Robot fault processing method, electronic equipment and readable storage medium

Abstract

The invention is suitable for the technical field of robots, and provides a robot fault processing method, electronic equipment and a readable storage medium. The robot is provided with a driving control unit and a chassis function module connected with the driving control unit, and the fault processing method comprises the steps that the driving control unit is controlled to send a query request to the chassis function module, the query request is used for indicating the chassis function module to send a fault code obtained by self-inspection to the driving control unit, and the fault code is obtained according to a standard fault code table sent by the driving control unit; determining the severity level of the chassis fault according to the fault code; and executing a response strategy corresponding to the severity level. According to the embodiment of the invention, different functional modules of the chassis can be effectively maintained, and the running stability and reliability of the robot are improved.

Description

Technical Field

[0001] The present application belongs to the field of robot technology, and in particular, relates to a robot fault handling method, an electronic device, and a readable storage medium. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously, and can move to the work area to perform tasks through navigation. Current robot systems usually rely on basic error code feedback and limited fault diagnosis for chassis abnormality handling. As chassis functions are designed to be more and more abundant and chassis faults are becoming more and more complex, these mechanisms are difficult to effectively maintain the different functional modules of the chassis, affecting the stability and reliability of the robot's operation. Summary of the invention

[0003] The embodiments of the present application provide a robot fault handling method, device, electronic device and readable storage medium, which can solve the problem that related technologies are difficult to effectively maintain different functional modules of the chassis, affecting the stability and reliability of the robot operation.

[0004] A first aspect of an embodiment of the present application provides a fault handling method for a robot, wherein the robot is configured with a drive control unit and a chassis function module connected to the drive control unit, and the fault handling method comprises: controlling the drive control unit to send a query request to the chassis function module, wherein the query request is used to instruct the chassis function module to send a fault code obtained by self-test to the drive control unit, wherein the fault code is obtained based on a standard fault code table sent by the drive control unit; determining a severity level of the chassis fault based on the fault code; and executing a response strategy corresponding to the severity level.

[0005] In some embodiments of the first aspect, the fault handling method also includes: in response to an update operation on a standard fault code table, controlling the drive control unit to update the standard fault code table stored in itself, and storing the pending fault codes during the update; after completing the update of the standard fault code table stored in the drive control unit, verifying the pending fault codes according to the updated fault code table; and updating the fault codes that failed the verification in the pending fault codes according to the updated fault code table.

[0006] In some embodiments of the first aspect, the fault codes that fail to be verified in the pending fault codes are updated according to the updated fault code table, including: if the fault code that fails to be verified has a corresponding new fault code in the updated standard fault code table, updating the fault code that fails to be verified to the new fault code; if the fault code that fails to be verified does not have a corresponding new fault code in the updated standard fault code table, determining a replacement fault code in the updated fault code table, and updating the fault code that fails to be verified to the replacement fault code.

[0007] In some implementations of the first aspect, the replacement fault code is a preset unknown fault code, or the replacement fault code has the highest fault similarity with the fault code that failed verification.

[0008] In some embodiments of the first aspect, after completing the update of the standard fault code table stored in the drive control unit, the fault handling method also includes: controlling the drive control unit to send the updated fault code table to the chassis function module to update the fault code table used by the chassis function module; after completing the update of the fault code table used by the chassis function module, verifying the fault code table used by the chassis function module.

[0009] In some embodiments of the first aspect, determining the severity level of the chassis fault according to the fault code includes: determining a fault type of the chassis fault according to the fault code, the fault type being used to characterize the degree of impact of the chassis fault on the safety and performance of the robot; determining the severity level of the chassis fault according to the fault type.

[0010] In some embodiments of the first aspect, the chassis function module of the robot includes multiple target modules; the execution of the response strategy corresponding to the severity level includes: if the chassis function module that detects the chassis fault is a first target module, sending the data to be processed to a second target module among the multiple target modules, so as to process the data to be processed by the second target module, and controlling the first target module to execute the response strategy, wherein the first target module is any one of the multiple target modules, and the second target module is any one of the target modules that has not detected the chassis fault.

[0011] In some implementations of the first aspect, the fault handling method further includes: obtaining a fault log, wherein the fault log records fault codes of historical chassis faults of the robot; and performing a fault analysis based on the fault log to obtain a fault analysis result.

[0012] A second aspect of an embodiment of the present application provides a fault handling device for a robot, wherein the robot is provided with a drive control unit and a chassis function module connected to the drive control unit, and the fault handling device comprises: a fault code acquisition unit, used to control the drive control unit to send a query request to the chassis function module, wherein the query request is used to instruct the chassis function module to send a fault code obtained by self-test to the drive control unit, wherein the fault code is obtained based on a standard fault code table sent by the drive control unit; a grading unit, used to determine a severity level of a chassis fault based on the fault code; and a fault response unit, used to execute a response strategy corresponding to the severity level.

[0013] A third aspect of an embodiment of the present application provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the above-mentioned robot fault handling method when executing the computer program.

[0014] A fourth aspect of an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above-mentioned robot fault handling method are implemented.

[0015] A fifth aspect of an embodiment of the present application provides a computer program product. When the computer program product is run on an electronic device, the electronic device executes the steps of the above-mentioned robot fault handling method.

[0016] In the implementation manner of the present application, on the one hand, the chassis functional modules are uniformly managed through the standard fault code table of the drive control unit, so that the fault codes reported by the chassis functional modules are obtained according to the standard fault code table, which can maintain the uniformity of the fault codes between different chassis functional modules; on the other hand, the severity level of the chassis fault is determined based on the fault code, and a response strategy corresponding to the severity level is executed, which can execute appropriate response strategies for different fault codes. Therefore, the implementation manner of the present application can effectively maintain the different functional modules of the chassis and improve the stability and reliability of the robot operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0018] Figure 1 It is a schematic diagram of the implementation flow of a robot fault handling method provided in an embodiment of the present application;

[0019] Figure 2 is a schematic diagram of the structure of the robot provided in an embodiment of the present application;

[0020] Figure 3 It is a schematic diagram of a specific implementation process of determining the severity level provided in an embodiment of the present application;

[0021] Figure 4 It is a schematic diagram of a specific implementation process of updating the standard fault code table provided in an embodiment of the present application;

[0022] Figure 5 It is a structural schematic diagram of a robot fault handling device provided in an embodiment of the present application;

[0023] Figure 6 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work are protected by the present application.

[0025] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0026] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0028] Current robot systems usually rely on basic error code feedback and limited fault diagnosis for chassis anomaly handling. As chassis function designs become more and more abundant and chassis faults become more and more complex, these mechanisms are difficult to effectively maintain the different functional modules of the chassis, affecting the stability and reliability of the robot's operation. In view of this, the present application proposes a robot fault handling method, which uniformly manages the chassis functional modules through the standard fault code table of the drive control unit, and executes appropriate response strategies for different fault codes, which can effectively maintain the different functional modules of the chassis and improve the stability and reliability of the robot's operation.

[0029] In order to illustrate the technical solution of the present application, a specific embodiment is provided below for illustration.

[0030] Figure 1 The present invention provides a schematic diagram of a robot fault handling method according to an embodiment of the present invention, which can be applied to an electronic device. The electronic device can be a computer, a mobile phone or other intelligent device for controlling or communicating with the robot, or the robot itself.

[0031] Please refer to Figure 2 The robot may be configured with a drive control unit and a plurality of chassis functional modules connected to the drive control unit.

[0032] Among them, the drive control unit may refer to a drive control board (DCB), which is used to drive the connected functional modules to power on and start. The chassis functional module is a component or a collection of components and programs on the robot chassis used to implement corresponding functions, such as a motor controller and a sensor interface. The number of chassis functional modules can be one or more, and the type can be one or more. Chassis functional modules of the same type can implement the same or similar functions. For example, two environmental perception sensor modules of the chassis belong to the same type of chassis functional modules. Different types of chassis functional modules have different functions.

[0033] Specifically, the robot fault handling method may include the following steps S101 to S103.

[0034] Step S101: Control the drive control unit to send a query request to the chassis function module.

[0035] The query request may be used to instruct the chassis function module to send a fault code obtained by self-test to the drive control unit. The fault code is obtained according to a standard fault code table sent by the drive control unit.

[0036] In the implementation of the present application, the drive control unit can send the standard fault code table stored in itself to each connected chassis function module, and each chassis function module stores the standard fault code table after receiving the standard fault code table. In response to the query request, the chassis function module can perform a self-check to detect whether it has a fault. If a fault occurs, the fault code corresponding to the fault can be determined according to the standard fault code table, and the fault code can be fed back to the drive control unit. If no fault occurs, a message that there is no fault can be fed back to the drive control unit.

[0037] Specifically, the standard fault code table may record the fault code and its specific format and content definition, for example, it may include fault level, fault type, specific error information, etc. When the chassis function module detects an abnormal situation, it may generate a corresponding fault code according to the predefined fault detection logic, and each fault code may be obtained according to the fault classification, severity and possible cause coding.

[0038] Step S102, determining the severity level of the chassis fault according to the fault code.

[0039] In the implementation of the present application, different fault codes may identify different faults. Different faults may be graded in severity according to the impact of the fault on the robot. Faults detected by various chassis functional modules may be collectively referred to as chassis faults. Based on the fault code, the severity level of the chassis fault may be determined.

[0040] Step S103: executing a response strategy corresponding to the severity level.

[0041] In the implementation of the present application, different severity levels may correspond to different response strategies. The response strategy is used to perform fault processing to solve the chassis fault. Specifically, the electronic device may control the drive control unit to execute the response strategy.

[0042] In the implementation manner of the present application, on the one hand, the chassis functional modules are uniformly managed through the standard fault code table of the drive control unit, so that the fault codes reported by the chassis functional modules are obtained according to the standard fault code table, which can maintain the uniformity of the fault codes between different chassis functional modules; on the other hand, the severity level of the chassis fault is determined based on the fault code, and a response strategy corresponding to the severity level is executed, which can execute appropriate response strategies for different fault codes. Therefore, the implementation manner of the present application can effectively maintain the different functional modules of the chassis and improve the stability and reliability of the robot operation.

[0043] In some embodiments of the present application, the drive control unit may periodically send a query request to the chassis function module. The sending period may be set according to the actual situation, for example, it may be sent once every minute. Specifically, the drive control unit may periodically use the paging packet TL_PKT_PAGER of the remote diagnostic unit communication (RDUC) to send a query request to all chassis function modules, requesting them to report the current fault status.

[0044] After receiving the paging packet, each chassis function module can reply the current fault code. Specifically, the chassis function module can encapsulate the fault code in the RDUC receipt packet TL_PKG_RCP according to the chassis communication protocol and send it to the drive control unit to ensure the instant transmission of the fault code.

[0045] It should be noted that if a fault has been resolved, the corresponding chassis functional module also needs to report the resolution of the fault to ensure the real-time update and accuracy of the fault code.

[0046] In some embodiments of the present application, after the drive control unit receives the fault code sent by each chassis functional module, it can perform a preliminary analysis, extract detailed information of the fault according to the content definition in the standard fault code table, and perform a severity level analysis to determine the response strategy.

[0047] Specifically, in some embodiments of the present application, Figure 3 As shown, determining the severity level of the chassis fault according to the fault code may include steps S301 to S302.

[0048] Step S301, determining the fault type of the chassis fault according to the fault code.

[0049] Among them, the fault type can be used to characterize the impact of the chassis fault on the safety and performance of the robot. Specifically, the fault type may include but is not limited to: drive system fault, key sensor fault, power supply fault, communication fault, non-key sensor fault, software fault, display fault, log system fault, and performance degradation fault.

[0050] Specifically, the electronic device can query the fault type corresponding to the fault code through the standard fault code table.

[0051] Step S302: Determine the severity level of the chassis fault according to the fault type.

[0052] Specifically, the severity level of chassis failure can be divided into serious failure, moderate failure and minor failure.

[0053] A serious fault may refer to a fault that directly affects the safe operation of the robot, may cause damage to the equipment, or pose a direct threat to the safety of the operator. If the fault type of the chassis fault is a drive system fault, a key sensor fault, or a power supply fault, the electronic device can confirm that the severity level of the chassis fault is a serious fault. Among them, a drive system fault will cause the robot to lose its ability to move, thereby affecting safety. A key sensor fault is a fault in the perception sensor used during the movement of the robot. A key sensor failure will cause the robot to be unable to correctly perceive the environment, affecting the safety of movement. A power supply failure may cause the chassis to suddenly lose power or unstable voltage.

[0054] A medium fault may refer to a fault that affects the performance of the robot but does not immediately endanger the safety of the robot. If the fault type of the chassis fault is a communication fault, a non-critical sensor fault, or a software fault, the electronic device may confirm that the severity level of the chassis fault is a medium fault. Among them, a communication fault affects the data transmission between modules, but does not immediately affect the basic operation of the robot. A non-critical sensor fault may refer to a fault caused by a temperature sensor or a redundant sensor, which affects the accuracy of the data but does not cause the robot to shut down. A software fault may cause some functions to fail to execute normally, requiring a restart or software update.

[0055] A minor fault may refer to a fault that has a minor impact on the operation of the robot. If the fault type of the chassis fault is a display fault, a log system fault, or a performance degradation fault, the electronic device may confirm that the severity level of the chassis fault is a minor fault. Among them, a display fault may refer to a display problem or a response delay. A log system fault affects log recording but does not affect the performance of the robot. A performance degradation fault refers to a fault that can respond normally, but the response speed or response accuracy is reduced compared to the normal state.

[0056] Accordingly, in step S103, if the severity level is a serious fault, the response strategy may be: respond immediately and take emergency measures, such as restarting the system or switching to a safe mode. If the severity level is a medium fault, the response strategy may be: repair or update within a preset time to ensure that the robot is not further damaged. If the severity level is a minor fault, the response strategy may be: record and handle at the next scheduled maintenance.

[0057] Furthermore, in step S103, the response strategy executed may be determined according to the fault type. For example, for a software fault, an attempt may be made to restart the relevant software service; for a power fault, physical intervention may be performed or a hardware module may be restarted.

[0058] To ensure data security, while executing the response strategy corresponding to the severity level, the robot can minimize the impact on other chassis functional modules and ensure data security.

[0059] Specifically, in some embodiments of the present application, the chassis function module of the robot may include multiple target modules. Executing a response strategy corresponding to the severity level may include: if the chassis function module that detects the chassis fault is the first target module, sending the data to be processed to the second target module among the multiple target modules, so that the data to be processed is processed by the second target module, and controlling the first target module to execute the response strategy.

[0060] Wherein, a plurality of target modules can be used to perform the same function, and can refer to key chassis function modules of the robot. The first target module is any one of the plurality of target modules, and the second target module is any one of the target modules that has not detected a chassis fault, and the first target module and the second target module are different target modules.

[0061] When executing a response strategy, the current state and related data can be first saved as data to be processed to ensure that the original state can be quickly restored after a failure occurs.

[0062] If the chassis function module that detects the chassis fault is the first target module, in order to further improve the response speed, the data to be processed can be directly sent to the second target module, so that the data to be processed can be processed by the second target module that has not detected the chassis fault, and the tasks of the first target module can be seamlessly taken over, so that the relevant functions of the first target module can be immediately restored before the fault is resolved.

[0063] If the chassis function module detecting the chassis fault is not the target module, the chassis function module detecting the chassis fault may be controlled to read the data to be processed and reprocess it after the fault is resolved.

[0064] It should be noted that in some embodiments of the present application, each chassis functional module may be independent of each other to avoid mutual influence during fault processing, so that when executing the response strategy, the chassis functional module that detects the chassis fault may be processed separately.

[0065] In some embodiments of the present application, executing a response strategy corresponding to the severity level may also include: monitoring the load of the robot, and executing the response strategy when the load is the lowest. In this way, it is possible to avoid interfering with the normal operation of other functional modules due to occupying system resources. In addition, in some embodiments of the present application, a step-by-step response measure may be taken to the fault, starting with the least invasive operation and gradually escalating to more complex measures until the fault is resolved, thereby minimizing the impact on other functional modules.

[0066] In some embodiments of the present application, the fault handling method further includes: when a fault is detected, outputting a fault warning signal to alert operators and maintenance personnel of the occurrence of the fault. The output of the fault warning signal includes but is not limited to: switching the indicator light to an abnormal state (such as a red light or flashing), displaying fault information, and emitting a sound signal.

[0067] In some embodiments of the present application, the fault handling method further includes: when the fault recovery is detected, outputting a fault recovery signal to remind operators and maintenance personnel that the fault has been resolved. The output method of the fault recovery signal includes but is not limited to: switching the indicator light to a normal state (such as a green light), displaying fault recovery information, and emitting a sound signal.

[0068] In some embodiments of the present application, when fault recovery is detected, the robot may execute a self-checking procedure to verify whether the fault is actually resolved, ensuring that the fault recovery is accurate.

[0069] In addition, after the fault is recovered, the robot can automatically record a fault log with the fault and recovery details for future maintenance and fault prevention. In other words, the drive control unit can summarize all the fault codes received and establish a fault database for historical data analysis and trend monitoring.

[0070] Specifically, in some embodiments of the present application, the electronic device can obtain a fault log, which records the fault code of the robot's historical chassis fault. The fault analysis is performed according to the fault log to obtain a fault analysis result.

[0071] Among them, fault analysis may include: analyzing fault frequency to identify high-risk areas for fault occurrence so as to concentrate maintenance resources to solve frequently occurring problems; analyzing fault trends to predict the possibility of future faults through statistical models and machine learning so as to take preventive measures in advance; fault cause analysis to identify design defects or operational errors and improve the reliability of robots; fault efficiency evaluation to evaluate the response speed and effectiveness of response strategies and optimize response strategies; determining maintenance and upgrade plans to reduce the occurrence of future faults.

[0072] To maintain the adaptability and flexibility of the robot, the electronic equipment can support remote dynamic updating of the standard fault code table to allow the system administrator or maintenance team to modify and add fault code definitions based on the latest operating information and technological developments, ensuring that the robot can respond quickly when faced with new types of faults and provide accurate fault diagnosis.

[0073] Specifically, in some embodiments of the present application, Figure 4 As shown, the fault handling method may further include: step S401 to step S403.

[0074] Step S401, in response to the update operation of the standard fault code table, controls the drive control unit to update the standard fault code table stored in itself, and stores the pending fault codes during the update.

[0075] Specifically, in some embodiments of the present application, a user may send an update operation and an update package for a standard fault code table to a drive control unit through a host computer or a maintenance server. The update package carries a new fault code table or update information for the standard fault code table. After receiving the update operation and the update package, the drive control unit may update the standard fault code table stored in itself according to the update package. The update operation includes adding a new fault code, modifying the content definition of an existing fault code, or deleting an outdated fault code.

[0076] In some embodiments, in order to ensure the reliability of the update, encrypted communication, identity authentication and integrity verification can be used to ensure that the source of the update package is reliable and has not been tampered with. Among them, encrypted communication can refer to transmission through a secure communication protocol, such as encryption using Secure Sockets Layer (SSL) and Transport Layer Security (TLS). Identity authentication can be used to authenticate the source of the update package to ensure that only authorized users or devices can perform update operations. Integrity checking refers to verifying the integrity of the update data through methods such as hash verification and / or digital signatures.

[0077] To ensure the effectiveness of the update, the electronic device can store the pending fault codes during the update to ensure that no faults are missed, while waiting for the synchronization of the standard fault code table to be completed.

[0078] Step S402: after completing the updating of the standard fault code table stored in the drive control unit, the fault code to be processed is verified according to the updated fault code table.

[0079] Specifically, verifying the fault code to be processed includes: searching in the updated standard fault code table whether there is a fault code with the same content definition as the fault code to be processed, and comparing whether the fault code to be processed is consistent with the fault code with the same definition. If the fault code to be processed is consistent with the fault code with the same definition, the verification is successful, otherwise the verification fails.

[0080] Step S403: updating the fault codes that fail to be verified in the fault codes to be processed according to the updated fault code table.

[0081] Specifically, if the fault code that failed to be verified has a corresponding new fault code in the updated standard fault code table, the fault code that failed to be verified is updated to the new fault code, that is, the pending fault code is updated to a fault code with the same content definition as the pending fault code.

[0082] If the fault code that failed verification does not have a corresponding new fault code in the updated standard fault code table, a replacement fault code is determined in the updated fault code table, and the fault code that failed verification is updated to the replacement fault code.

[0083] In some embodiments of the present application, the replacement fault code may be a preset unknown fault code, or the replacement fault code may have the highest fault similarity with the fault code that failed verification. The preset unknown fault code may be used to identify an unknown fault.

[0084] In this way, it can be ensured that the fault codes generated during the update process can be identified according to the updated fault code table, and the use of unknown fault codes or fault codes with the highest fault similarity can ensure the accuracy of fault identification.

[0085] It should be noted that the drive control unit can send an updated fault code table to the chassis function module to ensure the uniformity of the fault code table between the chassis function modules. Specifically, after completing the update of the standard fault code table stored in the drive control unit and the update of the pending fault code, the drive control unit can choose to broadcast a notification to all relevant chassis function modules about the update of the standard fault code table.

[0086] In addition, after completing the update of the standard fault code table stored in the drive control unit, the fault handling method may also include: controlling the drive control unit to send the updated fault code table to the chassis function module to update the fault code table used by the chassis function module; after completing the update of the fault code table used by the chassis function module, verifying the fault code table used by the chassis function module.

[0087] Specifically, the drive control unit may perform a fault code verification of all chassis functional modules after the update to ensure that the fault code tables used by all chassis functional modules are consistent and up-to-date.

[0088] In some embodiments of the present application, the electronic device may also record all key steps and results of the update process in a system log, including the original value of the fault code, the processing method, and whether there are any issues that require further attention, so as to facilitate system review and fault backtracking analysis.

[0089] In some embodiments of the present application, when the drive control unit learns a new fault code or a change in an existing fault code through a query request, the electronic device can also organize this information and report it to the host computer regularly.

[0090] It should be noted that, for the sake of simplicity of description, the aforementioned method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited to the described order of actions, because according to the present application, certain steps can be performed in other orders.

[0091] like Figure 5 Shown is a schematic structural diagram of a robot fault handling device 500 provided in an embodiment of the present application, wherein the robot fault handling device 500 is configured on an electronic device.

[0092] Specifically, the robot fault handling device 500 may include:

[0093] A fault code acquisition unit 501 is used to control the drive control unit to send a query request to the chassis function module, wherein the query request is used to instruct the chassis function module to send a fault code obtained by self-test to the drive control unit, wherein the fault code is obtained according to a standard fault code table sent by the drive control unit;

[0094] A grading unit 502, for determining a severity level of the chassis fault according to the fault code;

[0095] The fault response unit 503 is configured to execute a response strategy corresponding to the severity level.

[0096] In some embodiments of the present application, the fault handling device 500 of the robot may include an updating unit, which can be used to: in response to an update operation on a standard fault code table, control the drive control unit to update the standard fault code table stored in itself, and store the pending fault codes during the update; after completing the update of the standard fault code table stored in the drive control unit, verify the pending fault codes according to the updated fault code table; and update the fault codes that fail to be verified in the pending fault codes according to the updated fault code table.

[0097] In some embodiments of the present application, the update unit may be specifically used to: if the fault code that failed the verification has a corresponding new fault code in the updated standard fault code table, then update the fault code that failed the verification to the new fault code; if the fault code that failed the verification has no corresponding new fault code in the updated standard fault code table, then determine a replacement fault code in the updated fault code table, and update the fault code that failed the verification to the replacement fault code.

[0098] In some embodiments of the present application, the replacement fault code is a preset unknown fault code, or the replacement fault code has the highest fault similarity with the fault code that failed verification.

[0099] In some embodiments of the present application, the update unit may be specifically used to: control the drive control unit to send the updated fault code table to the chassis function module to update the fault code table used by the chassis function module; after completing the update of the fault code table used by the chassis function module, verify the fault code table used by the chassis function module.

[0100] In some embodiments of the present application, the grading unit 502 may be specifically used to: determine the fault type of the chassis fault based on the fault code, wherein the fault type is used to characterize the degree of impact of the chassis fault on the safety and performance of the robot; and determine the severity level of the chassis fault based on the fault type.

[0101] In some embodiments of the present application, the chassis function module of the robot includes multiple target modules; the fault response unit 503 can be specifically used to: if the chassis function module that detects the chassis fault is the first target module, then the data to be processed is sent to the second target module among the multiple target modules, so as to process the data to be processed by the second target module, and control the first target module to execute the response strategy, wherein the first target module is any one of the multiple target modules, and the second target module is any one of the target modules that has not detected the chassis fault.

[0102] In some embodiments of the present application, the robot's fault handling device 500 may include a fault analysis unit, which can be used to: obtain a fault log, which records the fault codes of historical chassis faults of the robot; perform fault analysis based on the fault log to obtain fault analysis results.

[0103] It should be noted that, for the convenience and simplicity of description, the specific working process of the above robot fault handling device 500 can be referred to Figures 1 to 4 The corresponding process of the method will not be repeated here.

[0104] like Figure 6 , which is a schematic diagram of an electronic device provided in an embodiment of the present application. Specifically, the electronic device 6 may include: a processor 60, a memory 61, and a computer program 62 stored in the memory 61 and executable on the processor 60, such as a robot fault handling program. When the processor 60 executes the computer program 62, the steps in the above-mentioned robot fault handling method embodiments are implemented, such as Figure 1 Alternatively, when the processor 60 executes the computer program 62, the functions of each module / unit in the above-mentioned device embodiments are realized, for example Figure 5The functions of the fault code acquisition unit 501, the classification unit 502 and the fault response unit 503 are shown.

[0105] The computer program may be divided into one or more modules / units, which are stored in the memory 61 and executed by the processor 60 to complete the present application. The one or more modules / units may be a series of computer program instruction segments capable of completing specific functions, which are used to describe the execution process of the computer program in the electronic device.

[0106] For example, the computer program can be divided into: a fault code acquisition unit, a classification unit and a fault response unit. The specific functions of each unit are as follows: a fault code acquisition unit, used to control the drive control unit to send a query request to the chassis function module, the query request is used to instruct the chassis function module to send a fault code obtained by self-test to the drive control unit, and the fault code is obtained according to the standard fault code table sent by the drive control unit; a classification unit, used to determine the severity level of the chassis fault according to the fault code; a fault response unit, used to execute a response strategy corresponding to the severity level.

[0107] The electronic device may include, but is not limited to, a processor 60 and a memory 61. Those skilled in the art will appreciate that Figure 6 These are merely examples of electronic devices and do not constitute a limitation of the electronic device. The electronic device may include more or fewer components than those shown in the figure, or a combination of certain components, or different components. For example, the electronic device may also include input and output devices, network access devices, buses, etc.

[0108] The processor 60 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), off-the-shelf programmable gate arrays 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.

[0109] The memory 61 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 61 may also be an external storage device of the electronic device, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the electronic device. Further, the memory 61 may also include both an internal storage unit of the electronic device and an external storage device. The memory 61 is used to store the computer program and other programs and data required by the electronic device. The memory 61 may also be used to temporarily store data that has been output or is to be output.

[0110] It should be noted that, for the convenience and brevity of description, the structure of the above electronic device can also refer to the specific description of the structure in the method embodiment, which will not be repeated here.

[0111] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0112] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0113] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0114] In the embodiments provided in the present application, it should be understood that the disclosed devices / electronic devices and methods can be implemented in other ways. For example, the device / electronic device embodiments described above are merely schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as 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 through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0115] 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.

[0116] In addition, each functional unit in each embodiment of the present application 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.

[0117] If the integrated module / 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 present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0118] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A robot fault handling method, It is characterized in that The robot is equipped with a drive control unit and a chassis function module connected to the drive control unit, and the fault handling method includes: Control the drive control unit to send a query request to the chassis function module, wherein the query request is used to instruct the chassis function module to send a fault code obtained by self-test to the drive control unit, wherein the fault code is obtained according to a standard fault code table sent by the drive control unit; Determining a severity level of the chassis fault based on the fault code; A response strategy corresponding to the severity level is executed.

2. The robot fault handling method according to claim 1, It is characterized in that The fault handling method further includes: In response to an update operation on the standard fault code table, controlling the drive control unit to update the standard fault code table stored in itself, and storing the to-be-processed fault codes during the update; After completing the updating of the standard fault code table stored in the driving control unit, verifying the to-be-processed fault code according to the updated fault code table; According to the updated fault code table, the fault codes that fail verification in the to-be-processed fault codes are updated.

3. The robot fault handling method according to claim 2, It is characterized in that The updating of the fault codes that fail verification in the to-be-processed fault codes according to the updated fault code table includes: If the fault code that failed verification has a corresponding new fault code in the updated standard fault code table, updating the fault code that failed verification to the new fault code; If the fault code that failed verification does not have a corresponding new fault code in the updated standard fault code table, a replacement fault code is determined in the updated fault code table, and the fault code that failed verification is updated to the replacement fault code.

4. The robot fault handling method according to claim 3, It is characterized in that Identify replacement fault codes, including: The replacement fault code is a preset unknown fault code, or the replacement fault code has the highest fault similarity with the fault code that fails verification.

5. The robot fault handling method according to claim 2, It is characterized in that After completing the updating of the standard fault code table stored in the drive control unit, the fault handling method further includes: Controlling the drive control unit to send the updated fault code table to the chassis function module to update the fault code table used by the chassis function module; After completing the updating of the fault code table used by the chassis function module, the fault code table used by the chassis function module is verified.

6. The robot fault handling method according to claim 1, It is characterized in that Determining the severity level of the chassis fault according to the fault code includes: Determine, according to the fault code, a fault type of the chassis fault, wherein the fault type is used to characterize the degree of influence of the chassis fault on the safety and performance of the robot; A severity level of the chassis fault is determined based on the fault type.

7. The robot fault handling method according to claim 1, It is characterized in that The chassis functional module of the robot includes a plurality of target modules; The executing a response strategy corresponding to the severity level includes: Data storage of the to-be-processed data of the chassis functional module that detects the chassis fault; If the chassis function module that detects the chassis fault is the first target module, the data to be processed is sent to the second target module among the multiple target modules, so that the data to be processed is processed by the second target module, and the first target module is controlled to execute the response strategy, wherein the first target module is any one of the multiple target modules, and the second target module is any one of the target modules that has not detected the chassis fault.

8. A robot fault handling method according to any one of claims 1 to 7, It is characterized in that The fault handling method further includes: Obtaining a fault log, wherein the fault log records fault codes of historical chassis faults of the robot; Perform fault analysis based on the fault log to obtain a fault analysis result.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, It is characterized in that When the processor executes the computer program, the steps of the robot fault handling method according to any one of claims 1 to 8 are implemented.

10. A computer-readable storage medium storing a computer program. It is characterized in that When the computer program is executed by a processor, the steps of the robot fault handling method according to any one of claims 1 to 8 are implemented.

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