CN202443328U - Domestic robot with self fault diagnosis function - Google Patents
Domestic robot with self fault diagnosis function Download PDFInfo
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- CN202443328U CN202443328U CN2011205614711U CN201120561471U CN202443328U CN 202443328 U CN202443328 U CN 202443328U CN 2011205614711 U CN2011205614711 U CN 2011205614711U CN 201120561471 U CN201120561471 U CN 201120561471U CN 202443328 U CN202443328 U CN 202443328U
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Abstract
The present utility model discloses a domestic robot with a self fault diagnosis function. The domestic robot comprises a robot body, and a motor drive control module and a robot control module which are arranged inside the robot body, a fault detection module, a movement mechanism execution sensor and a movement acquisition module are also arranged inside the robot body, the fault detection module is respectively connected with the motor drive control module, the movement acquisition module and the robot control module, and the movement mechanism execution sensor is connected with the motor drive control module through various end execution mechanisms and motors of the robot body. Through using an embodiment of the domestic robot, self detection of faults of the robot can be realized through the fault detection module, fault signals can be sent timely, and adverse influences of the using process of the robot can be reduced to the lowest.
Description
Technical field
The utility model relates to a kind of novel robot, relates in particular to a kind of domestic robot with Self-Test Diagnostics function.
Background technology
At present, domestic robot just is penetrated among people's daily life with swift and violent all the more speed, educate, accompany and attend to, clean, the application in field such as displaying, shopping guide, intelligent toy more and more widely.But; Because the domestic robot technology is in the perfect day by day stage, in the middle of the use of robot, can produce various faults, because existing domestic robot lacks effective fault detect means; Cause to carry out the fault detect of self; So that failure message can not in time feed back to the user, and fault can not be handled timely and effectively, can only rely on the technician to arrive field adjustable or depot repair; Influenced user's experience to a great extent, even also maybe be to the further destruction of causing of robot itself.
The utility model content
Based on above content, be necessary to propose a kind ofly can in time send signal, and part solves the domestic robot with Self-Test Diagnostics function of the fault that robot produces.
The utility model embodiment provides a kind of family expenses service robot with self-fault detection capability; Comprise robot body; In said robot body, be provided with motor-driven control module and robot control module; It is characterized in that; Be provided with fault detection module, motion execution module and motion acquisition module in the said robot body, said fault detection module is connected with said robot control module with said motor-driven control module, said motion acquisition module respectively, and said motion execution module is connected with said motor drive module with motor through each terminal topworks of said robot body.
Preferably, said fault detection module can also be connected with infrared sensor, sonac, laser sensor, crash sensor respectively through the sensor acquisition module.
Preferably, said robot control module is connected with far-end server through network transmission module.
Preferably, said network transmission module has a WIFI access interface and a wireless 3G interface.
Preferably, said motion execution module is arranged on the terminal travel switch and limit switch of each terminal topworks, and said motion execution module is the movement executing mechanism sensor.
Compared with prior art, the utlity model has following advantage:
1, can carry out Self-Test Diagnostics, and in time send fault-signal, the harmful effect during robot is used is reduced to minimum;
2, can make the selection network insertion merchant of user's own, to obtain best ability to communicate.
Description of drawings
Fig. 1 is the principle schematic of the utility model.
Embodiment
Below in conjunction with accompanying drawing and embodiment, the embodiment of the utility model is done further explain.
See also Fig. 1; In the utility model one preferred embodiments; A kind of domestic robot with Self-Test Diagnostics function comprises robot body 1, and motor-driven control module 3 and robot control module 6 are set in said robot body 1; Fault detection module 2; Motion execution module 4 and motion acquisition module 5, said fault detection module 2 are connected with robot control module 6 with said motor-driven control module 3, motion acquisition module 5 respectively, and said motion execution module 4 is connected with said motor drive module 3 with the motor (not shown) through each terminal topworks (not shown) of said robot body.Said motion execution module is that a motion is carried out sensor.Said robot control module 6 also is connected with far-end server 8 through network transmission module 7.Said network transmission module 7 has a wireless WIFI access interface and a wireless 3G interface.The principle of work of the utility model is: at the terminal topworks of each moving component of robot place limit sensors is set, for example: at arm joint, neck joint etc.Fault detection module 2 is sent movement instruction to motor-driven control module 3; The motion of motor-driven control module 3 drive motor, motor drives each terminal topworks setting in motion through gear train, when terminal topworks moves to preset movement angle or movement travel; Trigger motion execution module 4; After motion execution module 4 is triggered, can produce an IO signal to each terminal topworks, motion execution module 4 sends to motion acquisition module 5 with the IO signal that produces; Motion acquisition module 5 carries out coding specification with the IO signal that receives, and promptly all can there be the code identification of oneself in each terminal topworks.Motion acquisition module 5 sends to fault detection module 2 with the coding specification of IO signal; Certainly be provided with the fault detect predetermined period on the fault detection module 2; After in predetermined period, receiving once terminal topworks corresponding codes category signal, judge that then this terminal topworks operation is normal; When surpassing one time, coding specification signal or received code category signal (can not set up a limit sensors greater than preset movement angle or movement travel place when in predetermined period, receiving in each terminal topworks motion; The operation that shows this end topworks does not reach preset movement angle or movement travel or exceeds preset movement angle or movement travel, then judges the work of end topworks to occur unusual.Fault detection module 2 sends to robot control module 6 with failure message; Through network transmission module 7 failure message is sent to far-end server 8 by the robot control module again; Network transmission module can be supported the WIFI data transmission, transmission forms such as 3G network transmission.The far-end server 8 that receives failure message can freely be provided with by the user, can be user's portable terminal (like smart mobile phone), also can be the maintenance server of manufacturer of robot.
In addition, for the terminal topworks that can't detect with movement angle and movement travel, like wheeled topworks; One revolution speed measuring device can be installed on motor; The movement instruction of fault detection module 2 all numbers of rotational fixation in motor is sent in the fixed cycle, motor revolution speed measuring device (scrambler) is passed to motor-driven control module 3 with the motor rotation information, and the result that motor drive module 3 will be measured feeds back to fault detection module 2; Fault detection module 2 compares the result with preset fixedly revolution; Thereby whether the motion of judging this wheeled topworks is normal, as occurs then reporting to the police unusually; Alarm method as above repeats no more at this.
Said fault detection module 2 can also be connected with infrared sensor 10, sonac 11, laser sensor 12, crash sensor 13 respectively through sensor acquisition module 9.Be used for non-motion sensor is detected, its principle of work is: fault detection module is obtained the signal of above-mentioned each sensor successively through sensor acquisition module 9 by the acquisition order that is provided with in advance; As for infrared sensor 10, a plurality of infrared sensors 10 may be set on the robot body 1, fault detection module can begin from first sensor; Send the request of obtaining infrared sensor 10 signals to sensor acquisition module 9; Sensor acquisition module 9 is gathered its data target to infrared sensor 10, and it is back to fault detection module 2 according to request; Fault detection module 2 thinks that then this working sensor is normal after receiving signal; If in the time cycle of presetting, do not receive the information that sensor acquisition module 9 sends, can think that then this working sensor lost efficacy, and reported to the police simultaneously; Alarm method as above repeats no more at this.
Claims (5)
1. domestic robot with Self-Test Diagnostics function; Comprise robot body (1); In said robot body (1), be provided with motor-driven control module (3) and robot control module (6); It is characterized in that; Also be provided with fault detection module (2), motion execution module (4) and motion acquisition module (5) in the said robot body (1); Said fault detection module (2) is connected with said motor-driven control module (3), said motion acquisition module (5) and said robot control module (6) respectively, and said motion execution module (4) is connected with said motor drive module (3) with motor through each terminal topworks of said robot body.
2. domestic robot as claimed in claim 1; It is characterized in that said fault detection module (2) can also be connected with infrared sensor (10), sonac (11), laser sensor (12), crash sensor (13) respectively through sensor acquisition module (9).
3. domestic robot as claimed in claim 1 is characterized in that, said robot control module (6) is connected with far-end server (8) through network transmission module (7).
4. domestic robot as claimed in claim 3 is characterized in that, said network transmission module (7) has a WIFI access interface and a wireless 3G interface.
5. domestic robot as claimed in claim 1; It is characterized in that; Said motion execution module (4) is arranged on the terminal travel switch and limit switch of each terminal topworks, and said motion execution module (4) is specially the movement executing mechanism sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205614711U CN202443328U (en) | 2011-12-29 | 2011-12-29 | Domestic robot with self fault diagnosis function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205614711U CN202443328U (en) | 2011-12-29 | 2011-12-29 | Domestic robot with self fault diagnosis function |
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| CN202443328U true CN202443328U (en) | 2012-09-19 |
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| CN2011205614711U Expired - Lifetime CN202443328U (en) | 2011-12-29 | 2011-12-29 | Domestic robot with self fault diagnosis function |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104089576A (en) * | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Abrasion and deformation detection method of palletizing robot |
| CN104089790A (en) * | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Vibration type robot palletizer fault prediction method |
| CN104635718A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN106003050A (en) * | 2016-07-13 | 2016-10-12 | 广东奥讯智能设备技术有限公司 | Implementation method based on man-machine interface of restaurant service robot |
| CN106406289A (en) * | 2016-11-17 | 2017-02-15 | 北京中科汇联科技股份有限公司 | Robot troubleshooting system and method |
| CN107505938A (en) * | 2016-06-14 | 2017-12-22 | 苏州宝时得电动工具有限公司 | Automatic running device and its sensor detecting method |
| CN107685342A (en) * | 2017-08-22 | 2018-02-13 | 广东美的智能机器人有限公司 | Abnormality eliminating method, robot and the dispatch server of robot |
| CN108062584A (en) * | 2017-12-04 | 2018-05-22 | 重庆市南岸区瑜目网络科技有限责任公司 | System is set dynamically in a kind of AI virtual robots state |
| CN108185917A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot security protection system |
| CN108908402A (en) * | 2018-07-06 | 2018-11-30 | 浙江国自机器人技术有限公司 | A kind of detection method and system of robot hardware |
| CN109405867A (en) * | 2018-09-30 | 2019-03-01 | 科大讯飞股份有限公司 | The sensor detection control method and system of mobile robot |
| WO2019080316A1 (en) * | 2017-10-28 | 2019-05-02 | 深圳市前海安测信息技术有限公司 | Method and device for automatic fault analysis of service robot |
| CN109841034A (en) * | 2019-01-14 | 2019-06-04 | 沈阳工程学院 | A kind of intelligent monitor system based on Internet of Things |
| CN113296461A (en) * | 2021-04-15 | 2021-08-24 | 杭州铄石流金科技有限公司 | Programmable robot master controller with control self-checking function and use method thereof |
| US11134609B2 (en) | 2014-12-23 | 2021-10-05 | Husqvarna Ab | Robotic work tool and method for detecting tool damage or loss |
-
2011
- 2011-12-29 CN CN2011205614711U patent/CN202443328U/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635718A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN104089790A (en) * | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Vibration type robot palletizer fault prediction method |
| CN104089576A (en) * | 2014-07-09 | 2014-10-08 | 合肥奥博特自动化设备有限公司 | Abrasion and deformation detection method of palletizing robot |
| US11134609B2 (en) | 2014-12-23 | 2021-10-05 | Husqvarna Ab | Robotic work tool and method for detecting tool damage or loss |
| CN107505938A (en) * | 2016-06-14 | 2017-12-22 | 苏州宝时得电动工具有限公司 | Automatic running device and its sensor detecting method |
| CN106003050A (en) * | 2016-07-13 | 2016-10-12 | 广东奥讯智能设备技术有限公司 | Implementation method based on man-machine interface of restaurant service robot |
| CN106406289A (en) * | 2016-11-17 | 2017-02-15 | 北京中科汇联科技股份有限公司 | Robot troubleshooting system and method |
| CN107685342A (en) * | 2017-08-22 | 2018-02-13 | 广东美的智能机器人有限公司 | Abnormality eliminating method, robot and the dispatch server of robot |
| WO2019080316A1 (en) * | 2017-10-28 | 2019-05-02 | 深圳市前海安测信息技术有限公司 | Method and device for automatic fault analysis of service robot |
| CN108062584A (en) * | 2017-12-04 | 2018-05-22 | 重庆市南岸区瑜目网络科技有限责任公司 | System is set dynamically in a kind of AI virtual robots state |
| CN108185917A (en) * | 2018-04-23 | 2018-06-22 | 广东艾可里宁机器人智能装备有限公司 | Sweeping robot security protection system |
| CN108908402A (en) * | 2018-07-06 | 2018-11-30 | 浙江国自机器人技术有限公司 | A kind of detection method and system of robot hardware |
| CN109405867A (en) * | 2018-09-30 | 2019-03-01 | 科大讯飞股份有限公司 | The sensor detection control method and system of mobile robot |
| CN109405867B (en) * | 2018-09-30 | 2021-12-03 | 科大讯飞股份有限公司 | Sensor detection control method and system for mobile robot |
| CN109841034A (en) * | 2019-01-14 | 2019-06-04 | 沈阳工程学院 | A kind of intelligent monitor system based on Internet of Things |
| CN113296461A (en) * | 2021-04-15 | 2021-08-24 | 杭州铄石流金科技有限公司 | Programmable robot master controller with control self-checking function and use method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20120919 |