CN117312193A

CN117312193A - Recording method, device and storage medium of fault diagnosis data

Info

Publication number: CN117312193A
Application number: CN202311280365.XA
Authority: CN
Inventors: 张喜涛; 庞海峰; 王超; 修洪伟; 苏衍宇
Original assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Current assignee: Harbin Sagebot Intelligent Medical Equipment Co Ltd
Priority date: 2023-09-28
Filing date: 2023-09-28
Publication date: 2023-12-29

Abstract

The embodiment of the invention discloses a recording method, a recording device and a storage medium of fault diagnosis data. The method comprises the following steps: acquiring fault diagnosis data acquired for a robot in a current period, wherein the fault diagnosis data are used for diagnosing the fault cause of the step fault under the condition that the robot has the step fault; determining a target space in each buffer space under the condition that the buffer space in the buffer space is recorded with fault diagnosis data aiming at the buffer area for recording the fault diagnosis data, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space; and covering the acquired fault diagnosis data with the fault diagnosis data recorded in the target space. According to the technical scheme provided by the embodiment of the invention, the fault diagnosis data can be recorded based on lower time cost.

Description

Recording method, device and storage medium of fault diagnosis data

Technical Field

The embodiment of the invention relates to the technical field of data processing, in particular to a recording method, a recording device and a storage medium of fault diagnosis data.

Background

In recent years, along with the development of electronic computer and industrial control technology, laparoscopic surgical robots have been rapidly developed and applied.

The practice shows that the step faults are a type of faults possibly occurring in the motion process of the laparoscopic surgery robot, and the reasons for the type of faults are various. Thus, to accurately diagnose the cause of the fault, relevant fault diagnosis data may be recorded to analyze the cause of the fault based on the fault diagnosis data.

However, the recording scheme adopted for fault diagnosis data at present has the problem of high time cost and needs to be improved.

Disclosure of Invention

The embodiment of the invention provides a recording method, a recording device and a storage medium of fault diagnosis data, which are used for recording the fault diagnosis data based on lower time cost.

According to an aspect of the present invention, there is provided a recording method of fault diagnosis data, which may include:

acquiring fault diagnosis data acquired for a robot in a current period, wherein the fault diagnosis data are used for diagnosing the fault cause of the step fault under the condition that the robot has the step fault;

determining a target space in each buffer space under the condition that the buffer space for recording fault diagnosis data records fault diagnosis data in each buffer space in the buffer space, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space;

And covering the acquired fault diagnosis data with the fault diagnosis data recorded in the target space.

According to another aspect of the present invention, there is provided a recording apparatus of fault diagnosis data, which may include:

the system comprises a fault diagnosis data acquisition module, a fault diagnosis data acquisition module and a fault analysis module, wherein the fault diagnosis data acquisition module is used for acquiring fault diagnosis data acquired for a robot in a current period, and the fault diagnosis data is used for diagnosing the fault cause of a step fault under the condition that the robot has the step fault;

the target space determining module is used for determining a target space in each buffer space under the condition that the buffer space for recording fault diagnosis data records fault diagnosis data in each buffer space in the buffer area, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space;

and the fault diagnosis data covering module is used for covering the acquired fault diagnosis data with the fault diagnosis data recorded in the target space.

According to another aspect of the present invention, there is provided a computer-readable storage medium having stored thereon computer instructions for causing a processor to execute the recording method of fault diagnosis data provided by any embodiment of the present invention.

According to the technical scheme, the fault diagnosis data acquired for the robot in the current period are acquired, and can be used for diagnosing the fault cause of the step fault when the step fault occurs in the robot; for a buffer area for recording fault diagnosis data, determining a target space in which the earliest recorded fault diagnosis data is recorded in each buffer space in the buffer area when the fault diagnosis data is recorded in each buffer space; then, the fault diagnosis data of the current period is overlaid with the fault diagnosis data recorded in the target space. According to the technical scheme, when fault diagnosis data is recorded, the recorded fault diagnosis data in the buffer area does not need to be moved, so that the problem of high time cost caused by data movement is solved, and the effect of recording the fault diagnosis data based on low time cost is realized.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention, nor is it intended to be used to limit the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a flowchart of a recording method of fault diagnosis data provided according to an embodiment of the present invention;

fig. 2a is a schematic diagram of an example of data recording in a case where a buffer area is not full in a recording method of fault diagnosis data according to an embodiment of the present invention;

fig. 2b is a schematic diagram of an example of data recording in the case that the buffer area is full in the recording method of fault diagnosis data according to the embodiment of the present invention;

FIG. 3 is a flowchart of another recording method of fault diagnosis data provided according to an embodiment of the present invention;

fig. 4 is a schematic diagram showing an example of ordering of fault diagnosis data in another recording method of fault diagnosis data according to an embodiment of the present invention;

FIG. 5 is a flowchart of a recording method of still another fault diagnosis data provided according to an embodiment of the present invention;

Fig. 6 is a schematic view of a structure of a slave arm in a recording method of fault diagnosis data according to still another embodiment of the present invention;

fig. 7 is a block diagram showing a configuration of a recording apparatus of fault diagnosis data according to an embodiment of the present invention;

fig. 8 is a schematic structural diagram of an electronic device implementing a recording method of fault diagnosis data in an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. The cases of "target", "original", etc. are similar and will not be described in detail herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Before describing the embodiment of the present invention, an application scenario of the embodiment of the present invention is described in an exemplary manner. Illustratively, taking a laparoscopic surgical robot as an example, the motion process thereof is a master-slave control process, specifically, for a master hand (i.e., a manipulator as a master end) and a slave arm (i.e., a manipulator as a slave end) in the laparoscopic surgical robot, a physician operates the master hand, and then the slave arm can move following the motion of the master hand.

On this basis, as described above, the laparoscopic surgical robot, specifically, the slave arm in the laparoscopic surgical robot may have a step fault during the movement, and such fault may be caused by various reasons such as abnormal data acquisition, software calculation boundary value processing problems, algorithm errors, and the like. Accordingly, in order to accurately diagnose the cause of the fault (i.e., the cause of the step fault), considering that the movement of the slave arm is a periodic movement, fault diagnosis data may be recorded separately in each period of the slave arm movement, so that when the laparoscopic surgical robot has a step fault, the cause of the fault may be diagnosed based on the fault diagnosis data in a plurality of periods before the step fault. For this, the recording process of the fault diagnosis data is described in detail below.

Fig. 1 is a flowchart of a recording method of fault diagnosis data provided in an embodiment of the present invention. The present embodiment is applicable to the case of recording failure diagnosis data. The method may be performed by the fault diagnosis data recording apparatus provided by the embodiment of the present invention, where the apparatus may be implemented by software and/or hardware, and the apparatus may be integrated on an electronic device, where the electronic device may be various user terminals or servers.

Referring to fig. 1, the method of the embodiment of the present invention specifically includes the following steps:

s110, fault diagnosis data acquired for the robot in the current period are acquired, wherein the fault diagnosis data are used for diagnosing the fault reason of the step fault under the condition that the robot has the step fault.

The current period T is understood as a movement period in which the robot is currently located. The fault diagnosis data is understood to be data for diagnosing the cause of a step fault occurring in the robot, and on the basis of this, is understood to be data which may cause a step fault. And collecting fault diagnosis data for the robot in the current period T, so that the fault diagnosis data can be obtained.

S120, determining a target space in each buffer space under the condition that the buffer space for recording fault diagnosis data records fault diagnosis data in each buffer space in the buffer space, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space.

The buffer area is understood as a predefined area for recording fault diagnosis data of at least two cycles, so that the buffer area may be formed based on two or more buffer spaces, which may be used for recording fault diagnosis data of different cycles. On this basis, in connection with the application scenario possibly related to the embodiment of the present invention, for example, an array with a length N (N is an integer greater than 1) may be predefined as a buffer area, so that N cycles of fault diagnosis data may be recorded based on the array, where the above-described buffer space may also be referred to as an array space.

Here, taking the buffer area based on N buffer space structures as an example, in connection with an application scenario possibly related to the embodiment of the present invention, in general, in a case where N buffer spaces include a buffer space in which no fault diagnosis data is recorded, fault diagnosis data of a current period T may be sequentially recorded in the buffer area (buffer). For example, referring to fig. 2a, the fault diagnosis data of the 1 st period is recorded in the buffer space 1 (data 1), the fault diagnosis data of the 2 nd period is recorded in the buffer space 2 (data 2), and so on until the N buffer spaces are all recorded with the fault diagnosis data, at which time the buffer area is full.

On the basis of this, it is further understood that, in order to ensure the accuracy of the fault cause diagnosis, the latest N periods of fault diagnosis data may be recorded in the buffer area all the time, and then in the case where the buffer area is full, the earliest recorded fault diagnosis data, which may be understood as the fault diagnosis data with the earliest recording time among all the fault diagnosis data currently recorded in the buffer area, may be deleted and the fault diagnosis data of the current period T may be recorded in the buffer area. In view of this, an alternative implementation scheme is to sequentially move the fault diagnosis data recorded in the data2-dataN to the left, and then record the fault diagnosis data of the current period T in the free dataN. However, such data movement (or movement of spatial storage) can incur significant time costs. Therefore, in order to reduce the time cost, the earliest recorded fault diagnosis data can be directly covered based on the fault diagnosis data of the current period T, so that the latest N periods of fault diagnosis data can be always recorded in the buffer area without data movement.

Specifically, when the buffer area is full, it may be determined that the recording time of the fault diagnosis data recorded in the target space, which is the target space in which the fault diagnosis data recorded earliest in the N buffer spaces is recorded, is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in the N buffer spaces.

S130, covering the obtained fault diagnosis data with the fault diagnosis data recorded in the target space.

Wherein after the target space is determined, the fault diagnosis data recorded in the target space can be covered based on the acquired fault diagnosis data (i.e., the current period T), thereby realizing effective recording of the fault diagnosis data of the current period T. For example, referring to fig. 2b, assuming that the target space is data2, the fault diagnosis data recorded in data2 may be overwritten based on the fault diagnosis data of the current period T, after which the buffer space in which the earliest recorded fault diagnosis data is recorded is data3.

It can be understood that when the next period of the current period T arrives, the next period may be taken as the current period T, and the steps are performed, so that the sequential recording of the fault diagnosis data of each period is realized, and the latest N periods of fault diagnosis data are always recorded in the buffer area.

An optional technical solution, determining a target space in each cache space, includes:

acquiring a predefined earliest pointer for pointing to an earliest space, wherein the earliest space is a cache space corresponding to the earliest recording time in the recording time of the fault diagnosis data respectively recorded;

the earliest space pointed to by the earliest pointer is taken as the target space in each cache space.

In order to accurately record fault diagnosis data according to time, an earliest pointer ptr pointing to an earliest space can be predefined ₁ For example ptr in FIGS. 2a and 2b ₁ The earliest space is understood to be a buffer space in which the fault diagnosis data whose recording time is earliest among all the fault diagnosis data is recorded. The earliest pointer is acquired so that the earliest space pointed to by the earliest pointer is taken as the target space.

According to the technical scheme, the target space is rapidly and accurately determined.

On the basis, optionally, after the acquired fault diagnosis data is covered by the fault diagnosis data recorded in the target space, the method for recording the fault diagnosis data further includes:

the earliest pointer is updated such that the earliest pointer points to the next cache space of the target space.

After the fault diagnosis data recorded in the target space is covered, the earliest space is changed from the target space to the next buffer space of the target space, so that the earliest pointer can be updated, i.e. moved, so that the earliest pointer points to the next buffer space again, thereby ensuring the accurate determination of the target space when the fault diagnosis data of the next period of the current period T is recorded.

In another alternative aspect, the method for recording fault diagnosis data further includes:

when there is a buffer space in which no fault diagnosis data is recorded in the buffer region, the acquired fault diagnosis data is recorded in a next buffer space of a previous space for a previous space in which fault diagnosis data acquired in a previous cycle of the current cycle is recorded in the buffer region.

In this case, as described above, in the case where the buffer is not full, the fault diagnosis data of each period may be sequentially recorded in the buffer. Specifically, the buffer space in the buffer area, in which the fault diagnosis data acquired in the previous period of the current period T is recorded, is used as the previous space, and the fault diagnosis data in the current period T is recorded in the next buffer space in the previous space. For example, referring to fig. 2a, assuming that the previous space is data3, the fault diagnosis data of the current period T is recorded in data 4.

According to the technical scheme, the sequential recording of fault diagnosis data of each period is realized.

Fig. 3 is a flowchart of another recording method of fault diagnosis data provided in the embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the method for recording fault diagnosis data further includes: under the condition that step faults of the robot are detected, sequencing all fault diagnosis data recorded in a cache area according to the recording time of the fault diagnosis data recorded in each cache space, and updating all fault diagnosis data according to the sequencing result; and writing all fault diagnosis data into the data file to diagnose the cause of the fault by replaying all fault diagnosis data stored in the data file. Wherein, the explanation of the same or corresponding terms as the above embodiments is not repeated herein.

Referring to fig. 3, the method of this embodiment may specifically include the following steps:

s210, fault diagnosis data acquired for the robot in the current period are acquired, wherein the fault diagnosis data are used for diagnosing the fault reason of the step fault under the condition that the robot has the step fault.

S220, determining a target space in each buffer space under the condition that the buffer space for recording fault diagnosis data records fault diagnosis data in each buffer space in the buffer space, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space.

S230, covering the obtained fault diagnosis data with the fault diagnosis data recorded in the target space.

S240, under the condition that step faults of the robot are detected, sequencing all fault diagnosis data recorded in the buffer areas according to the recording time of the fault diagnosis data recorded in each buffer space, and updating all fault diagnosis data according to the sequencing result.

As can be seen from the above description, in the example of fig. 2a, the fault diagnosis data of each period is sequentially recorded in the buffer area according to time, while in the example of fig. 2b, the fault diagnosis data of each period is not sequentially recorded in the buffer area according to time. In other words, all the fault diagnosis data recorded in the buffer area may be time-ordered fault diagnosis data or time-unordered fault diagnosis data, and the time is critical for diagnosing the cause of the fault.

Therefore, when step faults of the robot are detected, namely, fault reasons need to be diagnosed, all fault diagnosis data can be ordered according to the recording time of the fault diagnosis data respectively recorded in the N cache spaces in order to ensure the accuracy of fault reason diagnosis. Of course, it is understood that in the example of fig. 2a, all of the fault diagnosis data before ordering is the same as all of the fault diagnosis data after ordering.

And updating all fault diagnosis data according to the obtained sequencing result.

S250, writing all fault diagnosis data into the data file to diagnose the cause of the fault through playback of all fault diagnosis data stored in the data file.

All fault diagnosis data are written into a data file according to time record, and optionally, the file format of the data file can be csv format in practical application. In this way, the failure cause can be diagnosed by playing back all the failure diagnosis data stored in the data file, for example, by performing image drawing, data sorting, data resolving, and the like on all the failure diagnosis data, thereby achieving rapid localization of the failure cause.

According to the technical scheme provided by the embodiment of the invention, all fault diagnosis data are sequenced according to the recording time, and the sequenced all fault diagnosis data are replayed, so that the rapid positioning of fault reasons is realized.

An optional technical solution, according to recording time of fault diagnosis data recorded in each buffer space, sequences all fault diagnosis data recorded in the buffer area, including:

the method comprises the steps of obtaining a pre-defined earliest pointer used for pointing to an earliest space and a latest pointer used for pointing to a latest space, wherein the earliest space is a cache space corresponding to the earliest recording time in the recording times of fault diagnosis data respectively recorded, and the latest space is a cache space corresponding to the latest recording time in the recording times of fault diagnosis data respectively recorded;

and sequentially extracting the fault diagnosis data from the buffer area by taking the fault diagnosis data recorded in the earliest space pointed by the earliest pointer as a starting point and the fault diagnosis data recorded in the latest space pointed by the latest pointer as an end point so as to sort all the fault diagnosis data recorded in the buffer area.

Wherein, similar to the earliest pointer, in order to accurately record fault diagnosis data according to time, a latest pointer ptr pointing to the latest space can be predefined _N Just as ptr in fig. 2a and 2b, for example _N The latest space is understood as a buffer space in which the latest recorded fault diagnosis data (i.e., the latest recorded fault diagnosis data) among all the fault diagnosis data is recorded. The earliest and latest pointers are obtained.

Further, the fault diagnosis data recorded in the earliest space pointed by the earliest pointer is used as a starting pointAnd taking the fault diagnosis data recorded in the latest space pointed by the latest pointer as an end point, and sequentially extracting the fault diagnosis data from the buffer area so as to sort all the fault diagnosis data. Exemplary, referring to FIG. 4, ptr ₁ The fault diagnosis data recorded in the directed cache space is ranked first, then the fault diagnosis data recorded in the next cache space of the cache space is ranked at the 2 nd bit, and so on until ptr is performed _N The fault diagnosis data recorded in the pointed cache space is arranged at the last position, and the fault diagnosis data is sequenced.

According to the technical scheme, the effect of rapid sequencing of all fault diagnosis data is achieved by utilizing the earliest pointer and the latest pointer.

Fig. 5 is a flowchart of a recording method of still another fault diagnosis data provided in the embodiment of the present invention. The present embodiment is optimized based on the above technical solutions. In this embodiment, optionally, the method for recording fault diagnosis data further includes: aiming at a master hand and a slave arm in a robot, acquiring pose data of expected motion of the master hand in a current period, and determining a current expected joint angle of a joint on the slave arm in the current period according to the pose data; acquiring a last expected joint angle of the joint in a last period of the current period; and detecting whether the robot has a step fault or not according to the change difference value between the current expected joint angle and the last expected joint angle. The same or corresponding terms as those of the above embodiments are not repeated herein.

Referring to fig. 5, the method of this embodiment may specifically include the following steps:

s310, acquiring pose data of expected motion of a master hand in a current period aiming at the master hand and a slave arm in the robot, and determining a current expected joint angle of a joint on the slave arm in the current period according to the pose data.

In order to better understand the present technical solution, the structure of the slave arm is first described in an exemplary manner. For example, referring to fig. 6, the slave arm may be composed based on a multi-degree-of-freedom joint (fig. 6 illustrates 7 degrees of freedom) with the 7 joints being controlled by respective motors (i.e., motors 31-37) that are responsible for slewing, pitching and lifting of the slave arm, respectively, wherein 4 motors above the skid base are used to effect control of the slave arm pose. It will be appreciated that the treatment of each joint is the same and any joint will be described herein as an example.

The pose data can be used for describing the pose of the expected motion of the main hand in the current period, and in practical application, the pose data can be optionally represented by a pose matrix; alternatively, the pose data can be obtained by acquiring the actual position of the main hand after the main hand moves through the encoder. For a joint disposed on the slave arm, a desired joint angle (i.e., a desired joint angle) of the joint in the current cycle may be determined from the pose data.

S320, acquiring a last expected joint angle of the joint in a last period of the current period, and detecting whether the robot has a step fault or not according to a change difference value between the current expected joint angle and the last expected joint angle.

The previous desired joint angle may be understood as a desired joint angle of the joint in a previous period, and a determination process of the previous desired joint angle is similar to a determination process of the current desired joint angle, which is not described herein. And acquiring the last expected joint angle, and detecting whether the robot has a step fault or not according to the change difference value between the current expected joint angle and the last expected joint angle.

Illustratively, taking the example shown in FIG. 6 as an example, the calculated current desired joint angle is Tar, recorded in the current period T _x (T), wherein the subscript x represents a certain joint and has a value of 1-7; correspondingly, the current expected joint angle calculated at the last period T-delta T is Tar _x (T-DeltaT), the variance difference may be expressed as DeltaTar _x ＝Tar _x (T)-Tar _x (T-. DELTA.T). At the moment of obtaining the variation delta Tar _x Then, the threshold Q is judged for the preset step, if the difference delta Tar is changed _x <Q, the robot, specifically the joint, is considered to have step faults, otherwise the joint is considered to have no step faults.

In practical application, optionally, under the condition that step faults of the slave arm caused by following the movement of the master hand are detected, the master-slave control can be immediately disconnected, so that abnormal movement of the slave arm is prevented, and the safety of an operation object operated by the slave arm is ensured.

S330, fault diagnosis data acquired for the robot in the current period are acquired, wherein the fault diagnosis data are used for diagnosing the fault cause of the step fault under the condition that the robot has the step fault.

S340, determining a target space in each buffer space under the condition that the buffer space for recording fault diagnosis data records fault diagnosis data in each buffer space in the buffer space, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space.

S350, covering the obtained fault diagnosis data with the fault diagnosis data recorded in the target space.

According to the technical scheme provided by the embodiment of the invention, the accurate detection of the step fault is realized through the change difference value between the expected joint angles of two adjacent periods.

An optional technical solution, the above fault diagnosis data recording method further includes:

Under the condition that the robot is determined to have no step fault according to the obtained detection result, generating a motion instruction according to the current expected joint angle and the current position of the motor corresponding to the joint;

according to the movement instruction, the joint is controlled to move by controlling the motor.

In the case that the robot does not have a step fault, this means that the robot is controlled according to the current expected joint angle at this time, so that the safety of the robot when operating on the operation object can be ensured. Therefore, in the case of no step fault, a motion command can be generated according to the current expected joint angle and the current position of the motor corresponding to the joint (namely, the motor for controlling the joint), so that the joint is controlled to move by controlling the motor according to the motion command, and the joint is at the current expected joint angle.

By way of example, in the example of fig. 6, each of the 7 joints does not experience a step failure, which means that the robot does not experience a step failure, at which time movement instructions may be generated separately for each joint, thereby controlling the respective joint to move based on the respective movement instructions.

According to the technical scheme, under the condition that the slave arm moves along with the master hand without step faults, the slave arm is controlled to move along with the master hand, so that the safety of an operation object operated by the slave arm is ensured.

Fig. 7 is a block diagram of a recording apparatus for fault diagnosis data according to an embodiment of the present invention, which is used to execute the recording method for fault diagnosis data according to any of the above embodiments. The apparatus belongs to the same inventive concept as the method for recording fault diagnosis data of the above embodiments, and reference may be made to the embodiment of the method for recording fault diagnosis data for details not described in detail in the embodiment of the apparatus for recording fault diagnosis data. Referring to fig. 7, the apparatus may specifically include: a fault diagnosis data acquisition module 410, a target space determination module 420, and a fault diagnosis data overlay module 430.

The fault diagnosis data obtaining module 410 is configured to obtain fault diagnosis data collected for the robot in a current period, where the fault diagnosis data is used to diagnose a fault cause of the step fault when the step fault occurs in the robot;

the target space determining module 420 is configured to determine, for a buffer area for recording fault diagnosis data, a target space in each buffer area when fault diagnosis data is recorded in each buffer space in the buffer area, where a recording time of the fault diagnosis data recorded in the target space is earlier than or equal to a recording time of the fault diagnosis data respectively recorded in each buffer space;

The fault diagnosis data overlay module 430 is configured to overlay the obtained fault diagnosis data with the fault diagnosis data recorded in the target space.

Optionally, the target space determining module 420 may include:

the system comprises an earliest pointer acquisition unit, a storage unit and a storage unit, wherein the earliest pointer acquisition unit is used for acquiring a predefined earliest pointer for pointing to an earliest space, and the earliest space is a cache space corresponding to the earliest recording time in the recording time of fault diagnosis data respectively recorded;

and the target space determining unit is used for taking the earliest space pointed by the earliest pointer as the target space in each cache space.

On the basis, optionally, the fault diagnosis data recording device further comprises:

and the earliest pointer updating module is used for updating the earliest pointer after the acquired fault diagnosis data are covered by the fault diagnosis data recorded in the target space so that the earliest pointer points to the next cache space of the target space.

Optionally, the above-mentioned fault diagnosis data recording device further includes:

the fault diagnosis data updating module is used for sequencing all fault diagnosis data recorded in the cache area according to the recording time of the fault diagnosis data recorded in each cache space respectively under the condition that step faults of the robot are detected, and updating all fault diagnosis data according to the sequencing result;

And the fault cause diagnosis module is used for writing all fault diagnosis data into the data file so as to diagnose the fault cause by replaying all fault diagnosis data stored in the data file.

On this basis, optionally, the fault diagnosis data updating module may include:

the latest pointer acquisition unit is used for acquiring a predefined earliest pointer used for pointing to the earliest space and a predefined latest pointer used for pointing to the latest space, wherein the earliest space is a cache space corresponding to the earliest recording time in the recording times of the fault diagnosis data respectively recorded, and the latest space is a cache space corresponding to the latest recording time in the recording times of the fault diagnosis data respectively recorded;

and the fault diagnosis data sorting unit is used for sequentially extracting the fault diagnosis data from the buffer area by taking the fault diagnosis data recorded in the earliest space pointed by the earliest pointer as a starting point and the fault diagnosis data recorded in the latest space pointed by the latest pointer as an end point so as to sort all the fault diagnosis data recorded in the buffer area.

The current expected joint angle determining module is used for acquiring pose data of expected motion of a master hand in a current period aiming at the master hand and a slave arm in the robot, and determining the current expected joint angle of a joint on the slave arm in the current period according to the pose data;

the last expected joint angle acquisition module is used for acquiring the last expected joint angle of the joint in the last period of the current period;

and the step fault detection module is used for detecting whether the robot has a step fault or not according to the change difference value between the current expected joint angle and the last expected joint angle.

the motion instruction generation module is used for generating a motion instruction according to the current expected joint angle and the current position of the motor corresponding to the joint under the condition that the robot is determined to have no step fault according to the obtained detection result;

and the motion control module is used for controlling the joint to move by controlling the motor according to the motion instruction.

the fault diagnosis data recording module is used for recording the acquired fault diagnosis data in the next buffer space of the previous space aiming at the previous space of the buffer area, which is recorded with the fault diagnosis data acquired in the previous period of the current period, under the condition that the buffer space in which the fault diagnosis data is not recorded exists in the buffer area.

According to the fault diagnosis data recording device provided by the embodiment of the invention, the fault diagnosis data acquired for the robot in the current period is acquired through the fault diagnosis data acquisition module, and the fault diagnosis data can be used for diagnosing the fault cause of the step fault when the robot has the step fault; determining, by a target space determining module, a target space in which the earliest recorded fault diagnosis data is recorded in each buffer space, for a buffer area for recording fault diagnosis data, in the case that the fault diagnosis data is recorded in each buffer space in the buffer area; then, the fault diagnosis data of the current period is covered by the fault diagnosis data covering module to cover the fault diagnosis data recorded in the target space. According to the device, when fault diagnosis data is recorded, the recorded fault diagnosis data in the buffer area does not need to be moved, so that the problem of high time cost caused by data movement is solved, and the effect of recording the fault diagnosis data based on low time cost is realized.

The recording device for the fault diagnosis data provided by the embodiment of the invention can execute the recording method for the fault diagnosis data provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

It should be noted that, in the embodiment of the recording apparatus of fault diagnosis data, each unit and module included are only divided according to the functional logic, but not limited to the above-mentioned division, so long as the corresponding functions can be implemented; in addition, the specific names of the functional units are also only for distinguishing from each other, and are not used to limit the protection scope of the present invention.

Fig. 8 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 8, the electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.

Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.

The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 11 performs the respective methods and processes described above, for example, a recording method of failure diagnosis data.

In some embodiments, the method of recording fault diagnosis data may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the above-described recording method of the fault diagnosis data may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform the recording method of the fault diagnosis data by any other suitable means (e.g. by means of firmware).

Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A recording method of fault diagnosis data, characterized by comprising:

acquiring fault diagnosis data acquired for a robot in a current period, wherein the fault diagnosis data are used for diagnosing a fault cause of a step fault under the condition that the robot has the step fault;

determining a target space in each buffer space under the condition that the buffer space for recording fault diagnosis data records fault diagnosis data in each buffer space in the buffer area, wherein the recording time of the fault diagnosis data recorded in the target space is earlier than or equal to the recording time of the fault diagnosis data respectively recorded in each buffer space;

2. The method of claim 1, wherein said determining the target space in each cache space comprises:

acquiring a predefined earliest pointer for pointing to an earliest space, wherein the earliest space is a cache space corresponding to the earliest recording time in the recording times of the respectively recorded fault diagnosis data;

and taking the earliest space pointed by the earliest pointer as a target space in each cache space.

3. The method according to claim 2, further comprising, after the fault diagnosis data recorded in the target space is overwritten by the fault diagnosis data to be acquired:

updating the earliest pointer so that the earliest pointer points to the next cache space of the target space.

4. The method as recited in claim 1, further comprising:

under the condition that step faults of the robot are detected, sequencing all fault diagnosis data recorded in the cache area according to the recording time of the fault diagnosis data recorded in each cache space, and updating all fault diagnosis data according to the sequencing result;

And writing all the fault diagnosis data into a data file to diagnose the fault cause by replaying all the fault diagnosis data stored in the data file.

5. The method of claim 4, wherein said sorting all of the fault diagnosis data recorded in the buffer area according to the recording time of the fault diagnosis data recorded in each of the buffer spaces, respectively, comprises:

acquiring a predefined earliest pointer for pointing to an earliest space and a predefined latest pointer for pointing to a latest space, wherein the earliest space is a cache space corresponding to the earliest recording time in the recording times of the respectively recorded fault diagnosis data, and the latest space is a cache space corresponding to the latest recording time in the recording times of the respectively recorded fault diagnosis data;

6. The method as recited in claim 1, further comprising:

aiming at a master hand and a slave arm in the robot, acquiring pose data of expected motion of the master hand in the current period, and determining a current expected joint angle of a joint on the slave arm in the current period according to the pose data;

acquiring a last expected joint angle of the joint in a last period of the current period;

and detecting whether the robot has a step fault or not according to the change difference value between the current expected joint angle and the last expected joint angle.

7. The method as recited in claim 6, further comprising:

under the condition that the robot is determined to not have step faults according to the obtained detection result, generating a motion instruction according to the current expected joint angle and the current position of the motor corresponding to the joint;

and controlling the joint to move by controlling the motor according to the movement instruction.

8. The method as recited in claim 1, further comprising:

and under the condition that a buffer space in which fault diagnosis data is not recorded exists in the buffer area, recording the acquired fault diagnosis data in the next buffer space of the previous space aiming at the previous space in which the fault diagnosis data acquired in the previous cycle of the current cycle is recorded in the buffer area.

9. A recording apparatus for fault diagnosis data, comprising:

the system comprises a fault diagnosis data acquisition module, a fault diagnosis data acquisition module and a fault analysis module, wherein the fault diagnosis data acquisition module is used for acquiring fault diagnosis data acquired for a robot in a current period, and the fault diagnosis data is used for diagnosing the fault cause of a step fault under the condition that the step fault occurs in the robot;

a target space determining module, configured to determine, for a buffer area for recording fault diagnosis data, a target space in each buffer area when fault diagnosis data is recorded in each buffer space in the buffer area, where a recording time of the fault diagnosis data recorded in the target space is earlier than or equal to a recording time of the fault diagnosis data respectively recorded in each buffer space;

and the fault diagnosis data coverage module is used for covering the acquired fault diagnosis data with the fault diagnosis data recorded in the target space.

10. A computer readable storage medium storing computer instructions for causing a processor to execute a method of recording fault diagnosis data according to any one of claims 1 to 8.