Robot Fault Diagnosis Method, Device, Robot, and Storage Medium

Abstract

The present application discloses a robot fault diagnosis method, device, robot, and storage medium. Specifically, it includes: obtaining the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and each node is connected according to the communication relationship of each component structure; performing fault diagnosis on the robot according to the status information; and displaying the fault diagnosis result through the node tree. The technical solution of the embodiments of the present application converts the working status of each component structure of the robot into the form of a node tree, and prompts the user of the location of the robot's fault through the display method. By doing so, it can intuitively and conveniently display the fault occurrence nodes of the robot, accurately locate the fault source, and display it in the form of nodes, so that even non-technical personnel can easily obtain the fault information and perform simple repairs on the robot when there is no professional on-site, which can reduce the maintenance difficulty of the robot and improve the working efficiency of the robot.

Description

Technical Field

[0001] The present application relates to the technical field of fault diagnosis, and particularly to a robot fault diagnosis method, device, robot and storage medium. Background Art

[0002] With the development of social productivity, more and more industries use automation technology to improve productivity. Among them, as a product of automation technology, robots have greatly improved the production and work efficiency in all walks of life. However, since robots involve many working principles and have a relatively complex structure, it brings certain difficulties to fault troubleshooting.

[0003] Currently, for a robot with a fault, relevant technical personnel conduct fault diagnosis based on experience manually to determine the corresponding fault handling solution. However, this method is only applicable to professional personnel familiar with robots and cannot intuitively reflect the location of the robot's fault, resulting in low maintenance efficiency of the robot. Summary of the Invention

[0004] The present application provides a robot fault diagnosis method, device, robot and storage medium to enhance the intuitiveness of robot fault display, thereby improving the maintenance efficiency of the robot.

[0005] According to one aspect of the present application, there is provided a robot fault diagnosis method, the method including:

[0006] Obtaining the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and each node is connected according to the communication relationship of each component structure;

[0007] Performing fault diagnosis on the robot according to the status information;

[0008] Displaying the fault diagnosis result through the node tree.

[0009] According to another aspect of the present application, there is provided a robot fault diagnosis device, including:

[0010] A node status acquisition module for obtaining the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and each node is connected according to the communication relationship of each component structure;

[0011] A fault diagnosis module for performing fault diagnosis on the robot according to the status information;

[0012] A diagnosis result display module for displaying the fault diagnosis result through the node tree.

[0013] According to another aspect of the present application, there is provided a robot, the robot including:

[0014] At least one processor; and

[0015] a memory communicatively connected to the at least one processor; wherein,

[0016] the memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the robot fault diagnosis method described in any embodiment of the present application.

[0017] According to another aspect of the present application, there is provided a computer-readable storage medium storing computer instructions for causing a processor to implement the robot fault diagnosis method described in any embodiment of the present application when executed.

[0018] The technical solution of the embodiment of the present application converts the working states of the components of the robot into the form of a node tree, and prompts the user (technical or non-technical personnel) of the location of the robot fault through a display method. This can intuitively and conveniently display the fault occurrence nodes of the robot, accurately locate the fault source, and display it to the user in the form of nodes. Even non-technical personnel can easily obtain the fault information and perform simple repairs on the robot when no professional is present, which can reduce the maintenance difficulty of the robot and improve the maintenance efficiency of the robot.

[0019] It should be understood that the content described in this part is not intended to identify the key or important features of the embodiments of the present application, nor is it used to limit the scope of the present application. Other features of the present application will become easily understandable through the following description. Description of the Drawings

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application, and those of ordinary skill in the art can obtain other drawings based on these drawings without creative efforts.

[0021] Figure 1 is a flowchart of a robot fault diagnosis method provided in Embodiment 1 of the present application;

[0022] Figure 2A is a flowchart of a robot fault diagnosis method provided in Embodiment 2 of the present application;

[0023] Figure 2B is a schematic diagram of a robot fault diagnosis human-computer interaction interface provided by the present application;

[0024] Figure 3 It is a structural diagram of a robot fault diagnosis device provided in Embodiment 3 of the present application;

[0025] Figure 4 It is a schematic structural diagram of a robot for implementing the robot fault diagnosis method of the embodiment of the present application. Detailed implementation manners

[0026] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described here can be implemented in an order other than those illustrated or described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0028] Embodiment 1

[0029] Figure 1 For Embodiment 1 of the present application, a flowchart of a robot fault diagnosis method is provided. This embodiment is applicable to the situation where the robot feedbacks faults in the form of a node tree. This method can be executed by a robot fault diagnosis device, and the robot fault diagnosis device can be implemented in the form of hardware and / or software and can be configured in the robot. As Figure 1 shown, the method includes:

[0030] S110. Obtain the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and each node is connected according to the communication relationship of each component structure.

[0031] Among them, the robot can be any device that can work autonomously according to a preset program, such as a service robot, a logistics robot, etc., and the type of the robot is not limited to a planar mobile robot, a robotic arm, etc. The robot can be composed of multiple components / structures, and different components / structures have different functions.

[0032] The node tree can be used to represent the working state of the robot (including each component or structure). Each node in the node tree corresponds to a component or structure of the robot, and the communication relationships between the components or structures connect the nodes to form the node tree. The state information of the node tree can be the working state of each component or structure of the robot reflected by the nodes in the node tree, and can include, for example, but not limited to, a normal working state, a warning state, an invalid state, a fault state, etc. To determine what working state a certain node in the node tree is in, for example, it is possible to obtain whether the communication signal between a component and the control circuit board is normal to determine the working state of the component, and it is also possible to determine what working state the node is in according to whether the obtained data is within the normal range. This embodiment does not make a limitation.

[0033] In actual situations, the information of the robot (including but not limited to the model, the installed hardware and software, etc.) can be obtained by reading the configuration file of the robot, and nodes are set according to the communication situation between different software and hardware in the robot and the working state of the hardware, and all the nodes are connected according to their respective communication directions and communication relationships to form a node tree.

[0034] S120. Perform a fault diagnosis on the robot according to the state information.

[0035] Perform a fault diagnosis on the robot according to the state information of the node tree determined in the foregoing steps to determine whether the robot is normal. If there is an abnormality, determine which software and hardware the reason for the inability to work normally lies in. For example, when a certain node has a signal and the signal is normal, then the node has no fault. When there is no signal or the signal is abnormal, the result of the fault diagnosis on the robot includes that the node is abnormal.

[0036] S130. Display the fault diagnosis result through the node tree.

[0037] The fault diagnosis results determined in the foregoing steps are presented in the form of a node tree. It can be understood that the number and connection relationships of the nodes in the node tree can be determined according to the type of the robot and the software and hardware installed thereon. Preferably, the presentation method can be through the human-machine interaction interface of the current robot; it can also be through the human-machine interaction interfaces of mobile phones, PC computers, PADs, etc. Of course, it can be understood that the background can simultaneously display the fault diagnosis results in the form of node trees of different robots; it can also be projected onto the ground through the projection device installed on the current robot to display the node tree, so as to intuitively display the fault diagnosis results without affecting other operations of the user through the human-machine interaction interface of the robot's display screen. The embodiments of the present application do not limit this. It can be understood that the disassembly, assembly, and maintenance of the robot are relatively complex, with many internal integrated structures and components, and the installation positions of the components of different robot models are not the same. The cost of manual fault troubleshooting is high and the troubleshooting efficiency is low. Displaying and feedbacking the software and hardware fault problems of the robot in the form of a node tree is intuitive and efficient, and can adapt to different robot models.

[0038] In the technical solution of the embodiment of the present application, by converting the working states of the components of the robot into the form of a node tree and prompting the user (technical or non-technical personnel) of the location of the robot's faults through the display method. This can intuitively and conveniently display the nodes where the robot's faults occur, accurately locate the fault source, and display it to the user in the form of nodes. Even non-technical personnel can easily obtain the fault information and perform simple repairs on the robot when no professional personnel are present, which can reduce the maintenance difficulty of the robot and improve the working efficiency of the robot.

[0039] By presenting in the form of a node tree, the hierarchical relationship between the components can be intuitively shown. For example, when there are multiple node anomalies in the node tree, such as including child nodes and non-leaf nodes, the user can clearly see which nodes are non-leaf nodes, which is convenient for the user to first check from the non-leaf nodes and quickly locate the fault. This avoids the user spending a lot of time troubleshooting the faults of each child node and finally finding that it is caused by the anomaly of the non-leaf node, resulting in the anomalies of all the leaf nodes below it. And by presenting through the node tree, even if new hardware and software are added to the robot later, the nodes of the newly added part can be quickly generated according to the connection relationship between the components, and the node tree can be updated, with strong scalability.

[0040] In an alternative embodiment, the fault diagnosis result includes a fault state and an invalid state. The presentation of the fault diagnosis result through the node tree may include: if the fault diagnosis result of a non-leaf node is a fault state or an invalid state, then all the nodes in the subtree with this non-leaf node as the root node are presented as invalid states.

[0041] The failure state of a node can be that the component structure or parts of the robot malfunction, such as unsuccessful software communication, or the hardware being unable to perform preset operations, etc. The invalid state of a node can be the linkage failure caused by the failure or invalidity of the component structure or parts of the robot due to the failure or invalidity of its parent node. A non-leaf node is any node other than a leaf node. A non-leaf node has at least one child node. When a non-leaf node malfunctions and cannot communicate with other nodes of the robot, all child nodes (forming a subtree) under this non-leaf node can be shown as in an invalid state. If a non-leaf node is in an invalid state, then the subtree under this non-leaf node can also be shown as in an invalid state.

[0042] It can be understood that since the connection relationship between each node is determined according to the communication relationship between each component structure or part, when a certain parent node is determined to be in a failure state or an invalid state, all child nodes under this parent node cannot work properly due to the communication failure of the parent node, and thus can be determined to be in an invalid state and shown.

[0043] In addition, the fault diagnosis result can also include a normal state and a warning state. The normal state can be that the component structure or parts of the robot corresponding to this node are working properly; the warning state can be that the component structure or parts of the robot corresponding to this node can complete the instructions and work, but there are some problems that are not functional disorders, such as the node log not being updated, the software communication version of the node being old, etc.

[0044] In the above embodiments, by tracing the root cause of node failures or invalidities, all nodes that may be affected by the failure can be shown in a failure state or an invalid state according to the communication relationship between the nodes, providing a visual functional failure prompt for the user, improving the efficiency of the user in maintaining the robot, and reducing the maintenance difficulty for non-professional users (non-technical personnel).

[0045] In an alternative embodiment, the display of the fault diagnosis result through the node tree may include: determining the display method of each node according to the fault diagnosis result; rendering and displaying the fault diagnosis result according to the display method.

[0046] Among them, the display method may include but is not limited to displaying the color, shape, size, and virtuality of the node on the human-machine interaction interface. After rendering different fault diagnosis results in different display methods, it is fed back to the user through the human-machine interaction interface of the robot. For example, the prompt box of the node in a failure state can be rendered red, the prompt box of the normal state can be rendered green, the prompt box of the warning state can be rendered yellow, and the prompt box of the invalid state can be rendered white, etc. Or the prompt boxes of different nodes can be set to different shapes, sizes, and virtualities according to the fault diagnosis result. The embodiments of the present application do not limit this.

[0047] By classifying different fault diagnosis results into different display modes for rendering and output, even users with insufficient experience (such as non-technical personnel) can more intuitively and simply understand the fault states of different nodes, quickly locate the content that needs to be investigated or repaired, avoid the problem of incorrect fault location caused by human factors, and further improve the efficiency of fault investigation.

[0048] Embodiment 2

[0049] Figure 2A The flowchart of a robot fault diagnosis method provided by the second embodiment of the present application. This embodiment supplements the display of the fault investigation scheme on the basis of the foregoing embodiments. As Figure 2A shown, the method includes:

[0050] S210. Obtain the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and each node is connected according to the communication relationship of each component structure.

[0051] S220. Perform fault diagnosis on the robot according to the status information.

[0052] S230. Display the fault diagnosis result through the node tree.

[0053] S240. Based on the acquisition request, display the fault investigation scheme of the corresponding node.

[0054] Among them, the acquisition request can be the request information for obtaining the fault investigation scheme. The robot can collect the user's acquisition request for the fault investigation scheme through the human-machine interaction interface. For example, after the user views the node tree on the human-machine interaction interface and clicks on the prompt box of a certain node, the robot collects this acquisition request, outputs the fault investigation scheme of the corresponding node, and displays it to the user through the human-machine interaction interface. The fault investigation scheme can be the corresponding prompts and solutions generated for the nodes in the case of fault status, warning status, invalid status, etc. according to the fault diagnosis result of the node. For example, if a certain node is displayed as a fault status, by clicking on the prompt box of this node on the human-machine interaction interface, the robot pops up a window to display graphics and text to explain how to investigate the corresponding fault and how to continue to disassemble and debug the robot. Similarly, for the nodes in the warning status and invalid status, corresponding prompts and graphics can also be output according to the acquisition request to explain the reasons for the warning and invalidity, and prompt the solution. And during the process of the user repairing the robot according to the fault investigation scheme, the user can mark each node through the human-machine interaction interface. For example, after investigation according to the fault investigation scheme, there is no abnormality, or there is an abnormality after investigation, etc. The robot can record these marks.

[0055] In an alternative embodiment, before presenting the troubleshooting solution for the corresponding node, it may further include: determining the troubleshooting solution for the faulty node based on the model of the robot, its historical operation records, and the current fault diagnosis result.

[0056] The historical operation records of the robot may include records of the faults that occurred during its past use and the corresponding solutions (maintenance methods). Robots of different models have differences in their internal hardware structures and / or software communications. Therefore, based on the model of the current robot, its historical operation records, and the current diagnosed fault problem, the corresponding troubleshooting solution is selected according to the historical maintenance situation for the current fault diagnosis result.

[0057] For example, when the robot loses its positioning and the node tree shows an abnormal image module, the historical operation records of all robots of the corresponding model can be obtained based on the model of the current robot. All the troubleshooting solutions with the fault diagnosis result of an abnormal image module are found, such as possibly checking whether the image module is properly electrically connected, whether the image module is loose or offset, and whether the labels are not correctly posted indoors. By presenting these possible troubleshooting solutions to the user, it is convenient for the user to quickly solve the problem. Even users without corresponding maintenance experience, such as new robot users, can conduct a preliminary inspection on their own.

[0058] Furthermore, the robot fault diagnosis method may further include: determining the display order of the troubleshooting solutions based on the historical record frequency of the troubleshooting solutions.

[0059] For example, if the robot experiences a loss of positioning, all the troubleshooting solutions may include checking whether the image module is properly electrically connected, whether the image module is loose or offset, and whether the labels are not correctly posted indoors. If the historical record frequency shows that the image module is not properly electrically connected the most and the labels are not correctly posted indoors the least, then the display order of the troubleshooting solutions is determined as (1) check whether the image module is properly electrically connected, (2) check whether the image module is loose or offset, (3) check whether the labels are not correctly posted indoors. The user is prompted to check in this order to further improve the maintenance efficiency. Optionally, when the fault is successfully troubleshot and resolved, and the robot detects that the corresponding node is normal, the node tree display can be updated, and a corresponding confirmation prompt can be popped up to let the user confirm which cause led to the fault, such as "the labels are not correctly posted indoors" causing the abnormal image module, so as to update the historical record frequency of the troubleshooting solutions for the corresponding node, facilitate data sharing, and improve the robot maintenance efficiency.

[0060] In an alternative embodiment, the robot fault diagnosis method may further include: obtaining three-dimensional model data of the robot; rendering and displaying a robot model including the fault diagnosis result according to the three-dimensional model data and the fault diagnosis result, and rendering and displaying the robot model and the node tree corresponding to each other within the same interface.

[0061] Among them, the three-dimensional model data of the robot may be the modeling data of the robot, such as URDF (Unified Robot Description Format). Render the three-dimensional model of the robot on the human-computer interaction interface, and render and label the fault diagnosis results of each node on the components or parts of the corresponding robot three-dimensional model. Finally, a display effect in the form of a corresponding relationship between the robot three-dimensional model and the node tree is formed. For example, the numbers of each component on the three-dimensional model are the same as the numbers of the corresponding nodes on the node tree. This can more intuitively display the corresponding relationship between the nodes and each component of the robot for the user, and can effectively assist the user in troubleshooting, improving practicality and convenience.

[0062] The technical solution of the embodiment of the present application synchronously renders and outputs the fault status of the node and the corresponding troubleshooting solutions to the user, which can reduce the difficulty for the user to understand the status of each component of the robot, and at the same time facilitate troubleshooting and improve the maintenance efficiency of the robot.

[0063] Based on the foregoing embodiments, the embodiment of the present application further provides a schematic diagram of a human-computer interaction interface of a robot fault diagnosis node tree. As Figure 2B shown, this human-computer interaction interface shows the conditions of each node in the current robot node tree. Among them, the naming form of each node is function number and name (the naming form of the nodes in this embodiment is only for illustration), mainly including FN101 APP and algorithm communication, FN201 image module communication, FN202 chassis control board communication, FN203 stereo vision left communication, FN204 stereo vision right communication, FN205 front radar communication, FN301 motor power system, FN302 left motor odometer communication, FN303 left side motor odometer, FN304 right motor odometer communication, and FN305 right side motor odometer, etc.

[0064] Displaying the fault diagnosis results in the form of a node tree can help technicians and non-technicians quickly troubleshoot faults. For example, if the fault that occurs to the robot is loss of positioning, the reasons for the loss of positioning may be abnormal image module or abnormal lidar. Without the node tree, one can only troubleshoot one by one based on experience. However, when troubleshooting faults based on the node tree, after the robot receives the diagnostic instruction, it can obtain the current acquisition data of the image module and the current acquisition data of the lidar. If there is no data, the corresponding node can be determined to be abnormal. If there is acquisition data, but the acquisition data exceeds the normal range, the corresponding node can also be automatically determined to be abnormal. Displaying the node tree according to the determined node status enables users to quickly obtain the nodes that may have faults and the corresponding software and hardware based on the node tree, and then conduct targeted troubleshooting, improving the automation degree of fault troubleshooting, saving human resources, and improving the maintenance efficiency.

[0065] According to the fault problems of the software and hardware of the robot corresponding to different nodes, different color prompts are given. For example, if there is a communication fault in the chassis control board of the current robot, the node prompt box corresponding to FN202 is marked with the color corresponding to the fault status on the human-machine interaction interface. Since the FN202 node fails, the subtree (all child nodes of FN202) with this node as the root node is marked and displayed as an invalid state. Another example is that if the front radar communication can work normally, but there is a lack of corresponding historical log records, there may be a certain data loss problem, etc. Therefore, the prompt box of the FN205 node can be marked with the color corresponding to the warning state and displayed. Users can view the nodes they want to know by clicking on the node prompt box on the human-machine interaction interface. At this time, the robot will prompt a pop-up window to display the corresponding node problems, troubleshooting solutions, and solutions for the user to refer to.

[0066] Embodiment III

[0067] Figure 3 The following is a schematic structural diagram of a robot fault diagnosis device provided by Embodiment III of the present application. As Figure 3 shown, the device 300 includes:

[0068] A node status acquisition module 310, which acquires the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and each node is connected according to the communication relationship of each component structure;

[0069] A fault diagnosis module 320, which performs fault diagnosis on the robot according to the status information;

[0070] A diagnosis result display module 330, which is used to display the fault diagnosis results through the node tree.

[0071] The technical solution of the embodiment of the present application transforms the working states of the components of the robot into the form of a node tree, and prompts the user (technical or non-technical personnel) about the location of the robot's faults through a display method. By doing so, it can intuitively and conveniently display the fault occurrence nodes of the robot, accurately locate the fault source, and display it to the user in the form of nodes. Even non-technical personnel can easily obtain the fault information and perform simple repairs on the robot when there is no professional on-site, which can reduce the maintenance difficulty of the robot and improve the working efficiency of the robot.

[0072] Optionally, the device 300 may further include:

[0073] A troubleshooting plan display module for displaying the troubleshooting plan for the corresponding node based on the acquisition request.

[0074] Optionally, the fault diagnosis result includes a fault state and an invalid state. The diagnosis result display module 330 may include:

[0075] A fault state display unit for, if the fault diagnosis result of a non-leaf node is a fault state or an invalid state, displaying all nodes in the subtree with this non-leaf node as the root node as invalid states.

[0076] Optionally, the diagnosis result display module 330 may include:

[0077] A display method determination unit for determining the display method of each node according to the fault diagnosis result;

[0078] A result rendering and display unit for rendering and displaying the fault diagnosis result according to the display method.

[0079] Optionally, the device 300 may further include:

[0080] Determine the troubleshooting plan for the fault node according to the model of the robot, the historical operation record, and the current fault diagnosis result.

[0081] Optionally, the device 300 may further include:

[0082] A troubleshooting priority determination module for determining the display order of the troubleshooting plan according to the historical record frequency of the troubleshooting plan.

[0083] Optionally, the device 300 may further include:

[0084] A model data acquisition module for acquiring the three-dimensional model data of the robot;

[0085] A rendering module, configured to render and display a robot model including a fault diagnosis result according to three-dimensional model data and a fault diagnosis result, and the robot model and the node tree are rendered and displayed correspondingly within the same interface.

[0086] The robot fault diagnosis device provided by the embodiments of the present application can execute the robot fault diagnosis method provided by any embodiment of the present application, and has function modules and beneficial effects corresponding to executing each robot fault diagnosis method.

[0087] Embodiment 4

[0088] Figure 4 FIG. shows a schematic structural diagram of a robot 10 that can be used to implement the embodiments of the present application. The robot is intended to represent various forms of digital computers, such as, for example, a laptop computer, a desktop computer, a workbench, a personal digital assistant, a server, a blade server, a mainframe computer, and other suitable computers. The components shown herein, their connections and relationships, and their functions are merely exemplary and are not intended to limit the implementation of the present application described and / or claimed herein.

[0089] As Figure 4 shown, the robot 10 includes at least one processor 11, and a memory communicatively connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc. The memory stores a computer program executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the robot 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0090] A plurality of components in the robot 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the robot 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0091] The processor 11 may be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the robot fault diagnosis method.

[0092] In some embodiments, the robot fault diagnosis method may be implemented as a computer program tangibly embodied in a computer-readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed onto the robot 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the robot fault diagnosis method described above may be executed. Alternatively, in other embodiments, the processor 11 may be configured to execute the robot fault diagnosis method by any other suitable means (e.g., by means of firmware).

[0093] The various embodiments of the systems and techniques described above in this document may be implemented in digital electronic circuitry, integrated circuit systems, field-programmable gate arrays (FPGA), application-specific integrated circuits (ASIC), application-specific standard products (ASSP), systems-on-chip (SOC), complex programmable logic devices (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a special-purpose or general-purpose programmable processor that receives data and instructions from a storage system, at least one input device, and at least one output device, and transmits the data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] The computer programs for implementing the methods of the present application may be written in any combination of one or more programming languages. These computer programs may be provided to the processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the computer programs are executed by the processor, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The computer programs may be executed entirely on the machine, partially on the machine, as a stand-alone software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0095] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, the computer-readable storage medium can be a machine-readable signal medium. More specific examples of the machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0096] To provide for interaction with a user, the systems and techniques described herein can be implemented on a robot having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the robot. Other kinds of devices can also be used to provide for interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, speech input, or tactile input).

[0097] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer having a graphical user interface or a web browser through which the user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0098] A computing system may include a client and a server. The client and the server are generally far from each other and usually interact via a communication network. The relationship between the client and the server is created by computer programs running on respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or a cloud host, which is a host product in the cloud computing service system, solving the defects of difficult management and weak business scalability existing in traditional physical hosts and VPS services.

[0099] It should be understood that various forms of processes shown above can be used, steps can be reordered, added or deleted. For example, the steps recited in this application can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of this application can be achieved, and no limitation is made herein.

[0100] The above specific embodiments do not constitute a limitation on the protection scope of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principle of this application shall be included within the protection scope of this application.

Claims

1. A robot fault diagnosis method, characterized in that, The method includes: Obtaining the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and the nodes are connected according to the communication relationship of the component structures; the status information of the node tree is the working status of each component structure of the robot reflected by each node in the node tree; Performing fault diagnosis on the robot according to the status information; Displaying the fault diagnosis result through the node tree; Wherein, the fault diagnosis result includes a fault state, an invalid state, a normal state, and a warning state, and the displaying the fault diagnosis result through the node tree includes: If the fault diagnosis result of a non-leaf node is a fault state or an invalid state, all nodes in the subtree with this non-leaf node as the root node are displayed as invalid states; wherein, the warning state includes that the component structure or component corresponding to the node of the robot can complete the instruction to work, but at least one of the following problems occurs: the node log is not updated and the communication version of the software corresponding to the node is old; Determining the display mode of each node according to the fault diagnosis result; Rendering and displaying the fault diagnosis result according to the display mode; wherein, the display mode includes displaying at least one of the following on the human-computer interaction interface: the color, shape, size, and virtuality of the node.

2. The method according to claim 1, wherein It also includes: Based on the acquisition request, displaying the fault troubleshooting plan for the corresponding node.

3. The method according to claim 2, characterized in that, characterized in that, The fault troubleshooting plan includes: corresponding prompts and solutions generated for the nodes in the case of fault state, warning state, and invalid state according to the fault diagnosis result of the node; wherein, If the node is displayed in a fault state and the user clicks on the prompt box of the node on the human-computer interaction interface, the robot pops up a window to display graphics and text to explain how to troubleshoot the corresponding fault and how to continue disassembling and debugging the robot; If the node is displayed in a warning state and an invalid state, according to the acquisition request, output corresponding prompts and graphics to explain the reasons for the warning state and the invalid state, and prompt the solution.

4. The method according to claim 3, wherein It also includes: Receiving the marks made by the user on each node through the human-computer interaction interface, and the robot records the marks; wherein, the marks include no abnormality after troubleshooting according to the fault troubleshooting plan, or abnormality after troubleshooting.

5. The method according to claim 2, wherein Before displaying the fault troubleshooting plan for the corresponding node, it also includes: Determining the fault troubleshooting plan for the faulty node according to the model of the robot, the historical operation record, and the current fault diagnosis result.

6. The method according to claim 5, wherein It also includes: Determining the display order of the fault troubleshooting plan according to the historical record frequency of the fault troubleshooting plan.

7. The method according to any one of claims 1-6, characterized in that, The method also includes: Obtaining the three-dimensional model data of the robot; Rendering and displaying a robot model including the fault diagnosis result according to the three-dimensional model data and the fault diagnosis result, and the robot model is rendered and displayed corresponding to the node tree in the same interface.

8. A robot fault diagnosis device, characterized in that, Includes: A node status acquisition module, configured to acquire the status information of the node tree of the robot; each node in the node tree is determined according to the working status of each component structure of the robot, and the nodes are connected according to the communication relationship of the component structures; the status information of the node tree is the working status of each component structure of the robot reflected by each node in the node tree. A fault diagnosis module, configured to perform fault diagnosis on the robot according to the status information. A diagnosis result display module, configured to display the fault diagnosis result through the node tree. Wherein, the fault diagnosis result includes a fault status, an invalid status, a normal status, and a warning status, and the diagnosis result display module includes: A fault status display unit, configured to, if the fault diagnosis result of a non-leaf node is a fault status or an invalid status, display all nodes in the subtree with this non-leaf node as the root node as invalid status; wherein, the warning status includes that the component structure or component corresponding to this node of the robot can complete the instruction and work, but at least one of the following problems occurs: the node log is not updated and the software communication version corresponding to the node is old. A display mode determination unit, configured to determine the display mode of each node according to the fault diagnosis result. A result rendering and display unit, configured to render and display the fault diagnosis result according to the display mode; wherein, the display mode includes displaying at least one of the following on the human-computer interaction interface: the color, shape, size, and virtuality of the node.

9. A robot, characterized in that, The robot includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and when the computer program is executed by the at least one processor, the at least one processor is enabled to execute the robot fault diagnosis method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable the processor to implement the robot fault diagnosis method according to any one of claims 1-7 when executed.

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