CN117773945A - Fault detection method, fault detection device, robot, and storage medium - Google Patents
Fault detection method, fault detection device, robot, and storage medium Download PDFInfo
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Abstract
The application discloses a fault detection method, a fault detection device, a robot and a storage medium, wherein the method is applied to a master device in a device system, the device system further comprises a slave device group which is connected with the master device and is composed of a plurality of slave devices connected in series, the plurality of slave devices communicate with the master device in a step-by-step forwarding mode, the method comprises the steps of sending a device information acquisition command to the slave device group, the device information acquisition command is used for indicating each slave device to send corresponding device information to the master device, and the device information comprises first information used for representing that the corresponding slave device is an end connection device of the master device or second information used for representing that the slave device is a non-end connection device of the master device; and determining whether the slave device group has a fault slave device according to the device information. The method realizes the automatic fault detection of the plurality of slave devices based on the equipment information returned by the master device according to each slave device, and improves the detection efficiency of the fault detection of the plurality of slave devices.
Description
Technical Field
The application belongs to the technical field of fault detection, and particularly relates to a fault detection method, a fault detection device, a robot and a storage medium.
Background
The current equipment system consists of a master equipment (master equipment) and a plurality of slave equipment (external equipment) connected with the master equipment, wherein the master equipment is responsible for making decisions and sending control instructions to each slave equipment, and each slave equipment is responsible for executing operations corresponding to the control instructions.
In order to ensure proper operation of the device system, it is often necessary to perform fault detection on multiple slave devices in the device system. Since the master device can only sense the slave devices which normally communicate with the master device in the device system, however, when part of the slave devices in the plurality of slave devices fail, the master device cannot sense the failed slave devices in the device system, so that the plurality of slave devices need to be manually subjected to failure detection, and the detection efficiency of the failure detection of the plurality of slave devices is low.
Disclosure of Invention
In view of the foregoing, embodiments of the present application provide a fault detection method, a fault detection device, a robot, and a storage medium, so as to overcome the above problems of the prior art.
In a first aspect, an embodiment of the present application provides a fault detection method, applied to a master device in a device system, where the device system further includes a slave device group connected to the master device, where the slave device group is composed of a plurality of slave devices connected in series, and the plurality of slave devices connected in series communicate with the master device through a progressive forwarding manner, and the fault detection method includes: transmitting a device information acquisition command to the slave device group, wherein the device information acquisition command is used for indicating each slave device in the slave device group to transmit corresponding device information to the master device, and the device information comprises first information for representing that the corresponding slave device is an end connection device of the master device or second information for representing that the corresponding slave device is a non-end connection device of the master device; and determining whether the slave equipment group has fault slave equipment according to the equipment information.
Wherein, in some optional embodiments, the fault detection method further comprises: when the slave device group is determined to have no fault slave device according to the device information, determining a target device code of each slave device; and sending a modification command carrying the target device code to the corresponding slave device, wherein the modification command is used for instructing the slave device to modify the initial device code of the slave device into the target device code.
Wherein, in some optional embodiments, the fault detection method further comprises: a roll call command is sent to a plurality of slave devices, and the roll call command is used for indicating each slave device to send corresponding response information to the master device; and determining whether equipment which is abnormal in communication with the master equipment exists in the plurality of slave equipment according to the response information.
Wherein in some optional embodiments, the reply information includes the first information or the second information, and determining, according to the reply information, whether a device that is abnormal in communication with the master device exists in the plurality of slave devices includes: if the response information comprises the first information, determining that a plurality of slave devices normally communicate with the master device; and if the response information does not comprise the first information, determining that equipment which is abnormal in communication with the master equipment exists in the plurality of slave equipment.
In some optional embodiments, each response message includes a device code sequence, where the device code sequence is generated by the corresponding slave device according to a current device code reported by each slave device that responds in turn when receiving the roll call command, and the fault detection method further includes: determining a target current equipment coding sequence from a plurality of equipment coding sequences, wherein target response information corresponding to the target current equipment coding sequence comprises the first information; and determining the connection order of the plurality of slave devices according to the ordering of the target current device coding sequence.
Wherein, in some optional embodiments, the fault detection method further comprises: if the equipment coding sequence has non-target equipment codes, determining that communication fault equipment exists in a plurality of slave equipment; and if the non-target equipment codes do not exist in the equipment code sequence, determining that the communication fault equipment does not exist in the plurality of slave equipment.
Wherein in some optional embodiments, when it is determined from the device information that the slave device group does not have a failed slave device, determining a target device code for each slave device includes: when the slave device group is determined to have no fault slave device according to the device information, acquiring a receiving time sequence for receiving the device information sent by each slave device; and carrying out equipment coding on each slave equipment according to the receiving time sequence to obtain the target equipment coding of the slave equipment.
Wherein in some optional embodiments, the determining whether the slave device group has a faulty slave device according to the device information includes: determining that there is no failed slave device in the slave device group when the device information includes the first information; and when the equipment information does not comprise the first information, determining that the slave equipment group has the fault slave equipment.
Wherein in some optional embodiments, the slave device group is a plurality of slave device groups, and the sending a device information acquisition command to the slave device group, where the device information acquisition command is used to instruct each slave device in the slave device group to send corresponding device information to the master device, includes: transmitting a device information acquisition command to each slave device group, wherein the device information acquisition command is used for indicating each slave device in each slave device group to transmit corresponding device information to the master device; the determining whether the slave device has a fault slave device according to the device information comprises the following steps: and determining whether the slave device group has a fault slave device according to the device information returned by each slave device group.
In a second aspect, an embodiment of the present application provides a fault detection apparatus, which is applied to a master device in a device system, where the device system further includes a slave device group connected to the master device, where the slave device group is composed of a plurality of slave devices connected in series, and the plurality of slave devices connected in series communicate with the master device in a step-by-step forwarding manner, and the fault detection apparatus includes an acquisition command sending module and a fault slave device determining module. An acquisition command sending module, configured to send a device information acquisition command to the slave device group, where the device information acquisition command is configured to instruct each slave device in the slave device group to send corresponding device information to the master device, and the device information includes first information for characterizing that the corresponding slave device is an end connection device of the master device, or second information for characterizing that the slave device is a non-end connection device of the master device; and the fault slave device determining module is used for determining whether the slave device group has fault slave devices according to the device information.
In a third aspect, embodiments of the present application provide a robot comprising a memory; one or more processors coupled to the memory; one or more applications, wherein the one or more applications are stored in memory and configured to be executed by the one or more processors, the one or more applications configured to perform the fault detection method as provided in the first aspect above.
In a fourth aspect, embodiments of the present application provide a computer readable storage medium having program code stored therein, the program code being callable by a processor to perform the fault detection method as provided in the first aspect above.
In a fifth aspect, embodiments of the present application provide a computer program product, which when run on a computer device causes the computer device to perform the fault detection method as provided in the first aspect above.
According to the scheme, the equipment system further comprises the slave equipment group connected with the master equipment, the slave equipment group is composed of a plurality of slave equipment connected in series, the plurality of slave equipment connected in series communicate with the master equipment in a step-by-step forwarding mode, the equipment information acquisition command is sent to the slave equipment group and used for indicating each slave equipment in the slave equipment group to send corresponding equipment information to the master equipment, the equipment information comprises first information used for representing the end connection equipment of the corresponding slave equipment which is the master equipment or second information used for representing the non-end connection equipment of the slave equipment which is the master equipment, and whether the slave equipment group has fault slave equipment is determined according to the equipment information, so that the fault detection is automatically carried out on the plurality of slave equipment based on the equipment information returned by the master equipment without manual fault detection, and the fault detection efficiency of the plurality of slave equipment is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic view of a scenario of an apparatus system provided in an embodiment of the present application.
Fig. 2 shows a schematic structural diagram of an apparatus system according to an embodiment of the present application.
Fig. 3 shows a schematic flow chart of a fault detection method according to an embodiment of the present application.
Fig. 4 shows a communication timing diagram in the fault detection method according to the embodiment of the present application.
Fig. 5 shows another flow chart of the fault detection method provided in the embodiment of the present application.
Fig. 6 shows another communication timing diagram in the fault detection method provided in the embodiment of the present application.
Fig. 7 shows a schematic flow chart of a fault detection method according to an embodiment of the present application.
Fig. 8 shows still another communication timing diagram in the fault detection method provided in the embodiment of the present application.
Fig. 9 shows a block diagram of a fault detection device according to an embodiment of the present application.
Fig. 10 shows a functional block diagram of a robot provided in an embodiment of the present application.
Fig. 11 illustrates a computer-readable storage medium provided by an embodiment of the present application for storing or carrying program code for implementing a fault detection method provided according to an embodiment of the present application.
Fig. 12 illustrates a computer program product provided by an embodiment of the present application for saving or carrying program code for implementing a fault detection method provided according to an embodiment of the present application.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the embodiments described below are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are within the scope of the present disclosure.
It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
It is also to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
It should be further understood that the term "and/or" as used in this specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
In addition, in the description of the present application, the terms "first," "second," "third," etc. are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.
The current equipment system consists of a master equipment (master equipment) and a plurality of slave equipment (external equipment) connected with the master equipment, wherein the master equipment is responsible for making decisions and sending control instructions to each slave equipment, and each slave equipment is responsible for executing operations corresponding to the control instructions.
In order to ensure proper operation of the device system, it is often necessary to perform fault detection on multiple slave devices in the device system. Since the master device can only sense the slave devices which normally communicate with the master device in the device system, however, when part of the slave devices in the plurality of slave devices fail, the master device cannot sense the failed slave devices in the device system, so that the plurality of slave devices need to be manually subjected to failure detection, and the detection efficiency of the failure detection of the plurality of slave devices is low.
In view of the above problems, the fault detection method, the fault detection apparatus, the robot and the storage medium provided in the embodiments of the present application are applied to a master device in a device system, where the device system further includes a slave device group connected to the master device, where the slave device group is composed of a plurality of slave devices connected in series, the plurality of slave devices connected in series communicate with the master device in a step-by-step forwarding manner, and send a device information acquisition command to the slave device group, where the device information acquisition command is used to instruct each slave device in the slave device group to send corresponding device information to the master device, where the device information includes first information used to characterize the corresponding slave device as a terminal connection device of the master device, or second information used to characterize the slave device as a non-terminal connection device of the master device, and determine whether the slave device group has a fault slave device according to the device information, so that the fault detection is automatically performed on the plurality of slave devices based on the device information returned by the master device according to each slave device, without manually performing fault detection on the plurality of slave devices, and the fault detection efficiency on the plurality of slave devices is improved.
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, an application scenario diagram of a device system provided in an embodiment of the present application may include a master device 100 and a slave device group 200, where the master device 100 is communicatively connected to the slave device group 200 and performs data interaction with the slave device group 200.
The main device 100 may be a terminal device or a server, and the type of the main device 100 is not limited herein, and may be specifically set according to actual requirements.
The terminal device may be a mobile terminal device (e.g., any of a controller, an actuator, a cell phone, a palm computer (Personal Digital Assistant, PDA), a tablet computer (Tablet Personal Computer, tablet pc), a notebook computer, a smart watch, a smart bracelet, or a wearable device, etc.), or a fixed terminal device (desktop computer, smart panel, etc.), etc.
The server may be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or any one of cloud servers providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (Content Delivery Network, CDNs), and basic cloud computing services such as big data or artificial intelligence platforms.
The slave device groups 200 may be one or more, and each slave device group 200 may include a plurality of slave devices 210 connected in series, and the plurality of slave devices 210 connected in series communicate with the master device 100 through a progressive forwarding manner. Each slave device 210 may be a terminal device or a server, etc., and the type of the slave device 210 is not limited herein, and may be specifically set according to actual requirements.
As an example, as shown in fig. 2, a master device 100 may include port 1 and port 2, and a slave device group 200 may include a first slave device group 201 and a second slave device group 202. The first slave device group 201 may include a plurality of devices 210 connected in series, such as slave device a, slave device b, and slave device c connected in series, slave device a being connectable to port 1; the second slave device group 202 may include a plurality of slave devices 210 connected in series, such as slave device d and slave device e connected in series, and slave device d may be connected to port 2.
Wherein, the communication data between the slave device b and the master device 100 is forwarded by the slave device a, and the communication data between the slave device c and the master device 100 is forwarded by the slave device a and the slave device b step by step. Communication data between slave e and master 100 is forwarded by slave d.
In one application scenario, the device system may be a robot, the master device 100 may be a controller, and the slave device set 200 may be an actuator set composed of a plurality of actuators connected in series.
Referring to fig. 3, a flowchart of a fault detection method according to an embodiment of the present application is shown. In a specific embodiment, the fault detection method may be applied to the master device 100 in the device system shown in fig. 1, and the flow shown in fig. 3 will be described in detail below by taking the master device 100 as an example, and the fault detection method may include the following steps S110 to S120.
Step S110: and sending a device information acquisition command to the slave device group.
In the embodiment of the application, when a user needs to perform fault detection on a plurality of slave devices in the slave device group, a detection instruction can be sent to the master device, the master device receives and responds to the detection instruction, a device information acquisition command is sent to the slave device group, each slave device in the slave device group receives and responds to the device information acquisition command, corresponding device information is sent to the master device, and the master device receives the device information returned by each slave device.
The device information obtaining command may be used to instruct each slave device in the slave device group to send corresponding device information to the master device, where the device information may include first information for characterizing an end connection device with the corresponding slave device as the master device, or second information for characterizing a non-end connection device with the slave device as the master device.
The slave devices in the slave device group send device information acquisition commands to each slave device in a step-by-step forwarding mode, and return device information of each slave device to the master device in a step-by-step forwarding mode.
In some embodiments, the slave device groups may be plural, each slave device group is composed of plural slave devices connected in series, when a user needs to perform fault detection on the plural slave devices in each slave device group, a detection instruction may be sent to the master device, the master device receives and responds to the detection instruction, sends a device information acquisition command to each slave device group, each slave device in each slave device group receives and responds to the device information acquisition command, sends corresponding device information to the master device, and the master device receives the device information returned by each slave device.
In some embodiments, the master device may be provided with an input panel, and when a user needs to perform fault detection on multiple slave devices in the slave device group, a detection instruction may be input to the input panel of the master device, for example, a detection instruction is input by handwriting to the input panel of the master device, or a detection instruction is input to an input panel key of the master device, and the master device receives the detection instruction through the input panel.
In some embodiments, the master device may be provided with a voice recognition module, when a user needs to perform fault detection on a plurality of slave devices in the slave device group, voice information may be sent within a voice collection range of the voice recognition module, the voice recognition module collects the voice information sent by the user and performs voice recognition on the collected voice information to obtain a voice recognition result, and when it is determined that the voice recognition result includes a keyword for indicating that the master device performs fault detection on the plurality of slave devices in the slave device group, for example, the keyword is "fault detection", and for example, the keyword is "fault" and "detection", and it is determined that a navigation instruction is received.
As an example, the voice information sent by the user is: the fault detection slave equipment group determines that a detection instruction is received if a voice recognition result of voice recognition comprises a keyword of 'fault detection'.
In some embodiments, the host device may be connected to the client via a network and interact with the client via the network.
When a user needs to perform fault detection on a plurality of slave devices in the slave device group, a detection instruction can be sent to the client, the client receives and responds to the detection instruction and forwards the detection instruction to the master device through the network, and the master device receives the detection instruction forwarded by the client.
The client may be any one of a mobile client (e.g., any one of a mobile client, a PDA client, a tablet pc client, a notebook computer client, a smart watch client, a smart bracelet client, a wearable client, etc.) or a fixed client (e.g., a desktop computer client, a smart panel client, etc.), and the type of the client is not limited herein, and may be specifically set according to actual requirements.
The Network may be any one of a ZigBee (ZigBee) Network, a Bluetooth (BT) Network, a Wi-Fi (Wireless Fidelity, wi-Fi) Network, a home internet of things communication protocol (Thread) Network, a Long Range Radio (LoRa) Network, a Low Power Wide Area Network (LPWAN) Network, an infrared Network, a narrowband internet of things (Narrow Band Internet of Things, NB-IoT), a controller Area Network (Controller Area Network, CAN), a digital living Network alliance (Digital Living Network Alliance, DLNA) Network, a Wide Area Network (Wide Area Network, WAN), a local Area Network (Local Area Network, LAN), a metropolitan Area Network (Metropolitan Area Network, MAN) or a wireless personal Area Network (Wireless Personal Area Network, WPAN), etc., which may be specifically set according to practical requirements.
Step S120: and determining whether the slave device group has a fault slave device according to the device information.
In the embodiment of the application, after the master device sends the device information acquisition command to the slave device group, each slave device in the slave device group returns the corresponding device information, whether the slave device group has the fault slave device or not can be determined according to the device information, so that the fault detection on the plurality of slave devices based on the device information returned by the master device according to each slave device is realized, the fault detection on the plurality of slave devices is not needed manually, and the detection efficiency of the fault detection on the plurality of slave devices is improved.
The device information may include first information for characterizing an end connection device of which the corresponding slave device is a master device, or second information for characterizing a non-end connection device of which the slave device is a master device. When the device information includes first information, indicating that the master device can communicate with a terminal slave device connected to the master device, determining that the slave device group does not have a faulty slave device; when the device information does not include the first information, it indicates that the master device cannot communicate with the end slave device connected to the master device, and it is determined that the slave device group has a faulty slave device.
The device information may further include a device Serial Number (SN), and a first information identifier that is the same as the information identifier carried by the device information acquisition command, which is not limited herein.
In some embodiments, the number of slave device groups may be multiple, and after the master device sends the device information acquisition command to each slave device group, so that each slave device in each slave device group returns corresponding device information, whether the slave device group has a fault slave device or not may be determined according to the device information returned by each slave device group, so that fault detection is automatically performed on the plurality of slave device groups in each slave device group based on the device information returned by the master device according to each slave device group, and detection experience of a user for performing fault detection on the plurality of slave devices is improved.
In an application scenario, as shown in fig. 4, the device system includes a master device and a slave device group including a slave device d and a slave device e connected in series, and communication data between the slave device e and the master device is forwarded through the slave device d.
The device information acquisition command is CMD1, and the information mark carried by the CMD1 is seq:1. The master device transmits CMD1 to the slave device group d, the slave device d receives and responds to CMD1, transmits corresponding device information 1 to the master device, and forwards CMD1 to the slave device e, the slave device e receives and responds to CMD1, transmits corresponding device information 2 to the slave device d, forwards device information 2 to the master device, and the master device receives the device information 1 and the device information 2 transmitted by the slave device d.
Wherein, the device information 1 comprises a first device serial number (SN: d) and second information (IsEnd: FALSE); the device information 2 includes a second device serial number (SN: e) and first information (IsEnd: TRUE), and the device information 1 and the device information 2 each carry a first information identifier (Seq: 1).
The scheme provided by the embodiment is applied to the master device in the device system, the device system further comprises a slave device group connected with the master device, the slave device group is composed of a plurality of slave devices connected in series, the plurality of slave devices connected in series communicate with the master device in a step-by-step forwarding manner, a device information acquisition command is sent to the slave device group, the device information acquisition command is used for indicating each slave device in the slave device group to send corresponding device information to the master device, the device information comprises first information used for representing the end connected device of the corresponding slave device which is the master device or second information used for representing the non-end connected device of the slave device which is the master device, and whether the slave device group has a fault or not is determined according to the device information, so that the fault detection is automatically carried out on the plurality of slave devices based on the device information returned by the master device, the fault detection is not needed by manpower, and the fault detection efficiency of the plurality of the slave devices is improved.
Referring to fig. 5, a flowchart of a fault detection method according to another embodiment of the present application is shown. In a specific embodiment, the fault detection method may be applied to the master device 100 in the device system shown in fig. 1, and the flow shown in fig. 5 will be described in detail below by taking the master device 100 as an example, and the fault detection method may include the following steps S210 to S240.
Step S210: and sending a device information acquisition command to the slave device group.
Step S220: and determining whether the slave device group has a fault slave device according to the device information.
In this embodiment, the step S210 and the step S220 may refer to the content of the corresponding steps in the foregoing embodiments, which is not described herein.
Step S230: when it is determined from the device information that there is no failed slave device in the slave device group, a target device code of each slave device is determined.
In the present embodiment, after determining whether or not there is a failed slave device in the slave device group according to the device information, the master device may determine a target device code of each slave device when it is determined that there is no failed slave device in the slave device group according to the device information.
Specifically, when the master device determines that the slave device group does not have a faulty device according to the device information, a receiving timing for receiving the device information sent by each slave device may be acquired, and device encoding is performed on each slave device according to the receiving timing, so as to obtain a target device encoding of the slave device.
As an example, a device system comprises a master device and a slave device group comprising a slave device d and a slave device e connected in series, the slave device d being connected to a port 2 of the master device, communication data between the slave device e and the master device being forwarded by the slave device d.
The time when the master device receives the device information 1 sent by the slave device d and the time when the master device receives the device information 2 sent by the slave device e is longer than the time when the master device receives the device information 1, the master device can perform device encoding on the slave device d according to the receiving time to obtain a target device encoding ID of the slave device d, 21, and perform device encoding on the slave device e to obtain a target device encoding ID of the slave device e, 22.
Step S240: and sending a modification command carrying the target device code to the corresponding slave device.
In this embodiment, when the master device determines that the slave device group has no fault slave device according to the device information, after determining the target device code of each slave device, a modification command carrying the target device code may be sent to the corresponding slave device, and the slave device receives and responds to the modification command, and modifies the initial device code of the slave device into the target device code, so that the target device code is programmed for each slave device based on the receiving timing of the device information returned by each slave device, which is beneficial to accurately controlling each slave device according to the target device code.
The modification command may be used to instruct the corresponding slave device to modify the initial device code of the slave device to the target device code, where the initial device code may be a default device code, for example 255, or may be a device code preprogrammed by the user, and the like, and is not limited herein.
In an application scenario, as shown in fig. 6, the device system includes a master device and a slave device group, where the slave device group includes a slave device d and a slave device e connected in series, the slave device d is connected to a port 2 of the master device, and communication data between the slave device e and the master device is forwarded through the slave device d.
The master device performs device encoding on the slave device d according to the receiving time sequence of the device information 1 sent by the slave device d and the device information 2 sent by the slave device e to obtain a target device encoding ID 21, and performs device encoding on the slave device e to obtain a target device encoding ID 22.
The modification command includes CMD2 1 And CMD2 2 ，CMD2 1 Carrying a second information identifier (Seq: 2), SN: d and target device code ID:21, CMD2 2 Carrying a third information identification (Seq: 3), SN: e and target device code ID:22.
The master sends CMD2 1 And CMD2 2 To slave d, slave d receives and responds to CMD2 1 CMD2 confirmation 1 Whether the carried SN is consistent with the SN of the slave device d or not, and when the slave device d confirms CMD2 1 When the carried SN is consistent with the SN of the slave device d, modifying the initial device code of the slave device d into a target device code ID (identity) 21, sending a first reply message to the master device, and receiving and responding to CMD2 by the slave device d 2 CMD2 confirmation 2 Whether the carried SN is consistent with the SN of the slave device d or not, and when the slave device d confirms CMD2 2 Forwarding CMD2 when the carried SN is inconsistent with the SN of the slave device d 2 To slave e, slave e receives and responds to CMD2 2 CMD2 confirmation 2 Whether the carried SN is consistent with the SN of the slave equipment e or not, and when the slave equipment e confirms CMD2 2 When the carried SN is consistent with the SN of the slave equipment e, the initial equipment code of the slave equipment e is modified into a target equipment code ID (identity) 22, second reply information is sent to the slave equipment d, the slave equipment d forwards the second reply information to the master equipment, and the master equipment receives the first reply information and the second reply information which are sent by the slave equipment d.
The first reply message carries the sequence: 2, the first reply message is used for representing that the slave device d has modified the initial device code of the slave device d to a target device code ID 21; the second reply message carries the Seq:3, and is used to characterize that the slave device e has modified the initial device code of the slave device e by the target device code ID:22.
According to the scheme provided by the embodiment, the equipment information acquisition command is sent to the slave equipment group, whether the slave equipment group has fault slave equipment or not is determined according to the equipment information, when the slave equipment group does not have the fault slave equipment according to the equipment information, the target equipment code of each slave equipment is determined, and the modification command carrying the target equipment code is sent to the corresponding slave equipment, so that the fault detection of the plurality of slave equipment based on the equipment information returned by the master equipment according to each slave equipment is realized, the fault detection of the plurality of slave equipment is not needed manually, and the detection efficiency of the fault detection of the plurality of slave equipment is improved.
Further, the target device codes are compiled for each slave device based on the receiving time sequence of the device information returned by each slave device, and the control of each slave device according to the accurate target device codes is facilitated.
Referring to fig. 7, a flowchart of a fault detection method according to still another embodiment of the present application is shown. In a specific embodiment, the fault detection method may be applied to the master device 100 in the device system shown in fig. 1, and the flow shown in fig. 7 will be described in detail below by taking the master device 100 as an example, and the fault detection method may include the following steps S310 to S360.
Step S310: and sending a device information acquisition command to the slave device group.
Step S320: and determining whether the slave device group has a fault slave device according to the device information.
Step S330: when it is determined from the device information that there is no failed slave device in the slave device group, a target device code of each slave device is determined.
Step S340: and sending a modification command carrying the target device code to the corresponding slave device.
In this embodiment, the steps S310, S320, S330 and S340 may refer to the content of the corresponding steps in the foregoing embodiments, and are not repeated here.
Step S350: a roll call command is sent to a plurality of slaves.
In this embodiment, after sending the modification command carrying the target device code to the corresponding slave device, the master device may send the roll call command to the plurality of slave devices, where each slave device receives and responds to the roll call command and sends corresponding response information to the master device.
The roll call command may be used to instruct each slave device to send corresponding response information to the master device, where the roll call command carries a fourth information identifier, the response information may carry the fourth information identifier, and the response information may include the first information or the second information.
Step S360: and determining whether a device which is abnormal in communication with the master device exists in the plurality of slave devices according to the response information.
In this embodiment, the master device may determine, according to the response information, whether a device with a communication abnormality exists in the master device in the plurality of slave devices, so as to implement real-time monitoring of communication states of the plurality of slave devices according to the response information, so that a user can process the slave device with the communication abnormality in time, which is favorable for improving stability of a device system.
If the response information comprises the first information, determining that the plurality of slave devices and the master device normally communicate; and if the response information does not comprise the first information, determining that the equipment which is abnormal in communication with the master equipment exists in the plurality of slave equipment.
In some embodiments, each response message may further include a device code sequence, where the device code sequence is generated by the corresponding slave device according to the current device code reported by each slave device that responds in turn when the roll call command is received.
After the master device sends the roll call command to the plurality of slave devices, each slave device can determine a target current device code sequence from the plurality of device code sequences after sending corresponding response information to the master device according to the roll call command, the target response information corresponding to the target current device code sequence comprises first information, which indicates that the master device receives the response information of the terminal slave devices of the master device, and the order of the target current device code sequence determines the connection sequence of the plurality of slave devices, so that the connection sequence of the plurality of slave devices is determined according to the target current device code sequence reported by the terminal slave devices of the master device, and the detection experience of a user for fault detection of the plurality of slave devices is improved.
In some embodiments, after the master device sends the roll call command to the plurality of slave devices, each slave device sends corresponding response information to the master device according to the roll call command, whether the plurality of slave devices are restarted or not can be determined according to the device coding sequence in the response information, so that the use process states of the plurality of slave devices are monitored according to the device coding sequence reported by the plurality of slave devices, and the detection experience of fault detection of the plurality of slave devices by a user is improved.
The slave device is restarted when the slave device fails, the device code of the restarted slave device is restored to the initial device code, and if the non-target device code exists in the device code sequence, the communication failure devices are determined to exist in the plurality of slave devices; and if the non-target equipment codes do not exist in the equipment code sequence, determining that the communication fault equipment does not exist in the plurality of slave equipment.
In an application scenario, as shown in fig. 8, the device system includes a master device and a slave device group, where the slave device group includes a slave device d and a slave device e connected in series, the slave device d is connected to a port 2 of the master device, and communication data between the slave device e and the master device is forwarded through the slave device d.
The roll call command is CMD3, the information mark carried by CMD3 is a fourth information mark (Seq: 4), and CMD3 comprises an empty device code sequence table ID_List [ [ the]. The master device transmits CMD3 to the slave device d, the slave device d receives and responds to CMD3, transmits corresponding third reply information to the master device, and adds the target device code 21 to the empty device code List ID_List in CMD3]Obtain CMD3 1 Forwarding CMD3 1 To slave e, slave e receives and responds to CMD3 1 And sending the fourth reply information to the slave device d, forwarding the fourth reply information to the master device by the slave device d, and receiving the third reply information and the fourth reply information sent by the slave device d by the master device.
The third reply information and the fourth reply information both carry Seq 4, and the third reply information comprises ID_List [21 ]]And IsEnd FALSE, the fourth reply message includes ID_List [21, 22 ]]And IsEnd TURE, CMD3 1 Including ID_List [21 ]]。
According to the scheme provided by the embodiment, the equipment information acquisition command is sent to the slave equipment group, whether the slave equipment group has the fault slave equipment is determined according to the equipment information, when the slave equipment group does not have the fault slave equipment according to the equipment information, the target equipment code of each slave equipment is determined, the modification command carrying the target equipment code is sent to the corresponding slave equipment, the roll call command is sent to the plurality of slave equipment, and whether the equipment which is abnormal in communication with the master equipment exists in the plurality of slave equipment is determined according to the response information.
Further, the communication states of the plurality of slave devices are monitored in real time according to the response information, so that a user can process the slave devices with abnormal communication in time, and the stability of a device system is improved.
Referring to fig. 9, which illustrates a fault detection apparatus 300 provided in an embodiment of the present application, the fault detection apparatus 300 may be applied to a master device 100 in a device system as shown in fig. 1, and the fault detection apparatus 300 illustrated in fig. 9 will be described in detail below by taking the master device 100 as an example, where the fault detection apparatus 300 may include an acquisition command transmitting module 310 and a fault slave device determining module 320.
The acquisition command transmitting module 310 may be configured to transmit a device information acquisition command to the slave device group, where the device information acquisition command may be configured to instruct each slave device in the slave device group to transmit corresponding device information to the master device, and the device information may include first information for characterizing an end-connected device that the corresponding slave device is the master device, or second information for characterizing a non-end-connected device that the slave device is the master device; the failed slave device determination module 320 may be configured to determine whether a failed slave device exists in the slave device group according to the device information.
In some embodiments, the fault detection device 300 may further include a code determination module and a modification command transmission module.
The code determining module may be configured to determine a target device code of each slave device when it is determined from the device information that there is no faulty slave device in the slave device group; the modification command sending module may be configured to send a modification command carrying the target device code to a corresponding slave device, where the modification command may be configured to instruct the slave device to modify an initial device code of the slave device to the target device code.
In some embodiments, the fault detection device 300 may further include a roll call command transmission module and a communication anomaly determination module.
The roll call command sending module can be used for sending roll call commands to a plurality of slave devices, and the roll call commands can be used for indicating each slave device to send corresponding response information to the master device; the communication abnormality determination module may be configured to determine whether a device having communication abnormality with the master device exists among the plurality of slave devices according to the response information.
In some embodiments, the reply information may include first information or second information, and the communication abnormality determination module may include a first determination unit and a second determination unit.
The first determining unit may be configured to determine that the plurality of slave devices and the master device normally communicate if the response information includes the first information; the second determining unit may be configured to determine that a device having communication abnormality with the master device exists among the plurality of slave devices if the response information does not include the first information.
In some embodiments, each reply message may include a device code sequence, where the device code sequence may be generated by the corresponding slave device according to the current device code reported by each slave device that responds in turn when receiving the roll call command, and the fault detection apparatus 300 may further include a sequence determination module and a sequence determination module.
The sequence determining module may be configured to determine a target current device code sequence from the plurality of device code sequences, and target response information corresponding to the target current device code sequence may include first information; the order determination module may be configured to determine a connection order of the plurality of slave devices based on an ordering of the target current device code sequence.
In some embodiments, the fault detection device 300 may also include a presence determination module and an absence determination module.
The presence determining module may be configured to determine that a communication failure device exists among the plurality of slave devices if a non-target device code exists in the device code sequence; the absence determination module may be configured to determine that a communication failure device does not exist among the plurality of slave devices if a non-target device code does not exist in the device code sequence.
In some embodiments, the encoding determination module may include an acquisition unit and an encoding unit.
The acquisition unit may be configured to acquire a reception timing of receiving the device information transmitted by each of the slave devices when it is determined from the device information that there is no faulty slave device in the slave device group; the encoding unit may be configured to perform device encoding on each slave device according to the reception timing, to obtain a target device encoding of the slave device.
In some embodiments, the fault slave device determination module 320 may include a third determination unit and a fourth determination unit.
The third determining unit may be configured to determine that there is no failed slave device from the group of slave devices when the device information includes the first information; the fourth determination unit may be configured to determine that the slave device group has a faulty slave device when the device information does not include the first information.
In some embodiments, the slave device group may be plural, and the get command transmitting module 310 may include a transmitting unit.
The transmitting unit may be configured to transmit a device information acquisition command to each slave device group, and the device information acquisition command may be configured to instruct each slave device in each slave device group to transmit corresponding device information to the master device.
In some implementations, the fault slave device determination module 320 can include a fifth determination unit.
The fifth determining unit may be configured to determine whether or not a faulty slave device exists in each slave device group according to the device information returned from the slave device group.
The scheme provided by the embodiment is applied to the master device in the device system, the device system further comprises a slave device group connected with the master device, the slave device group is composed of a plurality of slave devices connected in series, the plurality of slave devices connected in series communicate with the master device in a step-by-step forwarding manner, a device information acquisition command is sent to the slave device group, the device information acquisition command is used for indicating each slave device in the slave device group to send corresponding device information to the master device, the device information comprises first information used for representing the end connected device of the corresponding slave device which is the master device or second information used for representing the non-end connected device of the slave device which is the master device, and whether the slave device group has a fault or not is determined according to the device information, so that the fault detection is automatically carried out on the plurality of slave devices based on the device information returned by the master device, the fault detection is not needed by manpower, and the fault detection efficiency of the plurality of the slave devices is improved.
It should be noted that, in the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described as different from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other. For the apparatus class embodiments, the description is relatively simple as it is substantially similar to the method embodiments, and reference is made to the description of the method embodiments for relevant points. Any of the described processing manners in the method embodiment may be implemented by a corresponding processing module in the device embodiment, which is not described in detail in the device embodiment.
In addition, each functional module in each embodiment of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module. The integrated modules may be implemented in hardware or in software functional modules.
Referring to fig. 10, which illustrates a functional block diagram of a robot 500 provided in one embodiment of the present application, the robot 500 may include one or more of the following components: memory 510, processor 520, and one or more applications, wherein the one or more applications may be stored in memory 510 and configured to be executed by the one or more processors 520, the one or more applications configured to perform the method as described in the foregoing method embodiments.
The Memory 510 may include a random access Memory (Random Access Memory, RAM) or a Read-Only Memory (Read-Only Memory). Memory 510 may be used to store instructions, programs, code sets, or instruction sets. The memory 510 may include a stored program area and a stored data area, where the stored program area may store instructions for implementing an operating system, instructions for implementing at least one function (such as forwarding step by step, sending a device information acquisition command, sending device information, determining whether a slave group is a failed slave, determining that a slave group is not a failed slave, determining a target device encoding, sending a modification command, modifying an initial device encoding a non-target device encoding, sending a roll call command, sending reply information, determining whether a device of a plurality of slaves is present that is in communication with a master, determining that a plurality of slaves is in communication with a master, receiving a roll call command, reporting a current device encoding sequence, generating a device encoding sequence, determining a target current device encoding sequence, determining that a communication failure device is present in a plurality of slaves, determining that a communication failure device is not present in a plurality of slaves, acquiring a receive sequence, performing a device encoding for each slave, obtaining a target device encoding, determining that a failure slave, and the like), instructions for implementing various method embodiments described below. The storage data area may also store data created by the robot 500 in use (e.g., device system, master device, slave device group, multiple slave devices, device information acquisition command, device information, end-connected device, first information, non-end-connected device, second information, failed slave device, target device code, modification command, initial device code, roll call command, reply information, device code sequence, current device code, target code sequence, target reply information, ordering, connection sequence, non-target device code, reception timing, multiple slave device group), etc.
Processor 520 may include one or more processing cores. The processor 520 connects various parts within the overall robot 500 using various interfaces and lines, performs various functions of the robot 500 and processes data by executing or executing instructions, programs, code sets, or instruction sets stored in the memory 510, and invoking data stored in the memory 510. Alternatively, the processor 520 may be implemented in hardware in at least one of digital signal processing (Digital Signal Processing, DSP), field programmable gate array (Field-Programmable Gate Array, FPGA), programmable logic array (Programmable Logic Array, PLA), or the like. The processor 520 may integrate one or a combination of several of a central processing unit (Central Processing Unit, CPU), an image processor (Graphics Processing Unit, GPU), and a modem, etc. The CPU mainly processes an operating system, a user interface, an application program and the like; the GPU is used for being responsible for rendering and drawing of display content; the modem is used to handle wireless communications. It will be appreciated that the modem may not be integrated into the processor 520 and may be implemented solely by a single communication chip.
Referring to fig. 11, a block diagram of a computer readable storage medium according to an embodiment of the present application is shown. The computer readable storage medium 600 has stored therein program code 610, the program code 610 being executable by a processor to perform the method described in the above method embodiments.
The computer readable storage medium 600 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium 600 comprises a non-volatile computer readable medium (non-transitory computer-readable storage medium). The computer readable storage medium 600 has storage space for program code 610 that performs any of the method steps described above. The program code can be read from or written to one or more computer program products. Program code 610 may be compressed, for example, in a suitable form.
Referring to fig. 12, a block diagram of a computer program product 700 provided in an embodiment of the present application is shown. The computer program product 700 includes a computer program/instructions 710, the computer program/instructions 710 being stored in a computer readable storage medium of a computer device. When the computer program product 700 is run on a computer device, the processor of the computer device reads the computer program/instructions 710 from the computer readable storage medium, and the processor executes the computer program/instructions 710, causing the computer device to perform the method described in the method embodiments described above.
The scheme provided by the embodiment is applied to the master device in the device system, the device system further comprises a slave device group connected with the master device, the slave device group is composed of a plurality of slave devices connected in series, the plurality of slave devices connected in series communicate with the master device in a step-by-step forwarding manner, a device information acquisition command is sent to the slave device group, the device information acquisition command is used for indicating each slave device in the slave device group to send corresponding device information to the master device, the device information comprises first information used for representing the end connected device of the corresponding slave device which is the master device or second information used for representing the non-end connected device of the slave device which is the master device, and whether the slave device group has a fault or not is determined according to the device information, so that the fault detection is automatically carried out on the plurality of slave devices based on the device information returned by the master device, the fault detection is not needed by manpower, and the fault detection efficiency of the plurality of the slave devices is improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, one of ordinary skill in the art will appreciate that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not drive the essence of the corresponding technical solutions to depart from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims (12)
1. A fault detection method, applied to a master device in a device system, the device system further comprising a slave device group connected to the master device, the slave device group being composed of a plurality of slave devices connected in series, the plurality of slave devices connected in series communicating with the master device by way of stepwise forwarding, the fault detection method comprising:
transmitting a device information acquisition command to the slave device group, wherein the device information acquisition command is used for indicating each slave device in the slave device group to transmit corresponding device information to the master device, and the device information comprises first information for representing that the corresponding slave device is an end connection device of the master device or second information for representing that the corresponding slave device is a non-end connection device of the master device;
and determining whether the slave equipment group has fault slave equipment according to the equipment information.
2. The fault detection method according to claim 1, characterized in that the fault detection method further comprises:
when the slave device group is determined to have no fault slave device according to the device information, determining a target device code of each slave device;
And sending a modification command carrying the target device code to the corresponding slave device, wherein the modification command is used for instructing the slave device to modify the initial device code of the slave device into the target device code.
3. The fault detection method according to claim 2, characterized in that the fault detection method further comprises:
a roll call command is sent to a plurality of slave devices, and the roll call command is used for indicating each slave device to send corresponding response information to the master device;
and determining whether equipment which is abnormal in communication with the master equipment exists in the plurality of slave equipment according to the response information.
4. The method according to claim 3, wherein the response information includes the first information or the second information, and the determining whether there is a device having abnormal communication with the master device among the plurality of slave devices based on the response information includes:
if the response information comprises the first information, determining that a plurality of slave devices normally communicate with the master device;
and if the response information does not comprise the first information, determining that equipment which is abnormal in communication with the master equipment exists in the plurality of slave equipment.
5. A fault detection method according to claim 3, wherein each response message includes a device code sequence generated by the corresponding slave device in response to the current device code reported by each slave device in turn responding to receipt of the roll call command, the fault detection method further comprising:
determining a target current equipment coding sequence from a plurality of equipment coding sequences, wherein target response information corresponding to the target current equipment coding sequence comprises the first information;
and determining the connection order of the plurality of slave devices according to the ordering of the target current device coding sequence.
6. The fault detection method of claim 5, further comprising:
if the non-target equipment codes exist in the equipment code sequence, determining that restarting slave equipment exists in a plurality of slave equipment;
and if the non-target equipment codes do not exist in the equipment code sequence, determining that the restarting slave equipment does not exist in the plurality of slave equipment.
7. The method according to claim 2, wherein when it is determined from the device information that the slave device group does not have a faulty slave device, determining the target device code of each slave device includes:
When the slave device group is determined to have no fault slave device according to the device information, acquiring a receiving time sequence for receiving the device information sent by each slave device;
and carrying out equipment coding on each slave equipment according to the receiving time sequence to obtain the target equipment coding of the slave equipment.
8. The method according to claim 1, wherein the determining whether the slave device group has a faulty slave device according to the device information includes:
determining that there is no failed slave device in the slave device group when the device information includes the first information;
and when the equipment information does not comprise the first information, determining that the slave equipment group has the fault slave equipment.
9. The failure detection method according to any one of claims 1 to 8, wherein the slave device group is plural, the transmitting a device information acquisition command to the slave device group, the device information acquisition command instructing each slave device in the slave device group to transmit corresponding device information to the master device, comprising:
transmitting a device information acquisition command to each slave device group, wherein the device information acquisition command is used for indicating each slave device in each slave device group to transmit corresponding device information to the master device;
The determining whether the slave device has a fault slave device according to the device information comprises the following steps:
and determining whether the slave device group has a fault slave device according to the device information returned by each slave device group.
10. A fault detection apparatus for use with a master device in a device system, the device system further comprising a slave device group connected to the master device, the slave device group comprising a plurality of slave devices connected in series, the plurality of slave devices connected in series communicating with the master device by way of stepwise forwarding, the fault detection apparatus comprising:
an acquisition command sending module, configured to send a device information acquisition command to the slave device group, where the device information acquisition command is configured to instruct each slave device in the slave device group to send corresponding device information to the master device, and the device information includes first information for characterizing that the corresponding slave device is an end connection device of the master device, or second information for characterizing that the slave device is a non-end connection device of the master device;
and the fault slave device determining module is used for determining whether the slave device group has fault slave devices according to the device information.
11. A robot, comprising:
a memory;
one or more processors coupled with the memory;
one or more applications, wherein the one or more applications are stored in the memory and configured to be executed by one or more processors, the one or more applications configured to perform the fault detection method of any of claims 1-9.
12. A computer readable storage medium, characterized in that the computer readable storage medium has stored therein a program code, which is callable by a processor to perform the fault detection method according to any one of claims 1 to 9.
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