CN106843000B - Climbing robot mobile control system restoration methods - Google Patents
Climbing robot mobile control system restoration methods Download PDFInfo
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- CN106843000B CN106843000B CN201710075737.3A CN201710075737A CN106843000B CN 106843000 B CN106843000 B CN 106843000B CN 201710075737 A CN201710075737 A CN 201710075737A CN 106843000 B CN106843000 B CN 106843000B
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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
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Abstract
The invention discloses a kind of climbing robot mobile control system restoration methods, specifically includes the following steps: indicating the action sequence of a joint machinery in climbing robot moving process as unit of affairs, record affairs and relevant information log sequentially in time；Judge fault category, for example transaction failure, search for log, transfers failure and the affairs recorded in moment log occur, cancel the mechanical action sequence that the affairs have been completed by force；For example control system failure searches for log, and the performance of moment affairs occurs according to failure, the affairs completed are reformed, and carries out pressure revocation for unfinished affairs.The present invention so that climbing robot mobile control system is restored failure automatically after trouble shooting using redundant data before state, and the working condition before making robot inherit failure works on, and principle is simple, is easy to implement, stability is strong.
Description
Technical field
The present invention relates to technical field of robot control, especially a kind of mobile control system of climbing robot.
Background technique
In recent years, intelligent robot undergoes an unusual development rapidly, is typically include climbing robot, wheeled robot and rotary wind type
Unmanned plane, the wherein control system of wheeled robot and rotary wind type unmanned plane development also reach its maturity, widely answer at present
For industrial and agricultural production process and resident living；And relatively, climbing robot is then also in developing stage at present.Climb machine
People is broadly divided into bioadhesion formula, gripper type, electromagnetic adsorption type from absorption principle, is broadly divided into sufficient formula, wheeled from mobile 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.,
It climbs the three-dimensional space truss that environment is mainly rod piece composition.Climbing robot is with the increase of freedom degree, and concurrency is at double
Increase, also exponentially grade increases the complexity of control logic, this is allowed for, and control system is potentially mutually coordinated, mutually restricts machine
Make it is more, control the degree of coupling it 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, however current control system is after breaking down, such as the power-off of operation spilling, control system failure, robot, climbs
It climbs robot to usually require to run from the beginning again after eliminating the fault, it is difficult to from sometime putting complete and accurate after brought forward
Phase work, it is time-consuming and laborious.
Summary of the invention
The technical problem to be solved by the invention is to provide a kind of recoveries applied to climbing robot mobile control system
Method can restore the state and data of climbing robot before failure occurs after Failure elimination, and robot is made to inherit failure
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 includes the following steps:
A. the action sequence that a joint machinery in climbing robot moving process is indicated as unit of affairs, according to the time
Journal affairs and relevant information log；
B. judge fault category, for example transaction failure, system recovery is carried out using step C；For example control system failure, is adopted
System recovery is carried out with step D；
C. log is searched for, failure is transferred and the affairs recorded in moment log occurs, cancel what the affairs had been completed by force
Mechanical action sequence；
D. log is searched for, the performance of moment affairs occurs according to failure, the affairs completed are reformed,
Pressure revocation is carried out for unfinished affairs.
Above-mentioned climbing robot mobile control system restoration methods, step C specifically includes the following steps:
C1. from the ending place reverse scan journal file of log, the mechanical action that moment affairs occur for failure is searched；
C2. inverse operation is executed to the mechanical action of the affairs；
C3. continue reverse scan log, search other mechanical actions of the affairs, and do same processing；
C4. step C3 is repeated, until reading the beginning label of the affairs, transaction failure recovery terminates.
Above-mentioned climbing robot mobile control system restoration methods, step D specifically includes the following steps:
D1., transaction queues are set, and transaction queues include that queue is completed, is just executing queue, is cancelling queue, reforms queue；
D2. log is scanned from the beginning, finds out the affairs completed before failure occurs, these affairs ID is included into weight
Do queue；Meanwhile finding 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 processing, specific method is reverse scan journal file, to every
The mechanical action of a revocation affairs executes inverse operation；
D4. the affairs reformed in queue are carried out reforming processing, specific method is forward scan journal file, to each heavy
It does affairs and re-executes the mechanical action recorded in log.
Above-mentioned climbing robot mobile control system restoration methods increase steady in step A while carrying out log recording
Fixed point record and the index file for recording each stable point address in journal file, and the dynamic during logging in journal file
Safeguard log in ground.
The content of above-mentioned climbing robot mobile control system restoration methods, the stable point record includes: that stable point 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 establishes the location information and directional information at moment.
Above-mentioned climbing robot mobile control system restoration methods, described to dynamically maintain log climbed in climbing robot
When climbing foot has stability characteristic (quality), stable point is established, the location information and directional information of climbing robot is saved, specifically includes following
Step:
A. on the journal file existing log recording write-in disk all in log buffer area；
B. a stable point record is written in journal file；
C. all joint mechanical action sequences of current buffer are finished；
D. stable point the address in journal file is recorded in charge in index file.
Above-mentioned climbing robot mobile control system restoration methods carry out the specific steps of system recovery using stable point
Are as follows:
Firstly, being existed from the address finding a nearest stable point in index file and being recorded in journal file by the address
Nearest stable point record is found in journal file, reads the location information and directional information of climbing robot, accordingly to climbing
Robot is climbed to be resetted；
Secondly, record to obtain all transaction queues just executed when stable point is established by aforementioned stable point, while just holding
Row queue is temporarily put into revocation queue, and juxtaposition bare weight does queue；
Again, the forward scan journal file since stable point, until journal file terminates；
Finally, executing destruction operation to each affairs in revocation queue, weight is executed to each affairs reformed in queue
It operates.
Due to using above technical scheme, the invention technological progress is as follows.
Before the present invention makes climbing robot mobile control system restore failure automatically after trouble shooting using redundant data
State, and the working condition before making robot inherit failure works on, and principle is simple, is easy to implement, stability is strong；This hair
The index file of the bright stable point and log that climbing robot is also established on the basis of log, accelerates retrieval rate, improves
The resume speed of system.
Detailed description of the invention
Fig. 1 is the principle of the present invention figure；
Fig. 2 is the log and index file schematic diagram in the present invention with stable point；
Fig. 3 is the recovery policy that stable point is utilized 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, principle as shown in Figure 1, specifically: robot control
In system failure caused by incorrect data and mechanical action can according to the redundant data in the other places of the system that is stored in come
It rebuilds, these redundant datas are usually stored in the log specially created before each joint mechanical action, and pass through stable point
Index file is established for log, accelerates retrieval rate；It, can be by ground station for failure caused by hardware problem
Mirror image data and calculating environment restoration.Specifically include following steps.
A. the action sequence that a joint machinery in climbing robot moving process is indicated as unit of affairs, according to the time
Journal affairs and relevant information log.
There are three characteristics for the affairs tool proposed in the present invention: atomicity, stability, intermediate defeasibility.
Atomicity refers to the logical unit of work (LUW) of climbing robot, be an indivisible mechanical action sequence or
It all does or does not do.
Stability refers to climbing robot 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, which do not complete also, to be just forced to interrupt,
At this moment climbing robot is just not at a unstable state.Such as the left front sufficient and right metapedes of four-footed climbing robot is all also not
Landing, because power down stops, robot is at a kind of unstable state.
The affairs that intermediate defeasibility refer to such as break down in operation or system mistake, can recall this affairs
The some mechanical of completion acts, and returns to original stability status.For example, discovery barrier is more than to close during climbing robot is mobile
The limit span ability of section, can recall completed mechanical action, recalculate after returning to stability status.
For the present invention using journaling techniques as core, log is the file for recording climbing robot mechanical action.
Log has mechanical action type, coordinate type, compound three kinds of formats.
The log of mechanical action type records the mechanical action of each step sequentially in time, and content is as shown in table 1.
Table 1
The log of coordinate type records the coordinate before and after each moved further sequentially in time, and content is as shown in table 2.
Table 2
Compound log records the mechanical action of each step and the coordinate of mobile front and back, composite record machine sequentially in time
Tool movement and mobile front and rear coordinate information, content are as shown in table 3.
Table 3
It can restore to guarantee all affairs all, must comply with following two principle: 1) log when registering log
The order of registration strictly presses the chronological order of affairs execution；2) it must first be registered in log, then execute affairs.It prevents in day
Generating system failure between will registration and affairs, causes log imperfect.
B. judge fault category, for example transaction failure, system recovery is carried out using step C；For example control system failure, is adopted
System recovery is carried out with step D.
The present invention is divided into two classes, transaction failure and system event in the provisioning process, by climbing robot failure on the move
Barrier.
The single affairs that transaction failure refer to break down (operation spilling, emergent barrier etc.), are unable to run
Expected terminal, climbing robot are in a kind of unstable state.
The system failure refers to any event for causing climbing robot to shut down, it is necessary to restart, such as operational part
Part failure, system is powered down, and this failure influences all affairs being currently running, and forces their non-normal terminations, leads to climbing machine
Device people is in a kind of unstable state.
C. the restoration methods of transaction failure are: search log transfers failure and the affairs recorded in moment log occurs, not
In the case where influencing the operation of other affairs, the completed some mechanical movement of the affairs is cancelled by force, this is automatically complete by system
At, user does not have to any operation.Specifically include following steps.
C1. from the ending place reverse scan journal file of log, the mechanical action that moment affairs occur for failure is searched.
C2. inverse operation is executed to the mechanical action of the affairs；If the inverse operation of forward motion is to retreat, the inverse operation of left-hand rotation
It is to turn right.
C3. continue reverse scan log, search other mechanical actions of the affairs, and do same processing.
C4. step C3 is repeated, until reading the beginning label of the affairs, transaction failure recovery terminates.
D. the recovery of the system failure is automatically performed when the system restarts, does not need any operation of user.The system failure
Cause climbing robot is unstable mainly to have both sides factor, first is that completed affairs are because failure leads to the machinery of affairs
Action sequence has cancelled, second is that unfinished affairs have been carried out partial joint mechanical action sequence.The system failure
Restoration methods are to need to cancel all unfinished mechanical actions from data Angle after system reboot, reform from mechanical angle
The affairs completed since sometime putting；Log is searched for, the performance of moment affairs occurs according to failure, it is right
It is reformed in the affairs completed, pressure revocation is carried out for unfinished affairs.Specifically include following steps.
D1., transaction queues are set, and transaction queues include that queue is completed, is just executing queue, is cancelling queue, reforms queue.
Wherein, queue is completed and refers to the transaction queues that mechanical action sequence has been fully completed；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；Reforming queue is
Refer to the transaction queues that mechanical action Sequence Program is reformed.
D2. log is scanned from the beginning, finds out the affairs completed before failure occurs, these affairs ID is included into weight
Do queue；Meanwhile finding 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 processing, specific method is reverse scan journal file, to every
The mechanical action of a revocation affairs executes inverse operation.
D4. the affairs reformed in queue are carried out reforming processing, specific method is forward scan journal file, to each heavy
It does affairs and re-executes the mechanical action recorded in log.
The present invention is when carrying out control system recovery using log, it is necessary to entire log is searched for, to determine which affairs needs
It reforms, which affairs needs to force revocation.Recovery process has two, first is that searching for entire log will expend largely
Time wastes the plenty of time second is that the processing for reforming queue needs to re-execute mechanical action sequence.In order to solve above-mentioned two
A problem, present invention further proposes the restoration methods with stable point, i.e., while carrying out log recording, increase and stablize
Point record and the index file for recording each stable point address in journal file, and during logging in journal file dynamically
Safeguard log.
The content of aforementioned stable point record includes: that stable point establishes moment all transaction queues being carrying out, above-mentioned thing
It is engaged in the address of a nearest log recording and climbing robot establishes the location information and directional information at moment in stable point.
Index file is used to record the address that each stable point is recorded in journal file, and Fig. 2, which is described, establishes stable point
Corresponding log and index file when Si.
Dynamically maintaining log is to establish stable point when climbing robot climbing foot has stability characteristic (quality), save climbing
The location information and directional information of robot, specifically include following steps.
A. on the journal file existing log recording write-in disk all in log buffer area.
B. a stable point record is written in journal file.
C. all joint mechanical action sequences of current buffer are finished.
D. stable point the address in journal file is recorded in charge in index file.
Recovery efficiency can be greatly improved using point methods are stablized, is mainly reflected in following two points: firstly, being as affairs T
All joint mechanical action sequences are completed before a stable point, when restore processing, first climbing machine
Device people is placed by the position and direction of a nearest stable point, it is not necessary to be reformed to affairs T execution；Secondly, being to pass through rope
Stable point record in quotation part, log can find the corresponding log recording address of affairs quickly, it is not necessary to scan day from the beginning
Will file.
When control system breaks down, climbing robot restoration methods are taken 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 have completed all joint machinery before stable point
Make sequence；T2 affairs start to execute joint mechanical action sequence before stable point, all complete between stable point and fault point
At；T3 affairs start to execute joint mechanical action sequence before stable point, are not fully completed also at fault point；T4 affairs exist
Start to execute joint mechanical action sequence after stable point, be fully completed before fault point；T5 affairs stable point it
After start execute joint mechanical action sequence, be not fully completed also at fault point.
T1 affairs have been fully completed before stable point, reform operation so need not execute；T2 affairs and T4 affairs exist
It is just fully completed after stable point, their joint mechanical action sequence has all been finished when failure occurs, and needs
It reforms；The joint mechanical action sequence of T3 affairs and T5 affairs also has not been executed when failure occurs, so from journal file
Force revocation.
In the present invention, using aforementioned stable point progress system recovery, specific step is as follows.
Firstly, being existed from the address finding a nearest stable point in index file and being recorded in journal file by the address
Nearest stable point record is found in journal file, reads the location information and directional information of climbing robot, accordingly to climbing
Robot is climbed to be resetted.
Secondly, record to obtain all transaction queues just executed when stable point is established by aforementioned stable point, while just holding
Row queue is temporarily put into revocation queue, and juxtaposition bare weight does queue.
Again, the forward scan journal file since stable point, until journal file terminates.If any the affairs newly started
Ti, TiIt is temporarily put into revocation queue；If any the affairs T of completionj, TjIt is moved on to from revocation queue and reforms queue.
Finally, executing destruction operation to each affairs in revocation queue, weight is executed to each affairs reformed in queue
It operates.
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
Situations such as falling, colliding, entrained storage equipment and arithmetic facility there are poor contact, damage situations such as.Control system occurs
After this failure, the information difficult of failure eve is reproduced, system is restored to get up also relatively time-consuming.Harsher or not
It, can be using mirror image technology come help system recovery in stable environment.Specifically, as shown in figure 4, in ground station
The storage environment for the same scale that arrangement one and climbing robot ontology carry and calculating environment, data transmission equipment moment protect
Hold that ground station is consistent with the storing data of climbing robot ontology, the data of ground station are climbing robot ontology numbers
According to mirror image.Once breaking down, the mirror image data of ground station can be enabled immediately and calculates environment, continues control climbing
Robot completes remaining work.After fault restoration, climbing robot control system can be restored by mirror image data, solved
The hardware fault of system is difficult to recover problem, improves method in the adaptability in face of harsh or unstable environment.
But the data of data or ground station record storage that no matter climbing robot itself stores all are to use
It is stored by affairs as unit record log and in the way of combination establishes stable point and index file to log, such mode is patrolled
It is volume simple it is clear, stability is strong, Feasible degree is high, strong operability, substantially increase climbing robot mobile control system from
Dynamic recovery capability.
Claims (6)
1. climbing robot mobile control system restoration methods, which is characterized in that specifically includes the following steps:
A. the action sequence of a joint machinery in climbing robot moving process is indicated as unit of affairs, sequentially in time
Record affairs and relevant information log；While carrying out log recording, increases stable point record and record each stable point
The index file of address in journal file, and log is dynamically maintained during logging in journal file；The stable point be
Climbing robot climbing foot has the steady of the establish when stability characteristic (quality), location information of preserving climbing robot and directional information
Fixed point；
B. judge fault category, for example transaction failure, system recovery is carried out using step C；For example control system failure, using step
Rapid D carries out system recovery；
C. log is searched for, failure is transferred and the affairs recorded in moment log occurs, cancel the machinery that the affairs have been completed by force
Action sequence；
D. log is searched for, the performance of moment affairs occurs according to failure, the affairs completed are reformed, it is right
Pressure revocation is carried out in unfinished affairs.
2. climbing robot mobile control system restoration methods according to claim 1, which is characterized in that step C is specific
The following steps are included:
C1. from the ending place reverse scan journal file of log, the mechanical action that moment affairs occur for failure is searched；
C2. inverse operation is executed to the mechanical action of the affairs；
C3. continue reverse scan log, search other mechanical actions of the affairs, and do same processing；
C4. step C3 is repeated, until reading the beginning label of the affairs, transaction failure recovery terminates.
3. climbing robot mobile control system restoration methods according to claim 1, which is characterized in that step D is specific
The following steps are included:
D1., transaction queues are set, and transaction queues include that queue is completed, is just executing queue, is cancelling queue, reforms queue；
D2. log is scanned from the beginning, finds out the affairs completed before failure occurs, these affairs ID is included into and reforms team
Column；Meanwhile finding 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 processing, specific method is reverse scan journal file, is removed to each
The mechanical action for selling affairs executes inverse operation；
D4. the affairs reformed in queue are carried out reforming processing, specific method is forward scan journal file, reforms thing to each
Business re-executes the mechanical action recorded in log.
4. climbing robot mobile control system restoration methods according to claim 1, which is characterized in that the stable point
The content of record includes: that stable point establishes moment all transaction queues being carrying out, the above-mentioned nearest log recording of affairs
Address and climbing robot the location information and directional information at moment are established in stable point.
5. climbing robot mobile control system restoration methods according to claim 1, which is characterized in that it is described dynamically
Maintenance log is to establish stable point when climbing robot climbing foot has stability characteristic (quality), save the position letter of climbing robot
Breath and directional information, specifically includes the following steps:
A. on the journal file existing log recording write-in disk all in log buffer area；
B. a stable point record is written in journal file；
C. all joint mechanical action sequences of current buffer are finished；
D. stable point the address in journal file is recorded in charge in index file.
6. climbing robot mobile control system restoration methods according to claim 1, which is characterized in that utilize stable point
The specific steps of carry out system recovery are as follows:
Firstly, from the address finding a nearest stable point in index file and being recorded in journal file, by the address in log
Nearest stable point record is found in file, the location information and directional information of climbing robot is read, accordingly to climbing machine
Device people resets；
Secondly, recording to obtain all transaction queues just executed when stable point is established by aforementioned stable point, while team is executed positive
Column are temporarily put into revocation queue, and juxtaposition bare weight does queue；
Again, the forward scan journal file since stable point, until journal file terminates；
Finally, executing destruction operation to each affairs in revocation queue, behaviour is reformed to each affairs execution reformed in queue
Make.
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| EP3542970A1 (en) * | 2018-03-20 | 2019-09-25 | Siemens Aktiengesellschaft | Method, device and system for replaying movement of robot |
| CN111401577A (en) * | 2020-02-14 | 2020-07-10 | 上海电气分布式能源科技有限公司 | Device management method, device and storage medium |
| CN111844024A (en) * | 2020-06-30 | 2020-10-30 | 深圳优地科技有限公司 | Robot fault processing method and device, intelligent equipment and storage medium |
| CN112748686B (en) * | 2020-12-24 | 2021-12-24 | 北方工业大学 | Underwater climbing robot control system and fault recovery method |
| CN113467898B (en) * | 2021-09-02 | 2022-01-18 | 北京开科唯识技术股份有限公司 | Multi-party cooperative service processing method and system |
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| CN104516959A (en) * | 2014-12-18 | 2015-04-15 | 杭州华为数字技术有限公司 | Method and device for managing database logs |
| CN106030427A (en) * | 2014-02-20 | 2016-10-12 | M·奥利尼克 | Methods and systems for food preparation in a robotic cooking kitchen |
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| CN1407922A (en) * | 2000-11-17 | 2003-04-02 | 索尼公司 | Legged mobile robot and control method thereof, leg structure and mobile leg unit for legged mobile robot |
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