Robot self-checking method, device and storage medium

Abstract

The present invention discloses a robot self-checking method, device and storage medium. Through independent modules constituting a robot hardware circuit based on modularization and a unified self-checking protocol adopted during automatic detection, an automatic detection trigger instruction is received to start automatic detection; the self-checking state of the robot is identified, and according to different self-checking states, an automatic detection processing logic for the independent module that matches the self-checking state is executed accordingly; self-checking data corresponding to the robot automatic detection is collected, and the operating state of the robot is judged according to the collected self-checking data, and the self-checking data and the operating state judged based on the self-checking data are fed back; the beneficial effect of the robot having the self-checking capability in its entire life cycle is achieved, the production efficiency of the robot is improved, and the difficulty of using the robot is reduced; further, the use and maintenance costs of the robot are also reduced to a certain extent.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and in particular to a robot self-checking method, device and storage medium. Background Art

[0002] With the continuous advancement of science and technology and the rapid development of artificial intelligence technology, robots are also participating in people's daily work and life at an increasingly faster rate. At present, in many industries, most simple repetitive labor has gradually been replaced by robots instead of ordinary workers. As a highly complex modern intelligent industrial product, robots require a large number of production personnel with high professional capabilities to control product quality during the production process; in addition, after being delivered to users and put into use, robots also require a large number of professional engineers to maintain and maintain them. This undoubtedly increases the difficulty of production and the cost of use for users. Therefore, how to enable robots to have self-inspection capabilities during production and use is one of the problems that need to be solved in the field of robots. Summary of the invention

[0003] The present invention provides a robot self-checking method, device and storage medium, aiming to enable the robot to have self-checking capability throughout its entire life cycle.

[0004] In a first aspect, the present invention provides a robot self-inspection method.

[0005] The robot self-detection method includes: based on modular independent modules constituting the robot hardware circuit and a unified self-detection protocol adopted during automatic detection, the robot receives an automatic detection trigger instruction and starts automatic detection; identifies the self-detection state of the robot, and according to different self-detection states, the robot correspondingly executes the automatic detection processing logic for the independent module that matches the self-detection state; collects self-test data corresponding to the robot's automatic detection, and judges the robot's operating state based on the collected self-test data, and feeds back the self-test data and the operating state judged based on the self-test data.

[0006] In a second aspect, the present invention provides a robot.

[0007] The robot comprises: a core controller and at least one modular independent module including a hardware circuit; the core controller receives an automatic detection trigger instruction and starts automatic detection based on a unified self-detection protocol adopted by the robot during automatic detection; identifies the self-detection state of the robot, and according to different self-detection states, executes the automatic detection processing logic for the independent module that matches the self-detection state; collects self-test data corresponding to the robot's automatic detection, and judges the robot's operating state based on the collected self-test data, and feeds back the self-test data and the operating state judged based on the self-test data.

[0008] In a third aspect, the present invention provides an electronic device.

[0009] The electronic device includes a memory and a processor. The memory stores an automatic detection program that can be run on the processor. When the automatic detection program is run by the processor, the robot self-detection method is executed.

[0010] In a fourth aspect, the present invention provides a computer-readable storage medium.

[0011] The storage medium stores an automatic detection program, which is executed by one or more processors to implement the steps of the robot self-detection method.

[0012] The robot self-detection method, device and storage medium provided by the present invention, through independent modules that constitute the robot hardware circuit based on modularization and a unified self-detection protocol adopted during automatic detection, the robot receives an automatic detection trigger instruction and starts automatic detection; identifies the self-detection state of the robot, and according to different self-detection states, the robot correspondingly executes the automatic detection processing logic for the independent module that matches the self-detection state; collects self-test data corresponding to the robot's automatic detection, and judges the robot's operating state based on the collected self-test data, and feeds back the self-test data and the operating state judged based on the self-test data; achieves the beneficial effect of the robot having the self-detection capability throughout its entire life cycle, improves the robot's production efficiency, and reduces the difficulty of using the robot; further, since the robots are composed of standardized independent modules, the use and maintenance costs of the robots are also reduced to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0014] In the attached picture: Figure 1 It is a flow chart of an implementation method of the robot self-checking method of the present invention.

[0015] Figure 2 It is a flow chart of an implementation method of the robot performing automatic inspection in the robot self-inspection method of the present invention.

[0016] Figure 3 It is a flow chart of another implementation mode of the robot performing automatic detection in the robot self-detection method of the present invention.

[0017] Figure 4 It is a flow chart of an implementation method corresponding to the robot device status monitoring logic in the robot self-checking method of the present invention.

[0018] Figure 5 It is a schematic diagram of functional modules of an embodiment of the robot of the present invention.

[0019] Figure 6 It is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention. DETAILED DESCRIPTION

[0020] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0021] The present invention provides a robot self-checking method, device and storage medium, aiming to enable the robot to have self-checking capability throughout its entire life cycle, improve the robot's production efficiency and reduce the difficulty of using the robot.

[0022] like Figure 1 As shown, Figure 1 It is a flowchart of an implementation method of the robot self-checking method of the present invention; the robot self-checking method of the present invention can be implemented as steps S10-S30 described below.

[0023] Step S10: Based on the modular independent modules constituting the robot hardware circuit and the unified self-test protocol adopted during automatic detection, the robot receives the automatic detection trigger instruction and starts the automatic detection.

[0024] In the embodiment of the present invention, the hardware circuit of the robot can be designed in the form of functional modules. For example, a robot system can be composed of multiple independent modules with different functions according to its specific application scenario and function definition. Each independent module constituting the robot can use CAN bus or Ethernet or other methods to exchange information and transmit data. At the same time, when the robot performs automatic detection, a unified self-test protocol is adopted. As long as the equipment complies with the protocol, the self-test data obtained by the automatic detection of the independent module of the robot can be obtained. When the robot receives the automatic detection trigger instruction, the corresponding automatic detection is started.

[0025] Step S20, identifying the self-checking state of the robot, and according to different self-checking states, the robot correspondingly executes the automatic detection processing logic for the independent module that matches the self-checking state.

[0026] When receiving the automatic detection trigger instruction, the robot identifies the data identifying the self-checking status carried in the automatic detection trigger instruction, and obtains the corresponding self-checking status according to the identification result, such as whether it is a partial self-checking or a comprehensive self-checking. According to the identified self-checking status, the robot executes the automatic detection processing logic for the independent modules constituting the robot that matches the self-checking status; for example, if it is a partial self-checking, the robot performs a partial self-checking on the corresponding independent module according to the detection information corresponding to the partial self-checking carried in the automatic detection trigger instruction, which can identify which independent module is to be self-checked; if it is a comprehensive self-checking, the robot performs automatic detection on all independent modules contained in itself.

[0027] Step S30, collecting self-test data corresponding to the automatic detection of the robot, and judging the operation status of the robot according to the collected self-test data, and feeding back the self-test data and the operation status judged based on the self-test data.

[0028] The robot collects corresponding self-test data during automatic detection, and determines its own operating status based on the collected self-test data. For self-test data, the robot can store the self-test data of each detection in the robot's local database. If the storage space is limited, the overwriting storage method can be considered, that is, when the storage time of the existing self-test data exceeds the preset storage time, the latest self-test data will overwrite the data with the longest storage time, etc. Alternatively, the robot can upload the obtained self-test data to cloud storage according to needs or user-triggered instructions or by default, or directly feed back the obtained self-test data to the corresponding external device.

[0029] For the robot's own operating state determined by itself based on the self-test data, the robot may also feed back the corresponding operating state to the external device through communication or data interaction, or the robot only feeds back the corresponding operating state when the operation is abnormal to the external device. The embodiment of the present invention does not limit the specific processing method of the robot processing the self-test data and feeding back the operating state.

[0030] In a specific application scenario, such as Figure 2 As shown, Figure 2 It is a flowchart of an implementation method of the robot self-testing method of the present invention. Figure 2In the described embodiment, the robot determines whether automatic detection is required, for example, the robot determines whether an automatic detection trigger instruction is received. If the judgment result is that automatic detection is not required, the judgment continues; if the judgment result is that automatic detection is required, the independent module that needs to perform automatic detection stops the current task, restores the status of all devices corresponding to the independent module, allows self-test logic, and thus identifies and selects the corresponding automatic test logic for automatic detection, collects the generated self-test data and judges the status of the independent module for automatic detection based on the self-test data, and packages the test results for transmission based on the collected and judged self-test data.

[0031] Furthermore, in one embodiment, according to the different stages of the robot, the robot automatic detection trigger instruction can be issued by an external controller, or can be automatically triggered by the robot, such as by an internal controller of the robot. Figure 1 In step S10 of the embodiment, based on the modular independent modules constituting the robot hardware circuit and the unified self-test protocol adopted during automatic detection, the robot receives the automatic detection trigger instruction and starts the automatic detection, which can be implemented according to the following technical means.

[0032] Based on the modular independent modules that make up the robot hardware circuit, during the production stage of the independent modules of the robot, the robot receives the automatic detection trigger command issued by the external controller for the independent module of the robot, and uses the unified self-test protocol to automatically detect the independent module. The automatic detection of the robot at this stage is convenient for testing and quality control in robot production, and the individual detection of some independent modules only requires simple external equipment. This can not only improve the production efficiency of the robot, but also reduce the complexity of introducing the robot as a new product.

[0033] During the robot assembly stage and after the assembly is completed and the robot is put into use, when the automatic detection trigger condition is met, the robot uses its own internal controller to issue an automatic detection trigger instruction, and uses the unified self-test protocol to control the independent modules that make up the robot to perform automatic detection. During the robot assembly stage, the robot's internal controller is used to trigger the robot's self-test instruction. While facilitating the assembly of the whole machine, each independent module can be tested at an important stage of the whole machine assembly, so that problems can be found at every stage of the assembly, and ultimately the purpose of improving production efficiency is achieved. For the stage after the robot is assembled or the robot is in use, the robot's internal controller is used to trigger the robot's self-test instruction, which is convenient for the final test of the robot before leaving the factory. The corresponding automatic detection is triggered when the robot is in use, so that the user can also obtain the robot's status during the use of the robot, thereby reducing the user's use cost and maintenance cost.

[0034] like Figure 3 As shown, Figure 3 It is a flowchart of an implementation method of the robot self-test method of the present invention when the robot performs automatic testing. Figure 3 In the embodiment described, the robot internal controller is as follows Figure 3 The core controller shown in the figure sends self-test instructions to the corresponding independent modules. Figure 3 The modules 1 ... modules n shown are automatically detected by the corresponding modules 1 ... modules n, and the obtained self-test data are uploaded as self-test results.

[0035] Furthermore, in one embodiment, the independent modules constituting the robot include at least one basic circuit, and the basic circuit includes at least: an interface circuit corresponding to an interface for data transmission, a monitoring circuit for monitoring the operating parameters of the independent module, and a control circuit corresponding to the independent module; wherein, based on the interface circuit, the robot receives a self-test status control instruction triggered by a user, controls the control circuit in the independent modules constituting the robot, adopts a unified self-test protocol, and utilizes the monitoring circuit in the independent module to automatically detect the independent module.

[0036] Furthermore, the independent module also includes: at least one dedicated circuit designed according to the characteristics and functions of the independent module; based on the dedicated circuit, when the independent module is automatically detected, the robot obtains the characteristic parameters of the independent module corresponding to the dedicated circuit, thereby obtaining self-test data containing the characteristic parameters. For example, in a specific application scenario, for a high-power device, a current monitoring circuit and a power control circuit for the high-power device, as well as a temperature detection circuit close to the high-power device can be configured separately. For some important independent modules, such as a radar drive module and a hub motor drive module, an external device disconnection detection circuit can also be configured in a targeted manner. Based on the configured hardware circuits, both the internal system and the external system of the robot can obtain the self-test data related to the voltage, current, temperature, external device status, etc. corresponding to the above-mentioned independent modules through communication.

[0037] Furthermore, in one embodiment, Figure 1 Step S20 of the embodiment, identifying the self-check status of the robot, and according to different self-check statuses, the robot correspondingly executes the automatic detection processing logic for the independent module that matches the self-check status, can be implemented according to the following technical means.

[0038] The robot obtains a self-test data packet corresponding to the self-test protocol carried by the automatic detection trigger instruction according to the received automatic detection trigger instruction; parses the obtained self-test data packet to obtain the self-test status identification bit carried in the self-test data packet, and identifies the self-test status of the robot according to the self-test status identification bit; according to the self-test status, the robot selects the automatic detection processing logic matching the self-test status for the independent modules constituting the robot, and automatically detects the independent modules according to the selected automatic detection processing logic to obtain corresponding self-test data.

[0039] For example, in a specific application scenario, if the self-test status flag is 0, the corresponding automatic detection processing logic is "stop automatic detection"; if the self-test status flag is 1, the corresponding automatic detection processing logic is "partial self-test, reporting voltage, current, temperature, current running software driver status and other information"; if the self-test status flag is 2, the corresponding automatic detection processing logic is "partial self-test, reporting voltage, current, temperature, current running software driver status, software driver internal status (such as: motor speed, motor current, etc. of motor control drive) information"; if the self-test status flag is 3, the corresponding automatic detection processing logic is "comprehensive self-test, independent modules that are executing tasks also stop normal business status, enter self-test status and perform comprehensive automatic detection". In the embodiment of the present invention, the self-test status flag and its corresponding automatic detection processing logic can be configured according to different application scenarios and specific needs, and the embodiment of the present invention does not list and limit them one by one.

[0040] Furthermore, in one embodiment, the self-test protocol includes a self-test instruction issuing protocol and a self-test data uploading protocol; the automatic detection trigger instruction carries the self-test instruction issuing protocol, and the self-test status of each independent module in the robot is controlled by the self-test instruction issuing protocol; for the self-test data obtained by the robot's automatic detection, based on the self-test data uploading protocol, the obtained self-test data is uploaded so that the self-test data corresponding to the robot is stored in the cloud; and / or: the robot stores the self-test data locally.

[0041] For example, in a specific application scenario, the self-test instruction issuing protocol in the self-test protocol carries a corresponding self-test data packet, and the data structure of a standard self-test data packet includes: device name, module name, and status; for the robot containing independent modules in the embodiment of the present invention, the "device name" can be understood as: the name corresponding to the robot or the independent module; "module name" can be understood as: the name of the module to which the device is currently connected. "Status" can be understood as: the current state of the device, such as the current state of the robot or the independent module therein, including but not limited to: normal state, abnormal high temperature state, abnormal voltage state, etc.

[0042] In addition, as required, the self-test data packet may also include the following data structures: description, data; wherein, "description" may be understood as: a character string describing the current state of the device, such as for the robot in the embodiment of the present invention, it may be understood as: a character string describing the current state of the independent module of the robot; "data" may be understood as: data for judging the current state, such as for the robot in the embodiment of the present invention, it may be understood as: data describing the current state of the independent module of the robot. The contents of the two data structures "description" and "data" may be empty.

[0043] Further, in one embodiment, the robot described in the embodiment of the present invention can also provide an operation display interface for human-computer interaction. Based on the operation display interface, the robot displays the progress of automatic detection and / or the corresponding running status in real time during the automatic detection process; at the same time, based on the operation display interface, the operation instruction triggered by the user is received, and the operation task mapped by the operation instruction is executed; wherein the operation task mapped by the operation instruction includes: switching the automatic detection state of the robot, obtaining the external information corresponding to the independent module constituting the hardware circuit of the robot, monitoring the running status of the independent module, stopping or starting the execution of the automatic detection processing logic, reporting the self-test data obtained by the automatic detection or transmitting the self-test data back to the corresponding independent module. On the user side, the user can control the self-test state of the robot through the operation interface on the robot or the interface on the cloud, and understand the status of each independent module in the robot. At the same time, the cloud can also store the self-test data of the robot so that the user can understand the state of the robot at a certain moment, and can also show the state change of the robot over a period of time to the user.

[0044] In addition, in the embodiment of the present invention, the robot receives the operation instruction triggered by the user, and the operation task mapped by the operation instruction can be implemented by the embedded software system corresponding to the robot. For example, in a specific application scenario, the robot can use the embedded software system to implement the following operations: acquisition of external information of independent modules (such as collection of independent module voltage); monitoring of independent module status and software driver status (such as whether the robot's motor drive is in a normal state, whether the current is abnormal, whether the temperature of the independent module is abnormal, etc.); execution of the automatic detection processing logic of the drive; interface implementation of the self-test protocol and management of the self-test status, etc.

[0045] like Figure 4 As shown, Figure 4 It is a flow chart of an implementation method corresponding to the robot device status monitoring logic in the robot self-checking method of the present invention. Figure 4 In a corresponding specific application scenario, the independent module of the robot obtains external data, and performs data and information processing based on the obtained external data, and judges the result data according to the information processing result, so as to obtain the device state, and executes the business logic corresponding to the device state according to the device state. Among them, in the embodiment of the present invention, the external data obtained can be understood as: the collection of voltage, current, temperature and other data corresponding to the independent module, and information processing is performed on the collected data. Among them, the acquisition of external information is mainly to collect voltage, current and temperature information through an analog-to-digital converter or a dedicated sensor chip, and this information can simply characterize the basic state of the corresponding independent module. The monitoring of the state of the independent module and the software driver can more clearly reflect the overall or partial working state of the independent module. The execution of the automatic detection processing logic of the driver can well show whether the current function of the detected independent module is perfect, and can also complete the test of the performance of the independent module to a certain extent. In addition, according to the control instructions issued by the external controller or the internal controller of the robot, the state of each software driver in the independent module should be changed accordingly, stopping or starting to execute the corresponding automatic detection processing logic and returning the self-test data, that is, uploading a series of self-test data related to the module's voltage, current, temperature, status, etc., thereby completing the implementation of the robot self-test method of the present invention.

[0046] The robot self-checking method of the present invention uses independent modules that constitute the robot hardware circuit based on modularization and a unified self-checking protocol adopted during automatic detection, so that the robot receives an automatic detection trigger instruction and starts automatic detection; identifies the self-checking state of the robot, and according to different self-checking states, the robot correspondingly executes the automatic detection processing logic for the independent module that matches the self-checking state; collects self-checking data corresponding to the robot's automatic detection, and judges the robot's operating state based on the collected self-checking data, and feeds back the self-checking data and the operating state judged based on the self-checking data; achieves the beneficial effect that the robot has the self-checking capability throughout its entire life cycle, improves the robot's production efficiency, and reduces the difficulty of using the robot; further, since the robots are composed of standardized independent modules, the use and maintenance costs of the robots are also reduced to a certain extent.

[0047] Corresponding to the robot self-checking method provided in the above embodiment, the embodiment of the present invention further provides a robot, which can run the robot self-checking method described in the above embodiment. The robot provided in the embodiment of the present invention includes a core controller and at least one independent module, the independent module exists in the robot in a modular form, and each independent module includes a hardware circuit corresponding to the corresponding function of the independent module. Figure 5 is a schematic diagram of the functional modules of an embodiment of the robot of the present invention. Figure 5 In the embodiment, the robot is described as including only one independent module. Figure 5 As shown, the robot includes a core controller 110 and an independent module 120. In the embodiment of the present invention, the core controller 110 can also be regarded as a separate independent module that is modularized like the independent module 120, and the core controller 110 can also use the robot self-checking method described in the above embodiment to automatically check the independent module itself. In the embodiment of the present invention, the independent module is described as the core controller 110 only for the convenience of description.

[0048] The core controller 110 receives an automatic detection trigger instruction and starts automatic detection based on the unified self-detection protocol adopted during automatic detection of the robot; identifies the self-detection status of the robot, and according to different self-detection statuses, executes the automatic detection processing logic for the independent module 120 that matches the self-detection status; collects self-test data corresponding to the automatic detection of the robot, and judges the operating status of the robot based on the collected self-test data, and feeds back the self-test data and the operating status judged based on the self-test data.

[0049] It should be noted that the embodiments corresponding to the above-mentioned robots and the method embodiments belong to the same concept, and their specific implementation processes are detailed in the method embodiments, and the technical features in the method embodiments are correspondingly applicable in the robot embodiments, which will not be repeated here.

[0050] The robot of the present invention receives an automatic detection trigger instruction and starts automatic detection through independent modules that constitute the robot hardware circuit based on modularization and a unified self-detection protocol adopted during automatic detection; identifies the self-detection state of the robot, and executes the automatic detection processing logic for the independent module that matches the self-detection state according to different self-detection states; collects self-test data corresponding to the robot's automatic detection, and judges the robot's operating state based on the collected self-test data, and feeds back the self-test data and the operating state judged based on the self-test data; achieves the beneficial effect that the robot has the self-detection capability throughout its entire life cycle, improves the robot's production efficiency, and reduces the difficulty of using the robot; further, since the robots are composed of standardized independent modules, the use and maintenance costs of the robots are also reduced to a certain extent.

[0051] Corresponding to the description of the above embodiment, the present invention also provides an electronic device, which can be Figure 1 The robot self-checking method can realize automatic detection of the robot throughout its life cycle. Figure 6 As shown, Figure 6 It is a schematic diagram of the internal structure of an embodiment of the electronic device of the present invention.

[0052] In this embodiment, the electronic device 1 may be a PC (Personal Computer), or a terminal device such as a smart phone, a tablet computer, or a portable computer. The electronic device 1 at least includes a memory 11, a processor 12, a communication bus 13, and a network interface 14.

[0053] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), magnetic memory, disk, optical disk, etc. In some embodiments, the memory 11 can be an internal storage unit of the electronic device 1, such as a hard disk of the electronic device 1. In other embodiments, the memory 11 can also be an external storage device of the electronic device 1, such as a plug-in hard disk equipped on the electronic device 1, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory 11 can also include both an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the automatic detection program 01, etc., but also can be used to temporarily store data that has been output or is to be output.

[0054] In some embodiments, the processor 12 may be a central processing unit (CPU), a controller, a microcontroller, a microprocessor or other data processing chip, and is used to run program codes or process data stored in the memory 11, such as executing the automatic detection program 01.

[0055] The communication bus 13 is used to realize the connection and communication between these components.

[0056] The network interface 14 may optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), and is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0057] Optionally, the electronic device 1 may further include a user interface, which may include a display (Display), an input unit such as a keyboard (Keyboard), and the optional user interface may also include a standard wired interface and a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0058] Figure 6 Only the electronic device 1 having the components 11-14 and the automatic detection program 01 is shown. It can be understood by those skilled in the art that Figure 6The structure shown does not constitute a limitation on the electronic device 1 , and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0059] Based on the description of the above embodiments, Figure 6 In the embodiment of the electronic device 1 shown, an automatic detection program 01 is stored in the memory 11; the automatic detection program 01 stored in the memory 11 can be run on the processor 12, and the automatic detection program 01 is implemented by the processor 12 when it is run: based on the modular independent modules that constitute the robot hardware circuit and the unified self-test protocol used during automatic detection, an automatic detection trigger instruction is received to start automatic detection; the self-test state of the robot is identified, and according to different self-test states, the automatic detection processing logic for the independent module that matches the self-test state is executed; the self-test data corresponding to the automatic detection of the robot is collected, and the operating state of the robot is judged based on the collected self-test data, and the self-test data and the operating state judged based on the self-test data are fed back.

[0060] It should be noted that the above-mentioned electronic device embodiment and method embodiment belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the electronic device embodiment, which will not be repeated here.

[0061] The electronic device of the present invention receives an automatic detection trigger instruction and starts automatic detection through independent modules that constitute the robot hardware circuit based on modularization and a unified self-detection protocol adopted during automatic detection; identifies the self-detection state of the robot, and executes the automatic detection processing logic for the independent module that matches the self-detection state according to different self-detection states; collects self-test data corresponding to the robot's automatic detection, and judges the robot's operating state based on the collected self-test data, and feeds back the self-test data and the operating state judged based on the self-test data; achieves the beneficial effect that the robot has the self-detection capability throughout its entire life cycle, improves the robot's production efficiency, and reduces the difficulty of using the robot; further, since the robots are composed of standardized independent modules, the use and maintenance costs of the robots are also reduced to a certain extent.

[0062] In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which an automatic detection program is stored, and the automatic detection program can be executed by one or more processors to implement the following operations: based on the modular independent modules that constitute the robot hardware circuit and the unified self-test protocol used during automatic detection, receive an automatic detection trigger instruction and start automatic detection; identify the self-test status of the robot, and according to different self-test statuses, execute the automatic detection processing logic for the independent module that matches the self-test status; collect self-test data corresponding to the robot's automatic detection, and judge the robot's operating status based on the collected self-test data, and feed back the self-test data and the operating status determined based on the self-test data.

[0063] It should be noted that the computer-readable storage medium embodiment and the method embodiment of the present invention belong to the same concept, and the specific implementation process is detailed in the method embodiment, and the technical features in the method embodiment are correspondingly applicable in the medium embodiment, which will not be repeated here.

[0064] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware.

[0065] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A robot self-inspection method, characterized in that: The robot self-checking method comprises: Based on multiple modular independent modules with different functions constituting the robot hardware circuit, and a unified self-test protocol used during automatic detection, the robot receives an automatic detection trigger instruction and starts automatic detection; Identify the self-check status of the robot, and according to different self-check statuses, the robot correspondingly executes the automatic detection processing logic for the independent module that matches the self-check status; Collecting self-test data corresponding to automatic detection of the robot, judging the operation status of the robot according to the collected self-test data, and feeding back the self-test data and the operation status judged based on the self-test data; The independent modules constituting the robot hardware circuit based on modularization and the unified self-test protocol adopted during automatic detection, the robot receives the automatic detection trigger instruction and starts the automatic detection, including: Based on the modular independent modules constituting the robot hardware circuit, during the production stage of the independent modules of the robot, the robot receives the automatic detection trigger instruction issued by the external controller for the independent modules of the robot, and adopts the unified self-detection protocol to automatically detect the independent modules; During the robot assembly stage and after the assembly is completed and the robot is put into use, when the automatic detection trigger condition is met, the robot uses its own internal controller to issue an automatic detection trigger instruction, adopts the unified self-detection protocol, and controls the independent modules constituting the robot to perform automatic detection; The self-checking state of the identifying robot, according to different self-checking states, the robot correspondingly executes the automatic detection processing logic for the independent module matching the self-checking state, including: According to the received automatic detection trigger instruction, obtaining a self-test data packet corresponding to the self-test protocol carried by the automatic detection trigger instruction; Parsing the obtained self-test data packet, obtaining a self-test status identification bit carried in the self-test data packet, and identifying the self-test status of the robot according to the self-test status identification bit; According to the self-test status, the robot selects automatic detection processing logic matching the self-test status for the independent modules constituting the robot, and automatically detects the independent modules according to the selected automatic detection processing logic to obtain corresponding self-test data.

2. The robot self-checking method according to claim 1, characterized in that: The unified self-test protocol is used to control the independent modules constituting the robot to perform automatic testing, including: Controlling the control circuits in the independent modules constituting the robot, using the unified self-test protocol and utilizing the monitoring circuits in the independent modules to automatically test the independent modules; Wherein, the independent module includes at least one basic circuit, and the basic circuit includes at least: an interface circuit corresponding to an interface for data transmission, a monitoring circuit for monitoring the operating parameters of the independent module, and a control circuit corresponding to the independent module; wherein, based on the interface circuit, the robot receives a self-test status control instruction triggered by a user.

3. The robot self-checking method according to claim 2, characterized in that: The independent module further comprises: at least one dedicated circuit designed corresponding to the characteristics and functions of the independent module; When the independent module is automatically detected based on the dedicated circuit, the robot obtains the characteristic parameters of the independent module corresponding to the dedicated circuit, thereby obtaining self-test data including the characteristic parameters.

4. The robot self-checking method according to claim 1, characterized in that: The self-test protocol includes a self-test instruction issuing protocol and a self-test data uploading protocol; The automatic detection trigger instruction carries the self-check instruction issuing protocol, and the self-check state of each independent module in the robot is controlled by the self-check instruction issuing protocol; For the self-test data automatically detected by the robot, the self-test data is uploaded based on the self-test data uploading protocol so that the self-test data corresponding to the robot is stored in the cloud; and / or: the robot locally stores the self-test data.

5. The robot self-checking method according to any one of claims 1 to 4, characterized in that: The robot self-checking method further comprises: The robot provides an operation display interface for human-machine interaction. Based on the operation display interface, the robot displays the progress of automatic detection and / or the corresponding operating status in real time during the automatic detection process; at the same time, based on the operation display interface, the robot receives the operation instructions triggered by the user and executes the operation tasks mapped by the operation instructions; Among them, the operation tasks mapped by the operation instructions include: switching the automatic detection state of the robot, obtaining external information corresponding to the independent modules that constitute the robot's hardware circuit, monitoring the operating status of the independent modules, stopping or starting the execution of the automatic detection processing logic, reporting the self-test data obtained by automatic detection, or transmitting the self-test data back to the corresponding independent module.

6. A robot, characterized in that: The robot comprises: a core controller and a plurality of modular independent modules including hardware circuits having different functions; The core controller receives an automatic detection trigger instruction and starts automatic detection based on a unified self-detection protocol used by the robot during automatic detection; Identify the self-check status of the robot, and execute the automatic detection processing logic for the independent module that matches the self-check status according to different self-check status; Collecting self-test data corresponding to automatic detection of the robot, judging the operation status of the robot according to the collected self-test data, and feeding back the self-test data and the operation status judged based on the self-test data; in, Based on the modular independent modules constituting the robot hardware circuit, during the production stage of the independent modules of the robot, the robot receives the automatic detection trigger instruction issued by the external controller for the independent modules of the robot, and adopts the unified self-detection protocol to automatically detect the independent modules; During the robot assembly stage and after the assembly is completed and the robot is put into use, when the automatic detection trigger condition is met, the robot uses its own internal controller to issue an automatic detection trigger instruction, adopts the unified self-detection protocol, and controls the independent modules constituting the robot to perform automatic detection; According to the received automatic detection trigger instruction, obtaining a self-test data packet corresponding to the self-test protocol carried by the automatic detection trigger instruction; Parsing the obtained self-test data packet, obtaining a self-test status identification bit carried in the self-test data packet, and identifying the self-test status of the robot according to the self-test status identification bit; According to the self-test status, the robot selects automatic detection processing logic matching the self-test status for the independent modules constituting the robot, and automatically detects the independent modules according to the selected automatic detection processing logic to obtain corresponding self-test data.

7. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores an automatic detection program that can be run on the processor, and when the automatic detection program is run by the processor, the robot self-detection method according to any one of claims 1 to 5 is executed.

8. A computer-readable storage medium, characterized in that: An automatic detection program is stored on the storage medium, and the automatic detection program is executed by one or more processors to implement the steps of the robot self-detection method according to any one of claims 1 to 5.

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