CN112230623A - Fault monitoring method and device, robot function device and inspection robot - Google Patents

Fault monitoring method and device, robot function device and inspection robot Download PDF

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Publication number
CN112230623A
CN112230623A CN202011104106.8A CN202011104106A CN112230623A CN 112230623 A CN112230623 A CN 112230623A CN 202011104106 A CN202011104106 A CN 202011104106A CN 112230623 A CN112230623 A CN 112230623A
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Prior art keywords
robot
function device
information
robot function
confirmation request
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CN202011104106.8A
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CN112230623B (en
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许哲涛
姚秀军
桂晨光
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Jingdong Shuke Haiyi Information Technology Co Ltd
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Jingdong Shuke Haiyi Information Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/24—Pc safety
    • G05B2219/24065—Real time diagnostics
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Testing And Monitoring For Control Systems (AREA)

Abstract

The disclosure provides a fault monitoring method and device, a robot function device and an inspection robot. The fault monitoring method comprises the following steps: sending confirmation request information to the robot controller at a predetermined time period; after the confirmation request information is sent, whether a confirmation request response which is sent by the robot controller and corresponds to the confirmation request information is received within a preset time range is judged; if the confirmation request response is not received within the preset time range, confirming that the robot function device is in a fault state; when the robot function device is in a failure state, log information of the robot function device is stored in a nonvolatile memory in the robot function device. The method and the device have the advantages that under the condition that the robot function device is in a fault state, the log information is stored in the nonvolatile memory in the robot function device, so that the log information is ensured not to be lost, the traceability of faults is improved, and the fault troubleshooting time is shortened.

Description

Fault monitoring method and device, robot function device and inspection robot
Technical Field
The disclosure relates to the field of control, in particular to a fault monitoring method and device, a robot function device and an inspection robot.
Background
In the related art, by performing inspection in an IDC (Internet Data Center) machine room by using an inspection robot, it is possible to effectively assist or replace manual work in monitoring the environment and the state of a computer in the machine room. The inspection robot can conveniently trace the fault by recording the operation log.
Disclosure of Invention
The inventor finds that, through research, under the condition that the inspection robot has a fault, the robot function device in the inspection robot cannot report the log information to the robot log memory for storage, so that the log information is lost, and the difficulty of fault analysis is increased.
Accordingly, the present disclosure provides a fault monitoring scheme, which can store log information into a nonvolatile memory when the inspection robot encounters a fault, thereby improving the traceability of the fault and shortening the troubleshooting time.
According to a first aspect of embodiments of the present disclosure, there is provided a fault monitoring method performed by a fault monitor in a robot function device, the method comprising: sending confirmation request information to the robot controller at a predetermined time period; after the confirmation request information is sent, judging whether a confirmation request response which is sent by the robot controller and corresponds to the confirmation request information is received within a preset time range; if the confirmation request response is not received within the preset time range, confirming that the robot function device is in a fault state; and storing the log information of the robot function device into a nonvolatile memory in the robot function device when the robot function device is in a fault state.
In some embodiments, if the confirmation request response is received within the predetermined time range, confirming that the robotic function device is in an operational state; and under the condition that the robot functional device is in a working state, reporting the log information of the robot functional device to the robot controller, so that the robot controller can store the log information reported by the robot functional device in a robot log memory.
In some embodiments, in a case where the robot function device is in an operating state, detecting whether a control instruction sent by the robot controller is received; and under the condition of receiving the control instruction, controlling a working circuit in the robot function device to execute corresponding operation according to the control instruction.
In some embodiments, the log information of the robotic function device includes operational state parameters and corresponding time information of the robotic function device.
In some embodiments, the log information of the robotic function device further includes power source information of the robotic function device.
In some embodiments, the power supply information includes at least one of input voltage information or operating current information of the robotic function device.
According to a second aspect of the embodiments of the present disclosure, there is provided a fault monitoring apparatus including: an interface module configured to transmit confirmation request information to the robot controller at a predetermined time period; the identification module is configured to judge whether the interface module receives a confirmation request response which is sent by the robot controller and corresponds to the confirmation request information within a preset time range after the interface module sends the confirmation request information; a state determination module configured to determine that the robotic function device is in a fault state if the confirmation request response is not received within the predetermined time range of the interface module; a control module configured to store log information of the robot function device in a non-volatile memory in the robot function device if the robot function device is in a fault state.
According to a third aspect of the embodiments of the present disclosure, there is provided a fault monitoring apparatus including: a memory configured to store instructions; a processor coupled to the memory, the processor configured to perform a method implementing any of the embodiments described above based on instructions stored by the memory.
According to a fourth aspect of the embodiments of the present disclosure, there is provided a robot function device including: a fault monitoring device as described in any one of the above embodiments; the working circuit is configured to execute corresponding operation according to the control instruction sent by the fault monitoring device; a non-volatile memory configured to store log information transmitted by the fault monitoring apparatus.
In some embodiments, the robotic function device further comprises a clock circuit configured to provide real-time clock information to the fault monitoring device.
In some embodiments, the robot function device further comprises a power management circuit configured to detect at least one of input voltage information or operating current information of the robot function device and send a detection result to the fault monitoring device.
In some embodiments, the operational circuitry includes at least one of environmental information acquisition circuitry, robot motion drive circuitry, light source drive circuitry, audio drive circuitry, or robot power control circuitry.
According to a fifth aspect of the embodiments of the present disclosure, there is provided an inspection robot including: a plurality of robot function devices according to any of the above embodiments, wherein the plurality of robot function devices have different working circuits; the robot controller is configured to send a confirmation request response corresponding to confirmation request information to the ith robot function device after receiving the confirmation request information sent by the ith robot function device in the plurality of robot function devices, wherein i is more than or equal to 1 and less than or equal to N, and N is the total number of the robot function devices.
In some embodiments, the inspection robot further comprises a robot log memory, wherein: the robot controller is also configured to send the log information sent by the ith robot function device to the robot log memory; a robot log storage configured to store log information provided by the robot controller.
According to a sixth aspect of the embodiments of the present disclosure, a computer-readable storage medium is provided, in which computer instructions are stored, and when executed by a processor, the computer-readable storage medium implements the method according to any of the embodiments described above.
Other features of the present disclosure and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without inventive exercise.
FIG. 1 is a schematic flow chart diagram of a fault monitoring method according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a fault monitoring apparatus according to an embodiment of the present disclosure;
FIG. 3 is a schematic structural diagram of a fault monitoring device according to another embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a robot function device according to an embodiment of the present disclosure;
fig. 5 is a schematic structural diagram of a robot function device according to another embodiment of the present disclosure;
fig. 6 is a schematic structural diagram of an inspection robot according to an embodiment of the present disclosure;
fig. 7 is a schematic structural view of an inspection robot according to another embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the drawings in the embodiments of the present disclosure, and it is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the disclosure, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
The relative arrangement of the components and steps, the numerical expressions, and numerical values set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.
Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description.
Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.
In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.
Fig. 1 is a schematic flow chart of a fault monitoring method according to an embodiment of the present disclosure. In some embodiments, the following fault monitoring method steps are performed by a fault monitor in the robotic function device.
In step 101, confirmation request information is transmitted to the robot controller at a predetermined time period.
After receiving the confirmation request information, the robot controller sends a confirmation request response to the fault monitor that sent the confirmation request information.
In step 102, after the confirmation request information is transmitted, it is determined whether a confirmation request response corresponding to the confirmation request information transmitted by the robot controller is received within a predetermined time range.
In step 103, if the confirmation request response is not received within the predetermined time range, it is confirmed that the robot function device is in the failure state.
In step 104, when the robot function device is in a failure state, log information of the robot function device is stored in a nonvolatile memory in the robot function device.
In some embodiments, the non-volatile Memory is an EEPROM (Electrically Erasable Programmable Read-Only Memory).
When the robot function device is in a fault state, log information of the robot function device is stored in a nonvolatile memory in the robot function device, so that the log information stored in the nonvolatile memory is ensured not to be lost, thereby being beneficial to improving the traceability of faults and shortening the fault troubleshooting time.
In some embodiments, the log information of the robot function device includes an operational state parameter of the robot function device and corresponding time information. For example, the operating state parameters of the robot function device include operating parameters of an operating circuit in the robot function device.
In some embodiments, the log information of the robot function device further includes power supply information of the robot function device. For example, the power supply information includes at least one of input voltage information or operating current information of the robot function device for troubleshooting by means of the input voltage information or the operating current information.
In some embodiments, the operational circuitry in the robotic functional device includes at least one of environmental information acquisition circuitry, robot motion drive circuitry, light source drive circuitry, audio drive circuitry, or robot power control circuitry.
For example, if the operating circuit in the robot function device includes the environmental information collecting circuit, the log information of the robot function device includes the collected information of the environmental information collecting circuit, the input voltage information of the robot function device, the operating current information of the robot function device, and the corresponding time information.
If the working circuit in the robot function device includes the robot motion driving circuit, the log information of the robot function device includes the motion state information of the robot motion driving circuit, the input voltage information of the robot function device, the working current information of the robot function device, and the corresponding time information.
If the working circuit in the robot function device includes the light source driving circuit and the audio driving circuit, the log information of the robot function device includes the motion state information of the light source driving circuit and the audio driving circuit, the input voltage information of the robot function device, the working current information of the robot function device, and the corresponding time information.
If the working circuit in the robot function device includes the robot power control circuit, the log information of the robot function device includes the motion state information of the robot power control circuit, the input voltage information of the robot function device, the working current information of the robot function device, and the corresponding time information.
In some embodiments, the robotic function device is confirmed to be in an operational state if a confirmation request response is received within a predetermined time range. And under the condition that the robot function device is in a working state, reporting the log information of the robot function device to the robot controller, so that the robot controller stores the log information reported by the robot function device in a robot log memory.
That is, in the case where the robot function device is in an operating state, the log information is stored in the robot log memory by the robot controller. When the robot function device is in an operating state, the log information is stored in the nonvolatile memory in the robot function device, so that the fault traceability is effectively realized by using the log information stored in the robot log memory and the log information stored in the nonvolatile memory in the robot function device.
In some embodiments, it is detected whether a control instruction sent by the robot controller is received while the robot function device is in an operating state. And under the condition of receiving the control instruction, controlling a working circuit in the robot functional device to execute corresponding operation according to the control instruction.
Fig. 2 is a schematic flow chart of a fault monitoring apparatus according to an embodiment of the present disclosure. As shown in fig. 2, the fault monitoring apparatus includes an interface module 21, an identification module 22, a status judgment module 23, and a control module 24.
The interface module 21 is configured to send confirmation request information to the robot controller at a predetermined time period.
After receiving the confirmation request information, the robot controller sends a confirmation request response to the fault monitor that sent the confirmation request information.
The identification module 22 is configured to determine whether the interface module receives a confirmation request response corresponding to the confirmation request information from the robot controller within a predetermined time range after the interface module transmits the confirmation request information.
The state determination module 23 is configured to confirm that the robot function device is in a fault state if the confirmation request response is not received within a predetermined time range of the interface module.
The control module 24 is configured to store log information of the robot function device in a non-volatile memory in the robot function device in case the robot function device is in a fault state.
In some embodiments, the non-volatile memory is an EEPROM.
When the robot function device is in a fault state, log information of the robot function device is stored in a nonvolatile memory in the robot function device, so that the log information stored in the nonvolatile memory is ensured not to be lost, thereby being beneficial to improving the traceability of faults and shortening the fault troubleshooting time.
In some embodiments, the log information of the robot function device includes an operational state parameter of the robot function device and corresponding time information. For example, the operating state parameters of the robot function device include operating parameters of an operating circuit in the robot function device.
In some embodiments, the log information of the robot function device further includes at least one of input voltage information or operating current information of the robot function device. In order to perform a fault check with the aid of the input voltage information or the operating current information.
In some embodiments, the operational circuitry in the robotic functional device includes at least one of environmental information acquisition circuitry, robot motion drive circuitry, light source drive circuitry, audio drive circuitry, or robot power control circuitry.
For example, if the operating circuit in the robot function device includes the environmental information collecting circuit, the robot function device has an environmental information collecting function, and the log information of the robot function device includes the collected information of the environmental information collecting circuit, the input voltage information of the robot function device, the operating current information of the robot function device, and the corresponding time information.
If the working circuit in the robot function device comprises the robot motion driving circuit, the robot function device has the robot motion driving function, and the log information of the robot function device comprises the motion state information of the robot motion driving circuit, the input voltage information of the robot function device, the working current information of the robot function device and the corresponding time information.
If the working circuit in the robot function device comprises the light source driving circuit and the audio driving circuit, the robot function device has the light source driving circuit and the audio driving function, and the log information of the robot function device comprises the motion state information of the light source driving circuit and the audio driving circuit, the input voltage information of the robot function device, the working current information of the robot function device and the corresponding time information.
If the working circuit in the robot function device comprises the robot power control circuit, the robot function device has the robot power control function, and the log information of the robot function device comprises the motion state information of the robot power control circuit, the input voltage information of the robot function device, the working current information of the robot function device and the corresponding time information.
In some embodiments, the status determination module 23 determines that the robot function device is in the working status if the interface module 21 receives a confirmation request response within a predetermined time range. Under the condition that the robot function device is in a working state, the control module 24 reports the log information of the robot function device to the robot controller, so that the robot controller stores the log information reported by the robot function device in a robot log memory.
That is, in the case where the robot function device is in an operating state, the log information is stored in the robot log memory by the robot controller. When the robot function device is in an operating state, the log information is stored in the nonvolatile memory in the robot function device, so that the fault traceability is effectively realized by using the log information stored in the robot log memory and the log information stored in the nonvolatile memory in the robot function device.
In some embodiments, the control module 24 detects whether the interface module 21 receives a control command sent by the robot controller while the robot function device is in the working state. In case of receiving the control instruction, the control module 24 controls the working circuit in the robot function device to perform corresponding operations according to the control instruction.
Fig. 3 is a schematic structural diagram of a fault monitoring apparatus according to another embodiment of the present disclosure. As shown in fig. 3, the fault monitoring device includes a memory 31 and a processor 32.
The memory 31 is used for storing instructions, the processor 32 is coupled to the memory 31, and the processor 32 is configured to execute the method according to any embodiment in fig. 1 based on the instructions stored in the memory.
As shown in fig. 3, the fault monitoring apparatus further includes a communication interface 33 for information interaction with other devices. Meanwhile, the fault monitoring device further comprises a bus 34, and the processor 32, the communication interface 33 and the memory 31 are communicated with each other through the bus 34.
The memory 31 may comprise a high-speed RAM memory, and may also include a non-volatile memory (e.g., at least one disk memory). The memory 31 may also be a memory array. The storage 31 may also be partitioned and the blocks may be combined into virtual volumes according to certain rules.
Further, the processor 32 may be a central processing unit CPU, or may be an application specific integrated circuit ASIC, or one or more integrated circuits configured to implement embodiments of the present disclosure.
The present disclosure also relates to a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the instructions, when executed by a processor, implement the method according to any one of the embodiments in fig. 1.
Fig. 4 is a schematic structural diagram of a robot function device according to an embodiment of the present disclosure. As shown in fig. 4, the robot function device includes a failure monitoring device 41, an operating circuit 42, and a nonvolatile memory 43. The failure monitoring device 41 is the failure monitoring device according to any one of the embodiments of fig. 2 and 3.
The operation circuit 42 is configured to perform a corresponding operation according to the control instruction transmitted by the fault monitoring apparatus 41.
In some embodiments, the operational circuitry 43 includes at least one of environmental information acquisition circuitry, robot motion drive circuitry, light source drive circuitry, audio drive circuitry, or robot power control circuitry.
The nonvolatile memory 43 is configured to store log information transmitted by the failure monitoring apparatus.
In some embodiments, the non-volatile memory 43 is an EEPROM.
Fig. 5 is a schematic structural diagram of a robot function device according to another embodiment of the present disclosure. Fig. 5 differs from fig. 4 in that in the embodiment shown in fig. 5 the robot function device further comprises a clock circuit 44.
The clock circuit 44 is configured to provide the real-time clock information to the fault monitoring device 41 so that the fault monitoring device 41 adds the real-time clock information to the log information. When the fault tracing is carried out, fault analysis can be carried out according to the running state parameters and the corresponding time information included in the log information.
In some embodiments, as shown in fig. 5, the robot function device further includes a power management circuit 45.
The power management circuit 45 is configured to detect at least one of input voltage information or operating current information of the robot function device, and transmit the detection result to the fault monitoring device. Therefore, when fault tracing is carried out, fault analysis can be carried out on the working state of the robot functional device according to the input voltage information or the working current information included in the log information.
For example, if the operating circuit 43 in the robot function device includes an environmental information acquisition circuit, the robot function device has an environmental information acquisition function, and the log information of the robot function device includes acquisition information of the environmental information acquisition circuit, input voltage information of the robot function device, operating current information of the robot function device, and corresponding time information.
If the operating circuit 43 in the robot function device includes the robot motion driving circuit, the robot function device has the robot motion driving function, and the log information of the robot function device includes the motion state information of the robot motion driving circuit, the input voltage information of the robot function device, the operating current information of the robot function device, and the corresponding time information.
If the operating circuit 43 in the robot function device includes a light source driving circuit and an audio driving circuit, the robot function device has a light source driving function and an audio driving function, and the log information of the robot function device includes motion state information of the light source driving circuit and the audio driving circuit, input voltage information of the robot function device, operating current information of the robot function device, and corresponding time information.
If the operating circuit 43 in the robot function device includes the robot power control circuit, the robot function device has the robot power control function, and the log information of the robot function device includes the motion state information of the robot power control circuit, the input voltage information of the robot function device, the operating current information of the robot function device, and the corresponding time information.
Fig. 6 is a schematic structural diagram of an inspection robot according to an embodiment of the present disclosure. As shown in fig. 6, the inspection robot includes a plurality of robot function devices, and the operation circuits of the plurality of robot function devices are different from each other.
In some embodiments, for ease of illustration, 4 robot functions 611-614 are shown in FIG. 4. Those skilled in the art will appreciate that the number of robot functional devices may be increased or decreased in the inspection robot as desired.
As shown in fig. 6, the solid line represents a communication line, and the broken line represents a power bus.
As shown in fig. 6, the working circuit in the robot function device 611 is an environment information collecting circuit, i.e., the robot function device 611 has an environment information collecting function. The working circuit in the robot function device 612 is a robot motion driving circuit, that is, the robot function device 612 has a robot motion driving function. The operating circuits in the robot function device 613 are a light source driving circuit and an audio driving circuit, i.e., the robot function device 613 has a light source driving function and an audio driving function. The operating circuit in the robot function device 614 is a power control circuit, i.e., the robot function device 614 has a power control function.
In addition, the inspection robot further includes a robot controller 62. The robot controller 62 is configured to, after receiving the confirmation request information transmitted by the i-th robot function device among the plurality of robot function devices, transmit a confirmation request response corresponding to the confirmation request information to the i-th robot function device, where 1 ≦ i ≦ N, and N is the total number of robot function devices.
Here, when each robot function device is in a failure state, the log information generated by the robot function device itself is stored in the nonvolatile memory of the robot function device itself, so that the log information stored in the nonvolatile memory is ensured not to be lost, which contributes to improvement of traceability of failures and reduction of troubleshooting time.
Fig. 7 is a schematic structural view of an inspection robot according to another embodiment of the present disclosure. Fig. 7 is different from fig. 6 in that, in the embodiment shown in fig. 7, the inspection robot further includes a robot log storage 63.
The robot controller 62 is also configured to transmit the log information transmitted by each robot function device to the robot log memory 63. The robot log storage 63 is configured to store log information provided by the robot controller 62.
That is, in the case where the robot function device is in an operating state, the log information is stored in the robot log memory by the robot controller. When the robot function device is in an operating state, the log information is stored in the nonvolatile memory in the robot function device, so that the fault traceability is effectively realized by using the log information stored in the robot log memory and the log information stored in the nonvolatile memory in the robot function device.
The present disclosure is illustrated by the following specific examples.
The working circuit in the robot function device 611 is an environmental information collecting circuit, that is, the robot function device 611 has an environmental information collecting function. Under the condition that the robot function device 611 normally works, the power management circuit in the robot function device 611 collects the power information, such as the voltage and the current, input to the robot function device 611 in real time. The power management circuitry in the robot function device 611 also converts the power input to the robot function device 611 to different voltages for use by the various components within the robot function device 611. The fault monitoring device in the robot function device 611 generates log information from the environmental information collected by the environmental information collection circuit, the input voltage information and the operating current information detected by the power management circuit, and the clock information provided by the clock circuit in the robot function device 611 to send to the robot controller 62 through the communication bus, so that the robot controller 62 stores the received log information in the robot log memory 63. The failure monitoring means in the robot function device 611 transmits confirmation request information to the robot controller 62 through the communication bus at a predetermined time period. Upon receiving the confirmation request message, the robot controller 62 transmits a confirmation request response to the failure monitoring device in the robot function device 611. The failure monitoring device in the robot function device 611 determines whether or not a confirmation request response transmitted from the robot controller 62 is received within a predetermined time range after transmitting the confirmation request information. If the communication bus or the robot controller fails, the failure monitoring device in the robot function device 611 cannot receive a confirmation request response transmitted from the robot controller 62 within a predetermined time range, in which case the failure monitoring device in the robot function device 611 confirms that the robot function device 611 is currently in a failure state. In the case where the robot function device 611 is in a failure state, the failure monitoring device in the robot function device 611 stores log information of the robot function device 611 (including environmental information collected by the environmental information collection circuit, input voltage information and operating current information detected by the power management circuit, and clock information provided by the clock circuit) into a nonvolatile memory in the robot function device 611.
The operating circuitry in the robot function device 612 is a robot motion driver circuit. That is, the robot function device 612 has a robot motion driving function. Under the condition that the robot function device 612 works normally, the power management circuit in the robot function device 612 collects power information, such as voltage and current values, input into the robot function device 612 in real time. The power management circuitry in the robot function device 612 also converts the power input to the robot function device 612 to different voltages for use by the various components within the robot function device 612. The robot motion driving circuit in the robot function device 612 executes a corresponding motion driving action according to a control command issued by the robot controller 62. The fault monitoring device in the robot function device 612 generates log information from the operating state parameters of the robot motion driving circuit, the input voltage information and the operating current information detected by the power management circuit, and the clock information provided by the clock circuit in the robot function device 612 to send to the robot controller 62 through the communication bus so that the robot controller 62 stores the received log information in the robot log memory 63. The fault monitoring device in the robot function device 612 transmits confirmation request information to the robot controller 62 through the communication bus at a predetermined time period. Upon receiving the confirmation request message, the robot controller 62 sends a confirmation request response to the fault monitoring device in the robot function device 612. The failure monitoring device in the robot function device 612, after transmitting the confirmation request information, determines whether or not a confirmation request response transmitted from the robot controller 62 is received within a predetermined time range. If the communication bus or the robot controller fails, the failure monitoring device in the robot function device 612 cannot receive a confirmation request response sent by the robot controller 62 within a predetermined time frame, in which case the failure monitoring device in the robot function device 612 confirms that the robot function device 612 is currently in a failure state. In the event that the robot function device 612 is in a fault state, the fault monitoring device in the robot function device 612 stores log information of the robot function device 612 (including operating state parameters of the robot motion drive circuit, input voltage information and operating current information detected by the power management circuit, and clock information provided by the clock circuit) into a non-volatile memory in the robot function device 612.
The operating circuits in the robot function device 613 are a light source driving circuit and an audio driving circuit, i.e., the robot function device 613 has a light source driving function and an audio driving function. In the case that the robot function device 613 is operating normally, the power management circuit in the robot function device 613 collects power information, such as voltage and current values, input into the robot function device 613 in real time. The power management circuitry in the robot function device 613 also converts the power input to the robot function device 613 to a different voltage for use by various components within the robot function device 613. The light source driving circuit and the audio driving circuit in the robot function device 613 execute corresponding driving actions according to the control command issued by the robot controller 62. The fault monitoring device in the robot function device 613 generates log information from the operating state parameters of the light source driving circuit and the audio driving circuit, the input voltage information and the operating current information detected by the power management circuit, and the clock information supplied from the clock circuit in the robot function device 613 to send to the robot controller 62 through the communication bus so that the robot controller 62 stores the received log information in the robot log memory 63. The failure monitoring device in the robot function device 613 transmits confirmation request information to the robot controller 62 through the communication bus at a predetermined time period. Upon receiving the confirmation request information, the robot controller 62 transmits a confirmation request response to the failure monitoring device in the robot function device 613. The failure monitoring device in the robot function device 613 determines whether or not a confirmation request response transmitted from the robot controller 62 is received within a predetermined time range after transmitting the confirmation request information. If the communication bus or the robot controller fails, the failure monitoring device in the robot function device 613 cannot receive the confirmation request response transmitted by the robot controller 62 within a predetermined time range, in which case the failure monitoring device in the robot function device 613 confirms that the robot function device 613 is currently in a failure state. In the case where the robot function device 613 is in a failure state, the failure monitoring device in the robot function device 613 stores log information (including operating state parameters of the light source driving circuit and the audio driving circuit, input voltage information and operating current information detected by the power management circuit, and clock information provided by the clock circuit) of the robot function device 613 in a nonvolatile memory in the robot function device 613.
The operating circuit in the robot function device 614 is a power control circuit, i.e., the robot function device 614 has a power control function. Under normal operation of the robot function device 614, the power management circuit in the robot function device 614 collects power information, such as voltage and current values, input to the robot function device 614 in real time. The power management circuitry in the robot function device 614 also converts the power input to the robot function device 614 to a different voltage for use by various components within the robot function device 614. The power control circuitry in the robot function device 614 performs the corresponding power up and power down operations according to control instructions issued by the robot controller 62. The fault monitoring device in the robot function device 614 generates log information of the operating state parameters of the power supply control circuit, the input voltage information and the operating current information detected by the power supply management circuit, and the clock information provided by the clock circuit in the robot function device 614 to transmit to the robot controller 62 through the communication bus so that the robot controller 62 stores the received log information in the robot log memory 63. The fault monitoring device in the robot function device 614 sends confirmation request information to the robot controller 64 through the communication bus at a predetermined time period. Upon receiving the confirmation request message, the robot controller 62 sends a confirmation request response to the fault monitoring device in the robot function device 614. The failure monitoring device in the robot function device 614 determines whether or not a confirmation request response transmitted from the robot controller 62 is received within a predetermined time range after transmitting the confirmation request information. If the communication bus or the robot controller fails, the failure monitoring device in the robot function device 614 cannot receive a confirmation request response sent by the robot controller 62 within a predetermined time frame, in which case the failure monitoring device in the robot function device 614 confirms that the robot function device 614 is currently in a failure state. In the event that the robot function device 614 is in a fault condition, the fault monitoring device in the robot function device 614 stores log information of the robot function device 614 (including operating state parameters of the power control circuit, input voltage information and operating current information detected by the power management circuit, and clock information provided by the clock circuit) into a non-volatile memory in the robot function device 614.
The present disclosure ensures that log information stored in a nonvolatile memory is not lost by storing the log information of a robot function device in the nonvolatile memory in a case where the robot function device is in a failure state, thereby contributing to improvement of traceability of a failure and shortening of troubleshooting time.
In some embodiments, the functional unit modules described above can be implemented as a general purpose Processor, a Programmable Logic Controller (PLC), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable Logic device, discrete Gate or transistor Logic, discrete hardware components, or any suitable combination thereof for performing the functions described in this disclosure.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The description of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the disclosure in the form disclosed. Many modifications and variations will be apparent to practitioners skilled in this art. The embodiment was chosen and described in order to best explain the principles of the disclosure and the practical application, and to enable others of ordinary skill in the art to understand the disclosure for various embodiments with various modifications as are suited to the particular use contemplated.

Claims (15)

1. A fault monitoring method performed by a fault monitor in a robotic function device, the method comprising:
sending confirmation request information to the robot controller at a predetermined time period;
after the confirmation request information is sent, judging whether a confirmation request response which is sent by the robot controller and corresponds to the confirmation request information is received within a preset time range;
if the confirmation request response is not received within the preset time range, confirming that the robot function device is in a fault state;
and storing the log information of the robot function device into a nonvolatile memory in the robot function device when the robot function device is in a fault state.
2. The method of claim 1, further comprising:
if the confirmation request response is received within the preset time range, confirming that the robot function device is in a working state;
and under the condition that the robot functional device is in a working state, reporting the log information of the robot functional device to the robot controller, so that the robot controller can store the log information reported by the robot functional device in a robot log memory.
3. The method of claim 2, further comprising:
under the condition that the robot function device is in a working state, detecting whether a control instruction sent by the robot controller is received or not;
and under the condition of receiving the control instruction, controlling a working circuit in the robot function device to execute corresponding operation according to the control instruction.
4. The method of any one of claims 1-3, wherein:
the log information of the robot function device includes an operation state parameter and corresponding time information of the robot function device.
5. The method of claim 4, wherein,
the log information of the robot function device further includes power supply information of the robot function device.
6. The method of claim 5, wherein,
the power supply information includes at least one of input voltage information or operating current information of the robot function device.
7. A fault monitoring device comprising:
an interface module configured to transmit confirmation request information to the robot controller at a predetermined time period;
the identification module is configured to judge whether the interface module receives a confirmation request response which is sent by the robot controller and corresponds to the confirmation request information within a preset time range after the interface module sends the confirmation request information;
a state determination module configured to determine that the robotic function device is in a fault state if the confirmation request response is not received within the predetermined time range of the interface module;
a control module configured to store log information of the robot function device in a non-volatile memory in the robot function device if the robot function device is in a fault state.
8. A fault monitoring device comprising:
a memory configured to store instructions;
a processor coupled to the memory, the processor configured to perform implementing the method of any of claims 1-6 based on instructions stored by the memory.
9. A robotic function device, comprising:
the fault monitoring device of claim 7 or 8;
the working circuit is configured to execute corresponding operation according to the control instruction sent by the fault monitoring device;
a non-volatile memory configured to store log information transmitted by the fault monitoring apparatus.
10. The apparatus of claim 9, further comprising:
a clock circuit configured to provide real-time clock information to the fault monitoring device.
11. The apparatus of claim 10, further comprising:
a power management circuit configured to detect at least one of input voltage information or operating current information of the robot function device and transmit a detection result to the fault monitoring device.
12. The apparatus of any one of claims 9-11, wherein:
the working circuit comprises at least one of an environmental information acquisition circuit, a robot motion driving circuit, a light source driving circuit, an audio driving circuit or a robot power supply control circuit.
13. An inspection robot comprising:
a plurality of robotic function devices as claimed in any one of claims 9 to 12, the operational circuitry in the plurality of robotic function devices being different from one another;
the robot controller is configured to send a confirmation request response corresponding to confirmation request information to the ith robot function device after receiving the confirmation request information sent by the ith robot function device in the plurality of robot function devices, wherein i is more than or equal to 1 and less than or equal to N, and N is the total number of the robot function devices.
14. The robot of claim 13, further comprising a robot log memory, wherein:
the robot controller is also configured to send the log information sent by the ith robot function device to the robot log memory;
a robot log storage configured to store log information provided by the robot controller.
15. A computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions which, when executed by a processor, implement the method of any one of claims 1-7.
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