CN109623877A - Self checking method, self-checking system and the computer storage medium of robot - Google Patents
Self checking method, self-checking system and the computer storage medium of robot Download PDFInfo
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- CN109623877A CN109623877A CN201910051690.6A CN201910051690A CN109623877A CN 109623877 A CN109623877 A CN 109623877A CN 201910051690 A CN201910051690 A CN 201910051690A CN 109623877 A CN109623877 A CN 109623877A
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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
- B25J19/0095—Means or methods for testing manipulators
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/022—Optical sensing devices using lasers
-
- 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
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
Abstract
The present invention provides a kind of self checking method of robot, robot self-checking system and computer storage medium, which comprises determines that robot needs the equipment of self-test；The type that the equipment of self-test is needed according to the robot determines the detection element and detection method of detection processing；According to the detection element of detection processing, the normal data range of the equipment is set；Handle and export the state of each equipment.The self checking method of robot according to an embodiment of the present invention, solves the problems, such as robot communication class equipment self-inspection process not closed loop, and increase the detection for executing class equipment, increase guarantee to the operation and maintenance of robot, avoids leading to major accident because of unit exception in operational process；Simultaneously as whole process is all automatically performed, there is the abnormal Status Reporting that also has and generate, decrease human cost.
Description
Technical field
The present invention relates to robot fields, self checking method, robot self-checking system more particularly, to a kind of robot
And computer storage medium.
Background technique
As robot is universal in life, the frequency that robot breaks down is also higher and higher.It is all filled in robot
Equipped with large number of equipment, it can be generally divided into sensing equipment and execute equipment, these equipment, which require often detection to judge it, is
No exception.Wherein, currently existing scheme is by checking with whether sensor device communication normally abnormal to judge it, and now
Some schemes can not judge to execute whether equipment runs succeeded.
Current detection scheme has the disadvantage in that 1, can not judge whether sensor device is normal completely.Such as ultrasonic wave
The tip damage of sensor, can with normal communication, but the detection range data fed back be it is wrong, therefore, in addition to judging it
Except whether communication is normal, it is also necessary to be verified to the data that it is detected, could judge whether an equipment is normal；2, without existing
Whether normal there is technical solution realization to automaticly inspect execution equipment.
Summary of the invention
It is situated between in view of this, the present invention provides a kind of self checking method of robot, robot self-checking system and computer storage
Matter, principle is simple, easy to detect, and detection accuracy is high.
In order to solve the above technical problems, on the one hand, the present invention provides a kind of self checking method of robot, the method packet
It includes: determining that robot needs the equipment of self-test；The type that the equipment of self-test is needed according to the robot, determines at detection
The detection element and detection method of reason；According to the detection element of detection processing, the normal data range of the equipment is set；Processing
And export the state of each equipment.
According to some embodiments of the present invention, the equipment includes sensing equipment and execution equipment.
According to some embodiments of the present invention, the sensing equipment includes laser navigation sensor, high-definition camera sensing
Device, infrared camera sensor, panoramic ultrasonic sensor, flexible impact sensor, sound pick-up, the execution equipment includes cloud
Platform motor, warning light, loudspeaker.
According to some embodiments of the present invention, the detection element of the sensing equipment include: contour identification, identification icon,
Identification state and identification audio, the detection element for executing equipment includes: head motor and acoustic and light information.
According to some embodiments of the present invention, the detection element is located on the charging depressed place of the robot.
According to some embodiments of the present invention, the detection method of contour identification are as follows: on the charging depressed place with the sensing
The corresponding position of equipment places profile and the sensing equipment is allowed to identify, if contour identification meets design profile, judges the biography
It is normal to feel equipment；The detection method of identification icon are as follows: arrangement pattern allows the sensing equipment to identify in the charging depressed place, if knowing
Other pattern meets arrangement pattern, then judges that the sensing equipment is normal；The detection method of identification state are as follows: in the charging depressed place
Arrangement states trigger device goes to trigger the touching switch of the robot, if identification state and trigger device state consistency, sentence
The sensing equipment that breaks is normal；And/or the detection method of identification audio are as follows: loudspeaker, which are configured, in the charging depressed place plays audio,
It allows the sound pick-up of the robot to be identified, if identification audio is consistent with charging depressed place broadcasting audio, judges that the sensing is set
It is standby normal.
According to some embodiments of the present invention, the detection method of head motor are as follows: it is described charging depressed place different direction and
Height is respectively arranged identification icon, head presetting bit is then arranged, in order identification icon, if the figure of setting can be identified successively
Case then judges that the execution equipment is normal；And/or the detection method of acoustic and light information are as follows: be equipped with sensing in the charging depressed place and set
Acoustic and light information standby, that identification machine human hair goes out, and recognition result is issued into robot processing by wireless telecommunications, if sensing equipment
The acoustic and light information for recognizing robot sending, then judge that the execution equipment is normal.
Second aspect, the embodiment of the present invention provide a kind of robot self-checking system, comprising: charging depressed place, charging depressed place energy
It is enough to charge to robot；Detection module, the detection module are located on the charging depressed place, and the detection module can be actively
The data that the robot needs the equipment of self-test are obtained, and need according to the robot type of the equipment of self-test,
Determine the detection element and detection method of detection processing；Judgment module, the judgment module according to the detection element of detection processing,
It sets the normal data range of the equipment and judges whether the equipment is normal；Output module, the output module can be defeated
The state of each equipment out.
According to some embodiments of the present invention, the equipment includes sensing equipment and execution equipment, the sensing equipment packet
Include laser navigation sensor, high-definition camera sensor, infrared camera sensor, panoramic ultrasonic sensor, flexible impact
Sensor, and/or sound pick-up, the execution equipment includes horizontal stage electric machine, warning light, and/or loudspeaker.
The third aspect, the embodiment of the present invention provide a kind of computer storage medium, including one or more computer instruction,
One or more computer instruction realizes the method as described in above-described embodiment when being executed.
Above-mentioned technical proposal of the invention one of at least has the advantages that:
Self checking method, robot self-checking system and the computer storage medium of robot according to an embodiment of the present invention are led to
The detection element that respective sensor is set on charging depressed place is crossed, robot actively obtains the data of each sensor device, handles
And analyze its feedback data whether in the normal range, thus come determine sensor be work normally, for execute equipment,
Setting detection element or inspection equipment, are communicated with robot, realize the self-test for executing equipment on charging depressed place.It solves
Robot communication class equipment self-inspection process not closed loop the problem of, and increase execute class equipment detection, to robot operation with
Maintenance increases guarantee, avoids leading to major accident because of unit exception in operational process；Simultaneously as whole process is all automatic
It completes, the abnormal Status Reporting that also has occurs and generate, decrease human cost.
Detailed description of the invention
Fig. 1 is the flow chart of the self checking method of the robot of the embodiment of the present invention；
Fig. 2 is the specific flow chart of the self checking method of the robot of the embodiment of the present invention；
Fig. 3 is the schematic diagram of the robot self-checking system of the embodiment of the present invention；
Fig. 4 is the schematic diagram of the electronic equipment of the embodiment of the present invention.
Appended drawing reference:
The self checking method 100 of robot；
Robot self-checking system 200；
Charging depressed place 10；Detection module 20；Judgment module 30；Output module 40；
Electronic equipment 300；
Memory 310；Operating system 311；Application program 312；
Processor 320；Network interface 330；Input equipment 340；Hard disk 350；Show equipment 360.
Specific embodiment
Below in conjunction with drawings and examples, specific embodiments of the present invention will be described in further detail.Following reality
Example is applied for illustrating the present invention, but is not intended to limit the scope of the invention.
The self checking method 100 of robot according to an embodiment of the present invention is specifically described in conjunction with attached drawing first below.
As depicted in figs. 1 and 2, the self checking method 100 of robot according to an embodiment of the present invention includes:
Determine that robot needs the equipment of self-test.
The type that the equipment of self-test is needed according to the robot determines detection element and the detection side of detection processing
Method.
According to the detection element of detection processing, the normal data range of the equipment is set.
Handle and export the state of each equipment.
In other words, the self checking method 100 of robot according to an embodiment of the present invention is when implementing, it is first determined robot needs
The equipment for wanting self-test determines the detection element and detection method for needing to detect then according to the type for the equipment for needing self-test, then
According to different detection elements, the range of normal data is set, finally the data of detection are handled, judges whether to belong to normal
Range, and export the state of each equipment.
In a preferred embodiment of the invention, the detection element is located on the charging depressed place of the robot.
As a result, by the way that detection element is arranged on the charging depressed place of robot, robot can be obtained actively during the charging process
It takes corresponding data and passes to charging depressed place, communicated by charging depressed place with robot, realize the self-test for executing equipment.It solves
Robot communication class equipment self-inspection process not closed loop the problem of, and increase execute class equipment detection, to robot operation with
Maintenance increases guarantee, avoids leading to major accident because of unit exception in operational process；Simultaneously as whole process is all automatic
It completes, the abnormal Status Reporting that also has occurs and generate, decrease human cost.
Wherein, the equipment includes sensing equipment and executes equipment, and specifically, the sensing equipment includes that laser navigation passes
Sensor, high-definition camera sensor, infrared camera sensor, panoramic ultrasonic sensor, flexible impact sensor, pickup
Device, the execution equipment include horizontal stage electric machine, warning light, loudspeaker, the detection element of the sensing equipment include: contour identification,
Identification icon, identification state and identification audio, the detection element for executing equipment includes: head motor and acoustic and light information.
As shown in Fig. 2, respectively the detection method of detection element is as follows:
The detection method of contour identification are as follows: profile is placed in the position corresponding with the sensing equipment on the charging depressed place
It allows the sensing equipment to identify, if contour identification meets design profile, judges that the sensing equipment is normal.
The detection method of identification icon are as follows: arrangement pattern allows the sensing equipment to identify in the charging depressed place, if identification
Pattern meets arrangement pattern, then judges that the sensing equipment is normal.
The detection method of identification state are as follows: arrangement states trigger device goes to trigger the robot in the charging depressed place
Touching switch, if identification state and trigger device state consistency, judge that the sensing equipment is normal.
And/or the detection method of identification audio are as follows: configure loudspeaker broadcasting audio in the charging depressed place, allow the robot
Sound pick-up identified, if identification audio with charging depressed place broadcasting audio it is consistent, judge that the sensing equipment is normal.
The detection method of head motor are as follows: different direction and height in the charging depressed place are respectively arranged identification icon, so
Head presetting bit is set afterwards, and identification icon is judging the execution equipment just if the pattern of setting can be identified successively in order
Often.
And/or the detection method of acoustic and light information are as follows: sensing equipment is equipped in the charging depressed place, identification machine human hair goes out
Acoustic and light information, and recognition result is issued into robot processing by wireless telecommunications, if sensing equipment recognizes robot sending
Acoustic and light information then judges that the execution equipment is normal.
To sum up, the self checking method 100 of robot according to an embodiment of the present invention, is corresponded to by being arranged on charging depressed place
The detection element of sensor, robot actively obtain the data of each sensor device, handle and the data for analyzing its feedback are
It is no in the normal range, thus come determine sensor be work normally, for execute equipment, charging depressed place on setting detection wants
Element checks equipment, is communicated with robot, realizes the self-test for executing equipment.Solves robot communication class equipment self-inspection
Process not closed loop the problem of, and increase execute class equipment detection, increase guarantee to the operation and maintenance of robot, avoid running
Lead to major accident because of unit exception in the process；Simultaneously as whole process is all automatically performed, there is exception and also have shape
State report generation, decreases human cost.
As shown in figure 3, robot self-checking system 200 according to an embodiment of the present invention includes: charging depressed place 10, detection module
20, judgment module 30 and output module 40.
Specifically, the charging depressed place 10 can charge to robot, and the detection module 20 is located at the charging depressed place
On 10, the detection module 20 can actively obtain the data that the robot needs the equipment of self-test, and according to the machine
People needs the type of the equipment of self-test, determines the detection element and detection method of detection processing, the judgment module 30
According to the detection element of detection processing, sets the normal data range of the equipment and judge whether the equipment is normal, it is described defeated
Module 40 can export the state of each equipment out.
Wherein, the equipment includes sensing equipment and executes equipment, and the sensing equipment includes laser navigation sensor, height
Clear camera sensing device, infrared camera sensor, panoramic ultrasonic sensor, flexible impact sensor, and/or sound pick-up,
The execution equipment includes horizontal stage electric machine, warning light, and/or loudspeaker.
Detection module 20 and the working principle of judgment module 30 are as shown in Figure 2:
The detection method of contour identification are as follows: profile is placed in the position corresponding with the sensing equipment on the charging depressed place
It allows the sensing equipment to identify, if contour identification meets design profile, judges that the sensing equipment is normal.
The detection method of identification icon are as follows: arrangement pattern allows the sensing equipment to identify in the charging depressed place, if identification
Pattern meets arrangement pattern, then judges that the sensing equipment is normal.
The detection method of identification state are as follows: arrangement states trigger device goes to trigger the robot in the charging depressed place
Touching switch, if identification state and trigger device state consistency, judge that the sensing equipment is normal.
Identify the detection method of audio are as follows: configure loudspeaker broadcasting audio in the charging depressed place, allow the picking up of the robot
Sound device is identified, if identification audio is consistent with charging depressed place broadcasting audio, judges that the sensing equipment is normal.
The detection method of head motor are as follows: different direction and height in the charging depressed place are respectively arranged identification icon, so
Head presetting bit is set afterwards, and identification icon is judging the execution equipment just if the pattern of setting can be identified successively in order
Often.
The detection method of acoustic and light information are as follows: sensing equipment, the acousto-optic that identification machine human hair goes out are equipped in the charging depressed place
Information, and recognition result is issued into robot processing by wireless telecommunications, if sensing equipment recognizes the acousto-optic of robot sending
Information then judges that the execution equipment is normal.
Robot self-checking system 200 according to an embodiment of the present invention as a result, by the way that respective sensor is arranged on charging depressed place
Detection element, robot actively obtains the data of each sensor device, handles and whether analyzes the data of its feedback just
In normal range, thus to determine that sensor is to work normally, for executing equipment, on charging depressed place setting detection element or
It checks equipment, is communicated with robot, realize the self-test for executing equipment.Solves robot communication class equipment self-inspection process not
The problem of closed loop, and increase the detection for executing class equipment, increase guarantee to the operation and maintenance of robot, avoids in operational process
Lead to major accident because of unit exception；Simultaneously as whole process is all automatically performed, there is exception and also have Status Reporting
It generates, decreases human cost.
In addition, the computer storage medium includes one or more the present invention also provides a kind of computer storage medium
Computer instruction, one or more computer instruction realize the self checking method of any of the above-described robot when being executed
100。
That is, the computer storage medium is stored with computer program, the computer program is transported by processor
When row, so that the processor executes the self checking method 100 of any of the above-described robot.
As shown in figure 4, the embodiment of the invention provides a kind of electronic equipment 300, including memory 310 and processor 320,
The memory 310 is for storing one or more computer instruction, and the processor 320 is for calling and executing described one
Or a plurality of computer instruction, to realize any of the above-described method.
That is, electronic equipment 300 includes: processor 320 and memory 310, it is stored in the memory 310
Computer program instructions, wherein when the computer program instructions are run by the processor, so that the processor 320
Execute any of the above-described method 100.
Further, as shown in figure 4, electronic equipment 300 further include network interface 330, input equipment 340, hard disk 350,
With display equipment 360.
It can be interconnected by bus architecture between above-mentioned each interface and equipment.It may include any that bus architecture, which can be,
The bus and bridge of the interconnection of quantity.One or more central processing unit (CPU) specifically represented by processor 320, Yi Jiyou
The various circuit connections for one or more memory that memory 310 represents are together.Bus architecture can also will be such as outer
Peripheral equipment, voltage-stablizer are together with the various other circuit connections of management circuit or the like.It is appreciated that bus architecture is used
Connection communication between these components of realization.Bus architecture further includes power bus, controls always in addition to including data/address bus
Line and status signal bus in addition, these are all it is known in the art, therefore is no longer described in greater detail herein.
The network interface 330 can connect to network (such as internet, local area network), dependency number obtained from network
According to, and can be stored in hard disk 350.
The input equipment 340, can receive operator input various instructions, and be sent to processor 320 for
It executes.The input equipment 340 may include keyboard or pointing device (for example, mouse, trace ball (trackball), sense of touch
Plate or touch screen etc..
The display equipment 360, the result that processor 320 executes instruction acquisition can be shown.
The memory 310, program necessary to running for storage program area and data and processor 320 are counted
The data such as the intermediate result during calculation.
It is appreciated that the memory 310 in the embodiment of the present invention can be volatile memory or nonvolatile memory,
It or may include both volatile and non-volatile memories.Wherein, nonvolatile memory can be read-only memory (ROM),
Programmable read only memory (PROM), Erasable Programmable Read Only Memory EPROM (EPROM), electrically erasable programmable read-only memory
(EEPROM) or flash memory.Volatile memory can be random access memory (RAM), be used as External Cache.Herein
The memory 310 of the device and method of description is intended to include but is not limited to the memory of these and any other suitable type.
In some embodiments, memory 310 stores following element, executable modules or data structures, or
Their subset of person or their superset: operating system 311 and application program 312.
Wherein, operating system 311 include various system programs, such as ccf layer, core library layer, driving layer etc., for real
Existing various basic businesses and the hardware based task of processing.Application program 312 includes various application programs, such as browser
(Browser) etc., for realizing various applied business.Realize that the program of present invention method may be embodied in application program
In 312.
The method that the above embodiment of the present invention discloses can be applied in processor 320, or be realized by processor 320.
Processor 320 may be a kind of IC chip, the processing capacity with signal.During realization, the above method it is each
Step can be completed by the integrated logic circuit of the hardware in processor 320 or the instruction of software form.Above-mentioned processing
Device 320 can be general processor, digital signal processor (DSP), specific integrated circuit (ASIC), ready-made programmable gate array
(FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components, may be implemented or
Person executes disclosed each method, step and the logic diagram in the embodiment of the present invention.General processor can be microprocessor or
Person's processor is also possible to any conventional processor etc..The step of method in conjunction with disclosed in the embodiment of the present invention, can be straight
Connect and be presented as that hardware decoding processor executes completion, or in decoding processor hardware and software module combination executed
At.Software module can be located at random access memory, and flash memory, read-only memory, programmable read only memory or electrically-erasable can
In the storage medium of this fields such as programmable memory, register maturation.The storage medium is located at memory 310, and processor 320 is read
Information in access to memory 310, in conjunction with the step of its hardware completion above method.
It is understood that embodiments described herein can with hardware, software, firmware, middleware, microcode or its
Combination is to realize.For hardware realization, processing unit be may be implemented in one or more specific integrated circuits (ASIC), number letter
Number processor DSP), digital signal processing appts (DSPD), programmable logic device (PLD), field programmable gate array
(FPGA), general processor, controller, microcontroller, microprocessor, other electronics lists for executing herein described function
In member or combinations thereof.
For software implementations, it can be realized herein by executing the module (such as process, function etc.) of function described herein
The technology.Software code is storable in memory and is executed by processor.Memory can in the processor or
It is realized outside processor.
Specifically, processor 320 is also used to read the computer program, executes any of the above-described method.
In several embodiments provided herein, it should be understood that disclosed method and apparatus, it can be by other
Mode realize.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
For a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can combine
Or it is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed phase
Coupling, direct-coupling or communication connection between mutually can be through some interfaces, the INDIRECT COUPLING or communication of device or unit
Connection can be electrical property, mechanical or other forms.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that the independent physics of each unit includes, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes receiving/transmission method described in each embodiment of the present invention
Part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, abbreviation
ROM), random access memory (Random Access Memory, abbreviation RAM), magnetic or disk etc. are various can store
The medium of program code.
The above is a preferred embodiment of the present invention, it is noted that for those skilled in the art
For, without departing from the principles of the present invention, it can also make several improvements and retouch, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of self checking method of robot, which is characterized in that the described method includes:
Determine that robot needs the equipment of self-test；
The type that the equipment of self-test is needed according to the robot determines the detection element and detection method of detection processing；
According to the detection element of detection processing, the normal data range of the equipment is set；
Handle and export the state of each equipment.
2. the method according to claim 1, wherein the equipment includes sensing equipment and execution equipment.
3. according to the method described in claim 2, it is characterized in that, the sensing equipment includes laser navigation sensor, high definition
Camera sensing device, infrared camera sensor, and/or panoramic ultrasonic sensor, flexible impact sensor, sound pick-up, institute
Stating and executing equipment includes horizontal stage electric machine, warning light, and/or loudspeaker.
4. according to the method described in claim 2, it is characterized in that, the detection element of the sensing equipment include: contour identification,
Identification icon, identification state and identification audio, the detection element for executing equipment includes: head motor and acoustic and light information.
5. according to the method described in claim 4, it is characterized in that, the detection element is located at the charging depressed place of the robot
On.
6. according to the method described in claim 5, it is characterized in that,
The detection method of contour identification are as follows: the position corresponding with the sensing equipment on the charging depressed place places profile and allows institute
Sensing equipment identification is stated, if contour identification meets design profile, judges that the sensing equipment is normal；
The detection method of identification icon are as follows: arrangement pattern allows the sensing equipment to identify in the charging depressed place, if identification icon
Meet arrangement pattern, then judges that the sensing equipment is normal；
The detection method of identification state are as follows: arrangement states trigger device goes to trigger the touching of the robot in the charging depressed place
Switch, if identification state and trigger device state consistency, judge that the sensing equipment is normal；And/or
Identify the detection method of audio are as follows: configure loudspeaker broadcasting audio in the charging depressed place, allow the sound pick-up of the robot
It is identified, if identification audio is consistent with charging depressed place broadcasting audio, judges that the sensing equipment is normal.
7. according to the method described in claim 5, it is characterized in that,
The detection method of head motor are as follows: different direction and height in the charging depressed place are respectively arranged identification icon, then set
Head presetting bit is set, in order identification icon, if the pattern of setting can be identified successively, judges that the execution equipment is normal；
And/or
The detection method of acoustic and light information are as follows: it is equipped with sensing equipment in the charging depressed place, identifies the acoustic and light information that machine human hair goes out,
And recognition result is issued into robot processing by wireless telecommunications, if sensing equipment recognizes the acoustic and light information of robot sending,
Then judge that the execution equipment is normal.
8. a kind of robot self-checking system characterized by comprising
Charging depressed place, the charging depressed place can charge to robot；
Detection module, the detection module are located on the charging depressed place, and the detection module can actively obtain the robot
The data of the equipment of self-test are needed, and need according to the robot type of the equipment of self-test, determine detection processing
Detect element and detection method；
Judgment module, the judgment module set the normal data range of the equipment simultaneously according to the detection element of detection processing
Judge whether the equipment is normal；
Output module, the output module can export the state of each equipment.
9. robot self-checking system according to claim 8, which is characterized in that the equipment includes sensing equipment and execution
Equipment, the sensing equipment include that laser navigation sensor, high-definition camera sensor, infrared camera sensor, panorama are super
Sonic sensor, flexible impact sensor, and/or sound pick-up, the execution equipment includes horizontal stage electric machine, warning light, and/or loudspeaker
?.
10. a kind of computer storage medium, which is characterized in that including one or more computer instruction, described one or more
Computer instruction realizes such as method of any of claims 1-7 when being executed.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110972052A (en) * | 2019-12-06 | 2020-04-07 | 久心医疗科技（苏州）有限公司 | Audio self-checking circuit and self-checking method |
| CN111761576A (en) * | 2020-06-15 | 2020-10-13 | 上海高仙自动化科技发展有限公司 | Health monitoring method and system, intelligent robot and readable storage medium |
| CN112025766A (en) * | 2020-08-11 | 2020-12-04 | 上海有个机器人有限公司 | Robot system health checking and self-checking method and device and electronic equipment |
| CN113858208A (en) * | 2021-10-27 | 2021-12-31 | 上海擎朗智能科技有限公司 | Robot detection method and device, electronic equipment and storage medium |
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| CN112025766B (en) * | 2020-08-11 | 2022-02-15 | 上海有个机器人有限公司 | Robot system health self-checking method and device and electronic equipment |
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| CN113858208B (en) * | 2021-10-27 | 2024-01-23 | 上海擎朗智能科技有限公司 | Robot detection method and device, electronic equipment and storage medium |
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