Robot abnormality automatic recovery method, robot and robot system

Abstract

The present invention provides a robot abnormal automatic recovery method, a robot and a robot system, the method comprising: S101: the upper computer reports the current information of the robot, and when one of the upper computer and the lower computer detects that the other is in an abnormal state, the upper computer and the lower computer perform an abnormal alarm and apply to restart the other party; S102: the upper computer or the lower computer performing the abnormal alarm obtains the position information of the robot, and judges whether to restart according to the position information and the received application feedback information, and if so, executes S103, and if not, ends the restart and waits for manual intervention; S103: restarts the lower computer or the upper computer in the abnormal state, and the lower computer or the upper computer obtains the current information of the robot after restarting to continue to perform the task. The present invention can automatically recover the abnormal state when the robot is abnormal, reduces the situation where engineers need to handle on site, improves the processing speed, high efficiency, and reduces the labor cost and the use cost of the robot.

Description

Technical Field

[0001] The present invention relates to the field of robot control, and in particular to a robot abnormality automatic recovery method, a robot and a robot system. Background Art

[0002] Today, service robots of various types, environments, and purposes have been developed on the market to assist or replace humans in completing various tasks. However, in actual use of existing robots of various types, the real environment is usually more complex than the test environment. Due to the variability of objective factors such as human flow, terrain, weather and climate, there are a large number of special situations that are difficult to predict in advance. Or due to defects in software design, lack of consideration of some risk anomalies, or the sudden occurrence of some probabilistic events, the robot control software becomes abnormal and the business process is forced to be interrupted. Even worse, it may cause the car computer to freeze, the sensor to go on strike, and so on.

[0003] At present, in most cases, after an abnormality occurs, engineers are required to go to the site to restart the robot in order to resume business operations. This method of handling abnormal situations is slow and inefficient, making it difficult to solve the problem quickly. Moreover, a large number of engineers are required to be on standby, waiting for abnormal situations to occur, which increases labor costs. Summary of the invention

[0004] In order to overcome the shortcomings of the prior art, the present invention proposes a robot abnormality automatic recovery method, terminal and storage medium, which reports the robot's position information and current task status to the upper computer, and enables the upper computer and the lower computer to detect each other's status. When the other party is in an abnormal state, the power module is controlled to restart the other party, and after restarting, the task is continued according to the reported position information and current task status. When the robot is abnormal, the abnormal state can be automatically recovered, reducing the need for on-site processing by engineers, improving processing speed and efficiency, and reducing labor costs and robot use costs.

[0005] To solve the above problems, a technical solution adopted by the present invention is: a method for automatic recovery of robot abnormalities, comprising: S101: the upper computer reports the current information of the robot, and when one of the upper computer and the lower computer detects that the other is in an abnormal state, it issues an abnormal alarm and applies to restart the other party, and the current information of the robot includes position information and current task status; S102: the upper computer or the lower computer that issues the abnormal alarm obtains the position information of the robot, and determines whether to restart according to the position information and the received application feedback information. If so, execute S103, if not, end the restart and wait for manual intervention; S103: restart the lower computer or the upper computer in the abnormal state, and the lower computer or the upper computer obtains the current information of the robot after restarting, and continues to execute the task according to the current information of the robot.

[0006] Furthermore, the step of the host computer reporting the current information of the robot specifically includes: the host computer reports the current task status of the robot and the position of the robot at fixed time intervals, and the displacement of the robot within the fixed time interval is less than the maximum error of the robot repositioning.

[0007] Furthermore, the step of determining whether to restart based on the location information and the received application feedback information specifically includes: determining whether the error between the position corresponding to the location information and the position corresponding to the last reported location information is less than the maximum error and whether the application feedback information is information allowing restart; if so, determining to power off and restart through the power module; if not, determining not to power off and restart through the power module.

[0008] Furthermore, the upper computer and the lower computer continuously communicate with each other, and when the upper computer or the lower computer detects that the communication of the lower computer or the upper computer is abnormal, a secondary confirmation message is sent to the lower computer or the upper computer. If the correct response message is received, it is determined that the communication is restored; if the correct response message is not received, it is determined that the lower computer or the upper computer is in an abnormal state.

[0009] Furthermore, the steps of issuing an abnormal alarm and applying to restart the lower computer or upper computer specifically include: the upper computer or lower computer reports an abnormal alarm to the background of the operation and maintenance system, and applies to control the lower computer or upper computer to power off and restart through the power module.

[0010] Furthermore, the step of the upper computer or the lower computer reporting the abnormal alarm to the background of the operation and maintenance system specifically includes: the upper computer or the lower computer reporting the abnormal alarm to the background of the operation and maintenance system through the communication module in the robot.

[0011] Furthermore, the step of the lower computer or the upper computer acquiring the current information of the robot after restarting specifically includes: the lower computer or the upper computer acquires the last uploaded current information of the robot transmitted by the background of the operation and maintenance system through the communication module.

[0012] Furthermore, the upper computer or the lower computer restarts the lower computer or the upper computer in an abnormal state through the power module, or the power module receives a restart instruction through the communication module to restart the lower computer or the upper computer in an abnormal state.

[0013] Based on the same inventive concept, the present invention also proposes a robot, which includes a power module, a host computer, and a host computer that are interconnected, and the power module, the host computer, and the host computer are respectively connected to the background communication of the operation and maintenance system. The robot executes the robot abnormality automatic recovery method as described above through the power module, the host computer, and the lower computer.

[0014] Based on the same inventive concept, the present invention further proposes a robot system, which includes a robot and an operation and maintenance system. The robot is connected to the background communication of the operation and maintenance system, and the robot includes the robot described above.

[0015] Compared with the prior art, the beneficial effects of the present invention are: the upper computer reports the robot's position information and current task status, and the upper computer and the lower computer detect each other's status. When the other party is in an abnormal state, the power module is controlled to restart the other party, and after restarting, the task is continued according to the reported position information and current task status. When the robot is abnormal, the abnormal state can be automatically restored, reducing the need for on-site processing by engineers, improving processing speed and efficiency, and reducing labor costs and robot use costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A flowchart of an embodiment of a method for automatically recovering from robot abnormality according to the present invention;

[0017] Figure 2 A structural diagram of an embodiment of a robot in the robot abnormality automatic recovery method of the present invention;

[0018] Figure 3 This is a flow chart of another embodiment of the robot abnormality automatic recovery method of the present invention;

[0019] Figure 4 A structural diagram of an embodiment of a robot of the present invention;

[0020] Figure 5 FIG. 4 is a structural diagram of an embodiment of a robot system of the present invention. DETAILED DESCRIPTION

[0021] The following describes the implementation of the present application through specific specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the content disclosed in this specification. The present application can also be implemented or applied through other different specific implementations, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the various embodiments of the present disclosure generally described and shown in the accompanying drawings here can be combined with each other without conflict, and the structural components or functional modules therein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present disclosure provided in the accompanying drawings is not intended to limit the scope of the present disclosure claimed for protection, but merely represents the selected embodiments of the present disclosure. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present disclosure.

[0022] See also Figures 1 to 3 ,in, Figure 1 A flowchart of an embodiment of a method for automatically recovering from robot abnormality according to the present invention; Figure 2 A structural diagram of an embodiment of a robot in the robot abnormality automatic recovery method of the present invention;

[0023] Figure 3 This is a flow chart of another embodiment of the robot abnormality automatic recovery method of the present invention. Figures 1 to 3 The robot abnormality automatic recovery method of the present invention is described in detail.

[0024] In this embodiment, the robot to which the robot abnormality automatic recovery method is applied includes a host computer, a slave computer, and a power module, and is a service robot used in various production and life. The robot is connected to the backend of the operation and maintenance system for communication, and the operation and maintenance system supports the robot to work.

[0025] Among them, the operation and maintenance system targets the operation, maintenance, and after-sales management of all projects, and conducts research on the operation and maintenance business process system for the robot operation and maintenance team's needs for monitoring, statistics, and maintenance of project operations, with the goal of achieving a full closed loop of project operation and maintenance, and realizing information-based, intelligent, and efficient operation and maintenance services. It includes functions such as authority management, order management, work order management, data statistics, intelligent body management, intelligent body monitoring and control, and an operation and maintenance large screen.

[0026] Specifically, the operation and maintenance system includes the front desk and the back desk. The front desk is a platform for the operation and maintenance system and the operation and maintenance personnel to complete the interaction and realize the distribution and management of functions such as equipment monitoring, work order management, and remote upgrade. The robot reports abnormal conditions and restarts the self-recovery application (if the recovery application is enabled) to the operation and maintenance system. After the back-end personnel confirm the current situation and approve the application, the robot's automatic self-recovery process is started. The front desk can be connected to other information push platforms through external interfaces, such as corporate WeChat. It is ensured that the alarm information and recovery application can still be delivered when the operation and maintenance personnel are not monitoring at the front desk. After the information push exceeds the preset setting time, the robot can enter the self-recovery process by itself if the self-recovery conditions are met. The back desk is the interface for the operation and maintenance system and the robot to realize communication. The back desk completes the management and monitoring of current tasks and historical tasks, the management of work orders, and the statistics of data. It is the source of information reporting and the channel for issuing instructions for the front desk. The back desk and the robot communicate through the network interface.

[0027] In this embodiment, the robot further includes a communication module and a DSP. The communication module is respectively connected to the upper computer, the lower computer, the power module and the backend of the operation and maintenance system, and the DSP is connected to the lower computer.

[0028] In a specific embodiment, the communication module is a 4G communication module. In other embodiments, the communication module may also be a 4G communication module, a lora communication module, a NB-IOT communication module, and other communication modules that can connect the robot to the background of the operation and maintenance system.

[0029] In this embodiment, the host computer is the module in the vehicle system responsible for human-machine interaction, task management, task control, status reporting, and system communication. The host computer uses the Linux system and communicates with the lower computer and the communication module through the network port, and communicates with other components of the robot such as the DSP and the power module through the serial port.

[0030] The lower computer is the module in the vehicle system responsible for navigation, path calculation, sensor control, sensor signal processing, and robot motion command control. It uses the Linux system and communicates with the upper computer and communication module through the network port, and communicates with other robot devices such as DSP and power module through the serial port.

[0031] DSP uses embedded software system, which is the control command center of various sensors, motion motors, charging and other hardware of the robot. It compiles the navigation operation results of the lower computer into execution instructions and sends them to each execution module, and collects feedback information from each sensor and execution module and reports it to the lower computer. It is the lowest level command execution unit in the robot control system.

[0032] The power module is used to supply power to the robot, and it receives instructions from the DSP or the host computer and slave computer. By ensuring communication with the power module in abnormal situations, it is possible for the system to restart the host computer / slave computer of the robot through instructions.

[0033] In the traditional robot structure, a step-by-step communication method is usually used. That is, the host computer is the core of the vehicle system, and the background communicates with the host computer through the communication module. The host computer is the only window for interaction with the user and the robot master, completing the splitting of various data packets, order tasks, etc. and issuing tasks. The navigation and task instructions are communicated with the lower computer through the network port. The lower computer further calculates the navigation and task instructions, deduces the walking path of the automatic navigation, and disassembles various task instructions into execution actions, which are sent to the DSP. The DSP controls various execution hardware to complete the execution of the instruction actions.

[0034] In the traditional structure, the information transmission process is chain-like, encapsulated and parsed layer by layer. Once an abnormality occurs in any of the links, the robot's communication chain will inevitably be interrupted, the background display will be disconnected, and the robot will be completely lost. The hardware architecture of the robot in this application is split into different tasks, and the host computer, the slave computer, and the DSP controller are relatively independent, and the working states of each other are not affected by each other. Communication interfaces are added between different modules to ensure that after one of the parties loses contact, the background operation and maintenance system still maintains communication and electrical control capabilities with the robot, completes power outages, and restarts the business. In addition, by strictly regulating the communication packages of independent threads, the security of the entire chain of communications can be effectively guaranteed, greatly reducing the hidden dangers of network attacks caused by open communication ports. At the same time, DSP's own security mechanism can also effectively prevent the robot from being attacked by malicious networks.

[0035] In this embodiment, the robot abnormality automatic recovery method includes:

[0036] S101: The upper computer reports the current information of the robot. When one of the upper computer and the lower computer detects that the other is in an abnormal state, it issues an abnormal alarm and requests to restart the other. The current information of the robot includes position information and current task status.

[0037] In this embodiment, the host computer reports the current task state of the robot and the position of the robot at fixed time intervals, and the displacement of the robot within the fixed time interval is less than the maximum error of the robot repositioning.

[0038] Specifically, the upper computer reports the current robot's task status and the robot's location at a fixed interval. After receiving the regularly reported information, the background system records it and continuously monitors it. In each time interval of the reported position and status, the displacement generated by the robot is less than the maximum error that the robot can accept by obtaining the position sent by the background to re-acquire the positioning update. That is, the reported communication interval is less than the time required for the robot to pass the maximum error distance at the maximum speed.

[0039] In other embodiments, the host computer may also detect in real time the moving distance of the robot after each reporting of the robot's current information, and after detecting that the moving distance is greater than a preset value, report the robot's current information again, wherein the moving distance is less than the maximum error.

[0040] The upper computer and the lower computer continuously communicate with each other, and when the upper computer or the lower computer detects that the communication of the lower computer or the upper computer is abnormal, a secondary confirmation message is sent to the lower computer or the upper computer. If the correct response message is received, it is determined that the communication is restored. If the correct response message is not received, it is determined that the lower computer or the upper computer is in an abnormal state.

[0041] In this embodiment, the upper computer and the lower computer work independently, and detect the communication status of the other party by continuous communication between the two. If one of the parties monitors that the communication between the two is abnormal, it will enter the exception handling program. First, the independent thread of the upper computer or the lower computer that detects the abnormal communication status will initiate a secondary confirmation to the independent thread of the other party to determine whether a work interruption caused by the abnormality has occurred. If a correct response can be obtained, it means that the communication has been restored and the task can continue. If the correct response of the other party cannot be obtained, it can be determined that the working state of the other party has been abnormal and the task has been interrupted for some reason.

[0042] In this embodiment, the steps of issuing an abnormal alarm and applying to restart the lower computer or the upper computer specifically include: the upper computer or the lower computer reports the abnormal alarm to the background of the operation and maintenance system, and applies to control the lower computer or the upper computer to power off and restart through the power module.

[0043] In other embodiments, the upper computer or the lower computer may also request the background of the operation and maintenance system to send a restart instruction to the lower computer or the upper computer to control the lower computer or the upper computer to restart.

[0044] The step of the upper computer or the lower computer reporting the abnormal alarm to the background of the operation and maintenance system specifically includes: the upper computer or the lower computer reporting the abnormal alarm to the background of the operation and maintenance system through the communication module in the robot.

[0045] In a specific embodiment, the communication module is a 4G communication module. The normally working party of the upper computer and the lower computer reports abnormal alarms and abnormal logs to the background of the operation and maintenance system through an independent communication link with the 4G communication module, and applies to power off and restart the other party through the power module.

[0046] S102: The upper computer or the lower computer that issues the abnormal alarm obtains the position information of the robot, and determines whether to restart based on the position information and the received application feedback information. If so, S103 is executed; if not, the restart is terminated and manual intervention is waited for.

[0047] In this embodiment, the position information may be the current geographical location or spatial location of the robot, or the location of a device such as a manipulator used by the robot to perform a task. The position information is used to determine whether the robot can continue to perform the task.

[0048] The step of determining whether to restart based on the location information and the received application feedback information specifically includes: determining whether the error between the position corresponding to the location information and the position corresponding to the last reported location information is less than the maximum error and whether the application feedback information is information allowing restart; if so, determining to power off and restart through the power module; if not, determining not to power off and restart through the power module, and waiting for manual intervention.

[0049] In other embodiments, the host computer or the slave computer in an abnormal state may be restarted by sending a restart signal to the host computer or the slave computer.

[0050] In this embodiment, after the backend of the operation and maintenance system receives the alarm and application, it notifies the remote operation and maintenance monitoring personnel through the front end and other ports linked to the front end. The personnel determine the current situation, decide whether to perform the restart and recovery operation, and send the corresponding application feedback according to the content of the decision. The process can also be set to automatically send the application feedback for approving the execution of business restart when the set time limit is exceeded.

[0051] In one embodiment, the upper or lower computer in the robot that is working normally will detect the last reported position. If the robot is in an illegal position or an unplanned position, it can be regarded as being dragged by someone or stolen, and automatic restart cannot restore business. In this case, the operation and maintenance personnel can assign the nearest operation and maintenance personnel to go to the site to solve the reported problem. If the abnormal location is legal, it meets the conditions for restarting and restoring business.

[0052] S103: The lower computer or upper computer in an abnormal state is restarted, and the lower computer or upper computer obtains the current information of the robot after restarting, and continues to execute the task according to the current information of the robot.

[0053] In this embodiment, the upper computer or the lower computer restarts the lower computer or the upper computer in an abnormal state through the power module, or the power module receives a restart instruction through the communication module to restart the lower computer or the upper computer in an abnormal state.

[0054] In this embodiment, the step of the lower computer or the upper computer obtaining the current information of the robot after restarting specifically includes: the lower computer or the upper computer obtains the last uploaded current information of the robot transmitted by the background of the operation and maintenance system through the communication module.

[0055] Specifically, after power failure and restart, the restarted upper / lower computer obtains the robot's task status before the exception occurs through state caching or background delivery, performs calculations and task path planning based on the status, and recalculates the driving path or executes actions based on the current position, so that the interrupted business can be restored and enter the normal task monitoring cycle.

[0056] Through the above method, the robot can automatically recover the service from the abnormality of the vehicle computer without human intervention.

[0057] In this embodiment, after the upper computer or the lower computer restarts the other party (lower computer or upper computer) in an abnormal state through the power module, it detects again whether the communication between the two has returned to normal. If the communication is still not detected to be restored to normal after a preset time period (1 minute, 30 seconds, or other time), it applies again to power off and restart the other party through the power module until the number of restarts reaches the preset number, and sends an alarm message that it cannot be automatically restored.

[0058] Beneficial effect: The robot abnormality automatic recovery method of the present invention reports the robot's position information and current task status to the upper computer, and enables the upper computer and the lower computer to detect each other's status. When the other party is in an abnormal state, the power module is controlled to restart the other party, and after restarting, the task is continued according to the reported position information and current task status. When the robot has an abnormality, the abnormal state can be automatically restored, reducing the need for on-site processing by engineers, improving processing speed and efficiency, and reducing labor costs and robot use costs.

[0059] Based on the same inventive concept, the present invention also proposes a robot, see Figure 4 , Figure 4 This is a structural diagram of an embodiment of the robot of the present invention, combined with Figure 4 The robot of the present invention will be described.

[0060] In this embodiment, the robot includes a power module, a host computer, and a host computer that are interconnected, and the power module, the host computer, and the host computer are respectively connected to the background communication of the operation and maintenance system. The robot executes the robot abnormality automatic recovery method described in the above embodiment through the power module, the host computer, and the lower computer.

[0061] In this embodiment, the robot is a service robot used in various production and life. The robot is connected to the backend of the operation and maintenance system, and the operation and maintenance system supports the robot to work.

[0062] Among them, the operation and maintenance system targets the operation, maintenance, and after-sales management of all projects, and conducts research on the operation and maintenance business process system for the robot operation and maintenance team's needs for monitoring, statistics, and maintenance of project operations, with the goal of achieving a full closed loop of project operation and maintenance, and realizing information-based, intelligent, and efficient operation and maintenance services. It includes functions such as authority management, order management, work order management, data statistics, intelligent body management, intelligent body monitoring and control, and an operation and maintenance large screen.

[0063] Specifically, the operation and maintenance system includes the front desk and the back desk. The front desk is a platform for the operation and maintenance system and the operation and maintenance personnel to complete the interaction and realize the distribution and management of functions such as equipment monitoring, work order management, and remote upgrade. The robot reports abnormal conditions and restarts the self-recovery application (if the recovery application is enabled) to the operation and maintenance system. After the back-end personnel confirm the current situation and approve the application, the robot's automatic self-recovery process is started. The front desk can be connected to other information push platforms through external interfaces, such as corporate WeChat. It is ensured that the alarm information and recovery application can still be delivered when the operation and maintenance personnel are not monitoring at the front desk. After the information push exceeds the preset setting time, the robot can enter the self-recovery process by itself if the self-recovery conditions are met. The back desk is the interface for the operation and maintenance system and the robot to realize communication. The back desk completes the management and monitoring of current tasks and historical tasks, the management of work orders, and the statistics of data. It is the source of information reporting and the channel for issuing instructions for the front desk. The back desk and the robot communicate through the network interface.

[0064] In this embodiment, the robot further includes a communication module and a DSP. The communication module is respectively connected to the upper computer, the lower computer, the power module and the backend of the operation and maintenance system, and the DSP is connected to the lower computer.

[0065] In a specific embodiment, the communication module is a 4G communication module. In other embodiments, the communication module may also be a 4G communication module, a lora communication module, a NB-IOT communication module, and other communication modules that can connect the robot to the background of the operation and maintenance system.

[0066] In this embodiment, the host computer is the module in the vehicle system responsible for human-machine interaction, task management, task control, status reporting, and system communication. The host computer uses the Linux system and communicates with the lower computer and the communication module through the network port, and communicates with other components of the robot such as the DSP and the power module through the serial port.

[0067] The lower computer is the module in the vehicle system responsible for navigation, path calculation, sensor control, sensor signal processing, and robot motion command control. It uses the Linux system and communicates with the upper computer and communication module through the network port, and communicates with other robot devices such as DSP and power module through the serial port.

[0068] DSP uses embedded software system, which is the control command center of various sensors, motion motors, charging and other hardware of the robot. It compiles the navigation operation results of the lower computer into execution instructions and sends them to each execution module, and collects feedback information from each sensor and execution module and reports it to the lower computer. It is the lowest level command execution unit in the robot control system.

[0069] The power module is used to supply power to the robot, and it receives instructions from the DSP or the host computer and slave computer. By ensuring communication with the power module in abnormal situations, it is possible for the system to restart the host computer / slave computer of the robot through instructions.

[0070] In the traditional robot structure, a step-by-step communication method is usually used. That is, the host computer is the core of the vehicle system, and the background communicates with the host computer through the communication module. The host computer is the only window for interaction with the user and the robot master, completing the splitting of various data packets, order tasks, etc. and issuing tasks. The navigation and task instructions are communicated with the lower computer through the network port. The lower computer further calculates the navigation and task instructions, deduces the walking path of the automatic navigation, and disassembles various task instructions into execution actions, which are sent to the DSP. The DSP controls various execution hardware to complete the execution of the instruction actions.

[0071] In the traditional structure, the information transmission process is chain-like, encapsulated and parsed layer by layer. Once an abnormality occurs in any of the links, the robot's communication chain will inevitably be interrupted, the background display will be disconnected, and the robot will be completely lost. The hardware architecture of the robot in this application is split into different tasks, and the host computer, the slave computer, and the DSP controller are relatively independent, and the working states of each other are not affected by each other. Communication interfaces are added between different modules to ensure that after one of the parties loses contact, the background operation and maintenance system still maintains communication and electrical control capabilities with the robot, completes power outages, and restarts the business. In addition, by strictly regulating the communication packages of independent threads, the security of the entire chain of communications can be effectively guaranteed, greatly reducing the hidden dangers of network attacks caused by open communication ports. At the same time, DSP's own security mechanism can also effectively prevent the robot from being attacked by malicious networks.

[0072] Based on the same inventive concept, the present invention also proposes a robot system, see Figure 5 , Figure 5 5 is a structural diagram of an embodiment of the robot system of the present invention, and the robot system of the present invention is described in conjunction with FIG.

[0073] In this embodiment, the robot system includes a robot and an operation and maintenance system. The robot is connected to the background communication of the operation and maintenance system. The robot includes the robot described in the above embodiment.

[0074] Among them, the robot is connected to the background communication of the operation and maintenance system, and the operation and maintenance system supports the work of the robot.

[0075] Among them, the operation and maintenance system targets the operation, maintenance, and after-sales management of all projects, and conducts research on the operation and maintenance business process system for the robot operation and maintenance team's needs for monitoring, statistics, and maintenance of project operations, with the goal of achieving a full closed loop of project operation and maintenance, and realizing information-based, intelligent, and efficient operation and maintenance services. It includes functions such as authority management, order management, work order management, data statistics, intelligent body management, intelligent body monitoring and control, and an operation and maintenance large screen.

[0076] Specifically, the operation and maintenance system includes the front desk and the back desk. The front desk is a platform for the operation and maintenance system and the operation and maintenance personnel to complete the interaction and realize the distribution and management of functions such as equipment monitoring, work order management, and remote upgrade. The robot reports abnormal conditions and restarts the self-recovery application (if the recovery application is enabled) to the operation and maintenance system. After the back-end personnel confirm the current situation and approve the application, the robot's automatic self-recovery process is started. The front desk can be connected to other information push platforms through external interfaces, such as corporate WeChat. It is ensured that the alarm information and recovery application can still be delivered when the operation and maintenance personnel are not monitoring at the front desk. After the information push exceeds the preset setting time, the robot can enter the self-recovery process by itself if the self-recovery conditions are met. The back desk is the interface for the operation and maintenance system and the robot to realize communication. The back desk completes the management and monitoring of current tasks and historical tasks, the management of work orders, and the statistics of data. It is the source of information reporting and the channel for issuing instructions for the front desk. The back desk and the robot communicate through the network interface.

[0077] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0078] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A robot abnormality automatic recovery method, characterized in that: include: S101: The upper computer reports the current information of the robot, including: the upper computer reports the current task state of the robot and the position of the robot at a fixed time interval, the displacement of the robot within the fixed time interval is less than the maximum error of the robot repositioning, and when one of the upper computer and the lower computer detects that the other is in an abnormal state, it issues an abnormal alarm and applies to restart the other, and the current information of the robot includes position information and current task state; S102: The upper computer or the lower computer that performs the abnormal alarm obtains the position information of the robot, and determines whether to restart according to the position information and the received application feedback information, including: determining whether the error between the position corresponding to the position information and the position corresponding to the position information reported last time is less than the maximum error and the application feedback information is information that allows restart; if so, determining to power off and restart through the power module; if not, determining not to power off and restart through the power module, if so, executing S103, if not, ending the restart and waiting for manual intervention; S103: Restarting the lower computer or upper computer in an abnormal state, the lower computer or upper computer obtains the current information of the robot after restarting, and continues to execute the task according to the current information of the robot.

2. The robot abnormality automatic recovery method according to claim 1, characterized in that: The upper computer and the lower computer communicate continuously, and when the upper computer or the lower computer detects that the communication of the lower computer or the upper computer is abnormal, a secondary confirmation message is sent to the lower computer or the upper computer. If the correct response message is received, it is determined that the communication is restored. If the correct response message is not received, it is determined that the lower computer or the upper computer is in an abnormal state.

3. The robot abnormality automatic recovery method according to claim 1, characterized in that: The steps of issuing an abnormal alarm and applying to restart the other party specifically include: The upper computer or the lower computer reports an abnormal alarm to the background of the operation and maintenance system, and applies to control the lower computer or the upper computer to power off and restart through the power module.

4. The robot abnormality automatic recovery method according to claim 3, characterized in that: The step of the upper computer or the lower computer reporting an abnormal alarm to the backend of the operation and maintenance system specifically includes: The upper computer or the lower computer reports an abnormal alarm to the background of the operation and maintenance system through the communication module in the robot.

5. The robot abnormality automatic recovery method according to claim 4, characterized in that: The steps of obtaining the current information of the robot after the lower computer or the upper computer is restarted specifically include: The lower computer or the upper computer obtains the last uploaded current information of the robot transmitted by the background of the operation and maintenance system through the communication module.

6. The robot abnormality automatic recovery method according to claim 4, characterized in that: The upper computer or the lower computer restarts the lower computer or the upper computer in an abnormal state through the power module, or the power module receives a restart instruction through the communication module to restart the lower computer or the upper computer in an abnormal state.

7. A robot, characterized in that: It includes a power module, a host computer, and a lower computer that are interconnected, and the power module, the host computer, and the upper computer are respectively connected to the background communication of the operation and maintenance system. The robot executes the robot abnormality automatic recovery method as described in any one of claims 1-6 through the power module, the host computer, and the lower computer.

8. A robot system, characterized in that: The robot system includes a robot and an operation and maintenance system. The robot is connected to the backend of the operation and maintenance system for communication. The robot includes the robot as described in claim 7.

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