Fault handling methods, devices, and maintenance robots for work robots

Abstract

This specification provides a method, apparatus, and maintenance robot for handling faults in work robots, applying artificial intelligence technology. Based on this method, the maintenance robot detects whether a fault exists in the target work robot by analyzing its operational status data uploaded by the target work robot for the current time period. If a fault is confirmed, the specific fault type is determined, and a target fault handling strategy matching that fault type is selected from a preset set of fault handling strategies. The maintenance robot then moves to the target work robot's current location and performs corresponding fault handling according to the target fault handling strategy. This allows for accurate detection of faulty work robots and timely, automatic, targeted repair to eliminate the fault, thereby effectively reducing the workload of maintenance personnel.

Description

Technical Field

[0001] This manual belongs to the field of artificial intelligence technology, and in particular relates to fault handling methods, devices and maintenance robots for work robots. Background Technology

[0002] With the development and popularization of intelligent robot technology, more and more robots are being deployed in various work scenarios to bring convenience to people's lives and work.

[0003] However, these robots are prone to malfunctions during actual operation in work scenarios, causing their assigned tasks to stall and even affecting the normal work of other robots or users. Current methods largely rely on maintenance personnel manually monitoring the status of each robot to identify those with malfunctions; these robots are then manually retrieved and repaired. In practice, this approach often results in a heavy workload for maintenance personnel and relies heavily on their subjective knowledge and experience, making it susceptible to errors.

[0004] There is currently no effective solution to the above problems. Summary of the Invention

[0005] This specification provides a fault handling method, device, and maintenance robot for working robots, which can detect faulty working robots in a timely and accurate manner, and automatically perform targeted repairs on the faulty robots to effectively eliminate robot faults.

[0006] This manual provides a troubleshooting method for work robots, applicable to maintenance robots, including:

[0007] Receive the current time period's operating status data uploaded by the target working robot; wherein, the target working robot is an intelligent robot working and serving in the target working area; the target working robot is configured to collect and upload the corresponding time period's operating status data at preset time intervals after starting work;

[0008] Based on the operational status data for the current time period, detect whether the target robot is currently malfunctioning;

[0009] If it is determined that the target robot is currently malfunctioning, the malfunction type of the target robot is identified; and a target malfunction handling strategy matching the malfunction type is identified from a set of preset malfunction handling strategies.

[0010] Move to the current position of the target robot; and perform corresponding fault handling on the target robot according to the target fault handling strategy.

[0011] In one embodiment, the operating status data for the current time period includes at least one of the following: the mobile location data for the current time period, the navigation path used for the current time period, the battery monitoring data for the current time period, the mobile unit monitoring data for the current time period, and the processor monitoring data for the current time period.

[0012] In one embodiment, detecting whether the target robot is currently malfunctioning based on operational status data for the current time period includes:

[0013] Based on the operational status data for the current time period, check for any fault or error messages;

[0014] If a fault error message is confirmed, collect environmental data related to the target robot.

[0015] By combining the operating status data and environmental data of the target robot for the current time period, it can be determined whether the target robot is currently malfunctioning.

[0016] In one embodiment, the environmental data includes at least one of the following: target image data containing the target robot and its adjacent area, target audio data collected in the adjacent area of ​​the target robot, network status data of the target work area, and operating status data of other robots adjacent to the target robot.

[0017] In one embodiment, the fault type includes: hardware fault and / or non-hardware fault; wherein, the hardware fault includes at least one of the following: mobile unit fault, processor fault, positioning device fault; the non-hardware fault includes at least one of the following: battery depletion, navigation getting lost, system freeze, electronic virus intrusion.

[0018] In one embodiment, determining the fault type of the target robot includes:

[0019] According to the preset combination rules, the operating status data and environmental data of the target robot in the current time period are combined to obtain the target joint data for the target robot;

[0020] The target joint data is processed using a preset fault type classification model to obtain the corresponding classification results;

[0021] Based on the classification results, the fault type of the target robot is determined.

[0022] In one embodiment, the target robot is equipped with at least an external first data interface, an external restart switch, and an external first connection part.

[0023] In one embodiment, the maintenance robot is equipped with a second data interface that matches the first data interface, an operating arm that matches the restart switch, a second connecting part that matches the first connecting part, and a lifting component.

[0024] In one embodiment, when the fault type is electronic virus intrusion, the target machine is subjected to corresponding fault handling according to the target fault handling strategy, including:

[0025] Acquire a first-scene image containing the current target robot.

[0026] Based on the first scene image, the location information of the first data interface and the location information of the restart switch of the target robot were determined;

[0027] Based on the location information of the first data interface, control the second data interface to connect with the first data interface of the target robot; and call the local virus scanning process to perform virus scanning on the target robot through the connected data interface;

[0028] After confirming that the virus has been removed, the control arm physically triggers the restart switch of the target robot based on the location information of the restart switch, so that the target robot restarts.

[0029] In one embodiment, after controlling the manipulator to physically trigger the restart switch of the target robot based on the position information of the restart switch, the method further includes:

[0030] Check whether the target robot's malfunction has been successfully repaired;

[0031] If it is determined that the target robot malfunction has not been successfully repaired, acquire a second scene image containing the current target robot.

[0032] Based on the second scene image, the position information of the first connecting part of the target robot was determined;

[0033] Based on the location information of the first connecting part, the second connecting part is controlled to connect with the first connecting part of the target working robot; and through the connected connecting part, the target working robot is dragged to a first area of ​​a nearby base station; wherein, the first area is used to store faulty robots that cannot be repaired by the maintenance robot.

[0034] In one embodiment, when the fault type is power depletion, the target machine is subjected to corresponding fault handling according to the target fault handling strategy, including:

[0035] Acquire a third-party image containing the current target robot.

[0036] Based on the third scene image, the position information of the first connecting part of the target robot was determined;

[0037] Based on the location information of the first connecting part, the second connecting part is controlled to connect with the first connecting part of the target working robot; and the target working robot is dragged to a second area adjacent to the base station through the connected connecting part; wherein, the second area is used to store faulty robots that can be repaired by the maintenance robot; the second area is equipped with at least one charging pile that matches the first data interface of the target working robot.

[0038] This manual also provides a fault handling device for a work robot, applied to maintenance robots, including:

[0039] A receiving module is used to receive the current time period's operating status data uploaded by the target working robot; wherein, the target working robot is an intelligent robot that works and serves in the target working area; the target working robot is configured to collect and upload the corresponding time period's operating status data at preset time intervals after starting work;

[0040] The detection module is used to detect whether the target robot is currently malfunctioning based on the operating status data of the current time period.

[0041] The determination module is used to determine the fault type of the target robot when it is determined that the target robot currently has a fault; and to determine the target fault handling strategy that matches the fault type from a preset fault handling strategy set.

[0042] The processing module is used to move to the current position of the target robot and perform corresponding fault handling on the target robot according to the target fault handling strategy.

[0043] This specification also provides an operation and maintenance robot, which includes at least a moving part, a second data interface that is respectively matched with a first data interface, a restart switch, and a first connection part of the working robot, an operating arm, a second connection part, a network communication port, a processor, and a memory for storing processor-executable instructions. When the processor executes the instructions, it implements the relevant steps of the fault handling method of the working robot.

[0044] This specification also provides a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the steps of the fault handling method for the working robot.

[0045] This specification also provides a computer program product comprising a computer program that, when executed by a processor, implements the steps of the fault handling method for the working robot.

[0046] Based on the fault handling method, device, and maintenance robot for work robots provided in this specification, after the target work robot starts working, it collects and uploads operational status data for the corresponding time period to the maintenance robot at preset time intervals. The maintenance robot detects whether the target work robot is currently faulty based on the operational status data uploaded by the target work robot for the current time period. If a fault is determined, the specific fault type is identified, and a target fault handling strategy matching the fault type is determined from a preset fault handling strategy set. Then, the maintenance robot can move to the target work robot's current location and perform corresponding fault handling according to the target fault handling strategy. This enables timely and accurate detection and identification of faulty work robots, and automatic targeted repair of these faulty robots, effectively eliminating robot faults and reducing the workload of maintenance personnel, thus minimizing the impact of robot faults on normal business operations. Attached Figure Description

[0047] To more clearly illustrate the embodiments of this specification, the accompanying drawings used in the embodiments will be briefly introduced below. The drawings described below are only some embodiments recorded in this specification. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0048] Figure 1 This is a flowchart illustrating a fault handling method for a work robot provided in one embodiment of this specification;

[0049] Figure 2 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0050] Figure 3 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0051] Figure 4 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0052] Figure 5 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0053] Figure 6 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0054] Figure 7 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0055] Figure 8 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0056] Figure 9 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0057] Figure 10 This is a schematic diagram of one embodiment of the fault handling method for a work robot provided in the embodiments of this specification, applied in a scenario example.

[0058] Figure 11 This is a schematic diagram of the structural composition of an operation and maintenance robot provided in one embodiment of this specification;

[0059] Figure 12 This is a schematic diagram of the structural composition of a fault handling device for a work robot provided in one embodiment of this specification. Detailed Implementation

[0060] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this specification, and not all embodiments. Based on the embodiments in this specification, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this specification.

[0061] See Figure 1 As shown in the embodiments of this specification, a fault handling method for a work robot is provided. Specifically, this method is applied to the maintenance robot side. In specific implementation, the method may include the following:

[0062] S101: Receive the current time period operation status data uploaded by the target working robot; wherein, the target working robot is an intelligent robot working and serving in the target working area; the target working robot is set to collect and upload the corresponding time period operation status data at preset time intervals after starting work;

[0063] S102: Based on the operating status data of the current time period, detect whether the target robot is currently malfunctioning;

[0064] S103: If it is determined that the target robot is currently faulty, determine the fault type of the target robot; and determine the target fault handling strategy that matches the fault type from the preset fault handling strategy set.

[0065] S104: Move to the current position of the target robot; and perform corresponding fault handling on the target robot according to the target fault handling strategy.

[0066] Based on the above embodiments, maintenance robots can be deployed in the target work area to maintain and manage the target work robot. The maintenance robots acquire and automatically detect whether the target work robot has a fault based on the operating status data of the current time period uploaded by the target work robot at regular intervals. If the target work robot is found to have a fault, the maintenance robots can further determine the fault type of the target work robot and determine the target fault handling strategy that matches the fault type. Then, the maintenance robots automatically perform matching fault handling on the target work robot according to the target fault handling strategy to eliminate the fault in a timely manner.

[0067] In some embodiments, see Figure 2 As shown, the aforementioned target work robot can specifically be a wheeled intelligent robot responsible for corresponding work services in the target work area. The aforementioned maintenance robot can specifically be an intelligent robot responsible for the operation and maintenance management of the intelligent robots operating in the target area, as well as a certain degree of automatic repair.

[0068] Specifically, for example, the aforementioned target work robot could be a data center inspection robot responsible for inspecting and maintaining the servers in the data center's server room (i.e., a target work area).

[0069] For example, the aforementioned target work robot could also be a customer service robot responsible for providing relevant self-service guidance to users conducting business in the business hall of a bank or other trading institution (i.e., another target work area).

[0070] For example, the aforementioned target work robot can also be a production robot responsible for the production and processing of a certain component of a product in an assembly line production workshop (i.e., another type of target work area).

[0071] It should be noted that the work areas and robots listed above are merely illustrative. In actual implementation, depending on the specific application scenario and processing requirements, other types of robots may be included in other work areas. This manual does not limit this.

[0072] In some embodiments, the target work robot may specifically be a work robot that has already started working in the target work area.

[0073] In practice, when the target robot receives and responds to the start command and begins its work, it triggers a communication interaction with the maintenance robot to establish a temporary data transmission channel between them. This data transmission channel can be a communication connection based on Bluetooth or a local area network (LAN). The data transmission channel can also be marked with the target robot's identifier (e.g., the target robot's name, number, etc.). When the target robot completes its work service, the data transmission channel automatically disconnects.

[0074] The target robot can use this data transmission channel to report its latest operational status data to the maintenance robot at preset time intervals (e.g., every 5 minutes). The maintenance robot can then analyze this data in real time to detect any faults. If a fault is confirmed, the robot can promptly address it based on the data, aiming to automatically repair the problem and allow the robot to continue operating normally.

[0075] In some embodiments, the operating status data for the current time period includes at least one of the following: mobile location data for the current time period, navigation path used for the current time period, battery monitoring data for the current time period, mobile unit monitoring data for the current time period, processor monitoring data for the current time period, etc.

[0076] Based on the above embodiments, the operation and maintenance robot can acquire and analyze the actual operating status of the target robot accurately and comprehensively based on relatively rich and diverse operating status data, thereby enabling it to detect and determine whether the target robot has a fault in a relatively accurate manner.

[0077] In some embodiments, a monitoring process may be installed inside the target robot.

[0078] In practical implementation, when the target robot starts working, the monitoring process can collect information such as the remaining battery power, battery temperature, and battery discharge parameters in real time as battery monitoring data. The monitoring process can also call the corresponding sensors to collect information such as motion characteristics, error messages, and wear parameters of the target robot's moving parts (e.g., wheels) as moving part monitoring data. The monitoring process can also collect information such as CPU utilization, I / O response parameters, and remaining memory as processing monitoring data.

[0079] Furthermore, the aforementioned target work robot cannot be equipped with positioning devices such as radar, infrared cameras, or rangefinders. Instead, during operation, the target work robot will use these positioning devices to locate itself in real time and obtain the latest position information for movement; simultaneously, the processor will update the navigation path used in real time based on this latest position information.

[0080] In some embodiments, see Figure 3 As shown, based on the operational status data for the current time period, the system detects whether the target robot currently has a malfunction. In practice, this can include the following:

[0081] S1: Based on the current time period's operating status data, detect whether there are any fault error messages;

[0082] S2: If a fault error message is confirmed, collect environmental data related to the target robot.

[0083] S3: Combine the operating status data and environmental data of the target robot in the current time period to determine whether the target robot is currently faulty.

[0084] Based on the above embodiments, the operating status data of the target robot in the current time period, as well as environmental data, can be comprehensively utilized to more accurately detect and determine whether the target robot is actually malfunctioning.

[0085] In some embodiments, the built-in monitoring process of the target robot, while collecting battery monitoring data, motion unit monitoring data, and processor monitoring data, will also perform preliminary analysis and judgment based on the collected monitoring data and rule matching according to built-in detection rules to determine whether the target robot has malfunctioned. If a malfunction is determined, the monitoring process will also generate corresponding fault error information, add this fault error information to the operating status data, and upload it to the maintenance server.

[0086] However, the accuracy of fault reports obtained solely from preliminary analysis of the target robot is often relatively low. Therefore, after detecting a fault report, the maintenance robot can only determine that the target robot has a potential fault risk, not directly determine that the target robot is currently faulty. It will only use the fault report as a reference, triggering the acquisition and combined use of the target robot's current operational status data and relevant environmental data for further analysis and judgment to ultimately determine whether the target robot is currently faulty.

[0087] In other cases, maintenance robots can also determine whether the target robot has a risk of failure by making relatively simple rule judgments based on the current operating status data and relevant threshold detection rules.

[0088] In some embodiments, the environmental data may specifically include at least one of the following: target image data containing the target robot and its adjacent area, target audio data collected in the adjacent area of ​​the target robot, network status data of the target work area, and operating status data of other robots adjacent to the target robot.

[0089] Based on the above embodiments, relatively rich environmental data can be collected and utilized simultaneously, so that the environmental data can be combined to more accurately detect and determine whether the target robot is really faulty.

[0090] First, before implementation, image acquisition devices (e.g., cameras), audio acquisition devices (e.g., microphones), and other related equipment can be deployed at different locations within the target work area. During implementation, the maintenance robot can determine and control nearby image acquisition devices and audio acquisition devices based on the target robot's current movement location data to acquire target image data containing the target robot and its surrounding area, as well as target audio data acquired within the target robot's vicinity.

[0091] For the aforementioned target image data, the maintenance robot can use an image recognition model to process the target image data and obtain the corresponding image recognition results. Based on the image recognition results, the maintenance robot can more intuitively determine whether the target working robot is blocked at its current location or whether the target working robot is currently suffering from external damage that has caused a malfunction.

[0092] For the aforementioned target audio data, the maintenance robot can use a speech recognition model to process the target audio data and obtain the corresponding speech recognition results. Based on the speech recognition results, the maintenance robot can more intuitively determine whether the current operating sound of the target robot is normal, and whether the target robot has malfunctioned or malfunctioned due to the user's non-compliant voice commands.

[0093] Secondly, the maintenance robot can also collect the operating status data of other robots near the target robot based on the target robot's current movement location data; then, it can make a horizontal comparison between the target robot's operating status data and the operating status data of other nearby robots, and determine whether the target robot has really malfunctioned by finding and based on the common features in the operating status data.

[0094] Furthermore, the maintenance robot can also test the network connected to the target work robot in the target work area through its built-in network testing process and collect the corresponding network test data; based on the network test data, it can determine the network status data of the target work area; and then analyze whether the target work robot malfunctions due to network problems based on the target network status data.

[0095] In some embodiments, the fault type may specifically include: hardware fault and / or non-hardware fault, etc.; wherein, the hardware fault includes at least one of the following: mobile unit fault, processor fault, positioning device fault, etc.; the non-hardware fault includes at least one of the following: battery depletion, navigation getting lost, system freeze, electronic virus intrusion, etc.

[0096] Based on the above embodiments, after determining that the target working equipment has a fault, the operation and maintenance robot can accurately detect and distinguish different fault types, so that different processing strategies can be adopted for different fault types to carry out precise and targeted fault handling.

[0097] Furthermore, the aforementioned fault types can also include: repairable faults and unrepairable faults. Repairable faults can be further divided into: on-site repairable faults and off-site repairable faults. Off-site repairable faults can be specifically understood as faults that require the maintenance robot to be moved to a designated area and then repaired using the relevant equipment in that area, such as battery depletion or movement unit malfunction. On-site repairable faults can be specifically understood as faults that do not require being moved to a designated area; the maintenance robot has a high probability of being able to repair them from its current location, such as navigation errors, system freezes, or electronic virus intrusion.

[0098] The aforementioned unrepairable faults can be understood as faults that the maintenance robot cannot repair independently and automatically, and require the participation of maintenance personnel to complete the repair.

[0099] Of course, it should be noted that the above-mentioned field-repairable faults may become off-site repairable faults if repair fails; and the above-mentioned repairable faults may also become unrepairable faults if repair fails.

[0100] In some embodiments, see Figure 4 As shown above, the fault type of the target robot has been determined. In specific implementation, it may include the following:

[0101] S1: According to the preset combination rules, combine the current time period operation status data and environmental data of the target robot to obtain the target joint data for the target robot;

[0102] S2: Process the target joint data using a preset fault type classification model to obtain the corresponding classification results;

[0103] S3: Based on the classification results, determine the fault type of the target robot.

[0104] Based on the above embodiments, the operating status data and environmental data can be effectively processed together through a preset fault type classification model to accurately determine the fault type of the target robot.

[0105] In practice, the operating status data and environmental data of the current time period can be spliced ​​together in sequence according to the preset combination rules to obtain the target joint data that meets the requirements.

[0106] Before implementation, the preset fault type classification model can be trained in the following way: obtain the sample operation status data and sample environment data of the faulty sample robot; combine the sample operation status data and sample environment data of the sample robot according to the preset combination rules to obtain the corresponding sample joint data; label the sample joint data of the sample robot according to the fault type of the sample robot to obtain labeled sample data; use the labeled sample data to train the initial classification model to obtain the preset fault type classification model that meets the requirements.

[0107] In some embodiments, see Figure 5 As shown, the target working robot may be equipped with at least an external first data interface, an external restart switch, and an external first connection part.

[0108] The aforementioned first data interface can be used as a data connection interface or as a charging interface. Specifically, the aforementioned first connection part can be an external connection hook.

[0109] Based on the above embodiments, the structure of the target working robot is modified accordingly so that it can be better coordinated with the maintenance robot to handle the corresponding faults of the target working robot.

[0110] In some embodiments, see Figure 6 As shown, the maintenance robot may specifically be equipped with a second data interface that matches the first data interface, an operating arm that matches the restart switch, a second connecting part that matches the first connecting part, and a lifting component.

[0111] Specifically, the locations of the second data interface, the operating arm, and the second connecting part on the maintenance robot can correspond to the locations of the first data interface, the restart switch, and the first connecting part on the target working robot, respectively.

[0112] The aforementioned lifting unit can specifically be a lifting assembly. This lifting assembly can specifically include structures such as a gantry and forks. Thanks to this lifting unit, even if a target robot cannot be moved normally due to reasons such as a malfunction in the moving part, the maintenance robot can efficiently lift the target robot and then move it to the designated area.

[0113] Based on the above embodiments, and based on the structure of the target working robot, the structure of the maintenance robot is modified accordingly, enabling the maintenance robot to better handle the corresponding faults of the target working robot.

[0114] In some embodiments, the aforementioned set of preset fault handling strategies may specifically include multiple preset fault handling strategies. Each preset fault handling strategy corresponds to a fault type.

[0115] Before implementation, a large number of historical fault handling records for different fault types of work robots can be collected. According to the fault type, the historical fault handling records are split into multiple record data groups, where each record data group contains multiple historical fault handling records corresponding to the same fault type. Then, clustering is performed on the multiple record data groups to obtain the common features when handling the same fault type. Finally, the common features corresponding to the handling of the same fault type are combined to obtain the preset fault handling rules corresponding to the fault type.

[0116] In practical implementation, the identified fault type of the target robot can be a single fault type. Correspondingly, the maintenance robot can determine a preset fault handling strategy corresponding to this fault type from a set of preset fault handling strategies, which will be used as the target fault handling strategy. Furthermore, the identified fault type of the target robot can also be multiple fault types. Accordingly, the maintenance robot can first determine multiple preset fault handling strategies corresponding to each of the multiple fault types from the set of preset fault handling strategies; then, according to certain rules, combine these multiple preset fault handling strategies to obtain the target fault handling strategy.

[0117] In some embodiments, when the fault type is electronic virus intrusion, see [reference]. Figure 7 As shown, the above-mentioned fault handling is carried out on the target machine according to the target fault handling strategy. In specific implementation, it may include the following:

[0118] S1: Obtain the first scene image containing the current target robot;

[0119] S2: Based on the first scene image, determine the location information of the first data interface and the location information of the restart switch of the target robot;

[0120] S3: Based on the location information of the first data interface, control the second data interface to connect with the first data interface of the target robot; and call the local virus scanning process to perform virus scanning on the target robot through the connected data interface;

[0121] S4: After confirming that the virus has been removed, control the operating arm to physically trigger the restart switch of the target robot according to the location information of the restart switch, so that the target robot restarts.

[0122] The maintenance robot can also be equipped with image acquisition devices such as cameras. Accordingly, the maintenance robot can acquire on-site images containing the target robot through these image acquisition devices.

[0123] In addition, the aforementioned maintenance robot can also interact with cloud server data periodically or in real time to update the local virus scanning process in a timely manner.

[0124] Based on the above embodiments, the maintenance robot can independently and automatically perform effective and targeted fault handling on the target work robot that has malfunctioned due to electronic virus intrusion, and eliminate the fault of the target work robot in a timely manner.

[0125] In some embodiments, after controlling the manipulator to physically trigger the restart switch of the target robot based on the position information of the restart switch, refer to... Figure 8 As shown, in specific implementations, the method may also include the following:

[0126] S1: Check whether the target robot's fault has been successfully repaired;

[0127] S2: If it is determined that the target robot malfunction has not been successfully repaired, acquire a second scene image containing the current target robot;

[0128] S3: Determine the position information of the first connecting part of the target robot based on the second scene image;

[0129] S4: Based on the position information of the first connecting part, control the second connecting part to connect with the first connecting part of the target working robot; and through the connected connecting part, drag the target working robot to the first area of ​​the adjacent base station; wherein, the first area is used to store faulty robots that the maintenance robot cannot repair.

[0130] In practice, the maintenance robot can obtain and detect whether the target robot's fault has been successfully repaired based on the latest reported operating status data after the target robot has been repaired.

[0131] Based on the above embodiments, after the maintenance robot completes the repair of the target work robot, it can automatically detect whether the repair was successful. If the repair is unsuccessful, the maintenance robot can promptly drag the target work robot to the first area. This serves two purposes: firstly, it allows the target work robot to be moved to the first area for further troubleshooting; secondly, it prevents the target work robot from being stuck in the target work area for an extended period due to a malfunction, thus avoiding interference with the normal operation of other work robots in the target work area.

[0132] In some embodiments, the method further includes, before moving the target working robot to a first area adjacent to a base station:

[0133] The maintenance robot collects the current work progress data of the target robot through the connected data interface; and sends the current work progress data of the target robot and the robot identifier of the target robot to the cloud server.

[0134] After receiving the current work progress data and robot identifier of the target robot, the cloud server can first query and determine the work task data of the target robot based on the robot identifier; then, based on the work task data and the current work progress data, determine the remaining work task data of the target robot; and then send the remaining work task data of the target robot to other robots in the target work area, or to a backup robot, so that the remaining work tasks can continue based on the current work progress data of the target robot, avoiding any impact on the overall business operations in the target work area.

[0135] In some embodiments, after the target work robot is moved to a first area adjacent to a base station, the method further includes: the maintenance robot generating a fault prompt message for the target work robot; and sending the fault prompt message to the maintenance terminal held by the maintenance personnel, so as to wait for manual repair by the maintenance personnel.

[0136] Specifically, the aforementioned maintenance terminal may include a front-end device used by maintenance personnel, capable of data collection and transmission. Specifically, the maintenance terminal may be an electronic device such as a desktop computer, tablet computer, laptop computer, or smartphone. Alternatively, the maintenance terminal may be a software application that can run on the aforementioned electronic device.

[0137] In some embodiments, when the fault type is depletion of power, see [reference]. Figure 9 As shown, the above-mentioned fault handling for the target machine, based on the target fault handling strategy, includes:

[0138] S1: Acquire a third-party image containing the current target robot.

[0139] S2: Based on the third scene image, determine the position information of the first connecting part of the target robot;

[0140] S3: Based on the position information of the first connecting part, control the second connecting part to connect with the first connecting part of the target working robot; and through the connected connecting part, drag the target working robot to the second area of ​​the adjacent base station; wherein, the second area is used to store faulty robots that can be repaired by the maintenance robot; the second area is at least equipped with charging piles that match the first data interface of the target working robot.

[0141] In addition to charging piles, the second area can also be equipped with a parts warehouse, which can store structural components, such as moving parts, that can be easily and automatically replaced by maintenance robots for the target working robot.

[0142] Based on the above embodiments, the maintenance robot can independently and automatically perform relatively effective and targeted fault handling on the target working robot that has failed due to power depletion, so as to eliminate the fault of the target working robot in a timely manner.

[0143] In some embodiments, when the fault type is two different fault types—battery depletion and mobile unit failure—the determined target fault handling strategy is a combined strategy that addresses both fault types simultaneously. Accordingly, see [reference needed]. Figure 10 The aforementioned fault handling of the target machine according to the target fault handling strategy may include the following in its specific implementation:

[0144] S1: Acquire a fourth scene image containing the current target robot;

[0145] S2: Based on the fourth scene image, control the lifting unit to lift the target working robot; and move the target working robot to the second area;

[0146] S3: In the second area, the first data interface of the target working robot is connected to the charging pile; and according to the robot identification of the target working robot, the moving part that matches the target working robot is found in the parts warehouse, and the moving part is replaced for the target working robot.

[0147] In some embodiments, when the fault type is navigational disorientation, the above-mentioned fault handling of the target working machine according to the target fault handling strategy may specifically include the following: acquiring the current positioning data of the maintenance robot and its relative position parameters with respect to the target working robot; correcting the movement position data and navigation path of the target working robot based on the current positioning data of the maintenance robot and its relative position parameters with respect to the target working robot, to obtain the modified movement position data and the corrected navigation path for the target working robot; acquiring and determining the position information of the first data interface of the target working robot based on the on-site image containing the target working robot; controlling the second data interface to connect to the first data interface of the target working robot based on the position information of the first data interface; and sending the corrected movement position data and the corrected navigation path to the target working robot through the connected data interface to replace the movement position data and navigation path previously used by the target working robot.

[0148] In some embodiments, when the fault type is system freeze, the above-mentioned fault handling of the target working machine according to the target fault handling strategy may include the following: acquiring and determining the location information of the restart switch of the target working robot based on the on-site image containing the target working robot; and controlling the operating arm to trigger the restart switch of the target working robot according to the location of the restart switch, so as to control the system restart of the target working robot.

[0149] As can be seen from the above, based on the fault handling method for the work robot provided in the embodiments of this specification, after the target work robot starts working, it collects and uploads the corresponding time period's operating status data to the maintenance robot at preset time intervals. The maintenance robot detects whether the target work robot currently has a fault based on the operating status data uploaded by the target work robot for the current time period; if a fault is determined, the specific fault type of the target work robot is identified; and a target fault handling strategy matching the fault type is determined from a preset fault handling strategy set. Then, the maintenance robot can move to the current location of the target work robot and perform corresponding fault handling on the target work robot according to the target fault handling strategy. This enables timely and accurate detection of faulty work robots and automatic targeted repair of the faulty robots, effectively eliminating robot faults and thus significantly reducing the workload of maintenance personnel and minimizing the impact of robot faults on normal business operations.

[0150] This specification also provides an operation and maintenance robot, including a processor and a memory for storing processor-executable instructions. Specifically, the processor can perform the following steps according to the instructions: receiving operational status data for the current time period uploaded by a target working robot; wherein the target working robot is an intelligent robot working and serving in a target work area; the target working robot is configured to collect and upload operational status data for a corresponding time period at preset intervals after starting work; detecting whether the target working robot currently has a fault based on the operational status data for the current time period; determining the fault type of the target working robot if a fault is determined; and determining a target fault handling strategy matching the fault type from a preset fault handling strategy set; moving to the current location of the target working robot; and performing corresponding fault handling on the target working robot according to the target fault handling strategy.

[0151] To execute the above instructions more accurately, please refer to... Figure 11 As shown in the embodiments of this specification, another specific operation and maintenance robot is also provided. The operation and maintenance robot may include at least a mobile part 1101, a second data interface 1102 that is matched with a first data interface, a restart switch, and a first connection part of the working robot, an operating arm 1103, a second connection part 1104, a network communication port 1105, a processor 1106, and a memory 1107 for storing processor-executable instructions. The above structures are connected by internal cables so that each structure can perform specific data interaction.

[0152] Specifically, the network communication port 1105 can be used to receive the current time period's operating status data uploaded by the target robot; the target robot is an intelligent robot that works and serves in the target work area; the target robot is configured to collect and upload the corresponding time period's operating status data at preset time intervals after starting work.

[0153] The processor 1106 can be specifically used to detect whether the target robot is currently faulty based on the operating status data of the current time period; if it is determined that the target robot is currently faulty, determine the fault type of the target robot; determine the target fault handling strategy that matches the fault type from a preset fault handling strategy set; move to the current position of the target robot; and perform corresponding fault handling on the target robot according to the target fault handling strategy.

[0154] The memory 1107 can be used to store the corresponding instruction program.

[0155] In this embodiment, the network communication port 1105 can be a virtual port bound to different communication protocols, thereby enabling the sending or receiving of different data. For example, the network communication port can be a port responsible for web data communication, a port responsible for FTP data communication, or a port responsible for email data communication. Furthermore, the network communication port can also be a physical communication interface or communication chip. For example, it can be a wireless mobile network communication chip, such as GSM or CDMA; it can also be a Wi-Fi chip; or it can be a Bluetooth chip.

[0156] In this embodiment, the processor 1106 can be implemented in any suitable manner. For example, the processor can take the form of a microprocessor or processor and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro)processor, logic gates, switches, application-specific integrated circuits (ASICs), programmable logic controllers, and embedded microcontrollers, etc. This specification is not limiting.

[0157] In this embodiment, the memory 1107 may include multiple layers. In a digital system, any device that can store binary data can be a memory. In an integrated circuit, a circuit with storage function but no physical form is also called a memory, such as RAM, FIFO, etc. In a system, a storage device with a physical form is also called a memory, such as a memory stick, TF card, etc.

[0158] This specification also provides a computer-readable storage medium based on the above-described fault handling method for a work robot. The computer-readable storage medium stores computer program instructions that, when executed, implement the following: receiving operational status data for the current time period uploaded by a target work robot; wherein the target work robot is an intelligent robot working and serving in a target work area; the target work robot is configured to collect and upload operational status data for a corresponding time period at preset intervals after starting work; detecting whether the target work robot currently has a fault based on the operational status data for the current time period; determining the fault type of the target work robot if a fault is determined; and determining a target fault handling strategy matching the fault type from a preset fault handling strategy set; moving to the current position of the target work robot; and performing corresponding fault handling on the target work robot according to the target fault handling strategy.

[0159] In this embodiment, the storage medium includes, but is not limited to, Random Access Memory (RAM), Read-Only Memory (ROM), cache, hard disk drive (HDD), or memory card. The memory can be used to store computer program instructions. The network communication unit can be an interface configured according to standards specified in the communication protocol for network connection communication.

[0160] In this embodiment, the specific functions and effects implemented by the program instructions stored in the computer-readable storage medium can be explained in comparison with other embodiments, and will not be repeated here.

[0161] This specification also provides a computer program product comprising a computer program that, when executed by a processor, implements the relevant steps of a fault handling method for a working robot.

[0162] See Figure 12 As shown, at the software level, this specification also provides a fault handling device for a work robot, which may specifically include the following structural modules:

[0163] The receiving module 1201 is specifically used to receive the current time period operation status data uploaded by the target working robot; wherein, the target working robot is an intelligent robot working and serving in the target working area; the target working robot is set to collect and upload the corresponding time period operation status data at preset time intervals after starting work;

[0164] The detection module 1202 can be used to detect whether the target robot is currently malfunctioning based on the operating status data of the current time period.

[0165] The determination module 1203 can be used to determine the fault type of the target robot when it is determined that the target robot currently has a fault; and to determine the target fault handling strategy that matches the fault type from a preset fault handling strategy set.

[0166] The processing module 1204 can be used to move to the current position of the target robot and perform corresponding fault handling on the target robot according to the target fault handling strategy.

[0167] In some embodiments, the operating status data for the current time period may include at least one of the following: the mobile location data for the current time period, the navigation path used for the current time period, the battery monitoring data for the current time period, the mobile unit monitoring data for the current time period, the processor monitoring data for the current time period, etc.

[0168] In some embodiments, when the detection module 1202 is specifically implemented, it can detect whether the target robot is currently faulty based on the operating status data of the current time period in the following manner: detect whether there is fault error information based on the operating status data of the current time period; if it is determined that there is fault error information, collect environmental data related to the target robot; combine the operating status data and environmental data of the target robot in the current time period to determine whether the target robot is currently faulty.

[0169] In some embodiments, the environmental data may include at least one of the following: target image data containing the target robot and its adjacent area, target audio data collected in the adjacent area of ​​the target robot, network status data of the target work area, and operating status data of other robots adjacent to the target robot.

[0170] In some embodiments, the fault type may specifically include: hardware fault and / or non-hardware fault; wherein, the hardware fault includes at least one of the following: mobile unit fault, processor fault, positioning device fault, etc.; the non-hardware fault includes at least one of the following: battery depletion, navigation getting lost, system freeze, electronic virus intrusion, etc.

[0171] In some embodiments, when the determination module 1203 is specifically implemented, the fault type of the target robot can be determined in the following manner: according to a preset combination rule, the operating status data and environmental data of the target robot in the current time period are combined to obtain target joint data for the target robot; the target joint data is processed using a preset fault type classification model to obtain the corresponding classification result; and the fault type of the target robot is determined according to the classification result.

[0172] In some embodiments, the target robot may be equipped with at least an external first data interface, an external restart switch, and an external first connection part.

[0173] In some embodiments, the maintenance robot may be equipped with a second data interface that matches the first data interface, an operating arm that matches the restart switch, a second connecting part that matches the first connecting part, and lifting components, etc.

[0174] In some embodiments, when the fault type is electronic virus intrusion, the processing module 1204 can perform corresponding fault handling on the target working machine according to the target fault handling strategy in the following manner: acquire a first scene image containing the current target working robot; determine the location information of the first data interface and the location information of the restart switch of the target working robot based on the first scene image; control the second data interface to connect with the first data interface of the target working robot based on the location information of the first data interface; and call the local virus scanning process to perform virus scanning on the target working robot through the connected data interface; after determining that the virus scanning is completed, control the operating arm to physically trigger the restart switch of the target working robot based on the location information of the restart switch, so as to restart the target working robot.

[0175] In some embodiments, after the processing module 1204 controls the operating arm to physically trigger the restart switch of the target working robot according to the position information of the restart switch, it can also be used to: detect whether the target working robot fault has been successfully repaired; if it is determined that the target working robot fault has not been successfully repaired, acquire a second scene image containing the current target working robot; determine the position information of the first connecting part of the target working robot according to the second scene image; control the second connecting part to connect with the first connecting part of the target working robot according to the position information of the first connecting part; and drag the target working robot to a first area adjacent to the base station through the connected connecting part; wherein, the first area is used to store faulty robots that cannot be repaired by the maintenance robot.

[0176] In some embodiments, when the fault type is power depletion, the processing module 1204 can perform corresponding fault handling on the target working robot according to the target fault handling strategy in the following manner: acquiring a third scene image containing the current target working robot; determining the location information of the first connection part of the target working robot based on the third scene image; controlling the second connection part to connect with the first connection part of the target working robot based on the location information of the first connection part; and dragging the target working robot to a second area adjacent to a base station through the connected connection part; wherein, the second area is used to store faulty robots that can be repaired by the maintenance robot; the second area is at least equipped with a charging pile that matches the first data interface of the target working robot.

[0177] It should be noted that the units, devices, or modules described in the above embodiments can be implemented by computer chips or physical entities, or by products with certain functions. For ease of description, the above devices are described by dividing them into various modules according to their functions. Of course, in implementing this specification, the functions of each module can be implemented in one or more software and / or hardware, or the module that implements the same function can be implemented by a combination of multiple sub-modules or sub-units, etc. The device embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and 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. Furthermore, the coupling or direct coupling or communication connection between the devices or units shown or discussed can be through some interfaces, and the indirect coupling or communication connection between devices or units can be electrical, mechanical, or other forms.

[0178] As can be seen from the above, the fault handling device for the work robot provided in the embodiments of this specification can detect the faulty work robot in a timely and accurate manner, and automatically carry out targeted repair processing on the faulty robot to effectively eliminate the robot fault, thereby effectively reducing the workload of maintenance personnel and reducing the impact of robot faults on normal business operations.

[0179] While this specification provides the steps of operation for the methods described in the embodiments or flowcharts, more or fewer steps may be included based on conventional or non-inventive means. The order of steps listed in the embodiments is merely one possible order of execution among many steps and does not represent the only possible order. In actual device or client product execution, the methods shown in the embodiments or drawings may be executed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even a distributed data processing environment). The terms "comprising," "including," or any other variations thereof are intended to cover a non-exclusive inclusion, such that a process, method, product, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, product, or apparatus. Without further limitations, the presence of other identical or equivalent elements in a process, method, product, or apparatus that includes said elements is not excluded. The terms "first," "second," etc., are used to denote names and do not indicate any particular order.

[0180] This specification can be described in the general context of computer-executable instructions that are executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, classes, etc., that perform a specific task or implement a specific abstract data type. This specification can also be practiced in distributed computing environments, where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer-readable storage media, including storage devices.

[0181] Although this specification has been described by way of examples, those skilled in the art will recognize that many variations and modifications are possible without departing from the spirit of this specification, and it is intended that the appended claims cover such variations and modifications without departing from the spirit of this specification.

Claims

1. A fault handling method for a working robot, characterized in that, Applications in maintenance robots, including: Receive the current time period's operating status data uploaded by the target working robot; wherein, the target working robot is an intelligent robot working and serving in the target working area; the target working robot is configured to collect and upload the corresponding time period's operating status data at preset time intervals after starting work; Based on the operational status data for the current time period, detect whether the target robot is currently malfunctioning; If it is determined that the target robot is currently malfunctioning, the malfunction type of the target robot is identified; and a target malfunction handling strategy matching the malfunction type is identified from a set of preset malfunction handling strategies. Move to the current position of the target robot; and according to the target fault handling strategy, perform corresponding fault handling on the target robot to repair the fault and enable the target robot to continue to work normally. The target fault handling strategy includes at least one of the following entity contact behaviors: A connection is established between the second data interface of the maintenance robot and the first data interface of the target working robot. The restart switch of the target working robot is physically triggered by the operating arm of the maintenance robot; After the second connecting part of the maintenance robot is physically connected to the first connecting part of the target working robot, the target working robot is towed to a specific area. The target working robot is moved to a specific area using the lifting components of the maintenance robot.

2. The method according to claim 1, characterized in that, The operational status data for the current time period includes at least one of the following: the mobile location data for the current time period, the navigation path used for the current time period, the battery monitoring data for the current time period, the mobile unit monitoring data for the current time period, and the processor monitoring data for the current time period.

3. The method according to claim 2, characterized in that, Based on the operational status data for the current time period, detect whether the target robot currently has any malfunctions, including: Based on the operational status data for the current time period, check for any fault or error messages; If a fault error message is confirmed, collect environmental data related to the target robot. By combining the operating status data and environmental data of the target robot for the current time period, it can be determined whether the target robot is currently malfunctioning.

4. The method according to claim 3, characterized in that, The environmental data includes at least one of the following: target image data containing the target robot and its surrounding area, target audio data collected in the vicinity of the target robot, network status data of the target work area, and operating status data of other robots adjacent to the target robot.

5. The method according to claim 1, characterized in that, The fault types include: hardware faults and / or non-hardware faults; wherein, the hardware faults include at least one of the following: mobile unit fault, processor fault, positioning device fault; the non-hardware faults include at least one of the following: battery depletion, navigation getting lost, system freeze, electronic virus intrusion.

6. The method according to claim 5, characterized in that, Identify the fault types of the target robot, including: According to the preset combination rules, the operating status data and environmental data of the target robot in the current time period are combined to obtain the target joint data for the target robot; The target joint data is processed using a preset fault type classification model to obtain the corresponding classification results; Based on the classification results, the fault type of the target robot is determined.

7. The method according to claim 5, characterized in that, In the case of electronic virus intrusion, the target robot is subjected to corresponding fault handling according to the target fault handling strategy, including: Acquire a first-scene image containing the current target robot. Based on the first scene image, the location information of the first data interface and the location information of the restart switch of the target robot were determined; Based on the location information of the first data interface, control the second data interface to connect with the first data interface of the target robot; and call the local virus scanning process to perform virus scanning on the target robot through the connected data interface; After confirming that the virus has been removed, the control arm physically triggers the restart switch of the target robot based on the location information of the restart switch, so that the target robot restarts.

8. The method according to claim 7, characterized in that, After controlling the manipulator to physically trigger the restart switch of the target robot based on the position information of the restart switch, the method further includes: Check whether the target robot's malfunction has been successfully repaired; If it is determined that the target robot malfunction has not been successfully repaired, acquire a second scene image containing the current target robot. Based on the second scene image, the position information of the first connecting part of the target robot was determined; Based on the location information of the first connecting part, the second connecting part is controlled to connect with the first connecting part of the target working robot; and through the connected connecting part, the target working robot is dragged to a first area of ​​a nearby base station; wherein, the first area is used to store faulty robots that cannot be repaired by the maintenance robot.

9. The method according to claim 5, characterized in that, In the event of a power depletion fault, the target robot will be handled according to the target fault handling strategy, including: Acquire a third-party image containing the current target robot. Based on the third scene image, the position information of the first connecting part of the target robot was determined; Based on the location information of the first connecting part, the second connecting part is controlled to connect with the first connecting part of the target working robot; and the target working robot is dragged to a second area adjacent to the base station through the connected connecting part; wherein, the second area is used to store faulty robots that can be repaired by the maintenance robot; the second area is equipped with at least one charging pile that matches the first data interface of the target working robot.

10. A fault handling device for a working robot, characterized in that, Applications in maintenance robots, including: A receiving module is used to receive the current time period's operating status data uploaded by the target working robot; wherein, the target working robot is an intelligent robot that works and serves in the target working area; the target working robot is configured to collect and upload the corresponding time period's operating status data at preset time intervals after starting work; The detection module is used to detect whether the target robot is currently malfunctioning based on the operating status data of the current time period. The determination module is used to determine the fault type of the target robot when it is determined that the target robot currently has a fault; and to determine the target fault handling strategy that matches the fault type from a preset fault handling strategy set. The processing module is used to move to the current position of the target robot and perform corresponding fault handling on the target robot according to the target fault handling strategy to repair the fault and enable the target robot to continue to work normally. The target fault handling strategy includes at least one of the following entity contact behaviors: A connection is established between the second data interface of the maintenance robot and the first data interface of the target working robot. The restart switch of the target working robot is physically triggered by the operating arm of the maintenance robot; After the second connecting part of the maintenance robot is physically connected to the first connecting part of the target working robot, the target working robot is towed to a specific area. The target working robot is moved to a specific area using the lifting components of the maintenance robot.

11. A maintenance robot, characterized in that, It includes at least a moving part, a second data interface that is respectively matched with a first data interface, a restart switch, and a first connection part of the working robot, an operating arm, a second connection part, a network communication port, a processor, and a memory for storing processor-executable instructions, wherein the processor executes the instructions to implement the steps of the method according to any one of claims 1 to 9.

12. A computer-readable storage medium, characterized in that, It stores computer instructions that, when executed by a processor, implement the steps of the method according to any one of claims 1 to 9.

13. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the steps of the method according to any one of claims 1 to 9.

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