Motor fault processing method, robot and computer-readable storage medium

Abstract

The present invention relates to the field of unmanned robot technology, and more particularly to a method for handling motor failures, a robot, and a computer-readable storage medium. The method comprises: upon receiving a motor error signal, determining the robot's current location and the fault level corresponding to the error signal; determining a corresponding fault recovery strategy based on the location and fault level; and controlling the robot to execute motor fault recovery actions based on the fault recovery strategy. By setting an automatic recovery strategy after a motor error, the motor's operation is automatically restored based on the on-site environment and the error level after the error occurs, thereby achieving the technical effect of reducing the occurrence of error events and resolving the problem of low robot efficiency caused by the robot shutting down due to motor errors.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned robots, and in particular to a method for processing motor failure, a robot, and a computer-readable storage medium. Background Art

[0002] With technological advancements, more and more service robots have been developed and used in diverse scenarios, such as food delivery, welcoming guests, and patrolling. As the core component of robot mobility, the stability of the motor is crucial for the robot's mission execution. As robots are used in a wider range of scenarios, the environmental differences are also increasing. For example, robots face a variety of slopes, bumps, and elevators, placing increasing demands on the motor's adaptability.

[0003] In related technologies, when an abnormality occurs in the motor state, the motor controller will report an error based on the abnormality. After the motor reports an error, the motor will stop running immediately, and human intervention is required to reset the motor or power it off and restart before the motor can continue to operate.

[0004] However, the motor's error shutdown is often to protect the safety of the motor itself, to avoid damage to the motor due to continued operation in an abnormal state, rather than a failure of the motor itself. Therefore, when the motor stops working due to a short abnormal error in certain scenarios, it will cause the robot's work to be interrupted, affecting the robot's work efficiency.

[0005] The above content is only used to assist in understanding the technical solution of the present invention and does not constitute an admission that the above content is prior art. Summary of the Invention

[0006] The main purpose of the present invention is to provide a method for handling motor failures, aiming to solve the problem of low working efficiency of robots caused by motor errors.

[0007] To achieve the above objectives, the present invention provides a method for handling a motor fault, the method comprising:

[0008] Upon receiving an error signal from the motor, determining the current location of the robot and the fault level corresponding to the error signal;

[0009] Determining a corresponding fault recovery strategy according to the location area and the fault level;

[0010] The robot is controlled to perform motor fault recovery actions according to the fault recovery strategy.

[0011] Optionally, the step of determining the location area of ​​the robot's current location and the fault level corresponding to the error signal includes:

[0012] Obtaining the current location of the robot in the map, and obtaining a preset error code in the error signal;

[0013] The location area is determined according to the location, and the fault level is determined according to the preset error code.

[0014] Optionally, the fault level includes a primary error level, a secondary error level, and a tertiary error level; the location area includes a first fault area, a second fault area, a third fault area, and a fourth fault area; the fault recovery strategy includes a non-stop power recovery strategy, a short power outage recovery strategy, and a long power outage recovery strategy; and the step of determining a corresponding fault recovery strategy based on the location area and the fault level includes:

[0015] When the fault level is the third error level, and the location area is the first fault area, the second fault area, the third fault area, or the fourth fault area, determining that the fault recovery strategy is the uninterruptible power recovery strategy;

[0016] When the fault level is the secondary error level and the location area is not the first fault area, determining that the fault recovery strategy is at least one of the uninterrupted power recovery strategy, the short power outage recovery strategy, and the long power outage recovery strategy;

[0017] When the fault level is the first error level and the location area is the fourth fault area, the fault recovery strategy is determined to be the uninterruptible power recovery strategy.

[0018] Optionally, the fault recovery strategy includes the uninterruptible power recovery strategy, and the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy includes:

[0019] Sending a reset instruction to the motor driver to reset the motor;

[0020] When the motor driver no longer sends the error signal after receiving the reset instruction, it is determined that the motor fault is successfully recovered;

[0021] After determining that the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0022] Optionally, the fault recovery strategy includes the short-time power failure recovery strategy, and the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy includes:

[0023] Sending a shutdown command to the motor driver to stop the motor;

[0024] determining a sending time of the shutdown instruction, and when the sending time exceeds a first time threshold, sending a power-on instruction to the motor driver so that the motor continues to operate according to the power-on instruction, wherein, during the period when the motor stops operating, the position of the robot is monitored by radar and inertial sensors;

[0025] When the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered;

[0026] After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0027] Optionally, the fault recovery strategy includes the long power outage recovery strategy, and the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy includes:

[0028] Sending a shutdown command to the motor driver to stop the motor;

[0029] determining a sending time of the shutdown instruction, and when the sending time of the shutdown instruction exceeds a second time threshold, sending a power-on instruction to the motor driver so that the motor driver continues to operate according to the power-on instruction, wherein, during the period when the motor stops operating, the position of the robot is monitored by radar data and inertial sensor data;

[0030] When the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered;

[0031] After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0032] Optionally, before the step of determining the current location of the robot and the fault level corresponding to the error signal, the method further includes:

[0033] Obtaining an operating current and / or an operating temperature of the motor;

[0034] When the operating current is greater than a preset current threshold and / or when the operating temperature is greater than a preset temperature threshold, reporting abnormal information and determining a number of times the abnormal information is reported;

[0035] The current working state of the motor is detected according to the abnormal information, and whether the motor is in a fault state is determined according to the current working state and the number of reports.

[0036] Optionally, after the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy, the method further includes:

[0037] If the fault recovery strategy cannot be executed and / or the error signal is still received after executing the fault recovery strategy, the number of revolutions of the motor is set to zero and a motor shaft lock command is sent, the error signal is reported and the position, time and error code corresponding to the motor fault are obtained, and the position, time and error code corresponding to the error signal are sent to the control terminal.

[0038] In addition, to achieve the above-mentioned purpose, the present invention also provides a robot, which includes: a memory, a processor, and a motor fault processing program stored in the memory and runnable on the processor. When the motor fault processing program is executed by the processor, the steps of the motor fault processing method described in any one of the above items are implemented.

[0039] In addition, to achieve the above-mentioned purpose, the present invention also provides a computer-readable storage medium, on which a motor fault processing program is stored. When the motor fault processing program is executed by a processor, the steps of the motor fault processing method as described in any one of the above items are implemented.

[0040] An embodiment of the present invention provides a method for handling motor faults, a robot, and a computer-readable storage medium. When a motor error signal is received, the method determines the current location of the robot and the fault level corresponding to the error signal. Then, based on the location and fault level, the method determines whether the motor fault is a recoverable fault. When the motor fault is a recoverable fault, the method controls the lower, middle, and upper computers of the robot to perform fault recovery processing on the motor according to the fault recovery strategy corresponding to the recoverable fault. By setting an automatic recovery strategy after a motor error, the motor operation can be automatically restored according to the on-site environment after the error is reported without human intervention, and timely processing measures are given to reduce the occurrence of fault reporting events. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 A schematic diagram of the hardware architecture of a motor fault processing device according to an embodiment of the present invention;

[0042] Figure 2 1 is a flow chart of a first embodiment of a method for handling motor failure according to the present invention;

[0043] Figure 3 This is a detailed flowchart of step S10 in the second embodiment of the method for handling motor failure of the present invention;

[0044] Figure 4 1 is a flow chart of a third embodiment of a method for handling motor failure according to the present invention;

[0045] Figure 5 This is a detailed flowchart of step S30 in the fourth embodiment of the method for handling motor failure of the present invention;

[0046] Figure 6 This is a detailed flowchart of step S30 in the fifth embodiment of the method for handling motor failure of the present invention;

[0047] Figure 7 This is a detailed flowchart of step S30 in the sixth embodiment of the method for handling motor failure of the present invention;

[0048] Figure 8 FIG1 is a flow chart of a seventh embodiment of a method for handling motor failure according to the present invention;

[0049] Figure 9 1 is a flow chart of an eighth embodiment of a method for handling motor failure according to the present invention;

[0050] Figure 10 Schematic diagram of the architecture of the robot system of the present invention.

[0051] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0052] It should be understood that the drawings of the present invention show exemplary embodiments of the present invention, and that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0053] As an implementation solution, the motor fault processing device can be as follows Figure 1 shown.

[0054] The embodiment of the present invention relates to a hardware device for handling motor faults, which includes a processor 101, such as a CPU, a memory 102, and a communication bus 103. The communication bus 103 is used to achieve connection and communication between these components.

[0055] The memory 102 may be a high-speed RAM memory or a stable memory (non-volatile memory), such as a disk memory. Figure 1As shown, the memory 102 as a computer-readable storage medium may include a motor fault processing program; and the processor 101 may be used to call the motor fault processing program stored in the memory 102 and perform the following operations:

[0056] Upon receiving an error signal from the motor, determining the current location of the robot and the fault level corresponding to the error signal;

[0057] Determining a corresponding fault recovery strategy according to the location area and the fault level;

[0058] The robot is controlled to perform motor fault recovery actions according to the fault recovery strategy.

[0059] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0060] Obtaining the current location of the robot in the map, and obtaining a preset error code in the error signal;

[0061] The location area is determined according to the location, and the fault level is determined according to the preset error code.

[0062] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0063] When the fault level is the third error level, and the location area is the first fault area, the second fault area, the third fault area, or the fourth fault area, determining that the fault recovery strategy is the uninterruptible power recovery strategy;

[0064] When the fault level is the secondary error level and the location area is not the first fault area, determining that the fault recovery strategy is at least one of the uninterrupted power recovery strategy, the short power outage recovery strategy, and the long power outage recovery strategy;

[0065] When the fault level is the first error level and the location area is the fourth fault area, the fault recovery strategy is determined to be the uninterruptible power recovery strategy.

[0066] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0067] Sending a reset instruction to the motor driver to reset the motor;

[0068] When the motor driver no longer sends the error signal after receiving the reset instruction, it is determined that the motor fault is successfully recovered;

[0069] After determining that the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0070] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0071] Sending a shutdown command to the motor driver to stop the motor;

[0072] determining a sending time of the shutdown instruction, and when the sending time exceeds a first time threshold, sending a power-on instruction to the motor driver so that the motor continues to operate according to the power-on instruction, wherein, during the period when the motor stops operating, the position of the robot is monitored by radar and inertial sensors;

[0073] When the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered;

[0074] After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0075] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0076] Sending a shutdown command to the motor driver to stop the motor;

[0077] determining a sending time of the shutdown instruction, and when the sending time of the shutdown instruction exceeds a second time threshold, sending a power-on instruction to the motor driver so that the motor driver continues to operate according to the power-on instruction, wherein, during the period when the motor stops operating, the position of the robot is monitored by radar data and inertial sensor data;

[0078] When the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered;

[0079] After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0080] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0081] Obtaining an operating current and / or an operating temperature of the motor;

[0082] When the operating current is greater than a preset current threshold and / or when the operating temperature is greater than a preset temperature threshold, reporting abnormal information and determining a number of times the abnormal information is reported;

[0083] The current working state of the motor is detected according to the abnormal information, and whether the motor is in a fault state is determined according to the current working state and the number of reports.

[0084] In one embodiment, the processor 101 may be configured to call a motor fault processing program stored in the memory 102 and perform the following operations:

[0085] If the fault recovery strategy cannot be executed and / or the error signal is still received after executing the fault recovery strategy, the number of revolutions of the motor is set to zero and a motor shaft lock command is sent, the error signal is reported and the position, time and error code corresponding to the motor fault are obtained, and the position, time and error code corresponding to the error signal are sent to the control terminal.

[0086] Based on the hardware architecture of the above-mentioned motor fault processing device based on unmanned robot technology, an embodiment of the motor fault processing method of the present invention is proposed.

[0087] Reference Figure 2 In a first embodiment, the method for handling a motor failure includes the following steps:

[0088] Step S10, upon receiving the error signal from the motor, determining the current location of the robot and the fault level corresponding to the error signal;

[0089] In this embodiment, during the operation of the robot, when the motor reports an error, the position of the robot's motor when the fault occurs is first determined, and at the same time, the fault level in the error signal is determined. The fault level is the error level divided according to different motor error types in this solution.

[0090] Step S20, determining a corresponding fault recovery strategy according to the location area and the fault level;

[0091] In this embodiment, after the current location area and fault level of the robot are determined, a fault recovery strategy corresponding to the fault level is determined.

[0092] Optionally, before determining the fault recovery strategy, a determination may be made as to whether the robot's position area is a safe recovery area. A safety factor is defined, and the determination of whether the position area is capable of safe fault recovery is made based on the safety factor. The safety factor includes environmental parameters related to motor safe fault recovery. For example, the environmental parameters may include, but are not limited to, ambient temperature, ambient humidity, ground inclination, and obstacle distance (spaciousness). These environmental parameters are used to determine whether the safety factor of the current position area meets the safe recovery conditions under the current fault level. If so, the position area is determined to be a safe fault recovery area.

[0093] Step S30: controlling the robot to perform motor fault recovery actions according to the fault recovery strategy.

[0094] In this embodiment, when the location area is confirmed to be the target area, the fault recovery strategy corresponding to the fault level is called to control the robot to perform corresponding fault recovery processing according to the fault recovery strategy.

[0095] In the technical solution provided in this embodiment, by classifying faults into levels and classifying the areas where faults occur into regions, when the fault area is the target area under the fault level, it is determined that the current area is relatively safe and the fault can be recovered by the robot itself. Without the need for human intervention, the motor operation can be automatically restored, avoiding the robot stopping due to motor false alarms and delaying the task in progress, thereby improving the work efficiency of the robot during operation.

[0096] Reference Figure 3 In the second embodiment, based on the first embodiment, step S10 includes:

[0097] Step S11, obtaining the current position of the robot in the map, and obtaining a preset error code in the error signal;

[0098] Step S12: determining the location area according to the location, and determining the fault level according to the preset error code.

[0099] Optionally, this embodiment provides a method for determining the position area and fault level. In this embodiment, the robot's mid-position machine determines the robot's positioning through radar and inertial sensors, and determines the fault level corresponding to the fault condition through a preset error code in the error signal.

[0100] In the technical solution provided in this embodiment, by obtaining the current position of the robot in the map, determining the position area based on the position, and then determining the fault level based on the preset error code in the error signal, the intermediate computer can determine the current position of the robot and the level classification information of the fault.

[0101] Reference Figure 4 In the third embodiment, based on the first embodiment, step S20 includes:

[0102] Step S21: When the fault level is the third error level and the location area is the first fault area, the second fault area, the third fault area, or the fourth fault area, determining that the fault recovery strategy is the uninterruptible power recovery strategy;

[0103] Step S22: When the fault level is the secondary error level and the location area is not the first fault area, determining that the fault recovery strategy is at least one of the uninterrupted power recovery strategy, the short power outage recovery strategy, and the long power outage recovery strategy;

[0104] Step S23: When the fault level is the first error level and the location area is the fourth fault area, determining that the fault recovery strategy is the uninterruptible power recovery strategy.

[0105] Optionally, this embodiment provides a method for determining a corresponding fault recovery strategy based on the error level and the location area. In this embodiment, the error level is divided into three levels of different priorities, which are divided in descending order of priority into: a first error level, a second error level, and a third error level. The location area is also divided into four categories of areas, which are divided into a first fault area, a second fault area, a third fault area, and a fourth fault area according to the environmental complexity of the location area.

[0106] For example, according to the common working positions of the service robot, the location areas are divided into the first fault area A on the slope, the second fault area B at the elevator entrance or in the elevator, the third fault area C at the charging pile, and the fourth fault area D at an open, flat area.

[0107] When the error level reaches level 1, there is a high risk of recovery in any area. After the lower computer receives the error event, it first stops the motor with a normal shaft lock and then reports the error code to the intermediate computer. The intermediate computer evaluates the robot's location based on the map and positioning information. If the robot is in area A, B, or C, recovery is impossible even if the error is reported. If the robot is in area D, the corresponding scheduling recovery strategy for level 1 error is used for recovery.

[0108] When the error level is level 2, this level of error only poses a greater risk in special areas. Outside of special areas, the risk is relatively controllable. The lower computer cannot recover on its own. When it is determined that the robot is in areas B, C, or D, the corresponding recovery strategy under the level 2 error level is dispatched for recovery.

[0109] When the error level is level three, the risk is low. No matter which of the four areas the fault area is located in, the lower computer can directly recover after the error is reported.

[0110] In the technical solution provided by this embodiment, fault levels are divided into three levels and location areas into four types. Corresponding fault recovery strategies are determined based on the fault levels and location areas. By classifying faults by level and further categorizing the fault location areas, safety hazards during motor error recovery are reduced.

[0111] Reference Figure 5 In a fourth embodiment, based on any one of the embodiments, step S30 includes:

[0112] Step S31, sending a reset instruction to the motor driver to reset the motor;

[0113] Step S32: When the motor driver no longer sends the error signal after receiving the reset instruction, it is determined that the motor fault is successfully recovered;

[0114] Step S33: After determining that the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to a control terminal.

[0115] Optionally, this embodiment provides a fault recovery strategy, which includes an uninterruptible power recovery strategy. When the area where the robot is located is relatively safe and the fault level is low, the uninterruptible power recovery strategy can be adopted.

[0116] For example, the lower computer is first allowed to perform a recovery operation, and an abnormal recovery is performed according to the recovery method pre-set by the error code. When the recovery is successful, the machine continues to perform the task, and the upper computer records the type, event, and location of the error event, and reports it to the network manager; when the recovery fails, the information of the recovery failure of the intermediate computer and the upper computer is reported, and the intermediate computer notifies the lower computer to perform another short power outage recovery. During the recovery process, the intermediate computer will monitor the radar data and inertial sensor data to prevent abnormal movement of the robot during the recovery period, causing position offset and safety hazards. If the motor is powered on again, the machine can return to normal and the robot continues to perform the task. If it still cannot return to normal, it is considered that the robot fault cannot be recovered, and the robot will stop the task and report to the upper computer. The upper computer records the type, event, and location of the error, reports it to the network manager, and notifies human intervention.

[0117] In the technical solution provided by this embodiment, an error is reported by directly sending a reset signal to the lower computer, and after the reset is successful, the error-related information is reported. By classifying the error reporting strategy, the motor can be automatically recovered, reducing the safety risks of the motor error recovery process.

[0118] Reference Figure 6 In the fifth embodiment, based on the first embodiment, step S30 further includes:

[0119] Step S34, sending a shutdown command to the motor driver to stop the motor;

[0120] Step S35, determining a sending time of the shutdown instruction, and when the sending time exceeds a first time threshold, sending a power-on instruction to the motor driver so that the motor continues to operate according to the power-on instruction;

[0121] Step S36, when the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered;

[0122] Step S37: After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

[0123] Optionally, this embodiment provides another fault recovery strategy, which includes a short power failure recovery strategy, that is, sending a power on / off command with a short time interval (which may be 3S) to the motor to restore the motor by briefly shutting down and restarting.

[0124] For example, the lower computer is not allowed to perform recovery operations directly, and it needs to report error information to the intermediate computer. After the intermediate computer receives the motor error report, it first evaluates the area where the robot is located. When it is not in the dangerous area, it allows the lower computer to perform a software reset of the motor controller without power failure. If the error code disappears, the lower computer reports the disappearance of the motor error code in real time. After receiving the message that the error code disappears, the intermediate computer issues a low-speed forward command and reads the motor speed data fed back by the lower computer in real time. When there is no abnormality within a certain distance when the motor runs, it is considered that the recovery is successful and the task continues to be executed. When the soft recovery of the lower machine fails, the middle machine will notify the lower machine to perform another short power-off recovery. During the recovery process, the middle machine will monitor the radar data and inertial sensor data to prevent the robot from moving abnormally during the recovery period, causing position offset and safety hazards. If the motor is powered on again, the machine can return to normal and the robot continues to perform the task. If it still cannot return to normal, the middle machine will notify the lower machine to perform another long power-off operation due to some errors. During the recovery process, the middle machine will monitor the radar data and inertial sensor data to prevent the robot from moving abnormally during the recovery period, causing position offset and safety hazards. If the motor is powered on again, the machine can return to normal and the robot continues to perform the task.

[0125] In the technical solution provided in this embodiment, a power on / off command with a short time interval is sent to the motor to restore the motor through a short shutdown and restart. The motor is automatically recovered by classifying the error reporting strategies, thereby reducing the safety hazards of the motor error recovery process.

[0126] Reference Figure 7 In the sixth embodiment, based on the first embodiment, step S30 further includes:

[0127] Step S38, sending a shutdown command to the motor driver to stop the motor;

[0128] Step S39, determining the sending time of the shutdown instruction, and when the sending time of the shutdown instruction exceeds a second time threshold, sending a power-on instruction to the motor driver, so that the motor driver continues to operate according to the power-on instruction;

[0129] Step S310, when the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered;

[0130] Step S311 , after the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to a control terminal.

[0131] Optionally, this embodiment provides another fault recovery strategy, which includes a long power failure recovery strategy, that is, sending a power on / off instruction with a longer time interval (which may be 10S) to the motor to recover the motor through a longer shutdown and restart.

[0132] For example, the lower computer is not allowed to directly perform recovery operations and must report the error information to the intermediate computer. After receiving the motor error report, the intermediate computer first assesses the robot's location. If it is in a high-risk area, recovery is not allowed. The upper computer records the error type, event, and location, reports it to the network administrator, and notifies human intervention. In a low-risk area, the lower computer is first allowed to perform a software reset of the motor controller without powering on. If the error code disappears, the lower computer reports the disappearance of the motor error code in real time. After receiving the message that the error code has disappeared, the intermediate computer issues a low-speed forward command and reads the motor speed data fed back by the lower computer in real time. If the motor runs within a certain distance without abnormalities, the recovery is considered successful and the task continues. If the lower computer's soft recovery fails, the intermediate computer notifies the lower computer to perform another short power-off recovery. During the recovery process, the intermediate computer continuously monitors radar and inertial sensor data to prevent abnormal robot movement during the recovery period, causing position deviation and safety hazards. If the motor is powered on again, the machine can return to normal and the robot can continue to perform the task. If it still cannot return to normal, the intermediate machine will notify the lower machine to perform another long-term power-off operation. During the recovery process, the intermediate machine will continue to monitor the radar data and inertial sensor data to prevent abnormal movement of the robot during the recovery period, causing position offset and safety hazards. If the motor is powered on again, the machine can return to normal and the robot can continue to perform the task.

[0133] In the technical solution provided by this embodiment, a long-interval power-on / off command is sent to the motor to restore the motor through a short shutdown and restart. Automatic motor recovery is achieved by classifying error reporting strategies, reducing the safety risks of the motor error recovery process.

[0134] Reference Figure 8 In the seventh embodiment, based on the first embodiment, before step S10, the method further includes:

[0135] Step S70, obtaining the operating current and / or operating temperature of the motor;

[0136] Step S80: When the operating current is greater than a preset current threshold and / or when the operating temperature is greater than a preset temperature threshold, reporting abnormal information to the intermediate computer, and determining a number of times the abnormal information is reported;

[0137] Step S90: detecting the current working state of the motor according to the abnormal information, and determining whether the motor is in a fault state according to the current working state and the number of reports.

[0138] Optionally, this embodiment provides an early warning method for error reporting. In this embodiment, based on the error reporting that has occurred, the potential hidden dangers of the motor are estimated. Based on the number of error reporting times and the error reporting type over a period of time, the potential hidden dangers of the motor are estimated.

[0139] For example, based on the status information such as the motor current, it is predicted that the motor may be about to report an error, and adjustments can be made in time without human intervention to avoid the error. The sensor inside the motor is sensitive to temperature. If the temperature exceeds the temperature threshold in the sensor, an error will occur. For example, when the robot is charging on a charging pile, the normal motor current is not very large and will not affect the heating of the motor, so it is extremely difficult to report an error. However, if the pile position is not correct, a large current will appear in the motor. When the high current state continues, it will cause the motor temperature to rise and cause an error. During the charging process, the lower computer can monitor the motor current during the charging process. If it is significantly greater than the normal charging current, it can notify the upper computer to try to de-pile once and then re-pile. This can effectively reduce the occurrence of pile pushing and effectively avoid errors caused by temperature rise caused by pile pushing.

[0140] In the technical solution provided in this embodiment, by setting a warning condition and monitoring the real-time changes of the motor, a warning is issued before the motor has an abnormal condition, avoiding the motor from reporting an error and shutting down due to an abnormal condition, thereby improving the work efficiency of the robot during operation.

[0141] Reference Figure 9 In the eighth embodiment, based on the first embodiment, after step S30, the method further includes:

[0142] Step S100: If the fault recovery strategy cannot be executed and / or the error signal is still received after executing the fault recovery strategy, the number of revolutions of the motor is set to zero and a motor shaft lock command is sent, the error signal is reported and the position, time and error code corresponding to the motor fault are obtained, and the position, time and error code corresponding to the error signal are sent to the control terminal.

[0143] Optionally, in this embodiment, when the fault recovery strategy cannot be executed, and / or the error signal is still received after the fault recovery strategy is executed, the motor shaft is locked to stop the robot, and the location, time and error code corresponding to the motor fault are obtained, and these error messages are reported to the control terminal to notify the staff to conduct on-site maintenance and inspection.

[0144] In the technical solution provided in this embodiment, when the robot is unable to execute the fault recovery strategy, and / or still receives the error signal after executing the fault recovery strategy, it is determined that the robot is unable to automatically recover the error, the robot is locked and reported to the control terminal to notify the staff to handle it, thereby reducing the safety hazards of the motor error recovery process.

[0145] In addition, refer to Figure 10 , Figure 10 The schematic diagram of the robot system in the present invention is shown. The robot system is mainly composed of a host computer, a middle computer, and a lower computer. The host computer is mainly responsible for human-machine interaction, error event recording, statistics, and uploading to the network management system; the middle computer's main function is navigation and positioning. The middle computer has a variety of sensors, has a strong perception of the environment and machine status, and has a high degree of intelligence. When a motor error occurs, the middle computer can assess the robot's location in the area, and can use radar, inertial sensors and other sensors to comprehensively monitor and evaluate the motor recovery process and effect. If an abnormality is found in the recovery process, the lower computer and other processors will be notified immediately, and the recovery will be terminated immediately. In the robot system, the lower computer is mainly responsible for motor-related control. Its tasks are relatively simple and it has a fast response. After receiving the angular velocity and linear velocity instructions from the middle computer, it converts them into linear velocity and sends them to the left and right wheel motors. It also monitors the motor feedback information and error content in real time, and can report information such as the motor status to the host computer and the middle computer.

[0146] In addition, the present invention also provides a robot, which includes: a memory, a processor, and a motor fault processing program stored in the memory and runnable on the processor. When the motor fault processing program is executed by the processor, the various steps of the motor fault processing method described in any one of the above items are implemented.

[0147] In addition, the present invention also provides a computer-readable storage medium, which stores a motor fault processing program. When the motor fault processing program is executed by a processor, the various steps of the motor fault processing method described in the above embodiment are implemented.

[0148] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0149] Through the description of the above embodiments, those skilled in the art can clearly understand that the above embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a computer-readable storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling a terminal device (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0150] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A method for handling motor failure, characterized in that: The steps of the motor fault processing method include: Upon receiving an error signal from the motor, the current location of the robot and the fault level corresponding to the error signal are determined, wherein the fault levels are divided into three levels with different priorities, namely, the first error level, the second error level, and the third error level in descending order of priority; the location areas are divided into the first fault area, the second fault area, the third fault area, and the fourth fault area according to the environmental complexity of the location areas; and the fault recovery strategies include the uninterrupted power recovery strategy, the short power outage recovery strategy, and the long power outage recovery strategy; When the fault level is the third error level and the location area is the first fault area, the second fault area, the third fault area, or the fourth fault area, determining that the fault recovery strategy is the uninterruptible power recovery strategy; When the fault level is the secondary error level and the location area is not the first fault area, determining that the fault recovery strategy is at least one of the uninterrupted power recovery strategy, the short power outage recovery strategy, and the long power outage recovery strategy; When the fault level is the first error level and the location area is the fourth fault area, determining that the fault recovery strategy is the uninterruptible power recovery strategy; The robot is controlled to perform motor fault recovery actions according to the fault recovery strategy.

2. The method for handling motor failure according to claim 1, wherein: The step of determining the current location of the robot and the fault level corresponding to the error signal includes: Obtaining the current location of the robot in the map, and obtaining a preset error code in the error signal; The location area is determined according to the location, and the fault level is determined according to the preset error code.

3. The method for handling motor failure according to claim 1, wherein: The fault recovery strategy includes the uninterruptible power recovery strategy, and the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy includes: Sending a reset instruction to the motor driver to reset the motor; When the motor driver no longer sends the error signal after receiving the reset instruction, it is determined that the motor fault is successfully recovered; After determining that the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

4. The method for handling motor failure according to claim 1, wherein: The fault recovery strategy includes the short-time power failure recovery strategy, and the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy includes: Sending a shutdown command to the motor driver to stop the motor; determining a sending time of the shutdown instruction, and when the sending time exceeds a first time threshold, sending a power-on instruction to the motor driver so that the motor continues to operate according to the power-on instruction, wherein, during the period when the motor stops operating, the position of the robot is monitored by radar and inertial sensors; When the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered; After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

5. The method for handling motor failure according to claim 1, wherein: The fault recovery strategy includes the long power outage recovery strategy, and the step of controlling the robot to perform a motor fault recovery action according to the fault recovery strategy includes: Sending a shutdown command to the motor driver to stop the motor; determining a sending time of the shutdown instruction, and when the sending time of the shutdown instruction exceeds a second time threshold, sending a power-on instruction to the motor driver so that the motor driver continues to operate according to the power-on instruction, wherein, during the period when the motor stops operating, the position of the robot is monitored by radar data and inertial sensor data; When the motor driver no longer sends the error signal after receiving the power-on instruction, it is determined that the motor fault is successfully recovered; After the motor fault is successfully recovered, the motor parameters, the location and time of the motor fault, and the fault recovery strategy corresponding to the motor fault are sent to the control terminal.

6. The method for handling motor failure according to claim 1, wherein: Before the step of determining the current location of the robot and the fault level corresponding to the error signal, the method further includes: Obtaining an operating current and / or an operating temperature of the motor; When the operating current is greater than a preset current threshold and / or when the operating temperature is greater than a preset temperature threshold, reporting abnormal information and determining a number of times the abnormal information is reported; The current working state of the motor is detected according to the abnormal information, and whether the motor is in a fault state is determined according to the current working state and the number of reports.

7. The method for handling motor failure according to claim 1, wherein: After the step of controlling the robot to perform the motor fault recovery action according to the fault recovery strategy, the method further includes: If the fault recovery strategy cannot be executed and / or the error signal is still received after executing the fault recovery strategy, the number of revolutions of the motor is set to zero and a motor shaft lock command is sent, the error signal is reported and the position, time and error code corresponding to the motor fault are obtained, and the position, time and error code corresponding to the error signal are sent to the control terminal.

8. A robot, characterized in that: The robot includes: a memory, a processor, and a motor failure processing program stored in the memory and executable on the processor. When the motor failure processing program is executed by the processor, the steps of the motor failure processing method according to any one of claims 1 to 7 are implemented.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a motor fault processing program, and when the motor fault processing program is executed by a processor, the steps of the motor fault processing method according to any one of claims 1 to 7 are implemented.

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