CN107685342A - Abnormality eliminating method, robot and the dispatch server of robot - Google Patents
Abnormality eliminating method, robot and the dispatch server of robot Download PDFInfo
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- CN107685342A CN107685342A CN201710726679.6A CN201710726679A CN107685342A CN 107685342 A CN107685342 A CN 107685342A CN 201710726679 A CN201710726679 A CN 201710726679A CN 107685342 A CN107685342 A CN 107685342A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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Abstract
The present invention proposes a kind of abnormality eliminating method of robot, robot and dispatch server, wherein, method includes：In robot normal operation, abnormality detection instruction is obtained；Abnormality detection instruction is performed, whether there is abnormal task to detect robot；When detecting that robot has abnormal task, risk class corresponding to abnormal task and the abnormality processing strategy matched with risk class are obtained；Perform abnormality processing strategy and eliminate robot abnormal task with normal operation again.This method is by performing the abnormality processing strategy matched with the risk class of abnormal task, to eliminate the abnormal task of robot, realize the risk class according to residing for abnormal task, take abnormality processing strategy, avoid, because robot has the problem of its operation that abends causes task to be performed in time, improving the efficiency that robot performs task.
Description
Technical field
The present invention relates to mobile robot technology field, more particularly to a kind of abnormality eliminating method of robot, robot
And dispatch server.
Background technology
At present, as the development of ecommerce, increasing consumer more favor shopping online.Businessman is receiving buyer
Order after, it is necessary to find out commodity from warehouse, and packed.In order to improve picking speed, storage robot arises at the historic moment.
Storage robot is mainly used in warehouse, after robot is connected to order, can orient the position that commodity are distributed in warehouse rapidly.
Storage robot carries out picking after reaching commodity position, and goods is sent to packaging platform automatically after having picked goods, by the personnel that pack
Packed.
, can be right after exception is detected generally for machine human reriability is improved, it is necessary to be detected to robot
Extremely alarmed and out of service, so frequently can lead to task can not complete in time, be performed so as to reduce robot
The efficiency of task.
The content of the invention
It is contemplated that at least solves one of technical problem in correlation technique to a certain extent.
Therefore, the present invention first purpose be to propose a kind of abnormality eliminating method of robot, by perform with it is different
The abnormality processing strategy of the risk class matching of permanent business, to eliminate the abnormal task of robot, is realized when residing for abnormal task
Risk class difference when, take different abnormality processing strategies, avoid because robot exist abend its operation cause appoint
The problem of business can not be performed in time, improve the efficiency that robot performs task.
Second object of the present invention is the abnormality eliminating method for proposing another robot.
Third object of the present invention is to propose a kind of robot.
Fourth object of the present invention is to propose a kind of dispatch server.
The 5th purpose of the present invention is to propose a kind of computer equipment.
The 6th purpose of the present invention is to propose a kind of computer program product.
The 7th purpose of the present invention is to propose a kind of non-transitorycomputer readable storage medium.
For the above-mentioned purpose, first aspect present invention embodiment proposes a kind of abnormality eliminating method of robot, including：
In robot normal operation, abnormality detection instruction is obtained；
The abnormality detection instruction is performed, whether there is abnormal task to detect the robot；
When detecting that the robot has abnormal task, obtain risk class corresponding to the abnormal task and with
The abnormality processing strategy of the risk class matching；
Perform the abnormality processing strategy and eliminate the robot abnormal task with normal operation again.
It is described to obtain corresponding to the abnormal task as a kind of possible implementation of first aspect present invention embodiment
Risk class and the abnormality processing strategy matched with the risk class, including：
Abnormal information corresponding to the abnormal task is reported into dispatch server；Wherein, the abnormal information includes different
The value and/or trouble unit mark of normal flag bit；
Receive that the dispatch server returns for the abnormality processing strategy that is eliminated to the abnormal task；Its
In, the abnormality processing strategy is that dispatch server risk class according to corresponding to the abnormal task is got
, the risk class is what the dispatch server determined according to the abnormal information.
It is described to obtain corresponding to the abnormal task as a kind of possible implementation of first aspect present invention embodiment
Risk class, including：
According to the value of abnormality mark position corresponding to the abnormal task, the value and risk class of inquiry abnormality mark position
Between mapping relations, obtain corresponding with the value of the abnormality mark position risk class；Or
Identified according to trouble unit corresponding to the abnormal task, reflecting between inquiry trouble unit mark and risk class
Relation is penetrated, obtains the risk class corresponding with trouble unit mark.
As a kind of possible implementation of first aspect present invention embodiment, after the risk class is obtained, go back
Including：
The risk class is reported into dispatch server, received true according to the risk class by the dispatch server
The fixed abnormality processing strategy.
As a kind of possible implementation of first aspect present invention embodiment, tune is carried in the abnormality detection instruction
Degree server attempts the second identification information of the target robot detected, then the acquisition abnormality detection is instructed and performed described different
Often detection instruction, including：
Second identification information is extracted from abnormality detection instruction, by second identification information and the machine
First identification information of people is compared；
If first identification information is consistent with second identification information, the abnormality detection instruction is performed；
If first identification information and second identification information are inconsistent, the abnormality detection instruction is abandoned.
The abnormality eliminating method of the robot of the embodiment of the present invention, by robot normal operation, obtaining abnormal inspection
Instruction is surveyed, abnormality detection instruction is then performed, whether there is abnormal task to detect robot, when detecting that it is different that robot is present
During permanent business, risk class corresponding to abnormal task and the abnormality processing strategy matched with risk class are obtained, performs exception
Processing strategy eliminates robot abnormal task with normal operation again.In the present embodiment, by performing the risk with abnormal task
The abnormality processing strategy of ratings match, to eliminate the abnormal task of robot, realize the risk etc. according to residing for abnormal task
Level, takes abnormality processing strategy, avoids causing what task can not be performed in time to ask because robot has its operation that abends
Topic, improve the efficiency that robot performs task.
For the above-mentioned purpose, second aspect of the present invention embodiment proposes a kind of abnormality eliminating method of robot, including：
Abnormality detection instruction is issued to robot；
Receive the abnormal information for the abnormal task that the robot detects；
Risk class corresponding to the abnormal task determined according to the abnormal information；
The abnormality processing strategy matched with the risk class is issued to the robot.
A kind of possible implementation provided as second aspect of the present invention embodiment, it is described according to the abnormal information
Risk class corresponding to the abnormal task is determined, including：
The value of abnormality mark position in the abnormal information, the value and risk class of inquiry abnormality mark position it
Between mapping relations, obtain corresponding with the value of the abnormality mark position risk class；Or
Corresponding trouble unit mark in the abnormal information, between inquiry trouble unit mark and risk class
Mapping relations, obtain corresponding with the trouble unit mark risk class.
A kind of possible implementation provided as second aspect of the present invention embodiment, taken in the abnormality detection instruction
The identification information for the target robot for attempting to detect with dispatch server.
The abnormality eliminating method of the robot of the embodiment of the present invention, instructed, received by issuing abnormality detection to robot
The abnormal information for the abnormal task that robot detects, according to abnormal information determine abnormal task corresponding to risk class, to
Robot issues the abnormality processing strategy matched with risk class.In the present embodiment, abnormal task pair is determined according to abnormal information
The risk class answered, and the abnormality processing strategy matched with risk class is issued to robot, make robot according to abnormality processing
Strategy eliminates abnormal task, causes what task can not be performed in time because robot has its operation that abends so as to avoid
Problem, improve the efficiency that robot performs task.
For the above-mentioned purpose, third aspect present invention embodiment proposes a kind of robot, including：
First acquisition module, in robot normal operation, obtaining abnormality detection instruction；
Execution module, for performing the abnormality detection instruction, it whether there is abnormal task to detect the robot；
Second acquisition module, for when detecting that the robot has abnormal task, obtaining the abnormal task pair
The risk class answered and the abnormality processing strategy matched with the risk class；
Cancellation module, the robot abnormal task is eliminated with normal fortune again for performing the abnormality processing strategy
OK.
As a kind of possible implementation of third aspect present invention embodiment, second acquisition module, it is additionally operable to：
Abnormal information corresponding to the abnormal task is reported into dispatch server；Wherein, the abnormal information includes different
The value and/or trouble unit mark of normal flag bit；
Receive that the dispatch server returns for the abnormality processing strategy that is eliminated to the abnormal task；Its
In, the abnormality processing strategy is that dispatch server risk class according to corresponding to the abnormal task is got
, the risk class is what the dispatch server determined according to the abnormal information.
As a kind of possible implementation of third aspect present invention embodiment, second acquisition module, it is additionally operable to：
According to the value of abnormality mark position corresponding to the abnormal task, the value and risk class of inquiry abnormality mark position
Between mapping relations, obtain corresponding with the value of the abnormality mark position risk class；Or
Identified according to trouble unit corresponding to the abnormal task, reflecting between inquiry trouble unit mark and risk class
Relation is penetrated, obtains the risk class corresponding with trouble unit mark.
As a kind of possible implementation of third aspect present invention embodiment, second acquisition module, it is additionally operable to：
The risk class is reported into dispatch server, received true according to the risk class by the dispatch server
The fixed abnormality processing strategy.
As a kind of possible implementation of third aspect present invention embodiment, tune is carried in the abnormality detection instruction
Degree server attempts the second identification information of the target robot detected, first acquisition module, is additionally operable to：
Second identification information is extracted from abnormality detection instruction, by second identification information and the machine
First identification information of people is compared；
If first identification information is consistent with second identification information, the abnormality detection instruction is performed；
If first identification information and second identification information are inconsistent, the abnormality detection instruction is abandoned.
The robot of the embodiment of the present invention, by robot normal operation, obtaining abnormality detection instruction, then perform
Abnormality detection instructs, and whether there is abnormal task to detect robot, when detecting that robot has abnormal task, obtains different
Risk class corresponding to permanent business and the abnormality processing strategy matched with risk class, perform abnormality processing strategy and eliminate machine
People's abnormal task is with normal operation again.In the present embodiment, by performing the exception matched with the risk class of abnormal task
Reason strategy, to eliminate the abnormal task of robot, realizes the risk class according to residing for abnormal task, takes abnormality processing plan
Slightly, avoid, because robot has the problem of its operation that abends causes task to be performed in time, improving robot and holding
The efficiency of row task.
For the above-mentioned purpose, fourth aspect present invention embodiment also proposes a kind of dispatch server, including：
Sending module, for issuing abnormality detection instruction to robot；
Receiving module, the abnormal information of the abnormal task detected for receiving the robot；
Determining module, for risk class corresponding to the abnormal task that is determined according to the abnormal information；
The sending module, it is additionally operable to issue the abnormality processing strategy matched with the risk class to the robot.
As a kind of possible implementation of fourth aspect present invention embodiment, the determining module, it is additionally operable to：
The value of abnormality mark position in the abnormal information, the value and risk class of inquiry abnormality mark position it
Between mapping relations, obtain corresponding with the value of the abnormality mark position risk class；Or
Corresponding trouble unit mark in the abnormal information, between inquiry trouble unit mark and risk class
Mapping relations, obtain corresponding with the trouble unit mark risk class.
As a kind of possible implementation of fourth aspect present invention embodiment, tune is carried in the abnormality detection instruction
Degree server attempts the identification information of the target robot detected.
The dispatch server of the embodiment of the present invention, instructed by issuing abnormality detection to robot, receive robot detection
The abnormal information of the abnormal task arrived, according to risk class corresponding to the abnormal task of abnormal information determination, issued to robot
The abnormality processing strategy matched with risk class.In the present embodiment, risk etc. according to corresponding to abnormal information determines abnormal task
Level, and the abnormality processing strategy matched with risk class is issued to robot, robot is eliminated according to abnormality processing strategy different
Permanent business, so as to avoid because robot has the problem of its operation that abends causes task to be performed in time, improve
Robot performs the efficiency of task.
For the above-mentioned purpose, fifth aspect present invention embodiment proposes a kind of computer equipment, including：Processor and deposit
Reservoir；Wherein, the processor is held by reading the executable program code stored in the memory to run with described
Program corresponding to line program code, for realizing the abnormality eliminating method of the robot as described in first aspect embodiment, or
Person, the abnormality eliminating method of the robot as described in second aspect embodiment.
For the above-mentioned purpose, sixth aspect present invention embodiment proposes a kind of computer program product, when the calculating
When instruction in machine program product is by computing device, for realizing the exception of the robot as described in first aspect embodiment
Processing method, or, the abnormality eliminating method of the robot as described in second aspect embodiment.
For the above-mentioned purpose, seventh aspect present invention embodiment proposes a kind of non-transitory computer-readable storage medium
Matter, computer program is stored thereon with, is realized when computer program is executed by processor as described in first aspect embodiment
The abnormality eliminating method of robot, or, the abnormality eliminating method of the robot as described in second aspect embodiment.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Of the invention above-mentioned and/or additional aspect and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is a kind of schematic flow sheet of the abnormality eliminating method of robot provided in an embodiment of the present invention；
Fig. 2 is the schematic flow sheet of the abnormality eliminating method of another robot provided in an embodiment of the present invention；
Fig. 3 is the schematic flow sheet of the abnormality eliminating method of another robot provided in an embodiment of the present invention；
Fig. 4 is the schematic flow sheet of the abnormality eliminating method of another robot provided in an embodiment of the present invention；
Fig. 5 is a kind of structural representation of robot provided in an embodiment of the present invention；
Fig. 6 is a kind of structural representation of dispatch server provided in an embodiment of the present invention；
Fig. 7 is a kind of structural representation of computer equipment provided in an embodiment of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to for explaining the present invention, and is not considered as limiting the invention.
Below with reference to the accompanying drawings the abnormality eliminating method, robot and dispatch service of the robot of the embodiment of the present invention are described
Device.
First, the abnormality eliminating method of the robot of proposition of the embodiment of the present invention is described from robot side.Fig. 1 is the present invention
A kind of schematic flow sheet of the abnormality eliminating method for robot that embodiment provides.
As shown in figure 1, the abnormality eliminating method of the robot comprises the following steps：
S101, in robot normal operation, obtain abnormality detection instruction.
In the present embodiment, two kinds of implementations can be had by obtaining abnormality detection instruction.One kind is that robot itself carries out different
Often detection, it is automatic to obtain abnormality detection instruction such as when starting shooting or being waken up, or by timing, obtain abnormality detection and refer to
Order.
Another kind is achieved in that, abnormality detection instruction is obtained from dispatch server.By taking warehouse environment as an example, in warehouse
It is provided with multiple robots.Dispatch server can be by wirelessly instructing to all robot broadcast transmission abnormality detections.And then
During robot normal operation, the abnormality detection instruction of dispatch server transmission can be received.
S102, abnormality detection instruction is performed, whether there is abnormal task to detect robot.
After robot receives abnormality detection instruction, abnormality detection instruction is performed, the part or task of robot are entered
Row detection, to determine that robot whether there is abnormal task.For example, upper vision, lower vision, jacking rotary motor to robot
Detected Deng module, if robot charges, whether normal also can detect its charging.
S103, when detecting that robot has abnormal task, obtain risk class and and wind corresponding to abnormal task
The abnormality processing strategy of dangerous ratings match.
In the present embodiment, the abnormal task that can be occurred according to practical experience, recorder people, and according to abnormal task pair
Robot performs the influence degree of task, and abnormal task is divided into multiple risk class, for example is divided into, and alerts, be abnormal, be tight
Three risk class are weighed, and are abnormality processing strategy corresponding to the setting of each risk class.So as to establish abnormal task, risk
Corresponding relation between grade, abnormality processing strategy.In the present embodiment, the corresponding relation can be stored in the memory of robot
In.
For example, it is empty that if abnormal task, which is path sequence, i.e., changing coordinates and receive coordinate starting point not from dispatch server
It is identical, because coordinate and the coordinate that dispatch server is sent of current robot are inconsistent, the movement of robot is had no effect on, can
Path sequence is divided into warning for empty risk class, the abnormality processing strategy that can be taken is that control machine people continues to move to,
Untill stopping.
And for example, if abnormal task is that cell voltage is too low, due to the too low operation that can influence miscellaneous part of cell voltage, because
The too low risk class of cell voltage can be divided into exception by this, and corresponding abnormality processing strategy is decelerated to for control machine people to stop
Only, and it is parked on a path label.
For another example, if abnormal task is paropsia, because paropsia can influence the functions such as navigation, the positioning of robot,
Therefore the risk class of paropsia can be divided into seriously, corresponding abnormality processing strategy is control machine people's emergent stopping,
Or manual control machine device people stops.
When detecting that robot has abnormal task, according to the abnormal task, risk class, abnormality processing pre-established
Corresponding relation between strategy, search the risk class corresponding to abnormal task, and the abnormality processing matched with risk class
Strategy.
S104, perform abnormality processing strategy and eliminate robot abnormal task with normal operation again.
After abnormality processing strategy is obtained, robot performs abnormality processing strategy and eliminates abnormal task, with normal fortune again
OK.For example, there is abnormal, the abnormality processing strategy of robot execution stopping charging, to eliminate in charging pile in battery charging process
Charge abnormal abnormal task.
As a kind of possible way of realization, when detecting that robot has abnormal task, can be obtained from dispatch server
Take abnormality processing strategy.Below by another embodiment, the abnormality processing for the robot that the explanation embodiment of the present invention proposes
Method.
As shown in Fig. 2 the abnormality eliminating method of the robot comprises the following steps：
S201, in robot normal operation, obtain abnormality detection instruction.S202, abnormality detection instruction is performed, with detection
Robot whether there is abnormal task.
Step S201-S202 is similar with the step S101-S102 in above-described embodiment, therefore will not be repeated here.
S203, when detecting that robot has abnormal task, abnormal information corresponding to abnormal task is reported into scheduling
Server.
In the present embodiment, can prespecified different abnormal task, the value of corresponding abnormality mark position is different.For example,
The value of abnormal flag and the corresponding relation of abnormal task may be configured as：0x00：In the absence of exception；0x01:Path sequence is
It is empty；0x03:When mobile for the first time not on label；0x04:Battery electric quantity is abnormal；0x07:Jacking occurs abnormal etc..
When detecting that robot has abnormal task, abnormal information corresponding to abnormal task is sent to scheduling by robot
Server, wherein, abnormal information includes the value and/or trouble unit mark of abnormality mark position.For example, when battery electric quantity is different
Chang Shi, the value of abnormality mark position are 0x04, and robot can be by the different of the value 0x04 including abnormality mark position and battery identification
Normal message is sent to dispatch server.
S204, receive that dispatch server returns is used for the abnormality processing strategy that is eliminated to abnormal task or artificially
Intervention eliminates exception, or robot itself eliminates exception.
After dispatch server receives unexpected message, the value and/or failure of the abnormality mark position in unexpected message
Part identifies, and determines risk class corresponding to abnormality mark position, that is, gets risk class corresponding to abnormal task, finally
Obtain abnormality processing strategy corresponding with risk class.After abnormality processing strategy is obtained, dispatch server is by abnormality processing plan
Robot is slightly returned to, and then robot receives abnormality processing strategy.
In practical application, when there is severely subnormal in robot, such as hardware error, can artificial intervention by abnormal elimination.And
When abnormal task is general warning message, such as path sequence sends information errors etc. for empty, dispatch server and removes severely subnormal
Other outer exceptions, the abnormal dispelling tactics corresponding with abnormal task that robot can be set by itself eliminate exception, or
Abnormal dispelling tactics are obtained from dispatch server.
S205, perform abnormality processing strategy and eliminate robot abnormal task with normal operation again.
Step S205 is similar with the step S104 in above-described embodiment, will not be repeated here.
In the present embodiment, abnormal information need to only be reported dispatch server by robot, can be obtained from dispatch server
Abnormality processing strategy, simplify the step that robot obtains abnormality processing strategy according to abnormal information.
, can be different in locally determination when detecting that robot has abnormal task as alternatively possible way of realization
Risk class corresponding to permanent business.Below by another embodiment, illustrate the different of the robot that the embodiment of the present invention proposes
Normal processing method.
As shown in figure 3, the abnormality eliminating method of the robot comprises the following steps：
S301, in robot normal operation, the abnormality detection instruction of dispatch server is received, wherein, abnormality detection refers to
The second identification information that dispatch server attempts the target robot of detection is carried in order.
In actual applications, dispatch server can issue abnormality detection instruction to some robot as needed.At this moment, adjust
In the abnormality detection instruction that degree server is sent to robot, it may include need to carry out the second of the target robot of abnormality detection
Identification information.
S302, judge whether the first identification information is consistent with the second identification information, if inconsistent, perform step S303,
Otherwise, step S304 is performed.
When dispatch server sends abnormality detection instruction, possible multiple machines receive abnormality detection instruction per capita.For
Determine whether to perform abnormality detection instruction, after robot receives abnormality detection instruction, can be carried from abnormality detection instruction
The second identification information is taken, and by the second identification information compared with the first identification information of robot, to judge the first mark
Whether information is consistent with the second identification information.
It should be noted that the second identification information can be one or multiple.Identified when extracting multiple second
During information, show that dispatch server attempts to detect multiple robots, can be multiple with extracting by the first identification information
Second identification information is compared, to determine in the second identification information extracted with the presence or absence of consistent with the first identification information
One the second identification information.
S303, abandon abnormality detection instruction.
If the first identification information and the second identification information are inconsistent, it is not that dispatch server attempts to examine to show the robot
The target robot of survey, therefore the discardable abnormality detection instruction of the robot.
S304, abnormality detection instruction is performed, whether there is abnormal task to detect robot.
If the first identification information is consistent with the second identification information, it is that dispatch server attempts to detect to show the robot
Target robot, then robot execution abnormality detection instruction, to detect whether to have abnormal task.
In the present embodiment, by comparing the first identification information and the second identification information, to determine whether to perform abnormality detection
Instruction, so as to ensure that robot can effectively perform the abnormality detection instruction that dispatch server issues, that improves robot can
By property.
S305, when detecting that robot has abnormal task, obtain value or trouble unit mark with abnormality mark position
Risk class corresponding to knowledge.
In the present embodiment, the mapping relations between the value of abnormality mark position and risk class, or event can be pre-established
Hinder the mapping relations between part mark and risk class, and be stored in local.
When detecting the presence of abnormal task, robot can according to corresponding to abnormal task abnormality mark position value, look into
The mapping relations between the value of abnormality mark position and risk class are ask, to obtain risk corresponding with the value of abnormality mark position
Grade.
Or when detecting the presence of abnormal task, robot trouble unit according to corresponding to abnormal task identifies, inquiry
Trouble unit identifies the mapping relations between risk class, to obtain and the corresponding risk class of trouble unit mark.For example,
Risk class corresponding to jacking rotary motor mark is serious, if jacking rotary electrical fault, can obtain and push up by inquiry
Risk class corresponding to rising electric rotating machine mark is serious.
S306, risk class is reported into dispatch server, receive by dispatch server determined according to risk class it is different
The tactful either artificial intervention elimination exception of often processing or robot itself eliminate abnormal.
Getting and after the value of abnormality mark position or the corresponding risk class of trouble unit mark, robot will take
Message with risk class is sent to dispatch server, and abnormality processing strategy is determined according to risk class by dispatch server,
And abnormality processing strategy is returned into robot.
In practical application, when there is severely subnormal in robot, such as hardware error, can artificial intervention by abnormal elimination.And
When abnormal task is general warning message, such as path sequence sends information errors etc. for empty, dispatch server and removes severely subnormal
Other outer exceptions, the abnormal dispelling tactics corresponding with abnormal task that robot can be set by itself eliminate exception, or
Abnormal dispelling tactics are obtained from dispatch server.
S307, perform abnormality processing strategy and eliminate robot abnormal task with normal operation again.
Step S307 is similar with the step S104 in above-described embodiment, will not be repeated here.
In the present embodiment, by locally completing the determination of risk class, the workload of dispatch server can be reduced, is improved
The efficiency of dispatch server, further, save robot and detect that abnormal task reports between dispatch server again
Transmission time, so as to improve the efficiency of abnormality processing, robot can be made to eliminate exception quickly.
The abnormality eliminating method of the robot of the embodiment of the present invention, by robot normal operation, obtaining abnormal inspection
Instruction is surveyed, abnormality detection instruction is then performed, whether there is abnormal task to detect robot, when detecting that it is different that robot is present
During permanent business, risk class corresponding to abnormal task and the abnormality processing strategy matched with risk class are obtained, performs exception
Processing strategy eliminates robot abnormal task with normal operation again.In the present embodiment, by performing the risk with abnormal task
The abnormality processing strategy of ratings match, to eliminate the abnormal task of robot, realize the risk etc. according to residing for abnormal task
Level, takes abnormality processing strategy, avoids causing what task can not be performed in time to ask because robot has its operation that abends
Topic, improve the efficiency that robot performs task.
The abnormality eliminating method of another robot proposed below from dispatch server side, the description embodiment of the present invention.
As shown in figure 4, the abnormality eliminating method of the robot comprises the following steps：
S401, abnormality detection instruction is issued to robot.
In the present embodiment, dispatch server can be by wirelessly instructing, so that all to robot broadcast transmission abnormality detection
The robot of abnormality detection instruction is received, performs abnormality detection instruction.
, can if dispatch server attempts to detect one or more robot as alternatively possible way of realization
Abnormality detection is set to carry the identification information for the robot for attempting to detect in instructing.
S402, receive the abnormal information for the abnormal task that robot detects.
In the present embodiment, dispatch server can receive the abnormal information for the abnormal task that robot reports.It is wherein abnormal
Information may include the value and/or trouble unit mark of abnormality mark position.
S403, according to risk class corresponding to the abnormal task of abnormal information determination.
Specifically, the mapping relations between the value of abnormality mark position and risk class, or failure portion can be pre-established
Part identifies the mapping relations between risk class.
After abnormal information is received, abnormality mark position can be inquired about according to the value of abnormality mark position in abnormal information
Mapping relations between value and risk class, obtain risk class corresponding with the value of abnormality mark position.
Or the trouble unit mark in abnormal information, reflecting between inquiry trouble unit mark and risk class
Relation is penetrated, is obtained and the corresponding risk class of trouble unit mark.
As alternatively possible way of realization, dispatch server receives the risk class that machine human hair is sent, according to default
Risk class and risk abnormality processing strategy corresponding relation, obtain the abnormality processing strategy matched with risk class.
S404, the abnormality processing strategy matched with risk class is issued to robot.
After the abnormality processing strategy matched with risk class is obtained, abnormality processing strategy is sent to machine by dispatch server
Device people, so that robot performs abnormality processing strategy and eliminates abnormal task.
The abnormality eliminating method of the robot of the embodiment of the present invention, instructed, received by issuing abnormality detection to robot
The abnormal information for the abnormal task that robot detects, according to abnormal information determine abnormal task corresponding to risk class, to
Robot issues the abnormality processing strategy matched with risk class.In the present embodiment, abnormal task pair is determined according to abnormal information
The risk class answered, and the abnormality processing strategy matched with risk class is issued to robot, make robot according to abnormality processing
Strategy eliminates abnormal task, causes what task can not be performed in time because robot has its operation that abends so as to avoid
Problem, improve the efficiency that robot performs task.
In order to realize above-described embodiment, the present invention also proposes a kind of robot.
As shown in figure 5, the robot includes：First acquisition module 510, execution module 520, the second acquisition module 530, disappear
Except module 540.
Wherein, the first acquisition module 510 is used in robot normal operation, obtains abnormality detection instruction.
Execution module 520 is used to perform abnormality detection instruction, whether there is abnormal task to detect robot.
Second acquisition module 530 is used for when detecting that robot has abnormal task, obtains wind corresponding to abnormal task
Dangerous grade and the abnormality processing strategy matched with risk class.
Cancellation module 540 is used to perform abnormality processing strategy elimination robot abnormal task with normal operation again.
As a kind of possible way of realization of the present embodiment, the second acquisition module 530 is additionally operable to：
Abnormal information corresponding to abnormal task is reported into dispatch server；Wherein, abnormal information includes abnormality mark position
Value and/or trouble unit mark；
Receive that dispatch server returns for the abnormality processing strategy that is eliminated to abnormal task；Wherein, exception
Reason strategy gets for dispatch server risk class according to corresponding to abnormal task, risk class be dispatch server according to
What abnormal information determined.
As a kind of possible way of realization of the present embodiment, the second acquisition module 530 is additionally operable to：
The value of abnormality mark position according to corresponding to abnormal task, between the value and risk class of inquiry abnormality mark position
Mapping relations, obtain corresponding with the value of abnormality mark position risk class；Or
Trouble unit is identified according to corresponding to abnormal task, and the mapping between inquiry trouble unit mark and risk class is closed
System, obtain and the corresponding risk class of trouble unit mark.
As a kind of possible way of realization of the present embodiment, the second acquisition module 530 is additionally operable to：
Risk class is reported into dispatch server, receives the abnormality processing determined by dispatch server according to risk class
Strategy.
Dispatch server is carried as a kind of possible way of realization of the present embodiment, in abnormality detection instruction to attempt to detect
Target robot the second identification information, the first acquisition module 510 is additionally operable to：
The second identification information is extracted from abnormality detection instruction, by the second identification information and the first identification information of robot
It is compared；
If the first identification information is consistent with the second identification information, abnormality detection instruction is performed；
If the first identification information and the second identification information are inconsistent, abnormality detection instruction is abandoned.
It should be noted that foregoing explaining to the abnormality eliminating method embodiment of robot that is described from robot side
It is bright, the robot of the present embodiment is also applied for, will not be repeated here.
The robot of the embodiment of the present invention, by robot normal operation, obtaining abnormality detection instruction, then perform
Abnormality detection instructs, and whether there is abnormal task to detect the robot, when detecting that robot has abnormal task, obtains
The abnormality processing strategy for taking risk class corresponding to abnormal task and being matched with risk class, perform abnormality processing strategy and eliminate
Robot abnormal task is with normal operation again.In the present embodiment, by perform match with the risk class of abnormal task it is different
Often processing strategy, to eliminate the abnormal task of robot, realizes the risk class according to residing for abnormal task, takes exception
Reason strategy, avoid, because robot has the problem of its operation that abends causes task to be performed in time, improving machine
People performs the efficiency of task.
In order to realize above-described embodiment, the present invention proposes a kind of dispatch server.
As shown in fig. 6, the dispatch server includes：Sending module 610, receiving module 620, determining module 630.
Wherein, sending module 610 is used to issue abnormality detection instruction to robot.
Receiving module 620 is used for the abnormal information for receiving the abnormal task that robot detects.
Determining module 630 is used for the risk class according to corresponding to the abnormal task of abnormal information determination.
Sending module 610 is additionally operable to issue the abnormality processing strategy matched with risk class to robot.
As a kind of possible implementation of the present embodiment, determining module 630 is additionally operable to：
The value of abnormality mark position in abnormal information, between the value and risk class of inquiry abnormality mark position
Mapping relations, obtain risk class corresponding with the value of abnormality mark position；Or
Corresponding trouble unit mark in abnormal information, reflecting between inquiry trouble unit mark and risk class
Relation is penetrated, is obtained and the corresponding risk class of trouble unit mark.
Dispatch server is carried as a kind of possible implementation of the present embodiment, in abnormality detection instruction to attempt to detect
Target robot identification information.
It is it should be noted that foregoing to the solution of the abnormality eliminating method embodiment of robot described from dispatch server side
Explanation is released, the dispatch server of the present embodiment is also applied for, will not be repeated here.
The dispatch server of the embodiment of the present invention, instructed by issuing abnormality detection to robot, receive robot detection
The abnormal information of the abnormal task arrived, according to risk class corresponding to the abnormal task of abnormal information determination, issued to robot
The abnormality processing strategy matched with risk class.In the present embodiment, risk etc. according to corresponding to abnormal information determines abnormal task
Level, and the abnormality processing strategy matched with risk class is issued to robot, robot is eliminated according to abnormality processing strategy different
Permanent business, so as to avoid because robot has the problem of its operation that abends causes task to be performed in time, improve
Robot performs the efficiency of task.
In order to realize above-described embodiment, the present invention also proposes a kind of computer equipment, including：Processor 710 and memory
720。
Wherein, processor 710 is run and executable journey by reading the executable program code stored in memory 720
Program corresponding to sequence code, for realizing the abnormality eliminating method of the robot as described in the foregoing side from robot, or, such as
The abnormality eliminating method of the foregoing robot from the description of dispatch server side.
In order to realize above-described embodiment, the present invention also proposes a kind of computer program product, when in computer program product
Instruction by computing device when, for realizing the abnormality eliminating method of robot as described in the foregoing side from robot, or
Person, the abnormality eliminating method of the robot as described in the foregoing side from dispatch server.
In order to realize above-described embodiment, the present invention also proposes a kind of non-transitorycomputer readable storage medium, deposited thereon
Computer program is contained, robot of the realization as described in the foregoing side from robot is different when computer program is executed by processor
Normal processing method, or, the abnormality eliminating method of the robot as described in the foregoing side from dispatch server.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the invention, " multiple " are meant that at least two, such as two, three
It is individual etc., unless otherwise specifically defined.
Any process or method described otherwise above description in flow chart or herein is construed as, and represents to include
Module, fragment or the portion of the code of the executable instruction of one or more the step of being used to realize custom logic function or process
Point, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press shown or discuss suitable
Sequence, including according to involved function by it is basic simultaneously in the way of or in the opposite order, carry out perform function, this should be of the invention
Embodiment person of ordinary skill in the field understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system including the system of processor or other can be held from instruction
The system of row system, device or equipment instruction fetch and execute instruction) use, or combine these instruction execution systems, device or set
It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicate, propagate or pass
Defeated program is for instruction execution system, device or equipment or the dress used with reference to these instruction execution systems, device or equipment
Put.The more specifically example (non-exhaustive list) of computer-readable medium includes following：Electricity with one or more wiring
Connecting portion (electronic installation), portable computer diskette box (magnetic device), random access memory (RAM), read-only storage
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium, which can even is that, to print the paper of described program thereon or other are suitable
Medium, because can then enter edlin, interpretation or if necessary with it for example by carrying out optical scanner to paper or other media
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.Above-mentioned
In embodiment, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage
Or firmware is realized.Such as, if realized with hardware with another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized：With the logic gates for realizing logic function to data-signal from
Logic circuit is dissipated, the application specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that to realize all or part of step that above-described embodiment method carries
Suddenly it is that by program the hardware of correlation can be instructed to complete, described program can be stored in a kind of computer-readable storage medium
In matter, the program upon execution, including one or a combination set of the step of embodiment of the method.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, can also
That unit is individually physically present, can also two or more units be integrated in a module.Above-mentioned integrated mould
Block can both be realized in the form of hardware, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and as independent production marketing or in use, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only storage, disk or CD etc..Although have been shown and retouch above
Embodiments of the invention are stated, it is to be understood that above-described embodiment is exemplary, it is impossible to be interpreted as the limit to the present invention
System, one of ordinary skill in the art can be changed to above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (13)
- A kind of 1. abnormality eliminating method of robot, it is characterised in that including：In robot normal operation, abnormality detection instruction is obtained；The abnormality detection instruction is performed, whether there is abnormal task to detect the robot；When detecting that the robot has abnormal task, obtain risk class corresponding to the abnormal task and with it is described The abnormality processing strategy of risk class matching；Perform the abnormality processing strategy and eliminate the robot abnormal task with normal operation again.
- 2. according to the method for claim 1, it is characterised in that it is described obtain risk class corresponding to the abnormal task with And the abnormality processing strategy matched with the risk class, including：Abnormal information corresponding to the abnormal task is reported into dispatch server；Wherein, the abnormal information includes abnormal mark Value and/or the trouble unit mark of will position；Receive that the dispatch server returns for the abnormality processing strategy that is eliminated to the abnormal task；Wherein, institute Abnormality processing strategy dispatch server risk class according to corresponding to the abnormal task is stated to get, it is described Risk class is what the dispatch server determined according to the abnormal information.
- 3. according to the method for claim 1, it is characterised in that it is described to obtain risk class corresponding to the abnormal task, Including：According to the value of abnormality mark position corresponding to the abnormal task, inquire about between value and the risk class of abnormality mark position Mapping relations, obtain corresponding with the value of the abnormality mark position risk class；OrIdentified according to trouble unit corresponding to the abnormal task, the mapping between inquiry trouble unit mark and risk class is closed System, obtain the risk class corresponding with trouble unit mark.
- 4. according to the method for claim 3, it is characterised in that after the risk class is obtained, in addition to：The risk class is reported into dispatch server, receives what is determined by the dispatch server according to the risk class The abnormality processing strategy.
- 5. according to the method described in claim any one of 1-4, it is characterised in that carry scheduling in the abnormality detection instruction Server attempts the second identification information of the target robot detected, then the acquisition abnormality detection instructs and performs the exception Detection instruction, including：Second identification information is extracted from abnormality detection instruction, by second identification information and the robot First identification information is compared；If first identification information is consistent with second identification information, the abnormality detection instruction is performed；If first identification information and second identification information are inconsistent, the abnormality detection instruction is abandoned.
- A kind of 6. abnormality eliminating method of robot, it is characterised in that including：Abnormality detection instruction is issued to robot；Receive the abnormal information for the abnormal task that the robot detects；Risk class corresponding to the abnormal task determined according to the abnormal information；The abnormality processing strategy matched with the risk class is issued to the robot.
- 7. according to the method for claim 6, it is characterised in that described that the abnormal task is determined according to the abnormal information Corresponding risk class, including：The value of abnormality mark position in the abnormal information, between the value and risk class of inquiry abnormality mark position Mapping relations, obtain the risk class corresponding with the value of the abnormality mark position；OrCorresponding trouble unit mark in the abnormal information, reflecting between inquiry trouble unit mark and risk class Relation is penetrated, obtains the risk class corresponding with trouble unit mark.
- 8. the method according to claim 6 or 7, it is characterised in that carry dispatch service in the abnormality detection instruction Device attempts the identification information of the target robot detected.
- A kind of 9. robot, it is characterised in that including：First acquisition module, in robot normal operation, obtaining abnormality detection instruction；Execution module, for performing the abnormality detection instruction, it whether there is abnormal task to detect the robot；Second acquisition module, for when detecting that the robot has abnormal task, obtaining corresponding to the abnormal task Risk class and the abnormality processing strategy matched with the risk class；Cancellation module, the robot abnormal task is eliminated with normal operation again for performing the abnormality processing strategy.
- A kind of 10. dispatch server, it is characterised in that including：Sending module, for issuing abnormality detection instruction to robot；Receiving module, the abnormal information of the abnormal task detected for receiving the robot；Determining module, for risk class corresponding to the abnormal task that is determined according to the abnormal information；The sending module, it is additionally operable to issue the abnormality processing strategy matched with the risk class to the robot.
- A kind of 11. computer equipment, it is characterised in that including：Processor and memory；Wherein, the processor passes through reading The executable program code stored in the memory runs program corresponding with the executable program code, for reality The now abnormality eliminating method of the robot as described in any in claim 1-5, or, as described in any in claim 6-8 Robot abnormality eliminating method.
- 12. a kind of computer program product, it is characterised in that when the instruction in the computer program product is by computing device When, for realizing the abnormality eliminating method of the robot as described in any in claim 1-5, or, such as claim 6-8 In any described robot abnormality eliminating method.
- 13. a kind of non-transitorycomputer readable storage medium, is stored thereon with computer program, it is characterised in that the calculating The abnormality eliminating method of the robot as described in any in claim 1-5 is realized when machine program is executed by processor, or, such as The abnormality eliminating method of any described robot in claim 6-8.
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| CN201710726679.6A CN107685342A (en) | 2017-08-22 | 2017-08-22 | Abnormality eliminating method, robot and the dispatch server of robot |
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| CN108388187A (en) * | 2018-04-12 | 2018-08-10 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of robot control system |
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| CN113505984A (en) * | 2021-07-07 | 2021-10-15 | 建信金融科技有限责任公司 | Risk early warning processing method and device, electronic equipment and computer readable medium |
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