CN114625098A - Preemptive fault processing method for underwater robot - Google Patents
Preemptive fault processing method for underwater robot Download PDFInfo
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- CN114625098A CN114625098A CN202011451689.1A CN202011451689A CN114625098A CN 114625098 A CN114625098 A CN 114625098A CN 202011451689 A CN202011451689 A CN 202011451689A CN 114625098 A CN114625098 A CN 114625098A
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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
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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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
Abstract
The invention relates to a preemptive fault processing method for an underwater robot, which comprises the following steps: the method comprises the steps of establishing a fault processing strategy, setting a fault attribute value, simultaneously detecting multiple faults, preemptively entering a processing flow for a high-priority fault, and preemptively processing a higher-priority fault in the fault processing flow. Configuring an exclusive processing configuration item of each fault according to the fault characteristics; the faults with relatively high priority are reported and processed according to the priority of the faults, so that the problem that the high-priority faults are not processed timely is avoided; the high-priority fault preemptive entry processing flow can sort the priority of the fault reporting variable from high to low and assign the priority to the current fault processing variable, so that the high-priority fault is preemptively processed; preemptively processing the higher-priority fault in the fault processing flow can further realize the preemptive processing of the high priority according to the fault priority on the basis that the high-priority fault preemptively enters the processing flow. The method can effectively improve the safety and reliability of the underwater robot in underwater operation.
Description
Technical Field
The invention belongs to the technical field of intelligent fault processing of underwater robots, and particularly relates to a preemptive fault processing method of an underwater robot.
Background
With the continuous improvement of the functions and the performances of the underwater robot, the number of installed equipment sensors is also continuously increased, so that the failure frequency and hidden danger points of the underwater robot are increased, how to improve the safety and the reliability of the underwater robot becomes a difficult problem needing to be considered, and the fact that the failure diagnosis and processing can accurately and effectively detect and process the generated failure becomes more important. Therefore, the underwater robot fault processing method has obvious practical significance and engineering value.
In the prior art, after a fault is detected by an underwater robot, the fault is sent to a fault processing module for corresponding processing, when a plurality of faults are detected, serious faults cannot be preferentially processed according to the severity of the faults, and only the faults detected firstly are processed in sequence. The disadvantages of this fault handling method include: 1) failure severity is not graded; 2) only faults detected first can be processed sequentially; 3) higher severity failures cannot be preemptively handled.
Therefore, the method for processing the fault of the underwater robot is researched, the problem that the underwater robot correctly processes the most serious fault preferentially is solved, the safety and the reliability of the underwater robot are improved, and the method is a practical problem that the intelligent fault processing of the underwater robot needs to be mainly solved at present.
Disclosure of Invention
Based on the defects and shortcomings of the prior art, the invention provides a preemptive fault processing method for an underwater robot aiming at the defect that the existing underwater robot is difficult to process the most serious fault preferentially, which is beneficial to realizing intelligent fault processing of the underwater robot and improving the safety and reliability of the underwater robot in underwater operation.
The technical scheme adopted by the invention for solving the problems is as follows: a preemptive fault processing method for an underwater robot comprises the following steps:
establishing a fault exclusive processing configuration item table for describing faults in advance;
arranging a sensor on equipment of the underwater robot, and periodically acquiring a fault signal of the equipment;
setting the sequencing of the faults in the fault reporting variable queue according to the number and the priority of the faults, and periodically sending the fault reporting variable queue to a fault processing module;
starting a high-priority fault preemptive entering processing flow, and performing priority processing on the highest-priority fault.
The fault-specific processing configuration entry table contains the following attributes: fault classification, fault identification number, fault processing mode, fault processing flag and fault grade.
The fault classification is as follows: and detecting faults of sensors, actuators, energy, navigation equipment and safety.
The fault processing mode comprises the following steps: recording the non-processing, receiving and recovering mission of the floating surface, returning to a preset recovery point and throwing, floating.
The setting of the fault reporting variables according to the number and the priority of the faults comprises the following steps:
setting the field type of a fault reporting variable queue, so that the fault reporting variable queue can simultaneously store and upload a plurality of fault signals each time;
when the detected number of faults is less than the maximum value of the number of fault signals contained in the fault reporting variable queue, the detected fault signals are directly assigned to the fault reporting variable queue in sequence;
when the current fault reporting variable queue is full and a new fault signal still exists, comparing the new fault signal grade with the fault signal grade in the current queue, and screening out the fault signal with low priority to enable the fault signal to be in a state of waiting to enter the queue;
and the fault reporting variable queue reports the fault signals with high levels to the fault processing module according to the priority order.
The preemptive entry of the high-priority fault into the processing flow comprises the following steps: and the fault processing module traverses the fault signals in the fault reporting variable queue, sorts the fault reporting variables taken up according to priority and assigns the fault reporting variables to the current fault processing variable queue, and performs priority processing on the fault with the highest priority.
The priority processing of the highest priority fault specifically includes: in the process of entering the fault processing flow, firstly, judging the sequence of processing fault signals according to the priority;
and secondly, judging whether the fault needs to be processed according to the fault processing mark, and sending an instruction to corresponding equipment for fault processing according to a fault processing mode.
A preemptive fault processing storage medium for an underwater robot, wherein a fault detection and processing program is stored, and when the program is loaded, the method steps are executed.
A preemptive fault processing device for an underwater robot comprises a fault detection and processing program, a processor and a storage medium, wherein the fault detection and processing program is used for detecting and processing a fault signal of the underwater robot and storing the fault signal in the storage medium, and when the processor loads a program, the steps of the method are executed, so that a preemptive fault processing flow of the underwater robot is realized.
The invention has the following beneficial effects and advantages:
1. the invention decomposes the fault processing process into four processes of constructing a fault processing strategy, setting a fault attribute value, simultaneously detecting multiple faults, preemptively entering a processing flow for high-priority faults and preemptively processing higher-priority faults in the fault processing flow, realizes preemptive fault processing and can concisely and effectively realize the fault processing of the underwater robot.
2. The invention provides a specific scheme for simultaneously detecting multiple faults, can effectively detect the multiple faults and better meets the actual engineering requirements.
3. The invention provides a specific scheme for preemptively entering the processing flow of the high-priority fault and preemptively processing the higher-priority fault in the fault processing flow, and the intelligence and the system safety of the fault processing of the underwater robot are further improved.
Drawings
FIG. 1 is a diagram illustrating the updating of a variable queue when the number of failures is less than an upper limit;
FIG. 2 is a diagram illustrating the updating of a variable queue when the number of failures exceeds an upper limit;
FIG. 3 is a schematic representation of the reordering of fault numbers according to fault severity level in accordance with the present invention;
fig. 4 is a flow chart of preemptively processing a high-priority fault in the fault processing process of the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, but rather should be construed as modified in the spirit and scope of the present invention as set forth in the appended claims.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
The invention relates to a preemptive fault processing method for an underwater robot. And constructing a fault processing strategy and setting fault attribute values to configure different fault identification numbers, fault processing modes, fault processing and judging, different fault grades and other attribute values according to the fault characteristics to form an exclusive processing configuration item of each fault. The simultaneous detection of a plurality of faults can detect 8 faults at most, and when the number of the faults is more than 8, the faults with relatively high priority can be reported and processed according to the priority of the faults, so that the problem that the high-priority faults are not processed timely can be avoided; preemptively processing the high-priority fault, sequencing the priority of the fault reporting variable from high to low and assigning the priority to the current fault processing variable, so as to realize preemptively processing the high-priority fault; the fault flexible configuration processing can flexibly process the fault according to a preset strategy.
The method flow embodiment of the invention comprises the following steps:
the first step is as follows: constructing fault processing strategy and setting fault attribute value
The method comprises the steps of counting all faults which are possibly generated by the underwater robot and can be detected by means of signal threshold or behavior judgment and the like, classifying the faults according to characteristics, and respectively configuring different fault identification numbers, fault processing modes, fault processing flags, different fault grades and other attribute values, so that an exclusive processing configuration item of each fault is formed, and is shown in table 1. The fault classification mainly comprises detection sensors, execution mechanisms, energy sources, navigation equipment, water leakage or depth and height overrun safety and the like; the failure processing modes are shown in table 2, and the failure processing modes comprise 4 types including recording non-processing, receiving and recovering missions on the floating water surface, returning to a preset recovery point and throwing and floating.
The fault processing method specifically comprises the following steps: when the fault processing program receives the fault signals of the detection sensors, a processing mode of recording non-processing is adopted; when a fault processing program receives a fault signal of an actuating mechanism, the serious fault which does not contain the actuating mechanism in the fault can provide power for the underwater robot in the modes of hardware redundancy, fault-tolerant control and the like, and an instruction is output to power actuating mechanisms such as a propeller, a steering engine and the like to control the underwater robot to return to a preset recovery point; when the fault processing program receives fault signals of energy and navigation equipment, an instruction is output to the buoyancy adjusting device to enable the underwater robot to float up to the water surface and receive a recovery mission of the upper computer, and then the underwater robot automatically executes according to the newly received mission; when the fault processing program receives safety fault signals such as water leakage, depth and height overrun and the like, an instruction is output to the ballast throwing device to enable the underwater robot to throw ballast and float.
TABLE 1
TABLE 2
Setting a fault reporting variable according to the number and priority of faults;
the second step is that: multiple fault simultaneous detection
After the underwater robot starts to execute a mission after launching, the fault detection process starts to periodically detect, each fault has a corresponding fault number, the type of the fault number is an unscheduled char, the fault number occupies one byte, the range of the fault number is 0-255, and the fault number can be manually set from 100 to 200 according to the number of the faults. And setting a fault reporting variable with a type of double, wherein 8 bytes are occupied, and 8 fault numbers can be reported simultaneously.
When the number of the detected faults is less than 8, the detected fault numbers are directly assigned to the fault reporting variable queue in sequence, as shown in fig. 1, and the priority of the fault numbers is not judged at this time.
When the number of detected faults is greater than or equal to 8, judging the priority of the fault number from front to back, if the priority of the fault number is lower than that of the current fault number, inserting the current fault number before the fault number, and sequentially moving the fault numbers behind the fault number backwards, as shown in fig. 2.
The third step: preemptive entry into a process flow for high priority faults
The fault reporting variable queue is periodically sent to the fault processing module, the fault processing module traverses the fault numbers in the fault reporting variable queue to find the fault number with the highest priority, the fault reporting variables shot above are sorted and assigned to the current fault processing variable, and as shown in fig. 3, the fault with the highest priority is processed preferentially. The pseudo code is as follows:
the fourth step: preemptive processing higher priority fault in fault processing flow
As shown in fig. 4, in the entering of the fault processing flow, it is first determined whether the fault is processed, if configured as a processing identifier, corresponding fault processing is executed according to the set fault processing mode, and after the execution is completed, the fault processing flow is ended and returned; and if the configuration is not to process the identifier, directly ending the fault processing flow and returning. In the fault processing flow, the real-time monitoring is carried out through a try … catch … mechanism in the whole process to judge whether a fault with higher priority is detected, if so, the current fault processing flow is exited, and the current fault processing flow is directly returned to a new fault processing flow to process the fault with higher priority. Therefore, the fault with higher priority can be processed preferentially in the fault processing process, and the intelligence and the system safety of the fault processing of the underwater robot are further improved.
Further, the above-described method steps of the present invention are stored in a storage medium by a program.
Furthermore, the invention also comprises a preemptive fault processing device of the underwater robot, which comprises a fault detection and processing program, a processor and a storage medium, wherein the fault detection and processing program is used for detecting and processing the fault signal of the underwater robot and storing the fault signal in the storage medium, and when the processor loads the program, the steps of the method are executed, so that the preemptive fault processing flow of the underwater robot is realized.
The underwater robot in this embodiment has a fault, for example: the method comprises the following steps of detecting sensors, executing mechanisms, energy sources, navigation equipment, water leakage or safety class such as depth and height overlimit, wherein the faults of the detecting sensors comprise but are not limited to communication faults of a thermohaline depth instrument, faults of a flow profiler and the like, the faults of the executing mechanisms comprise but not limited to propeller blocking, errors of an actual rudder angle of a steering engine and a given rudder angle are overlarge and the like, the faults of the energy sources comprise but not limited to too low battery voltage, insufficient battery residual energy and the like, the faults of the navigation equipment comprise but not limited to that an ADCP cannot measure the water bottom for a long time, calibration of an optical fiber gyroscope fails and the like, and the faults of the safety class such as water leakage or depth overlimit and the like comprise but not limited to that a water leakage sensor of a cabin section of the underwater robot detects water leakage, and the current depth is too deep or the current height is too low and the like.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A preemptive fault processing method for an underwater robot is characterized by comprising the following steps:
establishing a fault exclusive processing configuration item table for describing faults in advance;
arranging a sensor on equipment of the underwater robot, and periodically acquiring a fault signal of the equipment;
setting the sequencing of the faults in the fault reporting variable queue according to the number and the priority of the faults, and periodically sending the fault reporting variable queue to a fault processing module;
starting a high-priority fault preemptive entering processing flow, and performing priority processing on the highest-priority fault.
2. The preemptive fault handling method according to claim 1, wherein the fault-specific handling configuration item table includes the following attributes: fault classification, fault identification number, fault processing mode, fault processing flag and fault grade.
3. The preemptive fault handling method for the underwater robot according to claim 1, wherein the fault classification is according to a device classification: and detecting faults of sensors, actuators, energy, navigation equipment and safety.
4. The preemptive fault handling method for the underwater robot according to claim 1, wherein the fault handling method includes: recording the non-processing, receiving and recovering mission of the floating surface, returning to a preset recovery point and throwing, floating.
5. The preemptive fault handling method according to claim 1, wherein the setting of the fault reporting variable according to the number of faults and the priority comprises:
setting the field type of a fault reporting variable queue, so that the fault reporting variable queue can simultaneously store and upload a plurality of fault signals each time;
when the detected number of faults is less than the maximum value of the number of fault signals contained in the fault reporting variable queue, the detected fault signals are directly assigned to the fault reporting variable queue in sequence;
when the current fault reporting variable queue is full and a new fault signal still exists, comparing the new fault signal grade with the fault signal grade in the current queue, and screening out the fault signal with low priority to enable the fault signal to be in a state of waiting for entering the queue;
and the fault reporting variable queue reports the fault signals with high levels to the fault processing module according to the priority order.
6. The preemptive fault handling method for an underwater robot as claimed in claim 1, wherein preemptive entering of the high priority fault into the process flow comprises: and the fault processing module traverses the fault signals in the fault reporting variable queue, sorts the fault reporting variables taken up according to priority and assigns the fault reporting variables to the current fault processing variable queue, and performs priority processing on the fault with the highest priority.
7. The preemptive fault handling method for an underwater robot according to claim 6, wherein the preferentially handling the highest priority fault specifically comprises: in the process of entering the flow of the failure processing,
firstly, judging the processing sequence of fault signals according to the priority;
and secondly, judging whether the fault needs to be processed according to the fault processing mark, and sending an instruction to corresponding equipment for fault processing according to a fault processing mode.
8. Preemptive fault handling storage medium for an underwater robot, characterized in that a fault detection and handling program is stored in the storage medium, which when loaded performs the method steps according to any of claims 1-7.
9. A preemptive fault processing device for an underwater robot is characterized by comprising a fault detection and processing program, a processor and a storage medium, wherein the fault detection and processing program is used for detecting and processing a fault signal of the underwater robot and storing the fault signal in the storage medium, and when the processor loads a program, the method steps as claimed in any one of claims 1 to 7 are executed to realize a preemptive fault processing flow of the underwater robot.
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