1. climbing robot mobile control system restoration methods, it is characterised in that specifically include following steps：
A. an action sequence for joint machinery in climbing robot moving process is represented in units of affairs, sequentially in time
Record affairs and relevant information daily record；
B. failure judgement classification, is such as transaction failure, and system recovery is carried out using step C；It is such as control system failure, using step
Rapid D carries out system recovery；
C. daily record is searched for, failure is transferred and the affairs recorded in moment daily record is occurred, the machinery that the affairs have been completed is cancelled by force
Action sequence；
D. daily record is searched for, the performance of moment affairs occurs according to failure, the affairs for having completed are reformed, right
Pressure revocation is carried out in unfinished affairs.
2. climbing robot mobile control system restoration methods according to claim 1, it is characterised in that step C is specific
Comprise the following steps：
C1. from reverse scan journal file at the ending of daily record, the mechanical action that failure occurs moment affairs is searched；
C2. the mechanical action to the affairs performs inverse operation；
C3. continue reverse scan daily record, search other mechanical actions of the affairs, and do same treatment；
C4. repeat step C3, until reading the beginning label of the affairs, transaction failure recovers to terminate.
3. climbing robot mobile control system restoration methods according to claim 1, it is characterised in that step D is specific
Comprise the following steps：
D1., transaction queues are set, transaction queues include having completed queue, just performing queue, cancel queue, queue of reforming；
D2. start anew to scan daily record, find out the affairs completed before failure generation, these affairs ID is included into team of reforming
Row；Meanwhile, find out failure and the unfinished affairs of fashion occur, these affairs ID is included into revocation queue；
D3. the affairs in revocation queue are carried out forcing revocation treatment, specific method is reverse scan journal file, removes each
The mechanical action for selling affairs performs inverse operation；
D4. the affairs in queue of reforming are carried out with treatment of reforming, specific method is forward scan journal file, to each thing of reforming
Business re-executes the mechanical action recorded in daily record.
4. climbing robot mobile control system restoration methods according to any one of claims 1 to 3, it is characterised in that
In step A while log recording is carried out, increase point of safes record and record each point of safes address in journal file
Index file, and log in journal file during dynamically maintain daily record.
5. climbing robot mobile control system restoration methods according to claim 4, it is characterised in that the point of safes
The content of record includes：Point of safes sets up moment all transaction queues being carrying out, the above-mentioned nearest log recording of affairs
Address and climbing robot the positional information and directional information at moment are set up in point of safes.
6. climbing robot mobile control system restoration methods according to claim 4, it is characterised in that it is described dynamically
Safeguard that daily record is, when climbing robot climbing foot has stability characteristic (quality), to set up point of safes, preserve the position letter of climbing robot
Breath and directional information, specifically include following steps：
A. on the journal file of all of existing log recording write-in disk in log buffer area；
B. a point of safes record is write in journal file；
C. all joint mechanical action sequences of current buffer are finished；
D. in index file being charged in address of the point of safes record in journal file.
7. climbing robot mobile control system restoration methods according to claim 4, it is characterised in that utilize point of safes
The system of carrying out recovery is concretely comprised the following steps：
First, address of the nearest point of safes record in journal file is found from index file, by the address in daily record
Nearest point of safes record is found in file, the positional information and directional information of climbing robot is read, accordingly to climbing machine
Device people resetted；
Secondly, the transaction queues of all positive execution when point of safes is set up are obtained by aforementioned stable point record, while performing team positive
Row are temporarily put into revocation queue, and juxtaposition bare weight does queue；
Again, the forward scan journal file since point of safes, until journal file terminates；
Finally, destruction operation is performed to each affairs in revocation queue, the behaviour that reforms is performed to each affairs in queue of reforming
Make.
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