A method, device, equipment and storage medium for automatic fault identification

Abstract

The embodiment of the present invention discloses a method, device, equipment and storage medium for automatic fault identification. The embodiment of the present invention collects the status data and operation data of the basic functional elements of the robot by utilizing the functional system of the robot, and analyzes the status data and operation data in real time to determine whether the robot has a fault. When it is determined that the robot has a fault, the functional system generates an alarm message including an alarm code, and sends the alarm message to the main control module, which then uploads the alarm message to the operation and maintenance platform through the background message center. The operation and maintenance platform generates corresponding fault content information based on the alarm message, and then sends the alarm message and the fault content information to the target address. The embodiment of the present invention improves the accuracy and efficiency of troubleshooting the robot's faults, and solves the technical problems of low efficiency and low accuracy in the robot's fault troubleshooting process in the prior art.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of automation, and in particular to a method, device, equipment and storage medium for automatic fault identification. Background Art

[0002] At present, with the continuous development of science and technology, the development of robot technology is also changing with each passing day. At present, some robots can already achieve full automation. Since the robot system is relatively complex, when a robot fails, it is necessary to troubleshoot the robot to locate the problem. However, as a complex system, the robot's troubleshooting is a systematic project. The troubleshooting process requires maintenance personnel to understand the robot's various functional systems and control principles, and to be proficient in various testing methods. This requires a high degree of cooperation from the R&D team and maintenance personnel to have a deep professional knowledge reserve. The implementation conditions are relatively strict, resulting in the robot's troubleshooting process. There are technical problems such as low efficiency and low accuracy. Summary of the invention

[0003] The embodiments of the present invention provide a method, device, equipment and storage medium for automatic fault identification. The embodiments of the present invention can improve the efficiency and accuracy of troubleshooting robot faults, and solve the technical problems of low efficiency and low accuracy in the robot fault troubleshooting process in the prior art.

[0004] In a first aspect, an embodiment of the present invention provides a method for automatic fault identification, the method being applicable to a functional system of a robot, the functional system being obtained by dividing circuit modules in advance according to the functions of the robot, the method comprising:

[0005] Collect status data and operation data of basic functional components of the robot;

[0006] Analyze the status data and the operation data in real time to determine whether the robot fails;

[0007] When it is determined that the robot has a fault, an alarm message is generated, wherein the alarm message includes an alarm code, one alarm code corresponds to one fault, and different code segments in the alarm code include information of different dimensions of the fault;

[0008] The alarm information is sent to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to the target address.

[0009] In a second aspect, an embodiment of the present invention provides an automatic fault identification device, which is applicable to a functional system of a robot, wherein the functional system is obtained by dividing the functions of the robot into circuit modules in advance, and the device comprises:

[0010] Data acquisition module, used to collect status data and operation data of basic functional components of the robot;

[0011] A fault analysis module, used to analyze the state data and the operation data in real time to determine whether the robot has a fault;

[0012] An information generating module, configured to generate warning information when it is determined that the robot has a fault, wherein the warning information includes a warning code, one warning code corresponds to one fault, and different code segments in the warning code include information of different dimensions of the fault;

[0013] The information reporting module is used to send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to the target address.

[0014] In a third aspect, an embodiment of the present invention provides an automatic fault identification device, the automatic fault identification device comprising a processor and a memory;

[0015] The memory is used to store a computer program and transmit the computer program to the processor;

[0016] The processor is used to execute the automatic fault identification method as described in the first aspect according to the instructions in the computer program.

[0017] In a fourth aspect, an embodiment of the present invention provides a storage medium storing computer executable instructions, wherein the computer executable instructions, when executed by a computer processor, are used to execute a method for automatic fault identification as described in the first aspect.

[0018] As described above, the embodiment of the present invention collects the status data and operation data of the basic functional elements of the robot by utilizing the functional system of the robot, and analyzes the status data and operation data in real time to determine whether the robot has a fault. When it is determined that the robot has a fault, the functional system generates an alarm message including an alarm code, and sends the alarm message to the main control module, which then uploads the alarm message to the operation and maintenance platform through the background message center. The operation and maintenance platform generates corresponding fault content information based on the alarm message, and then sends the alarm message and fault content information to the target address. The operation and maintenance personnel can quickly locate and troubleshoot the fault of the robot by checking the fault content information at the target address, thereby improving the accuracy and efficiency of troubleshooting the robot's faults, and solving the technical problems of low efficiency and low accuracy in the robot troubleshooting process in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flowchart of a method for automatic fault identification provided by an embodiment of the present invention.

[0020] Figure 2 A schematic diagram of the data transmission relationship among a robot, a background message center, an operation and maintenance platform, and a mobile terminal provided in an embodiment of the present invention.

[0021] Figure 3 A flowchart of another automatic fault identification method provided by an embodiment of the present invention.

[0022] Figure 4 A schematic diagram of the architecture of an automatic fault identification method provided by an embodiment of the present invention.

[0023] Figure 5 A schematic diagram of the structure of an automatic fault identification device provided in an embodiment of the present invention.

[0024] Figure 6 A schematic diagram of the structure of an automatic fault identification device provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0025] The following description and accompanying drawings fully illustrate the specific embodiments of the present application so that those skilled in the art can practice them. The examples represent possible variations only. Unless explicitly required, separate components and functions are optional, and the order of operation can vary. The parts and features of some embodiments may be included in or replace the parts and features of other embodiments. The scope of the embodiments of the present application includes the entire scope of the claims, and all available equivalents of the claims. In this article, each embodiment may be represented individually or generally by the term "invention", which is only for convenience, and if more than one invention is disclosed in fact, it is not intended to automatically limit the scope of the application to any single invention or inventive concept. In this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, without requiring or implying any actual relationship or order between these entities or operations. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method or device including a series of elements includes not only those elements, but also other elements that are not explicitly listed. The various embodiments are described in a progressive manner herein, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other. As for the structures, products, etc. disclosed in the embodiments, since they correspond to the parts disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method part.

[0026] like Figure 1 As shown, Figure 1 A flowchart of a method for automatic fault identification provided by an embodiment of the present invention. The method for automatic fault identification provided by an embodiment of the present invention is applicable to the functional system of a robot, wherein the functional system refers to a system for performing one or more specific functions. In this embodiment, the functional system is obtained by dividing the circuit modules in advance according to the functions of the robot. For example, the functional system can be divided into the navigation system, DCU system, communication system and human-machine system of the robot, wherein the navigation system is used to realize the path navigation function of the robot, and the navigation system may include the positioning module, map module, path planning module, motion control module and obstacle avoidance planning module in the robot. The DCU system is used to realize the driving control function of the robot, and the DCU system may include the main control module, motor module, drive module, sensor module and power module in the robot. The communication system is used to realize the communication function of the robot, such as the communication between the human-machine system and the navigation system, the communication between the human-machine system and the DCU system, the communication between the navigation system and the DCU system, and the communication between the human-machine system and the system background. The human-machine system is used to realize the human-machine interaction function of the robot. It can be understood that the functional system in this embodiment can be divided according to actual needs, and is not specifically limited in this embodiment.

[0027] The automatic fault identification method provided by the embodiment of the present invention comprises the following steps:

[0028] Step 101: Collect status data and operation data of basic functional components of the robot.

[0029] In this embodiment, each functional system needs to collect the status data and operation data of the basic functional elements of the robot in real time, wherein the basic functional elements of the robot refer to the elements used to realize the basic functions of the robot, such as batteries, sensors, radars, motors, etc. The status data of the basic functional elements include the data of the current working status of the basic functional elements, such as whether the basic functional elements are in the running state and the working mode of the basic functional elements; the operation data of the basic functional elements include the data during the operation of the basic functional elements, such as the current data, voltage data and power data of the basic functional elements.

[0030] In one embodiment, a data acquisition unit is provided inside each functional system, and the data acquisition unit can be implemented by software and / or hardware to collect the status data and operation data of the basic functional elements of the robot. The data acquisition unit can collect status data and operation data in a variety of ways, for example, by hardware monitoring physical signals to collect status data and operation data, by timed detection reporting data and interface data communication analysis to collect status data and operation data, and by ROS topic collection mechanism and master-slave communication to collect status data and operation data. Among them, the ROS topic collection mechanism refers to the communication between functional systems through topics (Topic), and topics are channels for transmitting data. By collecting and analyzing ROS topic information, the basic functional elements of the robot can be monitored.

[0031] Step 102: Analyze the status data and operation data in real time to determine whether the robot has a fault.

[0032] After acquiring the status data and operation data, each functional system needs to analyze the status data and operation data in real time, and determine the faults generated during the operation of the robot from multiple dimensions such as hardware failure, software bug, parameter setting error, data distortion, communication failure, environmental change, module load, improper maintenance and business process. In one embodiment, each functional system can only detect whether each module under it has a fault. For example, the navigation system only detects the faults of modules such as the positioning module and the map module, and the DCU system only detects the faults of modules such as the main control module and the motor module.

[0033] In one embodiment, the functional system can analyze the status data and operation data according to preset conditions to determine whether a fault occurs. For example, the DCU system determines whether the status data and operation data of the BMS (BATTERY MANAGEMENT SYSTEM) meet the preset conditions to determine whether the BMS has a fault. For example, the voltage data of the BMS is compared with the preset voltage range threshold to determine whether a fault occurs; the temperature data of the BMS is compared with the preset battery temperature range threshold during battery charging and discharging to determine whether a fault occurs; the current data of the BMS is compared with the preset battery continuous discharge current threshold to determine whether a fault occurs. Alternatively, the DCU system determines whether the laser radar has a fault based on whether the communication status of the laser radar is normal, whether the laser radar is in a faulty state, and the data reported by the laser radar.

[0034] Step 103: When it is determined that the robot fails, an alarm message is generated, wherein the alarm message includes an alarm code. One alarm code corresponds to one fault, and different code segments in the alarm code include information of different dimensions of the fault.

[0035] When the functional system determines that the robot has a fault, the functional system will generate corresponding alarm information, and the generated alarm information includes an alarm code corresponding to the fault. One fault corresponds to one alarm code, and different code segments in the alarm code include information of different dimensions of the fault. For example, it is assumed that one code segment of the alarm code includes the location information of the fault, such as which functional system or module in the functional system the fault is in; one code segment includes the attribute information of the fault, such as whether the fault is a current fault, a voltage fault, or a sensor fault; one code segment includes the type information of the fault, such as whether it is a current undervoltage or a current overvoltage. In one embodiment, when the fault is a battery voltage overvoltage, the alarm code is 601001; when the fault is a battery voltage undervoltage, the alarm code is 601002, where the first two digits 60 correspond to the location information of the battery, the middle two digits 10 correspond to the attribute information of the current, the last two digits 01 correspond to the type information of being too large, and the last two digits 02 correspond to the type information of being too small. It is understandable that the specific value of the alarm code can be set according to actual needs. For example, the alarm code can be numbers, letters, or a combination of numbers and letters, etc., which is not specifically limited in this embodiment.

[0036] Step 104, sending the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to the preset rules, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to the target address.

[0037] After generating the alarm information, each functional system needs to send the alarm module to the main control module, where the main control module is the control center of the robot. After summarizing the alarm information of each functional system, the main control module will further send the summarized alarm information to the background message center, and then the background message center will upload the alarm information to the cloud-based operation and maintenance platform. In another embodiment, the human-computer interaction system can also be used as an interface for the robot to communicate with the external connection. The main control module sends the summarized alarm information to the human-computer interaction system, and the human-computer interaction system uploads the summarized alarm information to the cloud-based operation and maintenance platform.

[0038] After receiving the alarm information, the operation and maintenance platform will parse the alarm code from the alarm information, and parse the alarm code according to the preset rules, that is, identify the fault information corresponding to the different code segments in the alarm code according to the preset rules. After the analysis is completed, the fault content information corresponding to the alarm code is generated. The fault content information includes the fault content corresponding to the alarm code. For example, the fault content information corresponding to the alarm code 601001 is "battery voltage overvoltage", and the fault content information corresponding to the alarm code 601002 is "battery voltage undervoltage". After generating the fault content information, the operation and maintenance platform can further send the alarm information and the fault content information corresponding to the alarm code in the alarm information to the target address. For example, the target address can be the operation and maintenance personnel's email, chat account, mobile terminal, and monitoring center. The data transmission relationship between the robot, the background message center, the operation and maintenance platform, and the mobile terminal is as follows. Figure 2 After receiving the alarm information and fault content information at the target address, the operation and maintenance personnel can learn the fault of the robot and the specific content of the fault by viewing the alarm information and fault content information at the target address, so as to quickly locate the fault of the robot and improve the accuracy and efficiency of troubleshooting the robot.

[0039] As described above, the embodiment of the present invention collects the status data and operation data of the basic functional elements of the robot by utilizing the functional system of the robot, and analyzes the status data and operation data in real time to determine whether the robot has a fault. When it is determined that the robot has a fault, the functional system generates an alarm message including an alarm code, and sends the alarm message to the main control module, which then uploads the alarm message to the operation and maintenance platform through the background message center. The operation and maintenance platform generates corresponding fault content information based on the alarm message, and then sends the alarm message and fault content information to the target address. The operation and maintenance personnel can quickly locate and troubleshoot the fault of the robot by checking the fault content information at the target address, thereby improving the accuracy and efficiency of troubleshooting the robot's faults, and solving the technical problems of low efficiency and low accuracy in the robot troubleshooting process in the prior art.

[0040] like Figure 3 As shown, Figure 3 A schematic diagram of a method for automatically identifying a fault provided by an embodiment of the present invention is provided. Figure 3 A method for automatic fault identification is provided, which is a specific implementation of the above-mentioned method for automatic fault identification. The method includes:

[0041] Step 201: Collect status data and operation data of basic functional components of the robot.

[0042] Step 202: Obtain corresponding fault occurrence conditions, where each functional system has corresponding fault occurrence conditions.

[0043] In this embodiment, after collecting the status data and operation data of the basic functional elements, each functional system will obtain the corresponding fault occurrence conditions, wherein each functional system has a corresponding fault occurrence condition, and the fault occurrence condition is the alarm triggering condition. For example, since the DCU system includes a power module and a motor module, the power module includes a BMS and a battery, and the motor module includes a motor. Therefore, the fault occurrence conditions corresponding to the DCU system include conditions for determining whether the BMS has a fault, conditions for determining whether the battery has a fault, and conditions for determining whether the motor has a fault, etc. In one embodiment, the user can pre-store the fault occurrence conditions corresponding to each functional system in each functional system.

[0044] Step 203: Determine in real time whether the state data and the operation data satisfy corresponding fault occurrence conditions, where one fault corresponds to one fault occurrence condition.

[0045] After obtaining the corresponding fault conditions, each functional system will determine in real time whether the state data and operation data meet the corresponding fault conditions, where one fault corresponds to one fault condition. Exemplarily, each functional system includes a fault judgment unit, which can be implemented by software and / or hardware. The fault judgment unit is used to determine whether the state data and operation data meet the corresponding fault conditions. In one embodiment, the fault condition is an expression of whether the calculation result of the data meets the condition, and the expression consists of an identifier and an operator. The fault judgment unit matches and calculates the received state data and operation data. If the result after calculation meets the condition, it means that a fault occurs. The expression can be flexibly set according to the requirements of different types of equipment, modules and scenarios. For example, when the emergency stop button of the robot is pressed, the robot cannot move after 1 minute, 5 minutes, 30 minutes and 1 hour, resulting in the robot being unable to perform tasks and the business being unable to be processed. At this time, the user can set the corresponding fault condition in the navigation system to determine whether the robot cannot move. Alternatively, when the network is normal, the user can remotely control the robot to perform tasks. However, when the network signal is abnormal and the network abnormality time exceeds the threshold, the robot may have a fault. At this time, the user can set the corresponding fault occurrence conditions in the communication system to determine whether the robot's network is normal.

[0046] Step 204: When the fault occurrence condition is met, determine that the robot has a fault.

[0047] Step 205: When it is determined that a robot failure occurs, an alarm message is generated, the alarm message includes an alarm code, and one alarm code corresponds to one failure. The robot includes at least one functional system, the code value range of the alarm code is divided according to the functional system, and the alarm code corresponding to the failure of the functional system is within the code value range corresponding to the functional system. Different code segments in the alarm code include the location information of the failure, the attribute information of the failure, and the type information of the failure.

[0048] When the fault judgment unit in the functional system determines that the robot has a fault, an alarm message will be generated, and the alarm message includes an alarm code. In this embodiment, the robot includes at least one functional system, the code value range of the alarm code is divided according to the functional system, and the alarm code corresponding to the fault of the functional system is located in the code value range corresponding to the functional system, for example, the code value range of the navigation system is 50XXXX-59XXXX, the code value range of the DCU system is 60XXXX-69XXXX, the code value range of the communication system is 70XXXX-79XXXX, and the code value range of the human-machine system is 80XXXX-89XXXX, etc. In addition, different code segments in the alarm code include the location information of the fault, the attribute information of the fault, and the type information of the fault. For example, assuming that the code segment in the alarm code is AABBCC, the first code segment AA includes the location information of the fault, such as which functional system or which module in the functional system the fault is in; the second code segment BB includes the attribute information of the fault, such as whether the fault belongs to a current fault, a voltage fault or a sensor fault, etc.; the third CC includes the type information of the fault, such as whether it is a current undervoltage or a current overvoltage, etc. In one embodiment, when AA is 60, the corresponding position is the battery. When BB is 10, the corresponding attribute is voltage, when BB is 11, the corresponding attribute is temperature, and when BB is 12, the corresponding attribute is current. When CC is 01, the corresponding type is too large, and when CC is 02, the corresponding type is too small. For example, for a DCU system, when the voltage of the power supply fails, the alarm code generated at this time is 6010xx-6010xx, for example, the alarm code for battery voltage overvoltage failure is 601001, and the alarm code for battery voltage undervoltage is 601002. For battery temperature failure, the alarm code generated at this time is 6011xx-6011xx, the alarm code for battery temperature is too high is 601101, and the alarm code for battery temperature is too low is 601102. For battery current failure, the alarm code is 6012xx-6012xx, for example, the alarm code for battery current is too large is 601201. In addition, when the motor module in the DCU system fails, AA is 61 for the left motor, AA is 62 for the right motor, BB is 13 for communication failure, and BB14 for overload failure. For example, the alarm code for abnormal communication of the left motor is 611300, and the alarm code for abnormal communication of the right motor is 621300. For example, the alarm code for overload failure of the left motor is 611400, and the alarm code for overload failure of the right motor is 621400, etc.

[0049] In addition, in this embodiment, the alarm information also includes the time when the fault occurred and the fault level, and the fault level is pre-divided according to the impact of the fault on the robot. Exemplarily, the fault level can be divided into level one, level two and level three, where level one is a fault that causes the robot to be unable to run and operate, and has the highest importance; level two is a fault that has a limited impact on the operation and operation of the robot, and has a medium degree of importance; level three is a fault that does not affect the operation of the robot, and has a low degree of importance. In one embodiment, the fault level corresponding to the fault of the power module, the motor module and the sensor module can be set to level one. It can be understood that the division of fault levels can be set according to actual needs and is not specifically limited in this embodiment.

[0050] Step 206, sending the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to the preset rules, determines the fault content information corresponding to the alarm code, determines the corresponding target address according to the fault level in the alarm information, and sends the alarm information and the fault content information to the corresponding target address.

[0051] After generating the alarm information, the functional system will further send the information to the main control module, which will summarize the alarm information of each functional system and upload it to the operation and maintenance platform through the background message center. In another embodiment, the resources of each functional system of the robot are interrelated. When an abnormality occurs in one of the functional systems, the functional systems associated with it will also generate abnormalities, thereby generating a series of alarm information and reporting it to the main control module for processing.

[0052] After receiving the alarm information, the operation and maintenance platform will first parse the alarm code and fault level from the alarm information, and after parsing the alarm code according to the preset rules, generate the corresponding fault content information, and then further determine the corresponding target address according to the fault level. In one embodiment, when the fault level is a level one fault, the target address can be the mobile phone text message account of the operation and maintenance personnel, the email account of the operation and maintenance personnel, the chat software account of the operation and maintenance personnel, and the monitoring center; when the fault is a level two fault, the target address can be the mobile phone text message account of the operation and maintenance personnel, the chat software account of the operation and maintenance personnel, and the monitoring center; when the fault is a level three fault, the target address can be the email account of the operation and maintenance personnel. Among them, the mobile phone text message account and the chat software account are suitable for emergency faults and faults with high responsiveness requirements, while the email account is suitable for non-emergency faults.

[0053] After determining the target address, the operation and maintenance platform sends the alarm information and fault content information to the corresponding target address. The operation and maintenance personnel can quickly locate and troubleshoot the robot fault by viewing the fault content information at the target address. The specific process is as follows: Figure 4 shown.

[0054] Based on the above embodiment, it also includes:

[0055] Step 207: Receive a fault expansion instruction and expand the fault occurrence condition and the alarm code.

[0056] In one embodiment, due to the increasing complexity of business systems, in the event of new faults, users can further expand the fault conditions and alarm codes in each functional system. Specifically, users can expand the fault conditions and alarm codes by sending fault expansion instructions to the functional system. After receiving the fault expansion instruction, the functional system can expand the fault conditions and alarm codes according to the user's input. It is understandable that after the user has expanded the fault conditions and alarm codes in the functional system, it is necessary to further add corresponding rules to the operation and maintenance platform so that the operation and maintenance platform can parse the fault content information corresponding to the alarm code.

[0057] Based on the above embodiment, after determining that the robot fails, the method further includes:

[0058] Step 208: Analyze the fault and the historical faults that have occurred within the current preset time period to determine whether a new fault is triggered.

[0059] In one embodiment, if the functional system determines that the robot has a fault, the functional system will also analyze the current fault of the robot and the historical faults that have occurred within the current preset time length to determine whether a new fault is triggered. Among them, the preset time length can be set according to actual needs. For example, the preset time length can be set to 5 minutes or 10 minutes, etc. In this embodiment, the specific value of the preset time length is not limited. For example, if the DCU system had a power supply undervoltage fault ten minutes ago and a motor overload fault occurred ten minutes later, the DCU system will further analyze whether the power supply undervoltage fault and the motor overload fault will trigger a new fault. In one embodiment, when analyzing whether a new fault is triggered, a pre-trained neural network can be used for prediction.

[0060] As described above, the embodiment of the present invention collects the status data and operation data of the basic functional elements of the robot by utilizing the functional system of the robot, and analyzes the status data and operation data in real time to determine whether the robot has a fault. When it is determined that the robot has a fault, the functional system generates an alarm message including an alarm code and a fault level, and sends the alarm message to the main control module, which then uploads the alarm message to the operation and maintenance platform through the background message center. After the operation and maintenance platform generates corresponding fault content information according to the alarm message, it determines the corresponding target address according to the fault level, and sends the alarm message and fault content information to the corresponding target address. The operation and maintenance personnel can quickly locate and troubleshoot the fault of the robot by checking the fault content information at the corresponding target address, thereby improving the accuracy and efficiency of troubleshooting the robot's faults, and solving the technical problems of low efficiency and low accuracy in the robot troubleshooting process in the prior art.

[0061] like Figure 5 As shown, Figure 5 A schematic diagram of the structure of an automatic fault identification device provided by an embodiment of the present invention is shown in FIG. Figure 5 As shown, the device is suitable for the functional system of the robot, and the functional system is obtained by dividing the circuit modules according to the functions of the robot in advance. The device includes:

[0062] The data acquisition module 301 is used to collect the status data and operation data of the basic functional components of the robot;

[0063] A fault analysis module 302 is used to analyze the status data and operation data in real time to determine whether the robot has a fault;

[0064] The information generating module 303 is used to generate an alarm message when it is determined that the robot has a fault. The alarm message includes an alarm code. One alarm code corresponds to one fault, and different code segments in the alarm code include information of different dimensions of the fault.

[0065] The information reporting module 304 is used to send the alarm information to the main control module, so that the main control module can summarize the alarm information of each functional system and upload it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to the preset rules, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to the target address.

[0066] Based on the above embodiment, the robot includes at least one functional system, the code value range of the alarm code is divided according to the functional system, and the alarm code corresponding to the fault of the functional system is located within the code value range corresponding to the functional system, and the different code segments in the alarm code include the location information of the fault, the attribute information of the fault and the type information of the fault.

[0067] Based on the above embodiment, the alarm information also includes the fault occurrence time and the fault level, and the fault level is pre-classified according to the impact of the fault on the robot.

[0068] Based on the above embodiment, the information reporting module 304 is specifically used to send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules, determines the fault content information corresponding to the alarm code, determines the corresponding target address according to the fault level in the alarm information, and sends the alarm information and fault content information to the corresponding target address.

[0069] Based on the above embodiment, the fault analysis module 302 includes:

[0070] A condition acquisition unit, used to acquire corresponding fault occurrence conditions, each functional system having corresponding fault occurrence conditions;

[0071] A fault judgment unit is used to determine in real time whether the status data and the operation data meet the corresponding fault occurrence conditions, one fault corresponds to one fault occurrence condition;

[0072] The fault determination unit is used to determine that a fault occurs in the robot when a fault occurrence condition is met.

[0073] Based on the above embodiment, it also includes:

[0074] The fault expansion module is used to receive fault expansion instructions and expand fault conditions and alarm codes.

[0075] Based on the above embodiment, it also includes:

[0076] The fault trigger module is used to analyze the fault and the historical faults that have occurred within the current preset time to determine whether a new fault is triggered.

[0077] The automatic fault identification device provided in the embodiment of the present invention is included in the automatic fault identification equipment and can be used to execute the automatic fault identification method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0078] It is worth noting that in the embodiment of the above-mentioned automatic fault identification device, the various units and modules included are only divided according to functional logic, but are not limited to the above-mentioned division, as long as the corresponding functions can be achieved; in addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of the present invention.

[0079] This embodiment also provides a fault automatic identification device, such as Figure 6 As shown, the automatic fault identification device 40 includes a processor 400 and a memory 401;

[0080] The memory 401 is used to store the computer program 402 and transmit the computer program 402 to the processor 400;

[0081] The processor 400 is used to execute the steps in the above-mentioned embodiment of the automatic fault identification method according to the instructions in the computer program 402.

[0082] Exemplarily, the computer program 402 may be divided into one or more modules / units, one or more modules / units are stored in the memory 401, and are executed by the processor 400 to complete the present application. One or more modules / units may be a series of computer program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the computer program 402 in the automatic fault identification device 40.

[0083] The automatic fault identification device 40 may be a computing device such as a desktop computer, a notebook, a palm computer, a cloud server, etc. The automatic fault identification device 40 may include, but is not limited to, a processor 400 and a memory 401. Those skilled in the art will understand that Figure 6 It is only an example of the automatic fault identification device 40 and does not constitute a limitation of the automatic fault identification device 40. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the automatic fault identification device 40 may also include input and output devices, network access devices, buses, etc.

[0084] The processor 400 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0085] The memory 401 may be an internal storage unit of the automatic fault identification device 40, such as a hard disk or memory of the automatic fault identification device 40. The memory 401 may also be an external storage device of the automatic fault identification device 40, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the automatic fault identification device 40. Further, the memory 401 may also include both an internal storage unit and an external storage device of the automatic fault identification device 40. The memory 401 is used to store computer programs and other programs and data required by the automatic fault identification device 40. The memory 401 may also be used to temporarily store data that has been output or is to be output.

[0086] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0087] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0088] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0089] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0090] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store computer programs.

[0091] An embodiment of the present invention further provides a storage medium containing computer executable instructions. When the computer executable instructions are executed by a computer processor, they are used to execute a method for automatic fault identification. The method includes the following steps:

[0092] Collect status data and operation data of basic functional components of the robot;

[0093] Analyze status data and operation data in real time to determine whether the robot has malfunctioned;

[0094] When it is determined that the robot has a fault, an alarm message is generated, which includes an alarm code. One alarm code corresponds to one fault, and different code segments in the alarm code include information of different dimensions of the fault;

[0095] The alarm information is sent to the main control module, so that the main control module can summarize the alarm information of each functional system and upload it to the operation and maintenance platform through the background message center. The operation and maintenance platform will parse the alarm code according to the preset rules, determine the fault content information corresponding to the alarm code, and then send the alarm information and fault content information to the target address.

[0096] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the embodiments of the present invention are not limited to the specific embodiments herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the embodiments of the present invention. Therefore, although the embodiments of the present invention are described in more detail through the above embodiments, the embodiments of the present invention are not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the embodiments of the present invention, and the scope of the embodiments of the present invention is determined by the scope of the appended claims.

Claims

1. A method for automatic fault identification, characterized in that: The method is applicable to a functional system of a robot, wherein the functional system is obtained by dividing circuit modules in advance according to the functions of the robot, and the method comprises: Collect status data and operation data of basic functional components of the robot; Analyzing the state data and the operation data in real time to determine whether the robot has a fault, which includes: obtaining a corresponding fault condition, each of the functional systems having a corresponding fault condition, determining in real time whether the state data and the operation data meet the corresponding fault condition, each of the faults corresponds to one of the fault conditions, and determining that the robot has a fault when the fault condition is met; When it is determined that the robot has a fault, an alarm message is generated, wherein the alarm message includes an alarm code, one alarm code corresponds to one fault, and different code segments in the alarm code include information of different dimensions of the fault, the robot includes at least one functional system, the code value range of the alarm code is divided according to the functional system, and the alarm code corresponding to the fault of the functional system is within the code value range corresponding to the functional system, and different code segments in the alarm code include location information of the fault, attribute information of the fault, and type information of the fault; The alarm information is sent to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to the target address.

2. The automatic fault identification method according to claim 1, characterized in that: The warning information also includes the fault occurrence time and the fault level, and the fault level is pre-classified according to the impact of the fault on the robot.

3. The automatic fault identification method according to claim 2, characterized in that: The operation and maintenance platform analyzes the alarm code according to a preset rule, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to a target address, including: The operation and maintenance platform parses the alarm code according to preset rules, determines the fault content information corresponding to the alarm code, determines the corresponding target address according to the fault level in the alarm information, and sends the alarm information and the fault content information to the corresponding target address.

4. The automatic fault identification method according to claim 1, characterized in that: Also includes: A fault expansion instruction is received, and the fault occurrence condition and the alarm code are expanded.

5. The automatic fault identification method according to claim 1, characterized in that: After determining that the robot fails, the method further includes: The fault and the historical faults that have occurred within the current preset time are analyzed to determine whether a new fault is triggered.

6. A fault automatic identification device, characterized in that: The device is suitable for a functional system of a robot, wherein the functional system is obtained by dividing the functions of the robot into circuit modules in advance, and the device comprises: Data acquisition module, used to collect status data and operation data of basic functional components of the robot; A fault analysis module is used to analyze the state data and the operation data in real time to determine whether the robot has a fault. The fault analysis module is specifically used to obtain a corresponding fault condition. Each functional system has a corresponding fault condition. The state data and the operation data are determined in real time to determine whether they meet the corresponding fault condition. Each fault corresponds to a fault condition. When the fault condition is met, it is determined that the robot has a fault. an information generating module, configured to generate warning information when it is determined that the robot has a fault, wherein the warning information includes a warning code, one warning code corresponds to a fault, and different code segments in the warning code include information of different dimensions of the fault, the robot includes at least one functional system, the code value range of the warning code is divided according to the functional system, and the warning code corresponding to the fault of the functional system is within the code value range corresponding to the functional system, and the different code segments in the warning code include location information of the fault, attribute information of the fault, and type information of the fault; The information reporting module is used to send the alarm information to the main control module, so that the main control module summarizes the alarm information of each functional system and uploads it to the operation and maintenance platform through the background message center. The operation and maintenance platform parses the alarm code according to preset rules, determines the fault content information corresponding to the alarm code, and then sends the alarm information and the fault content information to the target address.

7. An automatic fault identification device, characterized in that: The automatic fault identification device includes a processor and a memory; The memory is used to store a computer program and transmit the computer program to the processor; The processor is used to execute an automatic fault identification method according to any one of claims 1 to 5 according to instructions in the computer program.

8. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to execute a fault automatic identification method according to any one of claims 1 to 5 when executed by a computer processor.

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