Robot failure detection method, apparatus, and electronic device

Abstract

The embodiment of the application discloses a robot fault detection method, comprising: acquiring a first linear speed corresponding to a first wheel; acquiring a second linear speed corresponding to a second wheel; calculating a first angular speed measurement value of a road surface detection robot according to the first linear speed, the second linear speed and a wheel spacing value, wherein the wheel spacing value is a spacing value of the first wheel and the second wheel when the wheel angle is not deflected; acquiring a second angular speed measurement value of the road surface detection robot; and determining that the road surface detection robot has a fault if the difference between the second angular speed measurement value and the first angular speed measurement value is greater than a preset threshold. If the difference between the two is greater than the preset threshold, it means that either the detection of the first linear speed and the second linear speed is inaccurate, or the detection of the second angular speed measurement value is inaccurate, so it can be determined that the road surface detection robot has a fault, and the fault detection of the road surface detection robot can be more efficiently realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robots, in particular to a robot fault detection method and device and electronic equipment. BACKGROUND

[0002] The runway for the take-off or landing of an aircraft is one of the most important assets of an airport, and its health condition has a decisive influence on the safe, efficient and scientific operation of the airport. In order to grasp the health condition of the runway, the road surface of the airport runway is usually detected by a pavement detection robot.

[0003] However, if the pavement detection robot itself has a fault, the accuracy of detecting the runway will be greatly reduced; therefore, it is necessary to regularly detect the fault of the pavement detection robot.

[0004] In the prior art, the fault of the pavement detection robot is usually detected manually by a staff, which is low in efficiency. SUMMARY

[0005] The embodiments of the present application provide a robot fault detection method, device and electronic equipment, which can improve the problem of low efficiency of robot fault detection in the prior art.

[0006] The embodiments of the present application provide a robot fault detection method for detecting the fault of a pavement detection robot, the pavement detection robot comprising a first wheel and a second wheel, the first wheel and the second wheel being a pair of wheels corresponding to the same wheel shaft, the method comprising: obtaining a first linear speed corresponding to the first wheel; obtaining a second linear speed corresponding to the second wheel; calculating a first angular speed measurement value of the pavement detection robot according to the first linear speed, the second linear speed and a wheel spacing value, wherein the wheel spacing value is a spacing value of the first wheel and the second wheel when the wheel angle is not deflected; obtaining a second angular speed measurement value of the pavement detection robot; and determining that the pavement detection robot has a fault if a difference between the second angular speed measurement value and the first angular speed measurement value is greater than a preset threshold.

[0007] In some embodiments, the first linear speed is obtained by a first sensor, the second linear speed is obtained by a second sensor, and the second angular speed measurement value is obtained by a third sensor.

[0008] The determination that the pavement detection robot has a fault if the difference between the second angular speed measurement value and the first angular speed measurement value is greater than the preset threshold comprises:

[0009] If a difference between the second angular velocity measurement and the first angular velocity measurement is greater than a preset threshold, it is determined that at least one of the first sensor, the second sensor, and the third sensor is faulty.

[0010] In some embodiments, the first sensor is a first encoder, and the first encoder is arranged on the first wheel.

[0011] The first linear velocity corresponding to the first wheel is obtained by:

[0012] The angular velocity corresponding to the first wheel is obtained by using the first encoder.

[0013] The first linear velocity is calculated according to the angular velocity corresponding to the first wheel and a wheel radius of the first wheel.

[0014] The second sensor is a second encoder, and the second encoder is arranged on the second wheel.

[0015] The second linear velocity corresponding to the second wheel is obtained by:

[0016] The angular velocity corresponding to the second wheel is obtained by using the second encoder.

[0017] The second linear velocity is calculated according to the angular velocity corresponding to the second wheel and a wheel radius of the second wheel.

[0018] In some embodiments, the angular velocity corresponding to the first wheel is obtained by using the first encoder, including:

[0019] A first number of pulse signals generated by the first encoder is obtained, wherein each pulse signal corresponds to a same angle value.

[0020] A first time length consumed by the first encoder for generating the pulse signals is calculated.

[0021] A first product of the first number and the angle value is calculated, and a first ratio of the first product to the first time length is calculated, wherein the first ratio is the angular velocity corresponding to the first wheel.

[0022] In some embodiments, the angular velocity corresponding to the first wheel is obtained by using the first encoder, including:

[0023] A second number of pulse signals generated by the first encoder within a second time length is counted, wherein each pulse signal corresponds to a same angle value.

[0024] a second product of the second quantity and the angle value is calculated, and a second ratio of the second product to the second length of time is calculated, wherein the second ratio is an angular velocity corresponding to the first wheel.

[0025] In some embodiments, the first sensor is a first rotary transformer, and the first rotary transformer is arranged on the first wheel.

[0026] The first linear velocity corresponding to the first wheel is obtained by:

[0027] The angular velocity corresponding to the first wheel is obtained by using the first rotary transformer.

[0028] The first linear velocity is calculated according to the angular velocity corresponding to the first wheel and a wheel radius of the first wheel.

[0029] The second sensor is a second rotary transformer, and the second rotary transformer is arranged on the second wheel.

[0030] The second linear velocity corresponding to the second wheel is obtained by:

[0031] The angular velocity corresponding to the second wheel is obtained by using the second rotary transformer.

[0032] The second linear velocity is calculated according to the angular velocity corresponding to the second wheel and a wheel radius of the second wheel.

[0033] In some embodiments, the third sensor is an inertial measurement unit (IMU).

[0034] In some embodiments, the first angular velocity measurement value of the track detection robot is calculated according to the first linear velocity, the second linear velocity and the wheel spacing value, including:

[0035] A linear velocity difference value of the first linear velocity and the second linear velocity is calculated.

[0036] A product of a cosine value of a wheel offset angle and the wheel spacing value is calculated, wherein the wheel offset angle is an offset angle of the first wheel and the second wheel relative to a main body of the track detection robot.

[0037] A third ratio of the linear velocity difference value and the product is calculated, and the third ratio is the first angular velocity measurement value.

[0038] Embodiments of the present application also provide a robot fault detection device, and the device includes:

[0039] A first linear velocity obtaining unit is configured to obtain a first linear velocity corresponding to the first wheel.

[0040] a second linear velocity acquisition unit configured to acquire a second linear velocity corresponding to the second wheel;

[0041] a first measurement value calculation unit configured to calculate a first angular velocity measurement value of the pavement detection robot according to the first linear velocity, the second linear velocity, and a wheel spacing value, wherein the wheel spacing value is a spacing value between the first wheel and the second wheel when a wheel angle is not deflected;

[0042] a second measurement value acquisition unit configured to acquire a second angular velocity measurement value of the pavement detection robot;

[0043] a fault determination unit configured to determine that the pavement detection robot has a fault when a difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold.

[0044] In some embodiments, the first linear velocity is acquired by a first sensor, the second linear velocity is acquired by a second sensor, and the second angular velocity measurement value is acquired by a third sensor;

[0045] a fault determination unit, in particular configured to determine that at least one of the first sensor, the second sensor, and the third sensor has a fault when a difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold.

[0046] In some embodiments, the first sensor is a first encoder, and the first encoder is arranged on the first wheel;

[0047] the first linear velocity acquisition unit comprises:

[0048] a first angular velocity sub-unit configured to acquire an angular velocity corresponding to the first wheel by using the first encoder;

[0049] a first linear velocity sub-unit configured to calculate the first linear velocity according to the angular velocity corresponding to the first wheel and a wheel radius of the first wheel;

[0050] the second sensor is a second encoder, and the second encoder is arranged on the second wheel;

[0051] the second linear velocity acquisition unit comprises:

[0052] a second angular velocity sub-unit configured to acquire an angular velocity corresponding to the second wheel by using the second encoder;

[0053] a second linear velocity sub-unit configured to calculate the second linear velocity according to the angular velocity corresponding to the second wheel and a wheel radius of the second wheel.

[0054] In some embodiments, the first angular velocity subunit is specifically configured to acquire a first number of pulse signals generated by the first encoder, wherein each of the pulse signals corresponds to a same angle value;

[0055] The first time length consumed by the first encoder for generating the pulse signals is calculated.

[0056] A first product of the first number and the angle value is calculated, and a first ratio of the first product to the first time length is calculated, wherein the first ratio is the angular velocity corresponding to the first wheel.

[0057] In some embodiments, the first angular velocity subunit is specifically configured to acquire a second number of pulse signals generated by the first encoder within a second time length, wherein each of the pulse signals corresponds to a same angle value;

[0058] A second product of the second number and the angle value is calculated, and a second ratio of the second product to the second time length is calculated, wherein the second ratio is the angular velocity corresponding to the first wheel.

[0059] In some embodiments, the first sensor is a first rotary transformer, and the first rotary transformer is arranged on the first wheel; the first linear velocity acquisition unit comprises:

[0060] An angular velocity subunit is configured to acquire the angular velocity corresponding to the first wheel by using the first rotary transformer;

[0061] A linear velocity subunit is configured to calculate the first linear velocity according to the angular velocity corresponding to the first wheel and a wheel radius of the first wheel.

[0062] The second sensor is a second rotary transformer, and the second rotary transformer is arranged on the second wheel; the second linear velocity acquisition unit comprises:

[0063] A second angular velocity subunit is configured to acquire the angular velocity corresponding to the second wheel by using the second rotary transformer;

[0064] A second linear velocity subunit is configured to calculate the second linear velocity according to the angular velocity corresponding to the second wheel and a wheel radius of the second wheel.

[0065] In some embodiments, the third sensor is an inertial measurement unit (IMU).

[0066] In some embodiments, the first measurement value calculation unit comprises:

[0067] A difference calculation subunit is configured to calculate a linear velocity difference between the first linear velocity and the second linear velocity.

[0068] a product calculation sub-unit configured to calculate a product of a cosine value of a wheel offset angle and the wheel distance value, wherein the wheel offset angle is an offset angle of the first wheel and the second wheel relative to a main body of the road surface detection robot;

[0069] a third ratio calculation sub-unit configured to calculate a third ratio of the linear speed difference value and the product, the third ratio being the first angular speed measurement value.

[0070] In the robot fault detection method provided by the embodiments of the present application, the first linear speed of the first wheel and the second linear speed of the second wheel can be acquired respectively, and then the first angular speed measurement value of the road surface detection robot can be calculated according to the first linear speed, the second linear speed and the wheel distance value of the two wheels. Subsequently, the second angular speed measurement value of the road surface detection robot can be acquired, and the first angular speed measurement value and the second angular speed measurement value can be compared. If the difference between the two is greater than a preset threshold, it means that either the detection of the first linear speed and the second linear speed is inaccurate, or the detection of the second angular speed measurement value is inaccurate, and thus it can be determined that the road surface detection robot has a fault.

[0071] In the present application, the fault detection of the road surface detection robot can be more efficiently implemented. BRIEF DESCRIPTION OF DRAWINGS

[0072] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0073] Figure 1a is a scene schematic diagram of the robot fault detection method provided by the embodiments of the present application;

[0074] Figure 1b is a flowchart of the robot fault detection method provided by an embodiment of the present application;

[0075] Figure 2 is a scene schematic diagram of the road surface detection robot when turning;

[0076] Figure 3 is a structural schematic diagram of the robot fault detection device provided by an embodiment of the present application;

[0077] Figure 4 is a structural schematic diagram of the electronic device provided by the embodiments of the present application. DETAILED DESCRIPTION

[0078] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by those skilled in the art without creative work fall within the scope of the present application.

[0079] The embodiments of the present application provide a robot fault detection method and device and an electronic device.

[0080] The robot fault detection device can be integrated in an electronic device, which can be a terminal, a server, or the like. The terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a notebook computer, or a personal computer (PC), or the like. The server can be a single server or a server cluster composed of multiple servers.

[0081] In some embodiments, the robot fault detection device can also be integrated in multiple electronic devices, for example, the robot fault detection device can be integrated in multiple servers, and the robot fault detection method of the present application can be implemented by the multiple servers.

[0082] In some embodiments, the server can also be implemented in the form of a terminal.

[0083] For example, with reference to Figure 1a The electronic device described above can execute the following method: obtaining a first linear velocity corresponding to the first wheel; obtaining a second linear velocity corresponding to the second wheel; calculating a first angular velocity measurement value of the road detection robot according to the first linear velocity, the second linear velocity, and the wheel spacing value, wherein the wheel spacing value is the spacing value of the first wheel and the second wheel when the wheel angle is not deflected; obtaining a second angular velocity measurement value of the road detection robot; and determining that the road detection robot has a fault if the difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold.

[0084] The following will be described in detail. It should be noted that the serial numbers of the following embodiments do not limit the preferred order of the embodiments.

[0085] In this embodiment, a robot fault detection method is provided, as shown in Figure 1b The robot fault detection method is applied to an electronic device, and the method is used for fault detection of a road detection robot. The road detection robot includes a first wheel and a second wheel, and the first wheel and the second wheel are paired wheels corresponding to the same wheel shaft. The specific process of the method can include the following steps 110 to 150:

[0086] 110. obtaining a first linear velocity corresponding to the first wheel.

[0087] The first linear velocity can be obtained by a first sensor, which is arranged on the first wheel.

[0088] In one embodiment, the first sensor is a first encoder, and correspondingly, the step 110 can include the following steps 111 and 112:

[0089] 111. obtaining an angular velocity corresponding to the first wheel by using the first encoder.

[0090] Alternatively, in one embodiment, the step 111 can include the following steps A1 to A3:

[0091] A1. obtaining a first number of pulse signals generated by the first encoder, wherein each of the pulse signals corresponds to a same angle value.

[0092] The first encoder can convert the angular displacement of the first wheel into a periodic electrical signal, and then convert the electrical signal into counting pulses, so that each pulse signal corresponds to the same angle value within an error range.

[0093] A2. calculating a first time length consumed by the first encoder for generating the pulse signals.

[0094] In order to calculate the angular velocity corresponding to the first wheel, the first number of pulse signals can be obtained, and the time length consumed by the first number of pulse signals is recorded as the first time length.

[0095] A3. calculating a first product of the first number and the angle value, and calculating a first ratio of the first product to the first time length, wherein the first ratio is the angular velocity corresponding to the first wheel.

[0096] The multiplication of the first number and the angle value can obtain the total angular displacement represented by the first number of pulse signals. Then, the first ratio of the total angular displacement to the first time length is calculated to obtain the angular velocity corresponding to the first wheel.

[0097] Alternatively, in another embodiment, the step 111 can include the following steps B1 to B2:

[0098] B1. counting a second number of pulse signals generated by the first encoder within a second time length, wherein each of the pulse signals corresponds to a same angle value.

[0099] B2, calculating a second product of the second number and the angle value, and calculating a second ratio of the second product and the second time length, wherein the second ratio is the angular velocity corresponding to the first wheel.

[0100] In addition to the calculation manner of steps A1 to A3, the time length can be set as the second time length first, and then the second number of the pulse signals generated by the first encoder in the second time length is counted.

[0101] Then, a second product of the second number and the angle value is calculated, and the second product represents the total displacement of the first wheel in the second time length; and then the second product is divided by the second time length, so that the average angular velocity of the first wheel in the second time length can be calculated.

[0102] 112, calculating the first linear velocity according to the angular velocity corresponding to the first wheel and the wheel radius of the first wheel.

[0103] After the angular velocity corresponding to the first wheel is calculated according to the two calculation manners described above, the first linear velocity can be calculated according to the angular velocity and the wheel radius of the first wheel which is known in advance.

[0104] Specifically, the first linear velocity v1 can be calculated according to the formula v1=ω1×r1, wherein ω1 is the angular velocity corresponding to the first wheel, and r1 is the wheel radius of the first wheel.

[0105] It should be understood that the first sensor can be other types of sensors in addition to the encoder, such as a rotary transformer, and the specific type of the first sensor should not be understood as a limitation of the present application. If the first sensor is a first rotary transformer, step 110 can specifically include the following steps: obtaining the angular velocity corresponding to the first wheel by using the first rotary transformer; and calculating the first linear velocity according to the angular velocity corresponding to the first wheel and the wheel radius of the first wheel.

[0106] The magnitude of the voltage output by the first rotary transformer can change with the angular displacement of the first wheel, specifically, the voltage amplitude output by the first rotary transformer can have a sine function relationship or a cosine function relationship with the rotation angle of the first wheel.

[0107] Therefore, the corresponding angular displacement can be determined according to the change of the voltage amplitude output by the first rotary transformer, and the time length of the voltage amplitude change of the first rotary transformer is counted, so that the angular velocity corresponding to the first wheel can be calculated according to the angular displacement and the time length. Then the first linear velocity corresponding to the first wheel can be calculated according to the angular velocity and the wheel radius which is known in advance.

[0108] 120, obtaining the second linear velocity corresponding to the second wheel.

[0109] The second linear velocity can be acquired by a second sensor, which is arranged on the second wheel.

[0110] In one embodiment, the second sensor is a second encoder, which is arranged on the second wheel. Correspondingly, step 120 can include steps 121 and 122 as follows:

[0111] 121. Acquire the angular velocity of the second wheel by the second encoder.

[0112] Optionally, in one embodiment, step 121 can include steps C1-C3 as follows:

[0113] C1. Acquire a third number of pulse signals generated by the second encoder, wherein each pulse signal corresponds to the same angle value.

[0114] C2. Calculate a third time length consumed by the second encoder for generating the pulse signals.

[0115] C3. Calculate a third product of the third number and the angle value, and calculate a third ratio of the third product to the third time length, wherein the third ratio is the angular velocity of the second wheel.

[0116] Steps C1-C3 are the same as steps A1-A3, and thus will not be repeated here.

[0117] Optionally, in another embodiment, step 121 can include steps D1-D2 as follows:

[0118] D1. Count a fourth number of pulse signals generated by the second encoder within a fourth time length, wherein each pulse signal corresponds to the same angle value.

[0119] D2. Calculate a fourth product of the fourth number and the angle value, and calculate a fourth ratio of the fourth product to the fourth time length, wherein the fourth ratio is the angular velocity of the second wheel.

[0120] Steps D1-D2 are the same as steps B1-B2, and thus will not be repeated here.

[0121] 122. Calculate the second linear velocity according to the angular velocity of the second wheel and the wheel radius of the second wheel.

[0122] The second linear velocity v2 can be calculated according to the formula v2=ω2×r2, where ω2 is the angular velocity corresponding to the second wheel, and r2 is the wheel radius of the second wheel, which is usually the same as the wheel radius of the first wheel.

[0123] Steps 121 to 122 are the same as steps 111 to 112, and thus will not be described here.

[0124] It should be understood that the second sensor can be other types of sensors in addition to an encoder, such as a rotary transformer, and the specific type of the second sensor should not be understood as a limitation on the present application. If the second sensor is a second rotary transformer, step 120 can specifically include the following steps: obtaining the angular velocity corresponding to the second wheel by using the second rotary transformer; and calculating the second linear velocity according to the angular velocity corresponding to the second wheel and the wheel radius of the second wheel.

[0125] The magnitude of the voltage output by the second rotary transformer can change with the angular displacement of the second wheel. Specifically, the voltage amplitude output by the second rotary transformer can have a sine function relationship or a cosine function relationship with the rotation angle of the second wheel.

[0126] Therefore, the corresponding angular displacement amount can be determined according to the change in the voltage amplitude output by the second rotary transformer, and then the time length during which the voltage amplitude of the second rotary transformer changes can be counted, so that the angular velocity corresponding to the second wheel can be calculated according to the angular displacement amount and the time length. Subsequently, the second linear velocity corresponding to the second wheel can be calculated according to the angular velocity and the previously known wheel radius.

[0127] 130. Calculate a first angular velocity measurement value of the track detection robot according to the first linear velocity, the second linear velocity, and the wheel spacing value.

[0128] The first angular velocity measurement value is a measurement value of the angular velocity of the track detection robot generated when the track detection robot is turning.

[0129] The wheel spacing value is the spacing value between the first wheel and the second wheel when the wheel angles are not deflected. For details, please refer to L in Figure 2 , Figure 2 where L is the wheel spacing value, θ1 is the wheel deflection angle value of the first wheel, and θ2 is the wheel deflection angle value of the second wheel.

[0130] Optionally, in a specific embodiment, step 130 can specifically include steps 131 to 133:

[0131] 131. Calculate the linear velocity difference value of the first linear velocity and the second linear velocity.

[0132] The linear velocity difference Δv can be calculated according to Δv = v1-v2.

[0133] 132, calculating a product of a cosine value of a wheel offset angle and the wheel spacing value, wherein the wheel offset angle is an offset angle of the first wheel and the second wheel relative to a main body of the pavement detection robot.

[0134] 133, calculating a third ratio of the linear velocity difference and the product, the third ratio being the first angular velocity measurement.

[0135] The wheel offset angle θ can be calculated according to the formula The wheel offset angle θ can be calculated according to the formula

[0136] The first angular velocity measurement ω can be calculated according to the formula The first angular velocity measurement ω can be calculated according to the formula 测1 .

[0137] 140, obtaining a second angular velocity measurement of the pavement detection robot.

[0138] The second angular velocity measurement is another measurement of the angular velocity of the pavement detection robot when the pavement detection robot is turning. The second angular velocity measurement can be obtained by a third sensor. The third sensor can be an inertial measurement unit (IMU).

[0139] 150, if a difference between the second angular velocity measurement and the first angular velocity measurement is greater than a preset threshold, determining that the pavement detection robot has a fault.

[0140] In the above embodiments, if the difference between the second angular velocity measurement and the first angular velocity measurement is greater than the preset threshold, it means that either the detection of the first linear velocity and the second linear velocity is inaccurate, or the detection of the second angular velocity measurement is inaccurate, and thus it can be determined that the pavement detection robot has a fault.

[0141] In a specific embodiment, the step 150 can specifically include: if the difference between the second angular velocity measurement and the first angular velocity measurement is greater than the preset threshold, determining that at least one of the first sensor, the second sensor, and the third sensor has a fault.

[0142] In the above embodiment, since the first linear velocity is calculated according to the data obtained by the first sensor, the second linear velocity is calculated according to the data obtained by the second sensor, and the first angular velocity measurement is measured by the third sensor, it can be inferred that at least one of the first sensor, the second sensor, and the third sensor has a high possibility of failure under the premise that it is determined that the road detection robot has a failure.

[0143] In the robot failure detection method provided by the embodiment of the present application, the first linear velocity of the first wheel and the second linear velocity of the second wheel can be obtained respectively, and then the first angular velocity measurement of the road detection robot is calculated according to the first linear velocity, the second linear velocity, and the wheel distance value of the above two wheels; subsequently, the second angular velocity measurement of the road detection robot can be obtained, and the first angular velocity measurement and the second angular velocity measurement are compared, and if the difference between the two is greater than a preset threshold, it means that either the detection of the first linear velocity and the second linear velocity is inaccurate, or the detection of the second angular velocity measurement is inaccurate, so it can be determined that the road detection robot has a failure.

[0144] In the present application, the failure detection of the road detection robot can be more efficiently realized.

[0145] In order to better implement the above method, the embodiment of the present application further provides a robot failure detection device, which can be integrated in an electronic device. The electronic device can be a terminal, a server, and the like. The terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a notebook computer, or a personal computer (PC), and the like. The server can be a single server or a server cluster composed of multiple servers. For example, in the present embodiment, the robot failure detection device is integrated in the terminal of the road detection robot or the server arranged in the cloud, and the method of the present embodiment is described in detail.

[0146] For example, as shown in Figure 3 The robot failure detection device can include:

[0147] The first linear velocity acquisition unit 301 is configured to obtain the first linear velocity corresponding to the first wheel.

[0148] The second linear velocity acquisition unit 302 is configured to obtain the second linear velocity corresponding to the second wheel.

[0149] The first measurement calculation unit 303 is configured to calculate the first angular velocity measurement of the road detection robot according to the first linear velocity, the second linear velocity, and the wheel distance value. The wheel distance value is the distance value between the first wheel and the second wheel when the wheel angle is not deflected.

[0150] a second angular velocity measurement value of the pavement detection robot is obtained;

[0151] a fault determination unit 305 is configured to determine that the pavement detection robot has a fault when a difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold.

[0152] In some embodiments, the first linear velocity is obtained by a first sensor, the second linear velocity is obtained by a second sensor, and the second angular velocity measurement value is obtained by a third sensor;

[0153] The fault determination unit 305 is specifically configured to determine that at least one of the first sensor, the second sensor, and the third sensor has a fault when a difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold.

[0154] In some embodiments, the first sensor is a first encoder, and the first encoder is arranged on the first wheel;

[0155] The first linear velocity obtaining unit 301 comprises:

[0156] a first angular velocity subunit configured to obtain an angular velocity corresponding to the first wheel by using the first encoder;

[0157] a first linear velocity subunit configured to calculate the first linear velocity according to the angular velocity corresponding to the first wheel and a wheel radius of the first wheel;

[0158] The second sensor is a second encoder, and the second encoder is arranged on the second wheel;

[0159] The second linear velocity obtaining unit 302 comprises:

[0160] a second angular velocity subunit configured to obtain an angular velocity corresponding to the second wheel by using the second encoder;

[0161] a second linear velocity subunit configured to calculate the second linear velocity according to the angular velocity corresponding to the second wheel and a wheel radius of the second wheel.

[0162] In some embodiments, the first angular velocity subunit is specifically configured to obtain a first number of pulse signals generated by the first encoder, wherein each pulse signal corresponds to the same angle value;

[0163] a first time length consumed by the first encoder for generating the plurality of pulse signals is calculated;

[0164] a first product of the first number and the angle value is calculated, and a first ratio of the first product to the first time length is calculated, wherein the first ratio is an angular velocity corresponding to the first wheel.

[0165] In some embodiments, a first angular velocity subunit is specifically configured to count a second number of pulse signals generated by the first encoder in a second time length, wherein each of the pulse signals corresponds to the same angle value.

[0166] a second product of the second number and the angle value is calculated, and a second ratio of the second product to the second time length is calculated, wherein the second ratio is an angular velocity corresponding to the first wheel.

[0167] In some embodiments, the first sensor is a first rotary transformer, and the first rotary transformer is arranged on the first wheel; the first linear velocity acquisition unit 301 comprises:

[0168] an angular velocity subunit configured to acquire an angular velocity corresponding to the first wheel by using the first rotary transformer;

[0169] a linear velocity subunit configured to calculate the first linear velocity according to the angular velocity corresponding to the first wheel and a wheel radius of the first wheel;

[0170] the second sensor is a second rotary transformer, and the second rotary transformer is arranged on the second wheel; the second linear velocity acquisition unit 302 comprises:

[0171] a second angular velocity subunit configured to acquire an angular velocity corresponding to the second wheel by using the second rotary transformer;

[0172] a second linear velocity subunit configured to calculate the second linear velocity according to the angular velocity corresponding to the second wheel and a wheel radius of the second wheel.

[0173] In some embodiments, the third sensor is an inertial measurement unit (IMU).

[0174] In some embodiments, the first measurement value calculation unit 303 comprises:

[0175] a difference calculation subunit configured to calculate a linear velocity difference between the first linear velocity and the second linear velocity;

[0176] a product calculation subunit configured to calculate a product of a cosine value of a wheel offset angle and the wheel spacing value, wherein the wheel offset angle is an offset angle of the first wheel and the second wheel relative to a main body of the road surface detection robot.

[0177] A third ratio calculation sub-unit is configured to calculate a third ratio of the linear speed difference and the product, the third ratio being the first angular speed measurement.

[0178] In the robot fault detection method provided in the embodiments of the present application, the first linear speed of the first wheel and the second linear speed of the second wheel can be acquired respectively, and then the first angular speed measurement of the road surface detection robot can be calculated according to the first linear speed, the second linear speed and the vehicle distance value of the two wheels. Subsequently, the second angular speed measurement of the road surface detection robot can be acquired, and the first angular speed measurement and the second angular speed measurement are compared. If the difference between the two is greater than a preset threshold, it means that either the detection of the first linear speed and the second linear speed is inaccurate, or the detection of the second angular speed measurement is inaccurate, and thus it can be determined that the road surface detection robot has a fault.

[0179] In the present application, the fault detection of the road surface detection robot can be more efficiently implemented.

[0180] The embodiments of the present application also provide an electronic device, which can be a terminal, a server or the like. The terminal can be a mobile phone, a tablet computer, a smart Bluetooth device, a notebook computer, a personal computer or the like, and the server can be a single server or a server cluster composed of multiple servers.

[0181] In some embodiments, the robot fault detection apparatus can also be integrated in multiple electronic devices, for example, the robot fault detection apparatus can be integrated in multiple servers, and the multiple servers can implement the robot fault detection method of the present application.

[0182] In the present embodiment, the electronic device of the present embodiment will be taken as an example for detailed description, for example, as shown in Figure 4 The electronic device of the present embodiment is shown in the structural schematic diagram of the electronic device, and specifically:

[0183] The electronic device can include a processor 401 with one or more processing cores, a memory 402 with one or more computer readable storage media, a power supply 403, an input module 404, a communication module 405 and the like. Those skilled in the art can understand that the structure of the electronic device shown in Figure 4 The structure of the electronic device shown in the present embodiment does not constitute a limitation on the electronic device, and can include more or fewer components than those shown in the figure, or combine certain components, or different component arrangements. Among them:

[0184] The processor 401 is the control center of the electronic device. It connects various parts of the electronic device via various interfaces and lines. By running or executing software programs and / or modules stored in the memory 402, and by calling data stored in the memory 402, it performs various functions and processes data, thereby providing overall monitoring of the electronic device. In some embodiments, the processor 401 may include one or more processing cores; in some embodiments, the processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into the processor 401.

[0185] The memory 402 can be used to store software programs and modules. The processor 401 executes various functional applications and data processing by running the software programs and modules stored in the memory 402. The memory 402 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the electronic device, etc. In addition, the memory 402 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 402 may also include a memory controller to provide the processor 401 with access to the memory 402.

[0186] The electronic device also includes a power supply 403 that supplies power to the various components. In some embodiments, the power supply 403 can be logically connected to the processor 401 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. The power supply 403 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0187] The electronic device may also include an input module 404, which can be used to receive input digital or character information and generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control.

[0188] The electronic device may also include a communication module 405. In some embodiments, the communication module 405 may include a wireless module, through which the electronic device can perform short-range wireless transmission, thereby providing users with wireless broadband internet access. For example, the communication module 405 can be used to help users send and receive emails, browse web pages, and access streaming media.

[0189] Although not shown, the electronic device can further include a display unit and the like, which will not be described herein. Specifically, in the present embodiment, the processor 401 in the electronic device will load the executable file corresponding to the process of one or more application programs into the memory 402 according to the following instructions, and run the application program stored in the memory 402 by the processor 401, thereby realizing various functions, as follows:

[0190] obtaining a first linear speed corresponding to the first wheel; obtaining a second linear speed corresponding to the second wheel; calculating a first angular speed measurement value of the pavement detection robot according to the first linear speed, the second linear speed, and the wheel spacing value, wherein the wheel spacing value is a spacing value of the first wheel and the second wheel when the wheel angle is not deflected; obtaining a second angular speed measurement value of the pavement detection robot; and determining that the pavement detection robot has a fault if a difference between the second angular speed measurement value and the first angular speed measurement value is greater than a preset threshold value.

[0191] The specific implementation of each operation can refer to the foregoing embodiments, which will not be described herein.

[0192] Those skilled in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructions, or by related hardware controlled by the instructions, which can be stored in a computer readable storage medium and loaded and executed by a processor.

[0193] To this end, an embodiment of the present application provides a computer readable storage medium, which stores a plurality of instructions capable of being loaded by a processor to execute steps in any one of the robot fault detection methods provided by the embodiments of the present application. For example, the instructions can execute the following steps:

[0194] obtaining a first linear speed corresponding to the first wheel; obtaining a second linear speed corresponding to the second wheel; calculating a first angular speed measurement value of the pavement detection robot according to the first linear speed, the second linear speed, and the wheel spacing value, wherein the wheel spacing value is a spacing value of the first wheel and the second wheel when the wheel angle is not deflected; obtaining a second angular speed measurement value of the pavement detection robot; and determining that the pavement detection robot has a fault if a difference between the second angular speed measurement value and the first angular speed measurement value is greater than a preset threshold value.

[0195] The storage medium can include a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, etc.

[0196] According to an aspect of the present application, a computer program product or computer program is provided, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in various optional implementations provided in the above embodiments.

[0197] Due to the instructions stored in the storage medium, the steps in any of the robot fault detection methods provided in the embodiments of the present application can be executed, thus the beneficial effects that can be achieved by any of the robot fault detection methods provided in the embodiments of the present application can be achieved, which are described in detail in the foregoing embodiments and will not be described here again.

[0198] The above describes in detail a robot fault detection method, device, electronic device and computer readable storage medium provided in the embodiments of the present application, and the principles and implementation manners of the present application are described by applying specific examples; the above embodiment descriptions are only used to help understand the method of the present application and its core idea; meanwhile, for those skilled in the art, according to the idea of the present application, the specific implementation manners and application ranges will have changes, and the above descriptions should not be understood as limiting the present application.

Claims

1. A method for detecting robot faults, characterized in that, A method for fault detection of a pavement inspection robot, the pavement inspection robot including a first wheel and a second wheel, the first wheel and the second wheel being a pair of wheels corresponding to the same axle, the method comprising: Obtain the first linear velocity corresponding to the first wheel; Obtain the second linear velocity corresponding to the second wheel; Based on the first linear velocity, the second linear velocity, and the wheel spacing value, the first angular velocity measurement value of the pavement inspection robot is calculated, wherein the wheel spacing value is the distance between the first wheel and the second wheel when the wheel angle does not deflect; the first angular velocity measurement value is a measurement value of the angular velocity of the pavement inspection robot generated when it turns. Obtain the second angular velocity measurement value of the pavement inspection robot; If the difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold, the pavement inspection robot is determined to be faulty. The step of calculating the first angular velocity measurement value of the pavement inspection robot based on the first linear velocity, the second linear velocity, and the wheel spacing value includes: Calculate the difference in linear velocity between the first linear velocity and the second linear velocity; Calculate the product of the cosine of the wheel offset angle and the wheel spacing value, where the wheel offset angle is the offset angle of the first wheel and the second wheel relative to the main body of the pavement detection robot. Calculate a third ratio of the linear velocity difference to the product, where the third ratio is the first angular velocity measurement.

2. The method as described in claim 1, characterized in that, The first linear velocity is acquired by the first sensor, the second linear velocity is acquired by the second sensor, and the second angular velocity measurement value is acquired by the third sensor; If the difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold, the pavement inspection robot is determined to have a fault, including: If the difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold, then it is determined that at least one of the first sensor, the second sensor, and the third sensor is faulty.

3. The method as described in claim 2, characterized in that, The first sensor is a first encoder, and the first encoder is disposed on the first wheel; The step of obtaining the first linear velocity corresponding to the first wheel includes: The angular velocity corresponding to the first wheel is obtained using the first encoder; Calculate the first linear velocity based on the angular velocity of the first wheel and the wheel radius of the first wheel; The second sensor is a second encoder, and the second encoder is disposed on the second wheel; The step of obtaining the second linear velocity corresponding to the second wheel includes: The second encoder is used to obtain the angular velocity corresponding to the second wheel; The second linear velocity is calculated based on the angular velocity of the second wheel and the wheel radius of the second wheel.

4. The method as described in claim 3, characterized in that, The step of obtaining the angular velocity corresponding to the first wheel using the first encoder includes: Obtain a first number of multiple pulse signals generated by the first encoder, wherein each pulse signal corresponds to the same angle value; Calculate the first time length consumed by the first encoder to generate the plurality of pulse signals; Calculate the first product of the first quantity and the angle value, and calculate the first ratio of the first product to the first time length, wherein the first ratio is the angular velocity corresponding to the first wheel.

5. The method as described in claim 3, characterized in that, The step of obtaining the angular velocity corresponding to the first wheel using the first encoder includes: The second number of multiple pulse signals generated by the first encoder within the second time length is counted, wherein each pulse signal corresponds to the same angle value; Calculate the second product of the second quantity and the angle value, and calculate the second ratio of the second product to the second time length, wherein the second ratio is the angular velocity corresponding to the first wheel.

6. The method as described in claim 2, characterized in that, The first sensor is a first rotary transformer, and the first rotary transformer is disposed on the first wheel; The step of obtaining the first linear velocity corresponding to the first wheel includes: The angular velocity corresponding to the first wheel is obtained using the first rotary transformer; Calculate the first linear velocity based on the angular velocity of the first wheel and the wheel radius of the first wheel; The second sensor is a second rotary transformer, which is disposed on the second wheel; The step of obtaining the second linear velocity corresponding to the second wheel includes: The angular velocity corresponding to the second wheel is obtained using the second rotary transformer; The second linear velocity is calculated based on the angular velocity of the second wheel and the wheel radius of the second wheel.

7. The method as described in claim 2, characterized in that, The third sensor is an inertial measurement unit (IMU).

8. A robot fault detection device, characterized in that, A device for fault detection of a pavement inspection robot, the pavement inspection robot including a first wheel and a second wheel, the first wheel and the second wheel being a pair of wheels corresponding to the same axle, the device comprising: The first linear velocity acquisition unit is used to acquire the first linear velocity corresponding to the first wheel; The second linear velocity acquisition unit is used to acquire the second linear velocity corresponding to the second wheel; The first measurement calculation unit is used to calculate the first angular velocity measurement value of the pavement inspection robot based on the first linear velocity, the second linear velocity, and the wheel spacing value, wherein the wheel spacing value is the distance between the first wheel and the second wheel when the wheel angle does not deflect; the first angular velocity measurement value is a measurement value of the angular velocity of the pavement inspection robot generated when the pavement inspection robot turns. The second measurement value acquisition unit is used to acquire the second angular velocity measurement value of the pavement inspection robot; The fault determination unit is used to determine that the pavement inspection robot has a fault when the difference between the second angular velocity measurement value and the first angular velocity measurement value is greater than a preset threshold. The first measurement value calculation unit includes: The difference calculation subunit is used to calculate the difference between the linear velocity of the first linear velocity and the linear velocity of the second linear velocity; The product calculation subunit is used to calculate the product of the cosine value of the wheel offset angle and the wheel spacing value, wherein the wheel offset angle is the offset angle of the first wheel and the second wheel relative to the main body of the pavement detection robot. The third ratio calculation subunit is used to calculate the third ratio of the linear velocity difference to the product, wherein the third ratio is the first angular velocity measurement value.

9. An electronic device, characterized in that, The system includes a processor and a memory, the memory storing multiple instructions; the processor loads instructions from the memory to perform the steps in the robot fault detection method as described in any one of claims 1 to 7.

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