WO2019080315A1 - Method and system for fault self-diagnosis of service robot - Google Patents
Method and system for fault self-diagnosis of service robotInfo
- Publication number
- WO2019080315A1 WO2019080315A1 PCT/CN2017/116666 CN2017116666W WO2019080315A1 WO 2019080315 A1 WO2019080315 A1 WO 2019080315A1 CN 2017116666 W CN2017116666 W CN 2017116666W WO 2019080315 A1 WO2019080315 A1 WO 2019080315A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- sensor
- fault
- service robot
- diagnosis
- cause
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0095—Means or methods for testing manipulators
Definitions
- the present invention relates to the field of robot fault diagnosis technology, and in particular, to a service robot fault self-diagnosis system and method.
- the object of the present invention is to provide a service robot fault self-diagnosis system and method, aiming at solving the technical problem that it is inconvenient to perform fault diagnosis on a fixed fault diagnosis device due to the diversity of the service robot and the use environment.
- the present invention provides a service robot fault self-diagnosis system that runs in a service robot, the service robot including a memory and a plurality of sensors, each sensor having a unique number according to the type of the sensor and the position of the sensor setting.
- the service robot fault self-diagnosis system includes a startup module, an information sending module, an information collecting module, a fault analysis module, and a recording and transmission module, wherein:
- the startup module is configured to send a fault diagnosis startup signal
- the information sending module is configured to send a fault diagnosis signal to the sensor according to a preset manner when receiving the fault diagnosis start signal; the preset manner refers to sequentially sending the corresponding fault diagnosis signal according to the unique number of the sensor to Corresponding sensor;
- the information collection module is configured to: obtain, by the surrounding environment information acquiring sensor, surrounding environment information collected according to the fault diagnosis signal;
- the fault analysis module is configured to determine a fault cause of the sensor according to the surrounding environment information collected by the sensor, and match the fault type of the sensor according to the fault cause, and determine a fault diagnosis result of the sensor;
- the recording and transmission module is configured to store the fault diagnosis result in a memory and send it to a mobile terminal or a unified management platform that is in communication with the service robot.
- the sensor type of each sensor, the location of the sensor settings, and the unique numbered relationship table are pre-stored in a database of the memory.
- the relationship table of the unique number of each sensor, the type of failure, and the cause of the failure is stored in advance in a database of the memory.
- the reference environment information collected by each sensor under normal conditions is pre-stored in a database of the memory.
- the fault analysis module is specifically configured to determine the fault cause of the sensor according to the surrounding environment information collected by the sensor and the reference environment information of the sensor, according to the unique number of each sensor stored in the database, the type of the fault, and the cause of the fault.
- the table matches the fault type of the current sensor.
- the present invention also provides a service robot fault self-diagnosis method, the service robot comprising a memory and a plurality of sensors, each sensor having a unique number according to the sensor type and the position of the sensor setting, the service robot fault self-diagnosis method including the following step:
- the fault diagnosis signal When receiving the fault diagnosis initiation signal, the fault diagnosis signal is sent to the sensor according to a preset manner; the preset manner refers to sequentially transmitting the corresponding fault diagnosis signal to the corresponding sensor according to the unique number of the sensor;
- the fault diagnosis result is stored in a memory and sent to a mobile terminal or a unified management platform that is in communication with the service robot.
- the sensor type of each sensor, the location of the sensor settings, and the unique numbered relationship table are pre-stored in a database of the memory.
- the relationship table of the unique number of each sensor, the type of failure, and the cause of the failure is stored in advance in a database of the memory.
- the reference environment information collected by each sensor under normal conditions is pre-stored in a database of the memory.
- the step of determining the fault diagnosis result of the sensor specifically includes: surrounding environment information collected by the sensor and the sensor
- the reference environment information determines the cause of the fault of the sensor, and matches the fault type of the current sensor according to the unique number of each sensor stored in the database, the type of the fault, and the relationship table of the fault cause.
- the service robot fault self-diagnosis system and method of the present invention adopts the above technical solutions, and achieves the following technical effects: the embodiment of the invention sends a fault diagnosis signal to the sensor of the service robot periodically to acquire the sensor according to the fault.
- the surrounding environment information of the diagnostic signal acquisition and the reference environmental information determine the cause of the fault of the sensor, and match the fault type of the sensor, determine the fault diagnosis result of the sensor, store the fault diagnosis result in the memory for query, and send it to the mobile terminal or unified management
- the platform allows the user or manager to view the current fault condition of the service robot and process it in time, so that the service robot can realize fault self-diagnosis, and is not limited by time and space. It is only necessary to design corresponding fault diagnosis methods for different service robots. It can be low cost and high efficiency, which improves the service life and usability of the service robot and enhances the user experience.
- FIG. 1 is a schematic diagram of an operating environment of a preferred embodiment of a service robot fault self-diagnosis system according to the present invention
- FIG. 2 is a flow chart of a preferred embodiment of the service robot fault self-diagnosis method of the present invention.
- the present invention provides a service robot fault self-diagnosis system and method.
- FIG. 1 is a schematic diagram of an operating environment of a preferred embodiment of a service robot fault self-diagnosis system according to the present invention.
- the service robot fault self-diagnosis system 10 runs in the service robot 1.
- the service robot 1 further includes a robot body (not shown), a sensor 12, a memory 14, a microcontroller 16, and a communication interface 18. And display 20.
- the sensor 12, the memory 14, the communication interface 18, and the display 20 are electrically coupled to the microcontroller 16, respectively.
- the senor 12 is disposed on the robot body according to the application domain of the service robot.
- the sensor is the core component of the service robot. It is used to collect the surrounding environment information of the service robot.
- the normal operation of the sensor can provide basic information for the operation of the service robot to ensure the normal and stable operation of the service robot.
- the sensor 12 of the service robot generally includes a camera, a microphone, a gyroscope, an acceleration sensor, an infrared sensor, a temperature and humidity sensor, etc., for respectively collecting image information, voice information, direction information, acceleration information, obstacle conditions, and temperature and humidity of the surrounding environment. Information, etc.
- the microcontroller 16 can be a central processing unit (CPU), a microprocessor, a micro control unit chip (MCU), a data processing chip, or a control unit having data processing functions.
- the memory 14 can be a read only memory ROM, an electrically erasable memory EEPROM or a flash memory FLASH.
- the memory 14 is used to store pre-programmed computer program instructions that can be loaded and executed by the microcontroller 16 to service the robot to complete the fault self-diagnosis function.
- the communication interface 18 may be a communication interface supporting a remote communication protocol (such as TCP/IP protocol) or a short-range communication protocol (such as WIFI or Bluetooth, etc.) for transmitting the fault diagnosis result to the communication connection with the service robot.
- a remote communication protocol such as TCP/IP protocol
- a short-range communication protocol such as WIFI or Bluetooth, etc.
- the service robot fault self-diagnosis system 10 includes, but is not limited to, a startup module 101, an information transmission module 102, an information collection module 103, a failure analysis module 104, and a recording and transmission module 105.
- a module referred to in the present invention refers to a series of computer program instructions that can be executed by the microcontroller 16 and that are capable of performing fixed functions, which are stored in the memory 14.
- the startup module 101 is configured to send a fault diagnosis initiation signal.
- the fault diagnosis of the service robot can be performed within a preset period.
- the preset period arrives, the fault diagnosis start signal is sent to the information sending module 102.
- the preset period is one month, and the startup module 101 can perform timing by acquiring the system time of the service robot.
- the service robot can also be diagnosed as needed.
- the startup module 101 provides a virtual button for the user to initiate fault diagnosis for the user to select. When the user selects to press the virtual button, the fault diagnosis start signal is sent to Information sending module 102.
- the information sending module 102 is configured to send a fault diagnosis signal to the sensor 12 according to a preset manner when receiving the fault diagnosis start signal.
- the service robot includes a plurality of sensors, and each sensor is provided with a unique number depending on the type of sensor and the position of the sensor settings.
- the sensor type of each sensor 12, the location of the sensor settings, and a uniquely numbered relationship table are pre-stored in a database of the memory 14.
- a relationship table of the unique number of each sensor 12, the type of failure, and the cause of the failure is stored in advance in the database of the memory 14.
- the preset manner refers to sequentially transmitting a corresponding fault diagnosis signal to the corresponding sensor 12 according to the unique number of the sensor 12, so as to test whether the surrounding environment information collected by the sensor 12 is a normal signal. Numbering
- the information collection module 103 is configured to acquire surrounding environment information collected by the sensor 12 according to the fault diagnosis signal. After receiving the fault diagnosis signal, each sensor 12 collects surrounding environmental information to obtain surrounding environment information collected by the sensor 12, and sends the environmental information to the fault analysis module 104.
- the fault diagnosis signals sent by different sensor types are different. For example, when the unique number is the camera located at the head of the service robot, the fault diagnosis signal sent is a control signal for controlling the camera to rotate 360 degrees, for the camera to rotate 360 degrees. Photos of the surrounding environment.
- the fault analysis module 104 is configured to determine the fault cause of the sensor 12 according to the surrounding environment information collected by the sensor 12, and match the fault type of the sensor 12 according to the fault cause to determine the fault diagnosis result of the sensor 12.
- the reference environment information collected by each sensor 12 under normal conditions is pre-stored in the database of the memory 14, and the cause of the failure of the sensor 12 is determined according to the surrounding environment information collected by the sensor 12 and the reference environment information of the sensor 12.
- the fault type of the current sensor 12 is matched according to the unique number of each sensor 12 stored in the database, the type of fault, and the relationship table of the cause of the fault.
- the recording and transmitting module 105 is configured to store the fault diagnosis result in the memory 14 and send it to the mobile terminal or the unified management platform that is in communication with the service robot, so that the user or the administrator can view the current fault condition of the service robot. And deal with it in time.
- the fault diagnosis result includes a unique number of each sensor 12 of the service robot, collected surrounding environment information, a cause of the fault, and a fault type.
- the fault diagnosis result of each sensor 12 can also be displayed on the display 20 for the user or manager to view the current fault condition of the service robot and process it in time.
- the embodiment of the invention sends a fault diagnosis signal to the sensor of the service robot periodically, acquires the surrounding environment information collected by the sensor according to the fault diagnosis signal, and the reference environment information to determine the fault cause of the sensor, and matches the fault type of the sensor to determine the fault diagnosis result of the sensor.
- the fault diagnosis result is stored in the memory for querying, and is sent to the mobile terminal or the unified management platform for the user or the administrator to view the current fault condition of the service robot, and timely processed, so that the service robot can realize fault self-diagnosis, and Limited by time and space, it is only necessary to design corresponding fault diagnosis methods for different service robots, which is low in cost and high in efficiency, which improves the service life and usability of the service robot and enhances the user experience.
- FIG. 2 is a flow chart of a preferred embodiment of the service robot fault self-diagnosis method of the present invention.
- the service robot fault self-diagnosis method is applied to the service robot fault self-diagnosis system 10, and various method steps of the service robot fault self-diagnosis method are implemented by a computer software program.
- the computer software program is in the form of computer program instructions and stored in a computer readable storage medium (e.g., memory 14), which may include read only memory, random access memory, magnetic or optical disks, etc., the computer program instructions being capable of being processed
- the device loads and executes the following steps S11 to S15.
- step S11 a fault diagnosis start signal is sent.
- the startup module 101 sends a fault diagnosis initiation signal to the information transmission module 102.
- the fault diagnosis of the service robot can be performed within a preset period.
- the preset period arrives, the fault diagnosis start signal is sent to the information sending module 102.
- the preset period is one month, and the startup module 101 can perform timing by acquiring the system time of the service robot.
- the service robot can also be diagnosed as needed.
- the startup module 101 provides a virtual button for the user to initiate fault diagnosis for the user to select. When the user selects to press the virtual button, the fault diagnosis start signal is sent to Information sending module 102.
- step S12 when the fault diagnosis start signal is received, the fault diagnosis signal is sent to the sensor 12 in a preset manner.
- the information sending module 102 sends a fault diagnosis signal to the sensor 12 in a preset manner.
- the service robot includes a plurality of sensors 12, and each sensor is uniquely numbered according to the type of sensor and the location of the sensor settings.
- the sensor type of each sensor 12, the location of the sensor settings, and a uniquely numbered relationship table are pre-stored in a database of the memory 14.
- a relationship table of the unique number of each sensor 12, the type of failure, and the cause of the failure is stored in advance in the database of the memory 14.
- the preset manner refers to sequentially transmitting a corresponding fault diagnosis signal to the corresponding sensor 12 according to the unique number of the sensor 12, so as to test whether the surrounding environment information collected by the sensor 12 is a normal signal. Numbering
- Step S13 Acquire ambient environment information collected by the sensor 12 according to the fault diagnosis signal.
- the information collection module 103 acquires surrounding environment information collected by the sensor 12. After receiving the fault diagnosis signal, each sensor 12 collects surrounding environmental information to obtain surrounding environment information collected by the sensor 12, and sends the environmental information to the fault analysis module 104.
- the fault diagnosis signals sent by different sensor types are different. For example, when the unique number is the camera located at the head of the service robot, the fault diagnosis signal sent is a control signal for controlling the camera to rotate 360 degrees, for the camera to rotate 360 degrees. Photos of the surrounding environment.
- Step S14 determining the cause of the fault of the sensor 12 according to the surrounding environment information collected by the sensor 12, and matching the fault type of the sensor 12 according to the fault cause, and determining the fault diagnosis result of the sensor 12.
- the fault analysis module 104 determines the cause of the fault of the sensor 12 according to the surrounding environment information collected by the sensor 12, and matches the fault type of the sensor 12 according to the fault cause, and determines the fault diagnosis result of the sensor 12.
- the reference environment information collected by each sensor 12 under normal conditions is pre-stored in the database of the memory 14, and the cause of the failure of the sensor 12 is determined according to the surrounding environment information collected by the sensor 12 and the reference environment information of the sensor 12.
- the fault type of the current sensor 12 is matched according to the unique number of each sensor 12 stored in the database, the type of fault, and the relationship table of the cause of the fault.
- step S15 the fault diagnosis result is stored in the memory 14 and sent to the mobile terminal or the unified management platform communicatively connected with the service robot.
- the recording and transmission module 105 stores the fault diagnosis result in the memory 14 and sends it to the mobile terminal or the unified management platform communicatively connected with the service robot, so that the user or the administrator can view the current fault condition of the service robot, and Handle in time.
- the fault diagnosis result includes a unique number of each sensor 12 of the service robot, collected surrounding environment information, a cause of the fault, and a fault type.
- the fault diagnosis result of each sensor 12 can also be displayed on the display 20 for the user or manager to view the current fault condition of the service robot and process it in time.
- the embodiment of the invention sends a fault diagnosis signal to the sensor of the service robot periodically, acquires the surrounding environment information collected by the sensor according to the fault diagnosis signal, and the reference environment information to determine the fault cause of the sensor, and matches the fault type of the sensor to determine the fault diagnosis result of the sensor.
- the fault diagnosis result is stored in the memory for querying, and is sent to the mobile terminal or the unified management platform for the user or the administrator to view the current fault condition of the service robot, and timely processed, so that the service robot can realize fault self-diagnosis, and Limited by time and space, it is only necessary to design corresponding fault diagnosis methods for different service robots, which is low in cost and high in efficiency, which improves the service life and usability of the service robot and enhances the user experience.
- the service robot fault self-diagnosis system and method of the present invention adopts the above technical solutions, and achieves the following technical effects: the embodiment of the invention sends a fault diagnosis signal to the sensor of the service robot periodically to acquire the sensor according to the fault.
- the surrounding environment information of the diagnostic signal acquisition and the reference environmental information determine the cause of the fault of the sensor, and match the fault type of the sensor, determine the fault diagnosis result of the sensor, store the fault diagnosis result in the memory for query, and send it to the mobile terminal or unified management
- the platform allows the user or manager to view the current fault condition of the service robot and process it in time, so that the service robot can realize fault self-diagnosis, and is not limited by time and space. It is only necessary to design corresponding fault diagnosis methods for different service robots. It can be low cost and high efficiency, which improves the service life and usability of the service robot and enhances the user experience.
Abstract
Description
Claims (10)
- 一种服务机器人故障自诊断系统,运行于服务机器人中,所述服务机器人包括存储器和多个传感器,其特征在于,每个传感器根据传感器类型以及传感器设置的位置设置有唯一编号,所述服务机器人故障自诊断系统包括启动模块、信息发送模块、信息采集模块、故障分析模块以及记录和传输模块,其中:所述启动模块,用于发送故障诊断启动信号;所述信息发送模块,用于在接收到故障诊断启动信号时,按照预设的方式向传感器发送故障诊断信号;所述预设的方式指根据传感器的唯一编号,依次发送对应的故障诊断信号至对应的传感器;所述信息采集模块,用于获取传感器根据所述故障诊断信号采集的周围环境信息;所述故障分析模块,用于根据传感器采集的周围环境信息判断传感器的故障原因,根据故障原因匹配传感器的故障类型,确定该传感器的故障诊断结果;所述记录和传输模块,用于将故障诊断结果存储于存储器中,并发送至与服务机器人通讯连接的移动终端或统一管理平台。A service robot fault self-diagnosis system runs in a service robot, the service robot including a memory and a plurality of sensors, wherein each sensor is provided with a unique number according to a sensor type and a position set by the sensor, the service robot The fault self-diagnosis system includes a startup module, an information sending module, an information collecting module, a fault analysis module, and a recording and transmission module, wherein: the startup module is configured to send a fault diagnosis start signal; and the information sending module is configured to receive When the fault diagnosis start signal is sent, the fault diagnosis signal is sent to the sensor according to a preset manner; the preset manner refers to sequentially transmitting the corresponding fault diagnosis signal to the corresponding sensor according to the unique number of the sensor; the information collecting module, And acquiring the surrounding environment information collected by the sensor according to the fault diagnosis signal; the fault analysis module is configured to determine a fault cause of the sensor according to the surrounding environment information collected by the sensor, and match the fault type of the sensor according to the fault cause to determine the sensing Fault diagnosis; the recording and transmission module for a mobile terminal or unified management platform transmitting the fault diagnosis result stored in the memory and to the communication connection with the service robot.
- 如权利要求1所述的服务机器人故障自诊断系统,其特征在于,每个传感器的传感器类型、传感器设置的位置以及唯一编号的关系表预先存储于存储器的数据库中。The service robot fault self-diagnosis system according to claim 1, wherein the sensor type of each sensor, the position of the sensor setting, and the unique numbered relationship table are stored in advance in a database of the memory.
- 如权利要求1所述的服务机器人故障自诊断系统,其特征在于,每个传感器的唯一编号、故障类型以及故障原因的关系表预先存储于存储器的数据库中。The service robot fault self-diagnosis system according to claim 1, wherein a relationship table of unique numbers, fault types, and cause of failure of each sensor is stored in advance in a database of the memory.
- 如权利要求3所述的服务机器人故障自诊断系统,其特征在于,每个传感器在正常情况下采集的基准环境信息预先存储于存储器的数据库中。The service robot fault self-diagnosis system according to claim 3, wherein the reference environment information collected by each sensor under normal conditions is stored in advance in a database of the memory.
- 如权利要求4所述的服务机器人故障自诊断系统,其特征在于,所述故障分析模块具体用于根据传感器采集的周围环境信息以及该传感器的基准环境信息判断传感器的故障原因,根据数据库中存储的每个传感器的唯一编号、故障类型以及故障原因的关系表匹配当前传感器的故障类型。The service robot fault self-diagnosis system according to claim 4, wherein the fault analysis module is specifically configured to determine a fault cause of the sensor according to the surrounding environment information collected by the sensor and the reference environment information of the sensor, and store according to the database. The unique number of each sensor, the type of fault, and the relationship table of the cause of the fault match the fault type of the current sensor.
- 一种服务机器人故障自诊断方法,所述服务机器人包括存储器和多个传感器,其特征在于,每个传感器根据传感器类型以及传感器设置的位置设置有唯一编号,所述服务机器人故障自诊断方法包括如下步骤:发送故障诊断启动信号;在接收到故障诊断启动信号时,按照预设的方式向传感器发送故障诊断信号;所述预设的方式指根据传感器的唯一编号,依次发送对应的故障诊断信号至对应的传感器;获取传感器根据所述故障诊断信号采集的周围环境信息;根据传感器采集的周围环境信息判断传感器的故障原因,根据故障原因匹配传感器的故障类型,确定该传感器的故障诊断结果;将故障诊断结果存储于存储器中,并发送至与服务机器人通讯连接的移动终端或统一管理平台。A service robot fault self-diagnosis method includes a memory and a plurality of sensors, wherein each sensor is provided with a unique number according to a sensor type and a position set by the sensor, and the service robot fault self-diagnosis method includes the following Step: sending a fault diagnosis start signal; when receiving the fault diagnosis start signal, sending a fault diagnosis signal to the sensor according to a preset manner; the preset manner refers to sequentially sending a corresponding fault diagnosis signal according to the unique number of the sensor to Corresponding sensor; acquiring ambient information collected by the sensor according to the fault diagnosis signal; determining a fault cause of the sensor according to surrounding environmental information collected by the sensor, matching the fault type of the sensor according to the fault cause, determining a fault diagnosis result of the sensor; The diagnostic results are stored in memory and sent to a mobile terminal or unified management platform that is in communication with the service robot.
- 如权利要求6所述的服务机器人故障自诊断方法,其特征在于,每个传感器的传感器类型、传感器设置的位置以及唯一编号的关系表预先存储于存储器的数据库中。The service robot fault self-diagnosis method according to claim 6, wherein the sensor type of each sensor, the position of the sensor setting, and the unique numbered relationship table are stored in advance in a database of the memory.
- 如权利要求6所述的服务机器人故障自诊断方法,其特征在于,每个传感器的唯一编号、故障类型以及故障原因的关系表预先存储于存储器的数据库中。The service robot fault self-diagnosis method according to claim 6, wherein a relationship table of unique numbers, fault types, and cause of failure of each sensor is stored in advance in a database of the memory.
- 如权利要求8所述的服务机器人故障自诊断方法,其特征在于,每个传感器在正常情况下采集的基准环境信息预先存储于存储器的数据库中。The service robot fault self-diagnosis method according to claim 8, wherein the reference environment information collected by each sensor under normal conditions is pre-stored in a database of the memory.
- 如权利要求9所述的服务机器人故障自诊断方法,其特征在于,所述根据传感器采集的周围环境信息判断传感器的故障原因,根据故障原因匹配传感器的故障类型,确定该传感器的故障诊断结果的步骤具体包括:根据传感器采集的周围环境信息以及该传感器的基准环境信息判断传感器的故障原因,根据数据库中存储的每个传感器的唯一编号、故障类型以及故障原因的关系表匹配当前传感器的故障类型。The service robot fault self-diagnosis method according to claim 9, wherein the determining the fault cause of the sensor according to the surrounding environment information collected by the sensor, and matching the fault type of the sensor according to the fault cause, determining the fault diagnosis result of the sensor. The step specifically includes: determining the fault cause of the sensor according to the surrounding environment information collected by the sensor and the reference environment information of the sensor, and matching the fault type of the current sensor according to the unique number of each sensor stored in the database, the fault type, and the relationship table of the fault cause. .
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CN109623877A (en) * | 2019-01-21 | 2019-04-16 | 广州高新兴机器人有限公司 | Self checking method, self-checking system and the computer storage medium of robot |
CN111008315B (en) * | 2019-12-23 | 2024-03-01 | 美智纵横科技有限责任公司 | Fault data processing method and device and sweeping robot |
CN113070906B (en) * | 2021-04-07 | 2022-04-26 | 北京云迹科技股份有限公司 | Service robot system and network fault diagnosis method and device thereof |
CN113110401B (en) * | 2021-05-21 | 2022-08-05 | 广东美房智高机器人有限公司 | Method for intelligently generating robot fault solution |
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CN206436275U (en) * | 2017-01-06 | 2017-08-25 | 中意联动科技(天津)有限公司 | A kind of industrial robot of self-diagnosable |
CN107219805A (en) * | 2017-07-28 | 2017-09-29 | 释普信息科技(上海)有限公司 | A kind of device diagnosis device and method, circuit board based on wireless telecommunications |
-
2017
- 2017-10-28 CN CN201711036193.6A patent/CN107891446A/en active Pending
- 2017-12-15 WO PCT/CN2017/116666 patent/WO2019080315A1/en active Application Filing
Patent Citations (7)
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CN1372505A (en) * | 2000-04-03 | 2002-10-02 | 索尼公司 | Control device and control method for robot |
US20060055358A1 (en) * | 2003-02-14 | 2006-03-16 | Honda Giken Kogyo Kabushiki Kaisha | Abnormality detector of moving robot |
CN2831149Y (en) * | 2005-04-02 | 2006-10-25 | 李雄杰 | Fault auto analyzer for test circuit |
CN101917297A (en) * | 2010-08-30 | 2010-12-15 | 烽火通信科技股份有限公司 | Method and system for diagnosing faults of core network based on Bayesian network |
CN206235880U (en) * | 2016-10-28 | 2017-06-09 | 苏州美好明天智能机器人技术有限公司 | A kind of multiple monitoring system of Service Robots control system |
CN206436275U (en) * | 2017-01-06 | 2017-08-25 | 中意联动科技(天津)有限公司 | A kind of industrial robot of self-diagnosable |
CN107219805A (en) * | 2017-07-28 | 2017-09-29 | 释普信息科技(上海)有限公司 | A kind of device diagnosis device and method, circuit board based on wireless telecommunications |
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