Robot fault processing method, device and system

Abstract

The invention discloses a robot fault processing method and device, a robot and a system, and the method comprises the steps: obtaining the fault information of a fault robot through a server under the condition that the existence of the fault robot which cannot be self-repaired is determined, determining a target cooperative robot with the capability of repairing the fault robot based on a fault cooperative repair strategy and the fault information, and carrying out the self-repairing of the fault robot. And a cooperative repair instruction is sent to the target cooperative robot, and the cooperative repair instruction carries the fault position information and the identification information of the fault robot, so that the target cooperative robot searches and repairs the fault robot based on the fault position information and the identification information. The fault robot is repaired by controlling the target cooperative robot, the cooperative fault repairing function between the robots is achieved, the utilization rate of the robots is increased to the maximum extent, in addition, the probability that maintenance personnel enter a robot working site is reduced, and the working efficiency of the robots is improved to a certain extent.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a robot fault handling method, device and system. Background Art

[0002] With the development and popularization of robotics technology, more and more robots are being widely used, bringing convenience to people's life and work.

[0003] During the operation of the robot, there may be some faults. These faults generally require maintenance personnel to enter the robot's work area to repair them. If they cannot be repaired, the robot needs to be manually moved away from the work area. For example: due to robot slippage or collision between robots, the robot deviates from the original walking path, making it impossible for the robot to locate its position. Therefore, maintenance personnel need to enter the robot's work area and manually move the robot to the original walking path or rest area. Summary of the invention

[0004] The present application provides a robot fault handling method, device and system. Its main purpose is to realize the collaborative fault repair function between robots, maximize the utilization rate of robots, and reduce the probability of maintenance personnel entering the robot's work site, thereby improving the robot's work efficiency to a certain extent.

[0005] According to a first aspect of the present application, a robot fault handling method is provided, which includes:

[0006] In the case where it is determined that there is a faulty robot that cannot self-repair, acquiring fault information of the faulty robot;

[0007] Based on the fault collaborative repair strategy and the fault information, determining a target collaborative robot capable of repairing the faulty robot;

[0008] A collaborative repair instruction is sent to the target collaborative robot, wherein the collaborative repair instruction carries the identification information and fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the identification information and fault location information.

[0009] In some embodiments, the determining, based on the fault collaborative repair strategy and the fault information, a target collaborative robot capable of repairing the faulty robot comprises:

[0010] Parsing the fault information to obtain the fault type, identification information of the faulty robot and fault location information in the fault information;

[0011] The target collaborative robot is determined according to the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy. The target collaborative robot is an operation and maintenance robot, or a robot of the same type as the faulty robot.

[0012] In some embodiments, determining the target collaborative robot according to the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy includes:

[0013] According to the correspondence between the fault category and the collaborative robot in the fault collaborative repair strategy, determining the target collaborative robot corresponding to the fault category;

[0014] According to the proximity strategy in the fault collaborative repair strategy, determining the collaborative robot closest to the fault location information as the target collaborative robot;

[0015] According to the idle priority strategy in the fault collaborative repair strategy, determining a collaborative robot in an idle state in the working area as the target collaborative robot;

[0016] Or, according to the remaining power strategy in the fault collaborative repair strategy, a collaborative robot whose remaining power in the working area exceeds a preset power threshold is determined as the target collaborative robot.

[0017] In some embodiments, if the fault type of the faulty robot is that the position cannot be located, after sending the collaborative repair instruction to the target collaborative robot, the method further includes:

[0018] Receiving actual position information of the faulty robot sent by the target collaborative robot;

[0019] Replanning the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot;

[0020] The fault recovery walking path is sent to the faulty robot so that the faulty robot performs fault repair based on the received fault recovery walking path.

[0021] In some embodiments, if the fault type of the faulty robot is that the position cannot be located, after sending the collaborative repair instruction to the target collaborative robot, the method further includes:

[0022] Receive a fault repair instruction sent by the target collaborative robot, wherein the fault repair instruction carries a fault recovery walking path of the faulty robot, and the fault recovery walking path is calculated by the target collaborative robot based on actual position information of the faulty robot and a traversable area within a predetermined range of the faulty robot;

[0023] The fault recovery walking path is sent to the faulty robot so that the faulty robot performs fault repair based on the received fault recovery walking path.

[0024] In some embodiments, determining that there is a faulty robot that cannot self-repair comprises:

[0025] Monitor all robots in the working area, and determine, based on the monitoring results, whether there is a faulty robot that cannot self-repair;

[0026] or,

[0027] In response to the fault information reported by the faulty robot, it is determined that there is a faulty robot that cannot self-repair.

[0028] According to a second aspect of the present application, a robot fault handling method is provided, comprising:

[0029] Receiving a collaborative repair instruction sent by the server, wherein the collaborative repair instruction carries fault location information and identification information of the faulty robot;

[0030] Determine the actual position information of the faulty robot according to the fault position information and the identification information;

[0031] The faulty robot is repaired based on the actual position information.

[0032] In some embodiments, determining the actual position information of the faulty robot according to the fault position information and the identification information comprises:

[0033] Planning a walking path to the faulty robot according to the fault location information in the fault information;

[0034] The faulty robot is searched for according to the walking path and identification information, and the actual position information of the faulty robot is determined.

[0035] In some embodiments, searching for the faulty robot according to the walking path and identification information and determining the actual location information of the faulty robot includes:

[0036] Execute the walking path to reach the target location corresponding to the fault location information;

[0037] Searching for a faulty robot corresponding to the identification information in the target position or in a target area centered on the target position;

[0038] The faulty robot is repositioned based on its own positioning to determine the actual position information of the faulty robot.

[0039] In some embodiments, searching for a faulty robot corresponding to identification information in the target location or in a target area centered at the target location includes:

[0040] In the target position or the target area, the collected target image is identified, and the faulty robot is determined according to the identification result, wherein the target image includes identification information of the robot;

[0041] Scanning the faulty robot corresponding to the identification information in the target position or the target area by laser scanning;

[0042] Or, in the target position or the target area, the faulty robot corresponding to the identification information is searched by co-locating with other collaborative robots.

[0043] In some embodiments, repairing the faulty robot based on the actual position information includes:

[0044] The actual position information of the faulty robot is sent to the server so that the server can re-plan the walking path of the faulty robot for fault recovery based on the actual position information of the faulty robot and the passable area within a predetermined range of the faulty robot, and send the fault recovery walking path to the faulty robot. The faulty robot repairs the fault based on the received fault recovery walking path.

[0045] In some embodiments, repairing the faulty robot based on the actual position information includes:

[0046] Replanning the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot;

[0047] A fault repair instruction is sent to the server, wherein the fault repair instruction includes the fault recovery walking path, so that the server sends the fault recovery walking path to the fault server, and the faulty robot performs fault repair based on the received fault recovery walking path.

[0048] According to a third aspect of the present application, a robot fault handling device is provided, comprising:

[0049] an acquisition unit, configured to acquire fault information of the faulty robot when it is determined that there is a faulty robot that cannot self-repair;

[0050] A first determining unit is configured to determine a target collaborative robot capable of repairing the faulty robot based on the fault collaborative repair strategy and the fault information;

[0051] The sending unit is configured to send a collaborative repair instruction to the target collaborative robot, wherein the collaborative repair instruction carries the identification information and fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the identification information and fault location information.

[0052] In some embodiments, the first determining unit includes:

[0053] A parsing module is configured to parse the fault information to obtain the fault type, identification information of the faulty robot and fault location information in the fault information;

[0054] The determination module is configured to determine the target collaborative robot based on the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy. The target collaborative robot is an operation and maintenance robot, or a robot of the same type as the faulty robot.

[0055] In some embodiments, the determining module is further configured to:

[0056] According to the correspondence between the fault category and the collaborative robot in the fault collaborative repair strategy, determining the target collaborative robot corresponding to the fault category;

[0057] According to the proximity strategy in the fault collaborative repair strategy, determining the collaborative robot closest to the fault location information as the target collaborative robot;

[0058] According to the idle priority strategy in the fault collaborative repair strategy, determining a collaborative robot in an idle state in the working area as the target collaborative robot;

[0059] Or, according to the remaining power strategy in the fault collaborative repair strategy, a collaborative robot whose remaining power in the working area exceeds a preset power threshold is determined as the target collaborative robot.

[0060] In some embodiments, if the fault type of the faulty robot is that the position cannot be located, the device further includes:

[0061] A first receiving unit is configured to receive the actual position information of the faulty robot and the passable area within a predetermined range of the faulty robot sent by the target collaborative robot after the sending unit sends a collaborative repair instruction to the target collaborative robot, wherein the actual position information is obtained by the target collaborative robot based on its own position repositioning;

[0062] A planning unit, configured to re-plan a walking path for the faulty robot to recover from the fault according to the actual position information of the faulty robot and the traversable area within a predetermined range of the faulty robot;

[0063] The sending unit is further configured to send the fault-recovered walking path to the faulty robot so that the faulty robot can perform fault repair based on the received fault-recovered walking path.

[0064] In some embodiments, if the fault type of the faulty robot is that the position cannot be located, the device further includes:

[0065] A second receiving unit is configured to receive a fault repair instruction sent by the target collaborative robot after sending a collaborative repair instruction to the target collaborative robot, wherein the fault repair instruction carries a fault recovery walking path of the faulty robot, and the fault recovery walking path is calculated by the target collaborative robot based on actual position information of the faulty robot and a passable area within a predetermined range of the faulty robot;

[0066] The sending unit is further configured to send the fault-recovered walking path to the faulty robot so that the faulty robot can perform fault repair based on the received fault-recovered walking path.

[0067] In some embodiments, the apparatus further includes a second determining unit, wherein the second determining unit is configured to:

[0068] Monitor all robots in the working area, and determine, based on the monitoring results, whether there is a faulty robot that cannot self-repair;

[0069] or,

[0070] In response to the fault information reported by the faulty robot, it is determined that there is a faulty robot that cannot self-repair.

[0071] According to a fourth aspect of the present application, a robot fault handling device is provided, comprising:

[0072] A receiving unit is configured to receive a collaborative repair instruction sent by the server, wherein the collaborative repair instruction carries fault location information and identification information of the faulty robot;

[0073] a determination unit, configured to determine actual position information of the faulty robot according to the fault position information and identification information;

[0074] A repair unit is configured to repair the faulty robot based on the actual position information.

[0075] In some embodiments, the determining unit includes:

[0076] A reaching module, configured to plan a walking path to reach the faulty robot according to the fault location information in the fault information;

[0077] The determination module is configured to search for the faulty robot according to the walking path and identification information, and determine the actual position information of the faulty robot.

[0078] In some embodiments, the determining module includes:

[0079] An execution submodule, configured to execute the walking path to reach a target location corresponding to the fault location information;

[0080] A search submodule is configured to search for a faulty robot corresponding to the identification information in the target position or in a target area centered on the target position;

[0081] The determination submodule is configured to reposition the faulty robot based on its own positioning and determine the actual position information of the faulty robot.

[0082] In some embodiments, the search submodule is further configured to:

[0083] In the target position or the target area, the collected target image is identified, and the faulty robot is determined according to the identification result, wherein the target image includes identification information of the robot;

[0084] Scanning the faulty robot corresponding to the identification information in the target position or the target area by laser scanning;

[0085] Or, in the target position or the target area, the faulty robot corresponding to the identification information is searched by co-locating with other collaborative robots.

[0086] In some embodiments, the repair unit is further configured to:

[0087] The actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot are sent to the server, so that the server can re-plan the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, and send the fault recovery walking path to the faulty robot, and the faulty robot performs fault repair based on the received fault recovery walking path.

[0088] In some embodiments, the repair unit is further configured to include:

[0089] Replanning the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot;

[0090] A fault repair instruction is sent to the server, wherein the fault repair instruction includes the fault recovery walking path, so that the server sends the fault recovery walking path to the fault server, and the faulty robot performs fault repair based on the received fault recovery walking path.

[0091] According to a fifth aspect of the present application, a robot fault handling system is provided, the system comprising a server, a target collaborative robot and a faulty robot, wherein:

[0092] The server includes the robot fault handling device described in the third aspect;

[0093] The target collaborative robot includes the robot fault handling device described in the fourth aspect.

[0094] According to a sixth aspect of the present application, an electronic device is provided, including:

[0095] at least one processor; and

[0096] a memory communicatively connected to the at least one processor; wherein,

[0097] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method described in the first aspect or the second aspect.

[0098] According to the seventh aspect of the present application, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the method described in the first aspect or the second aspect.

[0099] According to an eighth aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the method as described in the first aspect or the second aspect above.

[0100] The robot fault handling method and device, robot and system provided by the present application, when it is determined that there is a faulty robot that cannot repair itself, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and the fault information, determines the target collaborative robot capable of repairing the faulty robot, and sends a collaborative repair instruction to the target collaborative robot, wherein the collaborative repair instruction carries the fault location information and identification information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. After determining that the faulty robot cannot repair itself, the embodiment of the present application controls the target collaborative robot to repair the faulty robot, thereby realizing the collaborative fault repair function between robots and maximizing the utilization rate of the robot. In addition, it reduces the probability of maintenance personnel entering the robot's workplace, thereby improving the robot's work efficiency to a certain extent.

[0101] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present application, nor is it intended to limit the scope of the present application. Other features of the present application will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0102] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present application.

[0103] Figure 1 A schematic diagram of a robot fault handling system provided in an embodiment of the present application;

[0104] Figure 2 A schematic diagram of a flow chart of a robot fault handling method provided in an embodiment of the present application;

[0105] Figure 3 A schematic flow chart of another robot fault handling method provided in an embodiment of the present application;

[0106] Figure 4 A schematic flow chart of another robot fault handling method provided in an embodiment of the present application;

[0107] Figure 5 A schematic flow chart of another robot fault handling method provided in an embodiment of the present application;

[0108] Figure 6 A schematic flow chart of another robot fault handling method provided in an embodiment of the present application;

[0109] Figure 7 A schematic flow chart of another robot fault handling method provided in an embodiment of the present application;

[0110] Figure 8 A schematic diagram of the structure of a robot fault handling device provided in an embodiment of the present application;

[0111] Fig. 9 A schematic diagram of the structure of another robot fault handling device provided in an embodiment of the present application;

[0112] Fig.10 A schematic diagram of the structure of another robot fault handling device provided in an embodiment of the present application;

[0113] Fig.11 A schematic diagram of the structure of another robot fault handling device provided in an embodiment of the present application;

[0114] Fig.12 A schematic diagram of the structure of a robot fault handling system provided in an embodiment of the present application;

[0115] Fig.13 A schematic block diagram of an example electronic device provided for an embodiment of the present application. DETAILED DESCRIPTION

[0116] Many specific details are described in the following description to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar generalizations without violating the connotation of the present application, so the present application is not limited by the specific implementation disclosed below.

[0117] The terms used in one or more embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit one or more embodiments of the present application. The singular forms of "a", "" and "the" used in one or more embodiments of the present application and the appended claims are also intended to include plural forms, unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used in one or more embodiments of the present application refers to and includes any or all possible combinations of one or more associated listed items.

[0118] It should be understood that, although the terms first, second, etc. may be used to describe various information in one or more embodiments of the present application, these information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of one or more embodiments of the present application, the first may also be referred to as the second, and similarly, the second may also be referred to as the first. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0119] With the development and popularization of robot technology, more and more robots are widely used, bringing convenience to people's lives and work. During the operation of the robot, there may be some faults, such as: due to the robot slipping or collision between robots, the robot deviates from the original walking path, making it impossible for the robot to locate its position, so maintenance personnel need to enter the robot's work site and manually move the robot to the original walking path or rest area.

[0120] For ease of understanding, Figure 1 As shown, Figure 1 A robot fault handling system provided by an embodiment of the present application is shown, the system comprising a server, a faulty robot and a collaborative robot. Figure 1 Only one faulty robot and one collaborative robot are shown, but it should be clear that there may be multiple faulty robots and multiple collaborative robots in one working area. Figure 1 The example is only given to illustrate the data communication relationship between the server, the faulty robot and the collaborative robot, and is not intended to limit the specific number of faulty robots and collaborative robots.

[0121] In order to solve the above problems, the embodiments of the present application provide a robot fault handling method and device, a robot and a system, which are described in detail one by one in the following embodiments.

[0122] Figure 2 A schematic flow chart of a robot fault handling method provided in an embodiment of the present application.

[0123] like Figure 2 As shown, the method is applied to a server of a robot monitoring system, and the method comprises the following steps:

[0124] Step 101: When it is determined that there is a faulty robot that cannot self-repair, the server obtains fault information of the faulty robot.

[0125] The fault handling method of the embodiment of the present application is applicable to the scenario where the faulty robot cannot self-repair, for example: when the robot avoids obstacles, it deviates from its original walking path, causing the robot to be unable to obtain its current position information. After replanning the walking path, it still cannot obtain the current position information of the robot, then the robot is determined to be a faulty robot that cannot self-repair; or, the robot is triggered to stop suddenly, and after the robot restarts, it cannot obtain its current position information, then the robot is determined to be a faulty robot that cannot self-repair; furthermore, a robot with hardware failure is determined to be a faulty robot that cannot self-repair, for example, the robot's laser or radar components are damaged, and the robot is in a state of laser or radar data interruption. Specifically, the embodiment of the present application does not limit the specific scenario of a faulty robot that cannot self-repair.

[0126] It should be noted here that when the server determines that there is a faulty robot that cannot self-repair, it can be implemented by but not limited to the following methods, that is, the server actively monitors and obtains or the server passively receives and obtains, and the specific embodiments of the present application do not limit this. When the server actively monitors and obtains, specifically: the server monitors the status of the robot in the work area in real time, and when it detects that the robot has a fault, it further determines the type of fault. If the type of fault is a fault type that the robot itself cannot repair, it is determined that there is a faulty robot that cannot self-repair. When the server passively receives and obtains, it can specifically be a request message for requesting fault recovery reported by the receiving faulty robot, and the request message carries the fault information of the faulty robot. The request message for requesting fault recovery is a request reported by the robot to the server when it determines that the fault cannot be repaired by itself.

[0127] As an implementation method of an embodiment of the present application, when obtaining the fault information of a faulty robot, the server can determine whether the robot is a non-self-repairing robot based on the above two methods, at least through the following methods: receiving the reporting information of the faulty robot, and obtaining the fault information, the fault information includes but is not limited to the fault category, the identification information of the faulty robot, and the fault location information of the faulty robot. As another implementation method of an embodiment of the present application, when obtaining the fault information of a faulty robot, it is possible to obtain the fault information of the faulty robot after determining that there is a faulty robot during the process of monitoring all robots in the working area and determining that the faulty robot is a non-self-repairing faulty robot. Specifically, the embodiment of the present application does not limit the way to obtain the fault information.

[0128] Step 102: The server determines a target collaborative robot capable of repairing the faulty robot based on the fault collaborative repair strategy and fault information.

[0129] A fault collaborative repair mechanism is provided in the server of an embodiment of the present application, and a set of fault collaborative repair strategies are provided under the fault collaborative repair mechanism. The fault collaborative repair strategy is used to indicate that when there is a faulty robot, a target collaborative robot that can repair the faulty robot is determined based on the fault information. The target collaborative robot needs to have the ability to repair the faulty robot, or have the ability to assist the server in repairing the faulty robot.

[0130] The fault collaborative repair strategy pre-sets multiple specific strategies for determining the target collaborative robot from multiple collaborative robots. The target collaborative robot capable of repairing the faulty robot can be determined based on any specific strategy. In practical applications, the target collaborative robot can be any robot in the working area or a special maintenance robot. Specifically, the embodiment of the present application does not limit the specific category of the collaborative robot.

[0131] Step 103: The server sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the identification information and fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the identification information and fault location information.

[0132] The fault location information is the location information reported to the server when the faulty robot fails. If the fault type of the faulty robot is unable to be located, the fault location information is the location information reported by the robot before the fault, and the actual location of the faulty robot may not be the same as the fault location. The purpose of sending the fault location information of the faulty robot to the target collaborative robot is to facilitate the target collaborative robot to reach the location of the faulty robot according to the fault location information; the purpose of sending the identification information of the faulty robot to the target collaborative robot is to finally confirm the faulty robot based on the identification information after arriving at the location of the faulty robot. For example, when the target collaborative robot arrives at the position corresponding to the fault location information, if there are multiple robots of the same type parked around the position, the target assisting robot needs to determine the faulty robot corresponding to the identification information from the multiple robots.

[0133] The robot fault handling method provided by the present application, when it is determined that there is a faulty robot that cannot repair itself, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and the fault information, determines the target collaborative robot that has the ability to repair the faulty robot, and sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the fault location information and identification information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. After determining that the faulty robot cannot repair itself, the embodiment of the present application controls the target collaborative robot to repair the faulty robot, thereby realizing the collaborative fault repair function between robots and maximizing the utilization rate of the robot. In addition, it reduces the probability of maintenance personnel entering the robot's workplace, and improves the robot's work efficiency to a certain extent.

[0134] The server controls the target collaborative robot to assist in the repair of the faulty robot, including but not limited to the target collaborative robot responding to the collaborative repair instruction, the target collaborative robot obtaining the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, and generating a walking path of the faulty robot based on the passable area within the predetermined range of the faulty robot and the actual position information of the faulty robot, and sending the walking path to the server, which sends the walking path regenerated by the faulty robot to the faulty robot. Alternatively, after determining the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, the target collaborative robot reports the actual position information and the passable area within the predetermined range of the faulty robot to the server, which generates a walking path of the faulty robot based on the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, and sends the walking path to the faulty robot to complete the repair of the position offset or the position that cannot be located.

[0135] It should be noted that, in the embodiments of the present application, reference may be made to Figure 1 There is no data processing and data communication relationship between the faulty robot and the collaborative robot for direct fault handling strategy, but the information can be scanned through cameras or laser lights. For example, after the target collaborative robot generates a new walking path, it cannot send the new walking path directly to the faulty robot. Instead, the target collaborative robot needs to send the new walking path to the server first, and then the server forwards the new walking path to the faulty robot.

[0136] When a faulty robot that cannot be repaired by itself appears, it is an important step for the server to determine the target collaborative robot to repair the faulty robot. Figure 3 As shown, Figure 3 A schematic diagram of a method for determining a target collaborative robot provided by an embodiment of the present application is shown, comprising:

[0137] Step 301, parse the fault information to obtain the fault type, identification information of the faulty robot and fault location information in the fault information.

[0138] After determining that the robot is a faulty robot that cannot repair itself, a fault information will be generated. The fault information includes but is not limited to the fault category, identification information of the faulty robot and fault location information. Based on the fault category, the server can determine whether the collaborative robot should be used to repair it. In other words, not all faulty robots can be repaired using collaborative robots. For example, faulty robots with network failures, network disconnections, damaged components and other types of faults cannot be repaired by collaborative robots.

[0139] The identification information of the faulty robot is the unique identification information of the robot.

[0140] In an embodiment of the present application, the fault location information may be the fault location information reported by the faulty robot. If the fault location information reported by the faulty robot is not received, the last location information of the faulty robot may also be used as the fault location information, etc. The specific embodiment of the present application does not limit the method for obtaining the fault location information of the faulty robot.

[0141] Step 302, determining the target collaborative robot according to the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy.

[0142] Among them, the target collaborative robot can be an operation and maintenance robot, or a robot of the same type as the faulty robot, and the specific embodiments of the present application are not limited to this.

[0143] In order to achieve timeliness and flexibility in determining the target collaborative robot, when determining the target collaborative robot, it can be based on the fault type, identification information of the faulty robot and the fault location information. As long as there is a collaborative robot whose fault type, identification information of the faulty robot and fault location information match, it can be determined as the target collaborative robot with the ability to repair the faulty robot.

[0144] Specifically, the target collaborative robot can be determined by any one of the following four implementation methods, or any combination of multiple methods:

[0145] Method 1: According to the correspondence between the fault category and the collaborative robot in the fault collaborative repair strategy, determine the target collaborative robot corresponding to the fault category.

[0146] The corresponding relationship between the fault category and the collaborative robot is pre-set. For example, if the fault category is low battery automatic shutdown, the corresponding collaborative robot is a special operation and maintenance robot to complete the consignment of the faulty robot. If the fault category is position offset, the corresponding system robot can be any robot with position positioning function or image recognition in the working area.

[0147] Method 2: According to the proximity strategy in the fault collaborative repair strategy, the collaborative robot closest to the fault location information is determined as the target collaborative robot;

[0148] After obtaining the fault location information of the faulty robot, the collaborative robot closest to the fault location information is determined through the monitoring results of each robot by the server, and the collaborative robot closest to the faulty robot is determined as the target collaborative robot. For example, the faulty robot is A, and the neighboring area of ​​the faulty robot A includes collaborative robots B, C and D, among which collaborative robot D is closest to the fault location information of the faulty robot A, so the faulty robot D is determined as the target collaborative robot. This example is only an explanation for ease of understanding, and is not a limitation on the number of specific faulty robots and collaborative robots.

[0149] Method 3:

[0150] According to the idle priority strategy in the fault collaborative repair strategy, the collaborative robot in the idle state in the working area is determined as the target collaborative robot;

[0151] When the server determines a target collaborative robot capable of repairing a faulty robot, the server determines a collaborative robot in an idle state as the target collaborative robot.

[0152] As an implementation method of the embodiment of the present application, if there are no idle collaborative robots in the working area, the target collaborative robot can be determined based on the execution level of the collaborative robot's current task, or based on the number of tasks to be executed configured for the collaborative robot, and the collaborative robot with the least number of tasks to be executed can be determined as the target collaborative robot, or the collaborative robot that completes the current task the fastest can be determined as the target collaborative robot.

[0153] In addition, the target collaborative robot can be determined by combining method 2 with method 3, that is, when it is determined that there is an idle collaborative robot in the working area, the idle collaborative robot closest to the faulty robot is determined as the target collaborative robot.

[0154] Alternatively, a combination of method 1 and method 2 is used to determine the target collaborative robot, that is, a collaborative robot that is in an idle state within the determined working area and corresponds to the fault type is determined as the target collaborative robot.

[0155] Furthermore, a combination of method one and method three may be used to determine the target collaborative robot, that is, among the collaborative robots in an idle state in the working area, the collaborative robot corresponding to the fault type is determined as the target collaborative robot.

[0156] Method 4:

[0157] According to the remaining power strategy in the fault collaborative repair strategy, the collaborative robot whose remaining power in the working area exceeds the preset power threshold is determined as the target collaborative robot.

[0158] In order to determine the power consumption of the target collaborative robot when repairing a faulty robot, collaborative robots in the working area whose remaining power exceeds a preset power threshold are prioritized as target collaborative robots to prevent the target collaborative robots from being assigned charging tasks due to power problems during the repair process, thereby interrupting or pausing the execution of repairing the faulty robot.

[0159] Similarly, method four can also be combined with at least one of the above three methods to determine the target assisting robot.

[0160] In some embodiments, when the fault type is that the position cannot be located, it indicates that the robot has deviated and needs to relocate the current position. If the fault type of the faulty robot is that the position cannot be located, after sending a collaborative repair instruction to the target collaborative robot, the method further includes:

[0161] Receive the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot sent by the target collaborative robot; the actual position information is obtained by the target collaborative robot based on its own position repositioning.

[0162] Replan the walking path of the faulty robot for fault recovery based on the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot;

[0163] The fault recovery walking path is sent to the faulty robot so that the faulty robot can perform fault repair based on the received fault recovery walking path.

[0164] For scenarios where the fault category is position cannot be located, when the faulty robot is offset and cannot be restored to position normally, or when the working area triggers an emergency stop for all robots, the robot cannot obtain the current position information of the faulty robot after restarting, a position cannot be located fault will occur.

[0165] In the first embodiment, based on a scenario where the fault category is that the position cannot be located, the target collaborative robot determines the actual position information and the passable area within the predetermined range of the faulty robot, and sends the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot to the server. The server re-plans the walking path for the faulty robot to recover from the fault based on the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot. The server sends the fault-recovered walking path to the faulty robot, with the aim of enabling the faulty robot to restore the position positioning function based on the received fault-recovered walking path.

[0166] In actual applications, the predetermined range is a variable. When setting the predetermined range, it can be a circle with the faulty robot as the center point and a radius of 2 meters, etc. Then the passable area within the predetermined range is the range covered by the circular area, and the specific embodiments of the present application are not limited.

[0167] In the second embodiment, if the fault type of the faulty robot is that the position cannot be located, after sending the collaborative repair instruction to the target collaborative robot, the method further includes:

[0168] Receive a fault repair instruction sent by the target collaborative robot, the fault repair instruction carries a fault recovery walking path of the faulty robot, and the fault recovery walking path is calculated by the target collaborative robot based on the actual position information of the faulty robot and the passable area within a predetermined range of the faulty robot;

[0169] The fault recovery walking path is sent to the faulty robot so that the faulty robot can perform fault repair based on the received fault recovery walking path.

[0170] In the second embodiment, based on the scenario where the fault category is that the position cannot be located, the target collaborative robot re-plans the walking path for the faulty robot to recover from the fault, and sends the fault-recovery walking path to the server. The server then sends the fault-recovery walking path to the faulty robot, so that the faulty robot can restore the function of re-positioning the faulty robot based on the re-planned walking path.

[0171] The target collaborative robot determines the actual position information and re-plans the fault recovery walking path of the faulty robot based on the passable area within a predetermined range near the faulty robot. The target collaborative robot sends the fault recovery walking path to the server, and the server sends the fault recovery walking path to the faulty robot. The purpose is to enable the faulty robot to restore the position positioning function based on the received fault recovery walking path.

[0172] It should be noted that in the scenario of the second embodiment, the target collaborative robot is required to have the function of planning a walking path for fault recovery. If the target collaborative robot does not have the path planning function, the re-planning of the walking path for fault recovery can be achieved according to the method of the first embodiment.

[0173] In the embodiment of the present application, when planning the walking path for fault recovery of the target collaborative robot or server, the specific algorithm used can be any algorithm in the relevant technology, so it will not be described in detail here.

[0174] You can continue to read Figure 2 Based on the two-way data communication relationship between the server and the faulty robot, when the server determines that there is a faulty robot that cannot be self-repaired, it can be implemented in the following two ways:

[0175] The first method: the server monitors all robots in the working area and determines the existence of a faulty robot that cannot self-repair based on the monitoring results; specifically, the server detects a robot fault in the working area, determines that the robot is a faulty robot after the fault type is determined to be a fault type that the robot cannot repair itself.

[0176] The second method: the server responds to the fault information reported by the faulty robot and determines that there is a faulty robot that cannot self-repair.

[0177] For the second method, the execution logic on the robot side is as follows: after the robot detects a robot fault, it determines the fault type and whether the robot itself can repair the fault type. If it can be repaired by itself, the robot executes the repair instruction to repair the robot's own fault; if it cannot be repaired by itself, the faulty robot sends a request for fault collaborative recovery to the server, requesting the system to control the target collaborative robot to collaboratively complete the fault repair of the faulty robot.

[0178] Figure 4 A schematic flow chart of a robot fault handling method provided in an embodiment of the present application.

[0179] like Figure 4 As shown, the method is applied to a collaborative robot, and the method comprises the following steps:

[0180] Step 401: The target collaborative robot receives a collaborative repair instruction sent by a server. The collaborative repair instruction carries fault location information and identification information of the faulty robot.

[0181] The server controls the target collaborative robot to assist in repairing the faulty robot. The target collaborative robot receives and responds to the collaborative repair instructions, parses the collaborative repair instructions, and obtains the fault location information and identification information of the faulty robot.

[0182] Step 402: The target collaborative robot determines the actual position information of the faulty robot based on the fault location information and identification information.

[0183] After the target collaborative robot obtains the fault location information of the faulty robot, it plans a walking path from the current position of the target assistive robot to the fault location information of the faulty robot, finds the faulty robot based on the walking path, and determines the actual location information of the faulty robot.

[0184] In some embodiments, the fault location information of a faulty robot may or may not be the same as the actual location information. When the faulty robot can be found based on the fault location information of the faulty robot, it means that the fault location information is the same as the actual location information. When the faulty robot cannot be found based on the fault location information of the faulty robot, it means that the fault location information is different from the actual location information, and the actual location information of the faulty robot needs to be obtained through the self-positioning of the target collaborative robot.

[0185] Step 403: The target collaborative robot repairs the faulty robot based on the actual position information.

[0186] The target collaborative robot assists in repairing the faulty robot, including but not limited to sending the walking path to the server, and the server sends the walking path regenerated by the faulty robot to the faulty robot. Alternatively, after determining the actual position information of the faulty robot, the target collaborative robot reports it to the server, and the server generates the walking path of the faulty robot based on the fault position information and actual position information of the faulty robot, and sends the walking path to the faulty robot to complete the repair of the position offset or the position that cannot be located.

[0187] The robot fault handling method provided by the present application, when it is determined that there is a faulty robot that cannot repair itself, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and the fault information, determines the target collaborative robot that has the ability to repair the faulty robot, and sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the identification information and fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. After determining that the faulty robot cannot repair itself, the embodiment of the present application controls the target collaborative robot to repair the faulty robot, thereby realizing the collaborative fault repair function between robots and maximizing the utilization rate of the robot. In addition, it reduces the probability of maintenance personnel entering the robot's workplace, and improves the robot's work efficiency to a certain extent.

[0188] In some embodiments, Figure 5 As shown, Figure 5A method for determining actual position information of a faulty robot according to fault information provided by an embodiment of the present application is shown, the method comprising:

[0189] Step 501, planning a walking path to the faulty robot according to the fault location information in the fault information.

[0190] Step 502, searching for the faulty robot according to the walking path and identification information, and determining the actual location information of the faulty robot.

[0191] When searching for the faulty robot according to the walking path and determining the actual location information of the faulty robot, the following methods may be used but are not limited to: Figure 6 As shown, the method includes:

[0192] Step 5021, executing the walking path to reach the target location corresponding to the fault location information.

[0193] In some embodiments, the fault location information of the faulty robot may be the same as the actual location information, or may be different. When the fault location information is the same as the actual location information, the faulty robot can be directly searched based on the fault location information.

[0194] When the fault location information is different from the actual location information, it is necessary to reposition the target collaborative robot through its own position to obtain the actual location information of the faulty robot.

[0195] Step 5022: Search for a faulty robot corresponding to the identification information at the target location or in a target area centered on the target location.

[0196] During the process of searching for a faulty robot, the target assisting robot can capture the target image at the target position or target area based on the camera equipment of the target assisting robot, obtain and identify the identification information of the robot (such as a QR code). If the recognition result of the target image is consistent with the identification information of the faulty robot carried in the received collaborative repair instruction, it is determined to be a faulty robot. If the recognition result of the target image is inconsistent with the identification information carried in the received collaborative repair instruction, the search is performed again in the target area centered on the target position until the faulty robot corresponding to the identification information is found.

[0197] In some embodiments, the faulty robot corresponding to the identification information can also be scanned by laser scanning in the target position or target area; the model of the faulty robot can be determined based on the identification information carried in the collaborative repair instruction. The corresponding robot contours (appearances) may be different for different models. Laser scanning can be enabled to scan the robots in the target area, and the faulty robot with the corresponding contour can be searched through the identification information of the fault information.

[0198] In some embodiments, in the target location or target area, the faulty robot corresponding to the identification information is searched by coordinating with other cooperating robots. In this method of searching robots, it is necessary to rely on at least two target cooperating robots, that is, when the server sends a coordinating repair instruction, the coordinating repair instruction is sent to at least two target cooperating robots respectively, and the at least two target cooperating robots jointly complete the search for the faulty robot.

[0199] The working principle of at least two target collaborative robots is the same as the working principle of one target collaborative robot, and the embodiments of the present application will not be described in detail here.

[0200] When searching for a faulty robot, the target can be selected to assist the robot's own specific image recognition function or laser scanning function to select any of the above search methods, which is not limited in the embodiments of the present application.

[0201] Step 5023, reposition the faulty robot based on its own positioning to determine the actual position information of the faulty robot.

[0202] In some embodiments, when the server repairs the faulty robot based on the actual location information, it is implemented in the following two ways:

[0203] Method 1: Send the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot to the server, so that the server can re-plan the walking path for the faulty robot to recover from the fault based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, and send the fault-recovery walking path to the faulty robot. The faulty robot repairs the fault based on the received fault-recovery walking path.

[0204] Method 2:

[0205] The walking path for the fault recovery of the faulty robot is re-planned according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, and a fault repair instruction is sent to the server. The fault repair instruction includes the fault recovery walking path, so that the server sends the fault recovery walking path to the fault server, and the faulty robot performs fault repair based on the received fault recovery walking path.

[0206] The two implementation methods of the target assisting robot in repairing a faulty robot can be found in the detailed description of the above embodiments, and the embodiments of the present application will not be described in detail here.

[0207] like Figure 7 As shown, Figure 7A flow chart of another robot fault handling method provided in an embodiment of the present application is shown, and the method is used to illustrate the data interaction relationship between the server, the faulty robot and the target collaborative robot, including:

[0208] Step 701: The faulty robot sends a fault collaborative recovery request message to the server.

[0209] Step 702: The server receives the fault collaborative recovery request information sent by the faulty robot and obtains the fault information of the faulty robot.

[0210] Step 703: The server determines a target collaborative robot capable of repairing the faulty robot based on the fault collaborative repair strategy and fault information.

[0211] Step 704: The server sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the fault location information and identification information of the faulty robot.

[0212] Step 705, the target collaborative machine receives the collaborative repair instruction sent by the server;

[0213] Step 706: The target collaborative robot determines the actual position information of the faulty robot based on the fault position information and the identification information, and sends the actual position information and the passable area within the predetermined range of the faulty robot to the server.

[0214] Step 707: The server receives the actual position information of the faulty robot sent by the target collaborative robot, and replans the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot.

[0215] Step 708: The server sends the fault-recovered walking path to the faulty robot.

[0216] Step 709: The faulty robot performs fault repair based on the received fault recovery walking path.

[0217] For steps 701 to 709, please refer to the detailed description of the above embodiment, which will not be elaborated here.

[0218] Corresponding to the above-mentioned robot fault handling method, the present invention also provides a robot fault handling device. Since the device embodiment of the present invention corresponds to the above-mentioned method embodiment, the details not disclosed in the device embodiment can be referred to the above-mentioned method embodiment, and will not be repeated in the present invention.

[0219] Figure 8 A schematic diagram of a robot fault handling device provided in an embodiment of the present application is shown in FIG. Figure 8 As shown, including:

[0220] The acquisition unit 81 is configured to acquire the fault information of the faulty robot when it is determined that there is a faulty robot that cannot self-repair;

[0221] A first determining unit 82 is configured to determine a target collaborative robot capable of repairing a faulty robot based on the fault collaborative repair strategy and the fault information;

[0222] The sending unit 83 is configured to send a collaborative repair instruction to the target collaborative robot, wherein the collaborative repair instruction carries the fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information.

[0223] The robot fault handling device provided by the present application, when it is determined that there is a faulty robot that cannot repair itself, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and the fault information, determines the target collaborative robot that has the ability to repair the faulty robot, and sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the identification information of the faulty robot and the fault location information and identification information, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. After determining that the faulty robot cannot repair itself, the embodiment of the present application controls the target collaborative robot to repair the faulty robot, thereby realizing the collaborative fault repair function between robots and maximizing the utilization rate of the robot. In addition, it reduces the probability of maintenance personnel entering the robot's workplace, and improves the robot's work efficiency to a certain extent.

[0224] Furthermore, in a possible implementation of the embodiment of the present application, as Fig. 9 As shown, the first determining unit 82 includes:

[0225] The parsing module 821 is configured to parse the fault information to obtain the fault type, identification information of the faulty robot and fault location information in the fault information;

[0226] The determination module 822 is configured to determine the target collaborative robot based on the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy. The target collaborative robot is an operation and maintenance robot, or a robot of the same type as the faulty robot.

[0227] Furthermore, in a possible implementation of the embodiment of the present application, as Fig. 9 As shown, the determination module 822 is further configured to determine the target collaborative robot according to the fault type, the identification information and the fault location information of the faulty robot, and the fault collaborative repair strategy, including:

[0228] According to the correspondence between the fault category and the collaborative robot in the fault collaborative repair strategy, determine the target collaborative robot corresponding to the fault category;

[0229] According to the proximity strategy in the fault collaborative repair strategy, the collaborative robot closest to the fault location information is determined as the target collaborative robot;

[0230] According to the idle priority strategy in the fault collaborative repair strategy, the collaborative robot in the idle state in the working area is determined as the target collaborative robot;

[0231] Or, according to the remaining power strategy in the fault collaborative repair strategy, a collaborative robot whose remaining power in the working area exceeds a preset power threshold is determined as the target collaborative robot.

[0232] Furthermore, in a possible implementation of the embodiment of the present application, as Fig. 9 As shown, if the fault type of the faulty robot is that the position cannot be located, after sending a collaborative repair instruction to the target collaborative robot, the device also includes:

[0233] The first receiving unit 84 is configured to receive the actual position information of the faulty robot sent by the target collaborative robot after the sending unit 83 sends the collaborative repair instruction to the target collaborative robot;

[0234] The planning unit 85 is configured to re-plan the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot;

[0235] The sending unit 83 is further configured to send the fault-recovered walking path to the faulty robot so that the faulty robot can perform fault repair based on the received fault-recovered walking path.

[0236] Furthermore, in a possible implementation of the embodiment of the present application, as Fig. 9 As shown, if the fault type of the faulty robot is that the position cannot be located, after sending a collaborative repair instruction to the target collaborative robot, the device also includes:

[0237] The second receiving unit 86 is configured to receive a fault repair instruction sent by the target collaborative robot after sending the collaborative repair instruction to the target collaborative robot, wherein the fault repair instruction carries a walking path for fault recovery of the faulty robot, and the walking path for fault recovery is calculated by the target collaborative robot based on the actual position information of the faulty robot and the predetermined range of the faulty robot;

[0238] The sending unit 83 is further configured to send the fault-recovered walking path to the faulty robot so that the faulty robot can perform fault repair based on the received fault-recovered walking path.

[0239] Furthermore, in a possible implementation of the embodiment of the present application, as Fig. 9 As shown, the device further includes a second determining unit 87, and the second determining unit 87 is configured to: determine that there is a faulty robot that cannot self-repair, including:

[0240] Monitor all robots in the work area and determine the existence of faulty robots that cannot self-repair based on the monitoring results;

[0241] or,

[0242] In response to the fault information reported by the faulty robot, it is determined that there is a faulty robot that cannot self-repair.

[0243] Furthermore, the present application also provides a robot fault handling device, such as Fig.10 As shown, including:

[0244] The receiving unit 1001 is configured to receive a collaborative repair instruction sent by the server, wherein the collaborative repair instruction carries fault location information and identification information of the faulty robot;

[0245] A determination unit 1002 is configured to determine actual position information of the faulty robot according to the fault position information and the identification information;

[0246] The repair unit 1003 is configured to repair the faulty robot based on the actual position information.

[0247] The robot fault handling device provided by the present application, when it is determined that there is a faulty robot that cannot repair itself, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and the fault information, determines the target collaborative robot that has the ability to repair the faulty robot, and sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the fault location information and identification information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. After determining that the faulty robot cannot repair itself, the embodiment of the present application controls the target collaborative robot to repair the faulty robot, thereby realizing the collaborative fault repair function between robots and maximizing the utilization rate of the robot. In addition, it reduces the probability of maintenance personnel entering the robot's workplace, and improves the robot's work efficiency to a certain extent.

[0248] Furthermore, in a possible implementation of the embodiment of the present application, as Fig.11 As shown, the determining unit 1002 includes:

[0249] The arrival module 10021 is configured to plan a walking path to the faulty robot according to the fault location information in the fault information;

[0250] The determination module 10022 is configured to search for the faulty robot according to the walking path and identification information, and determine the actual position information of the faulty robot.

[0251] Furthermore, in a possible implementation of the embodiment of the present application, as Fig.11 As shown, the determination module 10022 includes:

[0252] The execution submodule 100221 is configured to execute the walking path to reach the target position corresponding to the fault position information;

[0253] The search submodule 100222 is configured to search for a faulty robot corresponding to the identification information in a target location or a target area centered on the target location;

[0254] The determination submodule 100223 is configured to reposition the faulty robot based on its own positioning and determine the actual position information of the faulty robot.

[0255] Furthermore, in a possible implementation of the embodiment of the present application, as Fig.11 As shown, the search submodule 100222 is also configured as follows:

[0256] In the target position or target area, the collected target image is identified, and the faulty robot is determined according to the identification result, wherein the target image contains identification information of the robot;

[0257] In the target position or target area, the faulty robot corresponding to the identification information is scanned by laser scanning;

[0258] Or, in the target position or target area, the faulty robot corresponding to the identification information is searched by co-positioning with other collaborative robots.

[0259] Furthermore, in a possible implementation of the embodiment of the present application, as Fig.11 As shown, the repair unit 1003 is further configured to include:

[0260] The actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot are sent to the server, so that the server can re-plan the walking path of the faulty robot for fault recovery based on the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, and send the fault recovery walking path to the faulty robot, and the faulty robot performs fault repair based on the received fault recovery walking path.

[0261] Furthermore, in a possible implementation of the embodiment of the present application, as Fig.11As shown, the repair unit 1003 is further configured to repair the faulty robot based on the actual position information, including:

[0262] Replan the walking path of the faulty robot for fault recovery based on the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot;

[0263] A fault repair instruction is sent to the server, wherein the fault repair instruction includes a fault recovery walking path, so that the server sends the fault recovery walking path to the fault server, and the faulty robot performs fault repair based on the received fault recovery walking path.

[0264] The present application also provides a robot fault handling system, such as Fig.12 As shown, the system includes a server 121, a target collaborative robot 122 and a faulty robot 123, wherein:

[0265] The server 121 includes Figure 8 or Fig. 9 A fault handling device for a robot;

[0266] The target collaborative robot 122 includes Fig.10 or Fig.11 A fault handling device for a robot.

[0267] The robot fault handling system provided by the present application, when it is determined that there is a faulty robot that cannot repair itself, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and the fault information, determines the target collaborative robot that has the ability to repair the faulty robot, and sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries the fault location information and identification information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. After determining that the faulty robot cannot repair itself, the embodiment of the present application controls the target collaborative robot to repair the faulty robot, thereby realizing the collaborative fault repair function between robots and maximizing the utilization rate of the robot. In addition, it reduces the probability of maintenance personnel entering the robot's workplace, and improves the robot's work efficiency to a certain extent.

[0268] It should be noted that the above explanation of the method embodiment is also applicable to the device of the embodiment of the present application, the principle is the same, and it is no longer limited in the embodiment of the present application.

[0269] According to an embodiment of the present application, the present application also provides an electronic device, a readable storage medium and a computer program product.

[0270] Fig.13A schematic block diagram of an example electronic device 1300 that can be used to implement an embodiment of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present application described and / or required herein.

[0271] like Fig.13 As shown, the device 1300 includes a computing unit 1301, which can perform various appropriate actions and processes according to a computer program stored in a ROM (Read-Only Memory) 1302 or a computer program loaded from a storage unit 1308 to a RAM (Random Access Memory) 1303. In the RAM 1303, various programs and data required for the operation of the device 1300 can also be stored. The computing unit 1301, the ROM 1302, and the RAM 1303 are connected to each other via a bus 1304. An I / O (Input / Output) interface 1305 is also connected to the bus 1304.

[0272] A number of components in the device 1300 are connected to the I / O interface 1305, including: an input unit 1306, such as a keyboard, a mouse, etc.; an output unit 1307, such as various types of displays, speakers, etc.; a storage unit 1308, such as a disk, an optical disk, etc.; and a communication unit 1309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1309 allows the device 1300 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0273] The computing unit 1301 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1301 include, but are not limited to, a CPU (Central Processing Unit), a GPU (Graphic Processing Units), various dedicated AI (Artificial Intelligence) computing chips, various computing units running machine learning model algorithms, a DSP (Digital Signal Processor), and any appropriate processor, controller, microcontroller, etc. The computing unit 1301 performs the various methods and processes described above, such as a fault handling method of a robot. For example, in some embodiments, the fault handling method of a robot may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1308. In some embodiments, part or all of the computer program may be loaded and / or installed on the device 1300 via the ROM 1302 and / or the communication unit 1309. When the computer program is loaded into the RAM 1303 and executed by the computing unit 1301, one or more steps of the method described above may be performed. Alternatively, in other embodiments, the computing unit 1301 may be configured to execute the aforementioned robot fault handling method in any other appropriate manner (eg, by means of firmware).

[0274] Various embodiments of the systems and techniques described above herein may be implemented in digital electronic circuit systems, integrated circuit systems, FPGAs (Field Programmable Gate Arrays), ASICs (Application-Specific Integrated Circuits), ASSPs (Application Specific Standard Products), SOCs (System On Chips), CPLDs (Complex Programmable Logic Devices), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include: being implemented in one or more computer programs that may be executed and / or interpreted on a programmable system including at least one programmable processor that may be a dedicated or general-purpose programmable processor that may receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0275] The program code for implementing the method of the present application can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, implements the functions / operations specified in the flow chart and / or block diagram. The program code can be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0276] In the context of the present application, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any suitable combination of the foregoing. More specific examples of machine-readable storage media may include electrical connections based on one or more lines, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only-Memory) or flash memory, optical fiber, CD-ROM (Compact Dis sc Read-Only Memory), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0277] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0278] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: LAN (Local Area Network), WAN (Wide Area Network), the Internet, and blockchain networks.

[0279] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0280] It should be noted that artificial intelligence is a discipline that studies how computers can simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, planning, etc.), and includes both hardware-level and software-level technologies. Artificial intelligence hardware technologies generally include technologies such as sensors, dedicated artificial intelligence chips, cloud computing, distributed storage, and big data processing; artificial intelligence software technologies mainly include computer vision technology, speech recognition technology, natural language processing technology, as well as machine learning / deep learning, big data processing technology, knowledge graph technology, and other major directions.

[0281] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this application can be executed in parallel, sequentially or in different orders, as long as the expected results of the technical solution disclosed in this application can be achieved, and this document is not limited here.

[0282] The above specific implementations do not constitute a limitation on the protection scope of this application. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of this application should be included in the protection scope of this application.

Claims

1. A robot fault handling method, characterized in that: include: In the case where it is determined that there is a faulty robot that cannot self-repair, acquiring fault information of the faulty robot; Based on the fault collaborative repair strategy and the fault information, determining a target collaborative robot capable of repairing the faulty robot; A collaborative repair instruction is sent to the target collaborative robot, wherein the collaborative repair instruction carries the identification information and the fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the identification information and the fault location information.

2. The method according to claim 1, characterized in that The determining of a target collaborative robot capable of repairing the faulty robot based on the fault collaborative repair strategy and the fault information includes: Parsing the fault information to obtain the fault type, identification information of the faulty robot and fault location information in the fault information; The target collaborative robot is determined according to the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy. The target collaborative robot is an operation and maintenance robot, or a robot of the same type as the faulty robot.

3. The method according to claim 2, characterized in that The determining of the target collaborative robot according to the fault type, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy includes: According to the correspondence between the fault category and the collaborative robot in the fault collaborative repair strategy, determining the target collaborative robot corresponding to the fault category; According to the proximity strategy in the fault collaborative repair strategy, determining the collaborative robot closest to the fault location information as the target collaborative robot; According to the idle priority strategy in the fault collaborative repair strategy, determining a collaborative robot in an idle state in the working area as the target collaborative robot; Or, according to the remaining power strategy in the fault collaborative repair strategy, a collaborative robot whose remaining power in the working area exceeds a preset power threshold is determined as the target collaborative robot.

4. The method according to claim 1, characterized in that: If the fault type of the faulty robot is that the position cannot be located, after sending a collaborative repair instruction to the target collaborative robot, the method further includes: Receiving the actual position information of the faulty robot and the passable area within a predetermined range of the faulty robot sent by the target collaborative robot, the actual position information being acquired by the target collaborative robot based on its own position repositioning; Replanning the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot; The fault recovery walking path is sent to the faulty robot so that the faulty robot performs fault repair based on the received fault recovery walking path.

5. The method according to claim 1, characterized in that If the fault type of the faulty robot is that the position cannot be located, after sending a collaborative repair instruction to the target collaborative robot, the method further includes: Receive a fault repair instruction sent by the target collaborative robot, wherein the fault repair instruction carries a fault recovery walking path of the faulty robot, and the fault recovery walking path is calculated by the target collaborative robot based on actual position information of the faulty robot and a traversable area within a predetermined range of the faulty robot; The fault recovery walking path is sent to the faulty robot so that the faulty robot performs fault repair based on the received fault recovery walking path.

6. The method according to any one of claims 1 to 5, characterized in that Determining that there is a faulty robot that cannot self-repair includes: Monitor all robots in the working area, and determine, based on the monitoring results, whether there is a faulty robot that cannot self-repair; or, In response to the fault information reported by the faulty robot, it is determined that there is a faulty robot that cannot self-repair.

7. A robot fault handling method, characterized in that: include: Receiving a collaborative repair instruction sent by the server, wherein the collaborative repair instruction carries fault location information and identification information of the faulty robot; Determine the actual position information of the faulty robot according to the fault position information and the identification information; The faulty robot is repaired based on the actual position information.

8. The method according to claim 7, characterized in that Determining the actual position information of the faulty robot according to the fault position information and the identification information comprises: Planning a walking path to reach the faulty robot according to the fault location information; The faulty robot is searched for according to the walking path and the identification information, and the actual position information of the faulty robot is determined.

9. The method according to claim 8, characterized in that The step of searching for the faulty robot according to the walking path and the identification information and determining the actual position information of the faulty robot comprises: Execute the walking path to reach the target location corresponding to the fault location information; Searching for a faulty robot corresponding to the identification information in the target position or in a target area centered on the target position; The faulty robot is repositioned based on its own positioning to determine the actual position information of the faulty robot.

10. The method according to claim 9, characterized in that The step of searching for a faulty robot corresponding to the identification information at the target location or within a target area centered at the target location includes: In the target position or the target area, the collected target image is identified, and the faulty robot is determined according to the identification result, wherein the target image includes identification information of the robot; Scanning the faulty robot corresponding to the identification information in the target position or the target area by laser scanning; Or, in the target position or the target area, the faulty robot corresponding to the identification information is searched by co-locating with other collaborative robots.

11. The method according to claim 7, characterized in that The repairing of the faulty robot based on the actual position information comprises: The actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot are sent to the server, so that the server can re-plan the walking path of the faulty robot for fault recovery based on the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, and send the fault recovery walking path to the faulty robot, and the faulty robot performs fault repair based on the received fault recovery walking path.

12. The method according to claim 7, characterized in that The repairing of the faulty robot based on the actual position information comprises: Replanning the walking path of the faulty robot for fault recovery according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot; A fault repair instruction is sent to the server, wherein the fault repair instruction includes the fault recovery walking path, so that the server sends the fault recovery walking path to the fault server, and the faulty robot performs fault repair based on the received fault recovery walking path.

13. A robot fault handling device, characterized in that: include: an acquisition unit, configured to acquire fault information of the faulty robot when it is determined that there is a faulty robot that cannot self-repair; A first determining unit is configured to determine a target collaborative robot capable of repairing the faulty robot based on the fault collaborative repair strategy and the fault information; The sending unit is configured to send a collaborative repair instruction to the target collaborative robot, wherein the collaborative repair instruction carries the identification information and the fault location information of the faulty robot, so that the target collaborative robot can search for and repair the faulty robot based on the identification information and the fault location information.

14. A robot fault handling device, characterized in that: include: A receiving unit is configured to receive a collaborative repair instruction sent by the server, wherein the collaborative repair instruction carries fault location information and identification information of the faulty robot; a determining unit, configured to determine actual position information of the faulty robot according to the fault position information; A repair unit is configured to repair the faulty robot based on the actual position information and the identification information.

15. A robot fault handling system, characterized in that: The system includes a server, a target collaborative robot and a faulty robot, wherein: The server includes the robot fault handling device of claim 13; The target collaborative robot includes the robot fault handling device described in claim 14.

16. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method of any one of claims 1-6 or 7-12.

17. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6 or 7-12.

18. A computer program product, characterized in that It comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1-6 or 7-12.

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