Multi-robot system fault diagnosis method

A multi-robot and system failure technology, applied in the direction of instruments, computer components, character and pattern recognition, etc., can solve the problems of lack of hierarchical knowledge expression, inefficient search strategy, and lack of learning ability, etc., and achieve high frequency Resolution, robust effects

Active Publication Date: 2015-11-25
SHANGHAI JIAO TONG UNIV
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AI Technical Summary

Problems solved by technology

In rule-based systems, it is difficult to observe how a single rule contributes to the overall policy, due to the lack of hierarchical knowledge representation in rule-based expert systems
[0018] (2) Inefficient search strategy
Large rule-based systems may not be suitable for real-time applications
[0019] (3) No ability to learn
General rule-based expert systems do not have the ability to learn from experience

Method used

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Embodiment Construction

[0054] The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments. This embodiment is carried out on the premise of the technical solution of the present invention, and detailed implementation and specific operation process are given, but the protection scope of the present invention is not limited to the following embodiments.

[0055] Such as figure 1 , image 3 As shown, this embodiment provides a method for fault diagnosis of a multi-robot system, using a hidden Markov model (HMM) for fault diagnosis and fault prediction. Among them, fault diagnosis is a prerequisite for fault prediction. This method first performs fault diagnosis on each working cycle of the robot, and then predicts the future working state of the robot according to the previous judgment results, so as to control the motion controller of the robot. The method specifically includes the following steps:

[0056] 1) Obtain real-time robot...

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Abstract

The invention relates to a multi-robot system fault diagnosis method, comprising the following steps of: 1) obtaining real-time robot motion data; 2) adopting wavelet packet transform to perform feature extraction on the motion data; 3) inputting to-be-diagnosed data subjected to feature extraction into a trained fault diagnosis model, and calculating a corresponding real-time likelihood probability of current robot motion data; and 4) according to a relation between the real-time likelihood probability and a state threshold value, obtaining a current hidden state of the multi-robot system and obtaining a fault diagnosis result. Compared with the prior art, the method has the advantages of high robustness, accurate diagnosis result, wide application range and the like.

Description

technical field [0001] The invention relates to the field of fault diagnosis, in particular to a method for fault diagnosis of a multi-robot system. By analyzing signals of the multi-robot system, the fault diagnosis of the robot is realized. Background technique [0002] Robot is one of the greatest inventions of mankind in the 20th century. It has undergone earth-shaking changes in just half a century. Robot technology has fundamentally changed the appearance of traditional industrial production and has had a profound impact on human society. The development of robot technology has become one of the most representative strategic goals in the high-tech field. Robot operations are divided into single robot and multi-robot. A single robot has limited information acquisition, processing and control capabilities. People consider a system composed of multi-robots to jointly complete tasks that are difficult for a single robot through coordinated operations. [0003] In multi-ro...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06K9/62
CPCG06F18/214
Inventor 刘树伟付庄吴优
Owner SHANGHAI JIAO TONG UNIV
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