A Fault Diagnosis Method for Multi-Robot System
A multi-robot and system failure technology, applied in the field of robot fault diagnosis and multi-robot system fault diagnosis, can solve the problems of lack of hierarchical knowledge expression, inefficient search strategy, and lack of learning ability, etc., and achieve high frequency resolution High efficiency, robust effect
Active Publication Date: 2018-06-26
SHANGHAI JIAOTONG UNIV
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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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[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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The invention relates to a method for fault diagnosis of a multi-robot system, comprising the following steps: 1) acquiring real-time robot motion data; 2) performing feature extraction on the motion data by using wavelet packet transformation; 3) extracting features to be diagnosed after feature extraction Data input to the trained fault diagnosis model to obtain the real-time likelihood probability corresponding to the current robot motion data; 4) according to the relationship between the real-time likelihood probability and the state threshold, obtain the current recessive state of the multi-robot system, Obtain the fault diagnosis result. Compared with the prior art, the invention has the advantages of strong 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...
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IPC IPC(8): G06K9/62
CPCG06F18/214
Inventor 刘树伟付庄吴优
Owner SHANGHAI JIAOTONG UNIV