CN112677180A - Fault eliminating method, device and equipment for inspection robot - Google Patents
Fault eliminating method, device and equipment for inspection robot Download PDFInfo
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- CN112677180A CN112677180A CN202011453354.3A CN202011453354A CN112677180A CN 112677180 A CN112677180 A CN 112677180A CN 202011453354 A CN202011453354 A CN 202011453354A CN 112677180 A CN112677180 A CN 112677180A
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Abstract
The invention discloses a fault eliminating method of an inspection robot, wherein a processor can eliminate motion faults by adopting a preset fault eliminating method corresponding to the type of the motion faults after the inspection robot has the motion faults, so that the inspection robot can recover to be normal in a short time after the motion faults occur, and cannot stay in a static state for a long time and wait for maintenance of workers, the labor cost is reduced, and the working efficiency is improved. The invention also discloses a fault elimination device and equipment of the inspection robot, and the fault elimination device and equipment have the same beneficial effects as the fault elimination method of the inspection robot.
Description
Technical Field
The invention relates to the field of indoor track inspection robots, in particular to a fault elimination method of an inspection robot, and further relates to a fault elimination device and equipment of the inspection robot.
Background
In order to guarantee the stable and reliable operation of a power grid, the operation state of the substation equipment needs to be subjected to daily inspection, the intelligent inspection robot of the substation becomes an important means for inspection of the substation equipment at present, the intelligent inspection robot of the substation can replace manual work to complete work such as infrared temperature measurement and equipment state monitoring and identification of the substation equipment, and the unattended process of the substation is promoted.
At present, in indoor environment such as guard room, generally use indoor rail mounted to patrol and examine the robot and patrol and examine indoor equipment and inspect, but, patrolling and examining the robot operation in-process, motion trouble such as drive module trouble or motion range transfinite can appear occasionally, appear these motion trouble backs, thereby the robot just can't normally carry out equipment and patrol and examine and lead to patrolling and examining the task failure, need the staff to go to the restoration of patrolling and examining the robot this moment, increased the human cost, and reduced work efficiency.
Therefore, how to provide a solution to the above technical problem is a problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a fault elimination method of an inspection robot, which reduces the labor cost and improves the working efficiency; the invention also aims to provide a fault eliminating device and equipment of the inspection robot, which reduce the labor cost and improve the working efficiency.
In order to solve the technical problem, the invention provides a fault elimination method of an inspection robot, which is applied to a processor and comprises the following steps:
judging whether the inspection robot has a motion fault;
if so, determining the type of the motion fault;
and eliminating the existing motion faults by adopting a preset fault elimination method corresponding to the type.
Preferably, if so, after determining the type of the motion fault and before eliminating the motion fault by using a preset fault elimination method corresponding to the type, the fault elimination method for the inspection robot further includes:
judging whether the type is the motion range overrun;
and if the motion range exceeds the limit, controlling the driving module corresponding to the direction of the motion range exceeding of the inspection robot to stop working.
Preferably, the method for eliminating the motion fault by using the preset fault elimination method corresponding to the type specifically includes:
if the type is the failure of the driving module, controlling the failed driving module to restart;
and if the type is that the movement range is out of limit, controlling the inspection robot to return to the normal movement range.
Preferably, after determining whether the type is that the movement range is out of limit, the method for eliminating the fault of the inspection robot further includes:
if the motion range is out of limit, determining the direction of the out-of-limit motion range;
if the direction of the motion range overrun is the horizontal direction, setting a software limit sign of the overrun direction in the horizontal direction when the motion range overrun so as to reject to respond to the motion instruction of the overrun direction sent by the upper computer;
if the direction of the motion range overrun is the vertical direction, resetting the motion limit data of the inspection robot in the vertical direction;
after controlling the inspection robot to return to the normal movement range, the method for eliminating the fault of the inspection robot further comprises the following steps:
and clearing the software limit mark.
Preferably, if the type is a failure of the driving module, after the restarting of the driving module which controls the failure, the method for eliminating the failure of the inspection robot further includes:
detecting whether the drive module fault has been eliminated;
if so, recovering and executing the motion instruction executed when the driving module fails;
if the type is after the failure of the driving module, and before the restarting of the driving module which controls the failure, the method for eliminating the failure of the inspection robot further comprises the following steps:
and acquiring the motion instruction executed when the driving module is in fault.
Preferably, after detecting whether the failure of the driving module has been eliminated, the method for eliminating the failure of the inspection robot further includes:
if not, adding one to the accumulated number of faults with the initial bit of zero;
judging whether the accumulated failure times exceed a preset threshold value or not;
if the alarm exceeds the preset threshold, terminating the subsequent steps and controlling an alarm to give an alarm;
if not, executing the step of restarting the drive module with the control fault;
and if the fault is eliminated, clearing the accumulated number of the faults.
Preferably, after determining whether the inspection robot has a motion fault, the fault removing method for the inspection robot further includes:
if so, recording the current motion fault log and controlling a prompter to prompt the motion fault state;
when the existing motion fault is detected to be eliminated, the log of the eliminated motion fault is recorded and the prompter is controlled to stop prompting.
Preferably, the judging whether the inspection robot has a motion fault specifically is as follows:
detecting whether the state of a driving module of the inspection robot is a fault state;
and judging whether the inspection robot has an out-of-limit motion range through a limit switch preset on the motion trail of the inspection robot.
In order to solve the above technical problem, the present invention further provides a fault removing apparatus for an inspection robot, which is applied to a processor, and includes:
the judging module is used for judging whether the inspection robot has a motion fault or not, and if so, the determining module is triggered;
the determining module is used for determining the type of the motion fault;
and the recovery module is used for eliminating the existing motion faults by adopting a preset fault elimination method corresponding to the type.
In order to solve the above technical problem, the present invention further provides a fault removing apparatus for an inspection robot, including:
a memory for storing a computer program;
and the processor is used for realizing the steps of the fault elimination method of the inspection robot when executing the computer program.
The invention provides a fault eliminating method of an inspection robot, wherein a processor can eliminate a motion fault by adopting a preset fault eliminating method corresponding to the type of the motion fault after the motion fault of the inspection robot exists, so that the inspection robot can recover to be normal in a short time after the motion fault occurs, and cannot stay in a static state for a long time and wait for maintenance of workers, the labor cost is reduced, and the working efficiency is improved.
The invention also provides a fault elimination device and equipment of the inspection robot, and the fault elimination device and equipment have the same beneficial effects as the fault elimination method of the inspection robot.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flow chart of a fault elimination method for an inspection robot according to the present invention;
fig. 2 is a schematic structural diagram of a fault removing device of an inspection robot according to the present invention;
fig. 3 is a schematic structural diagram of a fault removing device of an inspection robot according to the present invention.
Detailed Description
The core of the invention is to provide a fault elimination method of the inspection robot, which reduces the labor cost and improves the working efficiency; the other core of the invention is to provide a fault eliminating device and equipment of the inspection robot, which reduce the labor cost and improve the working efficiency.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart of a method for eliminating a fault of an inspection robot according to the present invention, applied to a processor, the method for eliminating a fault of an inspection robot including:
step S1: judging whether the inspection robot has a motion fault;
specifically, in view of the technical problems in the background art, in order to automatically eliminate the motion fault, it is necessary to first determine whether the inspection robot has the motion fault, and then perform the subsequent fault elimination process.
The processor may be of various types, for example, may be a motion control module in the inspection robot, and may receive a motion control instruction of the upper computer, and control the corresponding driving module to drive the robot to perform a motion in a specified direction according to the motion control instruction.
Step S2: if so, determining the type of the motion fault;
specifically, in consideration of the fact that the elimination modes of the different types of motion faults are not uniform, corresponding motion fault elimination needs to be performed for the different types, the type of the motion fault can be determined in the embodiment of the invention, and therefore the elimination of the motion fault in the subsequent step can be performed according to the determined type.
Specifically, the type of the motion fault may be various types, for example, the type may include a fault of a driving module, a fault of an out-of-range motion of the inspection robot, and the like, and the embodiment of the present invention is not limited herein.
The failure cause of the driving module may be various, for example, the failure cause may be a change in power supply voltage, a change in power supply current, a presence of a foreign object above the track, a transmission frequency of the transmission assembly, or the like.
The reason why the movement range is out of limit may be various types, for example, the communication condition between the monitoring unit (upper computer) and the movement control module is poor, the data of the positioning module in the driving module is wrong, the task processing of the monitoring unit is abnormal, and the like, and the embodiment of the present invention is not limited herein.
Step S3: and eliminating the existing motion faults by adopting a preset fault elimination method corresponding to the type.
Specifically, in the embodiment of the invention, some fault elimination methods of the inspection robot can be preset in the processor, so that after the type is determined, the preset fault elimination method can be called in the step to directly eliminate the motion fault of the corresponding type, thereby achieving the effect of automatically and quickly eliminating the motion fault of the inspection robot, needing no waiting for the maintenance of workers, greatly reducing the labor cost and improving the working efficiency.
The preset fault eliminating method may be of various types, for example, the preset fault eliminating method may be some practice of a worker in handling various types of motion faults, but the preset fault eliminating method is programmed in the embodiment of the present invention, and the embodiment of the present invention is not limited herein.
The invention provides a fault eliminating method of an inspection robot, wherein a processor can eliminate a motion fault by adopting a preset fault eliminating method corresponding to the type of the motion fault after the motion fault of the inspection robot exists, so that the inspection robot can recover to be normal in a short time after the motion fault occurs, and cannot stay in a static state for a long time and wait for maintenance of workers, the labor cost is reduced, and the working efficiency is improved.
On the basis of the above-described embodiment:
as a preferred embodiment, if the type of the motion fault is determined, before the existing motion fault is eliminated by using a preset fault elimination method corresponding to the type, the fault elimination method for the inspection robot further includes:
judging whether the type is that the motion range exceeds the limit;
and if the movement range exceeds the limit, controlling the driving module corresponding to the direction of the exceeding movement range of the inspection robot to stop working.
Specifically, patrol and examine robot normal conditions and have certain working range restriction, for example the orbital robot of patrolling and examining all has the scope restriction in horizontal direction and perpendicular orbital direction, in case its motion surpasss the restriction scope, so should patrol and examine the robot just can't normally go on patrolling and examining the task, consequently need examine under the normal conditions whether the motion range of robot transfinites and detect.
Specifically, under the condition that the movement range is out of limit, it is indicated that an error has occurred in the movement of the inspection robot at this time, if the inspection robot is continuously put for movement, the result is unpredictable, and the inspection robot may be damaged.
As a preferred embodiment, the method for eliminating the existing motion fault by using the preset fault elimination method corresponding to the type specifically includes:
if the type is the failure of the driving module, controlling the failed driving module to restart;
and if the type is that the movement range is out of limit, controlling the inspection robot to return to the normal movement range.
Specifically, the embodiment of the invention mainly introduces two types of motion faults, wherein the fault of the drive module can be eliminated in a mode of controlling the restart of the faulty drive module or in an initialization mode, the elimination mode of the fault with the motion range exceeding limit is relatively simple, the inspection robot is controlled to return to a normal motion range, or return to a preset initial position, for example, the detection of the motion range exceeding limit can include the detection of four directions including horizontal forward direction, horizontal reverse direction, vertical upward direction and vertical downward direction, and when the motion range with the horizontal forward direction exceeds limit, the inspection robot can be controlled to return to the normal motion range in the horizontal reverse direction.
The driving module can be controlled according to the current position and the motion range of the inspection robot when the inspection robot is controlled to return, and the current position of the inspection robot can be directly read from the driving module.
Of course, besides the above two methods for eliminating motion fault, there may be other types of methods for eliminating motion fault, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, after determining whether the type is the motion range overrun, the method for eliminating the fault of the inspection robot further includes:
if the motion range is out of limit, determining the direction of the out-of-limit motion range;
if the direction of the motion range overrun is the horizontal direction, setting a software limit sign of the overrun direction in the horizontal direction when the motion range overrun so as to reject to respond to the motion instruction of the overrun direction sent by the upper computer;
if the direction of the motion range overrun is the vertical direction, resetting the motion limit data of the inspection robot in the vertical direction;
after controlling the inspection robot to return to the normal movement range, the method for eliminating the fault of the inspection robot further comprises the following steps:
the software limit flag is cleared.
Specifically, in order to ensure the motion safety of the inspection robot, after the motion range is determined to be out of limit, a software limit flag in the horizontal direction may be set when the motion range is out of limit, for example, when the horizontal forward motion range is out of limit, a horizontal forward software limit flag may be set, so that, when a forward motion control instruction (which is dangerous) of an upper computer is received, due to the existence of the software limit flag, the processor may not control the driving module to drive the inspection robot to move horizontally and forwardly according to the motion control instruction, so that the safety of the inspection robot is ensured, and after the inspection robot returns to the normal motion range, the software limit flag is cleared under the condition that the inspection robot can move safely.
When the direction of the motion range overrun is the vertical direction, the situation that the motion limit data is wrong may exist, if the motion range overrun is not corrected, even if the inspection robot returns to the normal motion range, the motion range overrun in the vertical direction of the inspection robot still may occur in the subsequent motion process, and therefore the motion limit data of the inspection robot in the vertical direction can be reset under the situation, so that the motion range overrun in the vertical direction cannot occur in the subsequent motion process.
For example, when the inspection robot has an overrun in the vertical upward movement range, the position of the limit switch used for detecting the overrun in the vertical upward movement range may be directly subtracted by a preset value, and the result is used as the vertical upward movement limit data.
As a preferred embodiment, if the type is a failure of the drive module, after the restart of the drive module controlling the failure, the method for eliminating the failure of the inspection robot further includes:
detecting whether the drive module fault has been eliminated;
if so, recovering and executing the motion instruction executed when the failure of the driving module occurs;
if the type is after the failure of the drive module, before the restart of the drive module controlling the failure, the method for eliminating the failure of the inspection robot further comprises the following steps:
and acquiring a motion instruction executed when the driving module fails.
Specifically, considering that the failure of the driving module cannot be eliminated, it may be detected whether the failure of the driving module has been eliminated after the restarting of the driving module controlling the failure, and if the failure of the driving module has been eliminated, the motion command executed when the failure of the driving module occurs is recovered, so that the inspection robot quickly returns to the execution of the inspection task before the failure, thereby further improving the working efficiency.
The detecting whether the failure of the driving module has been eliminated may be reading a state of the driving module, and if the failure is a normal state, it may be determined that the failure has been eliminated.
As a preferred embodiment, after detecting whether the failure of the driving module has been eliminated, the method for eliminating the failure of the inspection robot further includes:
if not, adding one to the accumulated number of faults with the initial bit of zero;
judging whether the accumulated failure times exceed a preset threshold value or not;
if the alarm exceeds the preset threshold, terminating the subsequent steps and controlling an alarm to give an alarm;
if not, executing the step of restarting the drive module which controls the fault;
and if the fault is eliminated, clearing the accumulated number of the faults.
Specifically, considering that the failure of the driving module may be continuously unable to be eliminated, the embodiment of the present invention may terminate the subsequent step when the number of times of continuously detecting the failure of the driving module reaches the preset threshold, that is, terminate the action of eliminating the failure of the driving module, and attract the attention of the worker in an alarm manner so as to eliminate the failure.
The preset threshold may be set autonomously, for example, 5 times, and the like, and the embodiment of the present invention is not limited herein.
Specifically, the failure accumulation number may be cleared when the failure of the drive module is eliminated, and accumulation may be performed again when the failure of the drive module is detected next time.
As a preferred embodiment, after determining whether the inspection robot has a motion fault, the method for eliminating the motion fault of the inspection robot further includes:
if so, recording a current motion fault log and controlling a prompter to prompt a motion fault state;
when the existing motion fault is detected to be eliminated, the log of the eliminated motion fault is recorded and the prompting device is controlled to stop prompting.
Specifically, in order to facilitate the staff to query the historical faults in the subsequent working process, the embodiment of the invention can record the current motion fault log, and record the motion fault eliminated log when the fault is eliminated, so as to form a complete log record of the motion fault processing flow.
Specifically, in order to facilitate workers around the inspection robot to know the fault state of the inspection robot in real time, the prompting device can be controlled to prompt the motion fault state under the condition of motion fault in the embodiment of the invention.
The prompting device may be of various types, for example, an acousto-optic prompting device, and the like, and the embodiment of the present invention is not limited herein.
As a preferred embodiment, the specific step of judging whether the inspection robot has a motion fault is as follows:
detecting whether the state of a driving module of the inspection robot is a fault state;
and judging whether the inspection robot has an out-of-limit motion range through a limit switch preset on the motion trail of the inspection robot.
Specifically, limit switch has advantages such as with low costs, small and longe-lived.
Of course, besides the limit switch, other types of sensors may be used to detect the motion range overrun, and the embodiment of the present invention is not limited herein.
Referring to fig. 2, fig. 2 is a schematic structural diagram of a fault removing apparatus of an inspection robot according to the present invention, applied to a processor, the fault removing apparatus of the inspection robot including:
the judging module 1 is used for judging whether the inspection robot has a motion fault, and if so, the determining module 2 is triggered;
the determining module 2 is used for determining the type of the motion fault;
and the recovery module 3 is used for eliminating the existing motion faults by adopting a preset fault elimination method corresponding to the type.
For the introduction of the fault removing apparatus for an inspection robot according to the embodiment of the present invention, reference is made to the foregoing embodiment of the fault removing method for an inspection robot, and details of the embodiment of the present invention are not repeated herein.
Referring to fig. 3, fig. 3 is a schematic structural diagram of a fault removing apparatus of an inspection robot according to the present invention, the fault removing apparatus of the inspection robot including:
a memory 4 for storing a computer program;
and a processor 5 for implementing the steps of the fault elimination method of the inspection robot as in the foregoing embodiments when executing the computer program.
For the introduction of the fault elimination apparatus of the inspection robot provided by the embodiment of the present invention, please refer to the foregoing embodiment of the fault elimination method of the inspection robot, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description. It should also be noted that, in the present specification, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A fault elimination method of an inspection robot is applied to a processor and comprises the following steps:
judging whether the inspection robot has a motion fault;
if so, determining the type of the motion fault;
and eliminating the existing motion faults by adopting a preset fault elimination method corresponding to the type.
2. The method for eliminating the fault of the inspection robot according to claim 1, wherein if the type of the motion fault is determined, and if the type of the motion fault is determined, before the motion fault is eliminated by using a preset fault eliminating method corresponding to the type, the method for eliminating the fault of the inspection robot further comprises the following steps:
judging whether the type is the motion range overrun;
and if the motion range exceeds the limit, controlling the driving module corresponding to the direction of the motion range exceeding of the inspection robot to stop working.
3. The inspection robot fault elimination method according to claim 2, wherein the elimination of the existing motion fault by using a preset fault elimination method corresponding to the type is specifically:
if the type is the failure of the driving module, controlling the failed driving module to restart;
and if the type is that the movement range is out of limit, controlling the inspection robot to return to the normal movement range.
4. The inspection robot fault elimination method according to claim 2, wherein after determining whether the type is the motion range overrun, the inspection robot fault elimination method further includes:
if the motion range is out of limit, determining the direction of the out-of-limit motion range;
if the direction of the motion range overrun is the horizontal direction, setting a software limit sign of the overrun direction in the horizontal direction when the motion range overrun so as to reject to respond to the motion instruction of the overrun direction sent by the upper computer;
if the direction of the motion range overrun is the vertical direction, resetting the motion limit data of the inspection robot in the vertical direction;
after controlling the inspection robot to return to the normal movement range, the method for eliminating the fault of the inspection robot further comprises the following steps:
and clearing the software limit mark.
5. The inspection robot fault elimination method according to claim 2, wherein if the type is a drive module fault, after the restart of the drive module controlling the fault, the inspection robot fault elimination method further comprises:
detecting whether the drive module fault has been eliminated;
if so, recovering and executing the motion instruction executed when the driving module fails;
if the type is after the failure of the driving module, and before the restarting of the driving module which controls the failure, the method for eliminating the failure of the inspection robot further comprises the following steps:
and acquiring the motion instruction executed when the driving module is in fault.
6. The inspection robot fault elimination method according to claim 5, wherein after detecting whether the driving module fault has been eliminated, the inspection robot fault elimination method further includes:
if not, adding one to the accumulated number of faults with the initial bit of zero;
judging whether the accumulated failure times exceed a preset threshold value or not;
if the alarm exceeds the preset threshold, terminating the subsequent steps and controlling an alarm to give an alarm;
if not, executing the step of restarting the drive module with the control fault;
and if the fault is eliminated, clearing the accumulated number of the faults.
7. The inspection robot fault elimination method according to claim 6, wherein after determining whether the inspection robot has a motion fault, the inspection robot fault elimination method further includes:
if so, recording the current motion fault log and controlling a prompter to prompt the motion fault state;
when the existing motion fault is detected to be eliminated, the log of the eliminated motion fault is recorded and the prompter is controlled to stop prompting.
8. The inspection robot fault elimination method according to any one of claims 1 to 7, wherein the judging whether the inspection robot has a motion fault specifically includes:
detecting whether the state of a driving module of the inspection robot is a fault state;
and judging whether the inspection robot has an out-of-limit motion range through a limit switch preset on the motion trail of the inspection robot.
9. The utility model provides a fault elimination device of inspection robot which characterized in that is applied to the treater, includes:
the judging module is used for judging whether the inspection robot has a motion fault or not, and if so, the determining module is triggered;
the determining module is used for determining the type of the motion fault;
and the recovery module is used for eliminating the existing motion faults by adopting a preset fault elimination method corresponding to the type.
10. A failure eliminating device of a patrol robot, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of troubleshooting the inspection robot according to any one of claims 1 to 8 when the computer program is executed.
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Application publication date: 20210420 |