Method, apparatus and system for robot fault handling

Abstract

The application discloses a robot fault processing method and device, a robot and a system. In a case where it is determined that there is a robot with a non-self-repairable fault, a server acquires fault information of the robot with the fault, determines a target collaborative robot with the capability of repairing the robot with the fault based on a fault collaborative repair strategy and the fault information, and sends a collaborative repair instruction to the target collaborative robot. The collaborative repair instruction carries fault position information and identification information of the robot with the fault, so that the target collaborative robot searches for and repairs the robot with the fault based on the fault position information and the identification information. After it is determined that the robot with the fault cannot be self-repaired, the embodiment of the application controls the target collaborative robot to repair the robot with the fault, realizes the collaborative fault repair function among robots, maximally improves the utilization rate of the robot, and further reduces the probability of maintenance personnel entering the working site of the robot, and improves the working efficiency of the robot to a certain extent.

Description

Technical Field

[0001] This application relates to the field of artificial intelligence technology, and in particular to a method, apparatus and system for handling robot malfunctions. Background Technology

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

[0003] During robot operation, some malfunctions may occur. These malfunctions generally require maintenance personnel to enter the robot's work area for repair. If the malfunctions cannot be repaired, the robot needs to be manually moved out of the work area. For example, due to robot slippage or collisions between robots, the robot may deviate from its original walking path, making it unable to locate itself. Therefore, maintenance personnel need to enter the robot's work area and manually move the robot back to its original walking path or rest area. Summary of the Invention

[0004] This application provides a method, apparatus, and system for handling robot faults. Its main purpose is to achieve collaborative fault repair between robots, maximizing robot utilization. Furthermore, it reduces the probability of maintenance personnel entering the robot's work area, thereby improving robot efficiency to a certain extent.

[0005] According to a first aspect of this application, a method for handling robot malfunctions is provided, comprising:

[0006] If it is determined that there is a faulty robot that cannot self-repair, obtain the fault information of the faulty robot;

[0007] Based on the fault collaborative repair strategy and the fault information, a target collaborative robot with the ability to repair the faulty robot is identified.

[0008] A collaborative repair instruction is sent 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.

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

[0010] The fault information is parsed to obtain the fault category, the identification information of the faulty robot, and the fault location information.

[0011] The target collaborative robot is determined based on the fault category, the identification information of the faulty robot, the fault location information, 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 based on the fault category, the identification information of the faulty robot, the fault location information, and the fault collaborative repair strategy includes:

[0013] Based on the correspondence between fault categories and collaborative robots in the fault collaborative repair strategy, determine the target collaborative robot corresponding to the fault category;

[0014] 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;

[0015] According to the idle priority strategy in the fault collaborative repair strategy, the collaborative robot that is idle in the work area is identified as the target collaborative robot;

[0016] Alternatively, according to the remaining power strategy in the fault collaborative repair strategy, the collaborative robot with remaining power exceeding a preset power threshold in the work area is identified as the target collaborative robot.

[0017] In some embodiments, if the fault category of the faulty robot is location inability, after sending a collaborative repair instruction to the target collaborative robot, the method further includes:

[0018] Receive the actual location information of the faulty robot sent by the target collaborative robot;

[0019] Based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, the walking path of the faulty robot for fault recovery is replanned;

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

[0021] In some embodiments, if the fault category of the faulty robot is location inability, after sending a collaborative repair instruction to the target collaborative robot, the method further includes:

[0022] The system receives a fault repair instruction sent by the target collaborative robot. The fault repair instruction carries a fault recovery path for the faulty robot, which is calculated by the target collaborative robot based on the actual location information of the faulty robot and the passable area within a predetermined range of the faulty robot.

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

[0024] In some embodiments, determining the existence of a non-self-repairing faulty robot includes:

[0025] All robots within the work area are monitored, and based on the monitoring results, it is determined that there are robots with non-self-repairable malfunctions.

[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 this application, a method for handling robot malfunctions is provided, comprising:

[0029] The system receives a collaborative repair instruction sent by the server, which carries the fault location information and identification information of the faulty robot.

[0030] The actual location information of the faulty robot is determined based on the fault location information and the identification information.

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

[0032] In some embodiments, determining the actual location information of the faulty robot based on the fault location information and the identification information includes:

[0033] Plan a walking path to the faulty robot based on the fault location information in the fault information;

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

[0035] In some embodiments, the step of 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] Search for the faulty robot corresponding to the identification information at the target location or within the target area centered on the target location;

[0038] The faulty robot is repositioned based on its own localization to determine its actual location information.

[0039] In some embodiments, the search for the faulty robot corresponding to the identification information at the target location or within the target area centered on the target location includes:

[0040] At the target location or within the target area, the acquired target image is identified, and the faulty robot is determined based on the identification result, wherein the target image contains the robot's identification information;

[0041] The faulty robot corresponding to the identification information is scanned by laser scanning at the target location or within the target area;

[0042] Alternatively, at the target location or within the target area, the faulty robot corresponding to the identification information can be searched for by cooperating with other collaborative robots for localization.

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

[0044] The actual location information of the faulty robot is sent to the server, so that the server can replan the walking path of the faulty robot for fault recovery 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, and the faulty robot performs fault repair based on the received fault recovery walking path.

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

[0046] Based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, the walking path of the faulty robot for fault recovery is replanned;

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

[0048] According to a third aspect of this application, a fault handling apparatus for a robot is provided, comprising:

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

[0050] The 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. 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] The parsing module is configured to parse the fault information to obtain the fault category, the identification information of the faulty robot, and the fault location information in the fault information;

[0054] The determination module is configured to determine the target collaborative robot based on the fault category, the identification information of the faulty robot and the fault location information, 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] Based on the correspondence between fault categories and collaborative robots in the fault collaborative repair strategy, determine the target collaborative robot corresponding to the fault category;

[0057] 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;

[0058] According to the idle priority strategy in the fault collaborative repair strategy, the collaborative robot that is idle in the work area is identified as the target collaborative robot;

[0059] Alternatively, according to the remaining power strategy in the fault collaborative repair strategy, the collaborative robot with remaining power exceeding a preset power threshold in the work area is identified as the target collaborative robot.

[0060] In some embodiments, if the fault category of the faulty robot is location inability, the device further includes:

[0061] The first receiving unit is configured to receive, after the sending unit sends a collaborative repair instruction to the target collaborative robot, the actual location 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 location information is obtained by the target collaborative robot based on its own repositioning.

[0062] The planning unit is configured to replan the walking path of the faulty robot for fault recovery based on the actual location information of the faulty robot and the passable area within a predetermined range of the faulty robot.

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

[0064] In some embodiments, if the fault category of the faulty robot is location inability, the device further includes:

[0065] The 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. The fault repair instruction carries a fault recovery walking path of the faulty robot, which is calculated by the target collaborative robot based on the actual location information of the faulty robot and the passable area within a predetermined range of the faulty robot.

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

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

[0068] All robots within the work area are monitored, and based on the monitoring results, it is determined that there are robots with non-self-repairable malfunctions.

[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 this application, a fault handling apparatus for a robot is provided, comprising:

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

[0073] The determining unit is configured to determine the actual location information of the faulty robot based on the fault location information and the identification information;

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

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

[0076] The arrival module is configured to plan a walking path to the faulty robot based on 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 to determine the actual location information of the faulty robot.

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

[0079] The execution submodule is configured to execute the walking path to reach the target location corresponding to the fault location information;

[0080] The search submodule is configured to search for the faulty robot corresponding to the identification information at the target location or within a target area centered on the target location.

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

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

[0083] At the target location or within the target area, the acquired target image is identified, and the faulty robot is determined based on the identification result, wherein the target image contains the robot's identification information;

[0084] The faulty robot corresponding to the identification information is scanned by laser scanning at the target location or within the target area;

[0085] Alternatively, at the target location or within the target area, the faulty robot corresponding to the identification information can be searched for by cooperating with other collaborative robots for localization.

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

[0087] The actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot are sent to the server. The server then replans the faulty robot's recovery path based on the actual location information and the passable area within the predetermined range of the faulty robot, and sends the recovery path to the faulty robot. The faulty robot then performs fault repair based on the received recovery path.

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

[0089] Based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, the walking path of the faulty robot for fault recovery is replanned;

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

[0091] According to a fifth aspect of this 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 fault handling device for the robot described in the third aspect;

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

[0094] According to a sixth aspect of this application, an electronic device is provided, comprising:

[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 to enable the at least one processor to perform the method described in the first or second aspect above.

[0098] According to a seventh aspect of this application, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method described in the first or second aspect above.

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

[0100] The robot fault handling method, apparatus, robot, and system provided in this application, when it is determined that there is a faulty robot that cannot self-repair, the server obtains the fault information of the faulty robot, determines a target collaborative robot with the ability to repair the faulty robot based on the faulty collaborative repair strategy and the fault information, 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. In this embodiment of the application, after determining that the faulty robot cannot self-repair, the target collaborative robot is controlled to repair the faulty robot, realizing the collaborative fault repair function between robots, maximizing the utilization rate of the robot, and reducing the probability of maintenance personnel entering the robot's work area, thereby improving the robot's working efficiency to a certain extent.

[0101] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description

[0102] The accompanying drawings are provided for a better understanding of this solution and do not constitute a limitation of this application. Wherein:

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

[0104] Figure 2 A flowchart illustrating a robot fault handling method provided in an embodiment of this application;

[0105] Figure 3 A flowchart illustrating another robot fault handling method provided in an embodiment of this application;

[0106] Figure 4 A flowchart illustrating another robot fault handling method provided in an embodiment of this application;

[0107] Figure 5 A flowchart illustrating another robot fault handling method provided in an embodiment of this application;

[0108] Figure 6 A flowchart illustrating another robot fault handling method provided in an embodiment of this application;

[0109] Figure 7 A flowchart illustrating another robot fault handling method provided in an embodiment of this application;

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

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

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

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

[0114] Figure 12 This is a schematic diagram of the structure of a robot fault handling system provided in an embodiment of this application;

[0115] Figure 13 A schematic block diagram of an example electronic device provided for embodiments of this application. Detailed Implementation

[0116] Many specific details are set forth in the following description to provide a full understanding of this application. However, this application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of this application; therefore, this application is not limited to the specific embodiments disclosed below.

[0117] The terminology used in one or more embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the one or more embodiments of this application. The singular forms “a,” “the,” and “the” used in one or more embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” used in one or more embodiments of this 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 this application, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first may also be referred to as second without departing from the scope of one or more embodiments of this application, and similarly, second may also be referred to as first. Depending on the context, the word "if" as used herein may be interpreted as "when," "when," or "in response to a determination."

[0119] With the development and popularization of robotics technology, more and more robots are being widely used, bringing convenience to people's lives and work. During the operation of robots, some malfunctions may occur, such as: due to the robot slipping or colliding with each other, the robot may deviate from its original walking path, making it unable to locate itself. Therefore, maintenance personnel need to enter the robot's work area to manually move the robot back to its original walking path or rest area.

[0120] For ease of understanding, such as Figure 1 As shown, Figure 1 This application illustrates a robot fault handling system according to an embodiment of the present application. The system includes a server, a faulty robot, and a collaborative robot. Figure 1 Only one faulty robot and one collaborative robot are shown; however, it should be clear that multiple faulty robots and multiple collaborative robots can exist within a single work area. Figure 1 This example is provided only 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] To address the aforementioned issues, this application provides a method and apparatus for handling robot malfunctions, as well as a robot and system, which will be described in detail in the following embodiments.

[0122] Figure 2 This is a flowchart illustrating a robot fault handling method provided in an embodiment of this application.

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

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

[0125] The fault handling method in this application is applicable to scenarios where the faulty robot cannot self-repair. For example, when a robot avoids obstacles, it deviates from its original walking path, causing the robot to be unable to obtain its current location information. Even after replanning the walking path, the robot still cannot obtain its current location information, thus determining that the robot is a faulty robot that cannot self-repair. Alternatively, if the robot is triggered to stop suddenly, and after restarting, it cannot obtain its current location 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, such as a robot whose laser or radar components are damaged, resulting in a laser or radar data interruption. Specifically, this application does not limit the specific scenarios for faulty robots that cannot self-repair.

[0126] It should be noted that when the server determines that there is an unrepairable faulty robot, it can use, but is not limited to, the following methods: active monitoring and acquisition by the server or passive reception and acquisition by the server. Specific embodiments of this application do not limit this. When the server actively monitors and acquires information, specifically: the server monitors the status of the robots in the work area in real time. When a robot malfunction is detected, the server further determines the type of malfunction. If the type of malfunction is one that the robot itself cannot repair, then it is determined that there is an unrepairable faulty robot. When the server passively receives information, specifically, it can receive a request for fault recovery reported by the faulty robot. This request carries the fault information of the faulty robot. This request for 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 one implementation of this application, when obtaining fault information of a faulty robot, the server, based on the two methods mentioned above for determining whether a robot is a non-self-repairable robot, can at least achieve this through the following methods: receiving the reported information from the faulty robot and obtaining the fault information, which 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 of this application, when obtaining fault information of a faulty robot, during the monitoring of all robots in the work area, after determining that a faulty robot exists and that the faulty robot is a non-self-repairable robot, the fault information of the faulty robot can be obtained. Specifically, this application does not limit the method for obtaining fault information.

[0128] Step 102: Based on the fault collaborative repair strategy and fault information, the server determines the target collaborative robot that has the ability to repair faulty robots.

[0129] The server in this application embodiment provides a fault collaborative repair mechanism, under which a fault collaborative repair strategy is provided. The fault collaborative repair strategy is used to instruct that when there is a faulty robot, a target collaborative robot that can repair the faulty robot is determined according to 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 a pool of collaborative robots. The target collaborative robot capable of repairing the fault can be determined based on any of these strategies. In practical applications, the target collaborative robot can be any robot in the work area or a specialized maintenance robot. Specifically, this 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] Fault location information is the location information reported to the server when a malfunctioning robot malfunctions. If the malfunction type of the robot is "unable to locate," the fault location information is the location reported by the robot before the malfunction, and the actual location of the malfunctioning robot may differ from the fault location. Sending the fault location information of the malfunctioning robot to the target collaborative robot allows the target collaborative robot to reach the location of the malfunctioning robot based on the fault location information. Sending the identification information of the malfunctioning robot to the target collaborative robot allows for final confirmation of the malfunctioning robot after reaching its location. For example, when the target collaborative robot reaches the location corresponding to the fault location information, if there are multiple robots of the same type parked around that location, the target collaborative robot needs to identify the malfunctioning robot corresponding to the identification information from among the multiple robots.

[0133] The robot fault handling method provided in this application, when it is determined that there is a faulty robot that cannot self-repair, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and fault information, determines a target collaborative robot with 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. In this embodiment of the application, after determining that the faulty robot cannot self-repair, the target collaborative robot is controlled to repair the faulty robot, realizing the collaborative fault repair function between robots, maximizing the utilization rate of the robot, and reducing the probability of maintenance personnel entering the robot's work area, thereby improving the robot's working efficiency to a certain extent.

[0134] The server controls a target collaborative robot to assist in repairing a malfunctioning robot. This includes, but is not limited to, the target collaborative robot responding to a collaborative repair command by acquiring the malfunctioning robot's actual location information and a pre-defined traversable area within its range. Based on this, the target collaborative robot generates a walking path for the malfunctioning robot and sends it to the server, which then sends a regenerated walking path back to the malfunctioning robot. Alternatively, after determining the malfunctioning robot's actual location information and the pre-defined traversable area, the target collaborative robot reports these information to the server. The server then generates a walking path for the malfunctioning robot based on this information and sends it back to the malfunctioning robot to repair any positional deviations or inability to locate the robot.

[0135] It should be noted that, in the embodiments of this application, further references can be made to... Figure 1 There is no direct data processing or communication relationship between the faulty robot and the collaborative robot for fault handling strategies, but 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 robot malfunctions and cannot repair itself, determining the target collaborative robot to repair it is a crucial step, such as... Figure 3 As shown, Figure 3 This illustration shows a method for determining a target collaborative robot according to an embodiment of this application, including:

[0137] Step 301: Analyze the fault information to obtain the fault category, the identification information of the faulty robot, and the fault location information.

[0138] Once a robot is determined to be a faulty robot that cannot repair itself, a fault information will be generated. This fault information includes, but is not limited to, the fault category, the robot's identification information, and the fault location information. Based on this fault category, the server can determine whether to repair it using a collaborative robot. That is, not all faulty robots can be repaired using a collaborative robot. For example, faulty robots with network failures, network outages, or component damage cannot be repaired by a collaborative robot.

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

[0140] In this embodiment, the fault location information can 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 can also be used as the fault location information. The specific method of obtaining the fault location information of the faulty robot is not limited in this embodiment.

[0141] Step 302: Determine the target collaborative robot based on the fault category, the identification information of the faulty robot, the fault location information, and the fault collaborative repair strategy.

[0142] The target collaborative robot can be a maintenance robot or a robot of the same type as a fault robot; specific embodiments of this application do not limit this.

[0143] To ensure the timeliness and flexibility in identifying target collaborative robots, the identification of the target collaborative robot can be based on the fault category, the identification information of the faulty robot, and the fault location information. As long as there is a collaborative robot with matching fault category, identification information, and fault location information, it can be identified as a target collaborative robot with the ability to repair the faulty robot.

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

[0145] Method 1: Determine the target collaborative robot corresponding to the fault category according to the correspondence between fault categories and collaborative robots in the fault collaborative repair strategy.

[0146] The correspondence between fault categories and collaborative robots is pre-defined. For example, the fault category is automatic shutdown due to low battery, and the corresponding collaborative robot is a dedicated maintenance robot to transport the faulty robot. The fault category is positional misalignment, and the corresponding system robot can be any robot with positioning or image recognition capabilities within the work area.

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

[0148] After obtaining the fault location information of the faulty robot, the server uses monitoring results of each robot to determine the collaborative robot closest to the fault location. This closest collaborative robot is then designated as the target collaborative robot. For example, if the faulty robot is A, and its vicinity includes collaborative robots B, C, and D, then collaborative robot D is closest to the faulty robot A's fault location information; therefore, D is designated as the target collaborative robot. This example is for illustrative purposes only and does not constitute a limitation on the specific number of faulty robots and collaborative robots.

[0149] Method 3:

[0150] According to the idle priority strategy in the fault collaborative repair strategy, the collaborative robot that is idle in the work area is identified as the target collaborative robot;

[0151] When determining the target collaborative robot that has the ability to repair the faulty robot, the server will identify the collaborative robot that is in an idle state as the target collaborative robot.

[0152] As one implementation of this application, if there are no idle collaborative robots in the work area, the target collaborative robot can be determined based on the current task execution status of the collaborative robot or based on the number of tasks to be executed configured for the collaborative robot. The collaborative robot with the fewest configured tasks to be executed can be determined as the target collaborative robot, or the collaborative robot that finishes its current task the fastest can be determined as the target collaborative robot.

[0153] In addition, a combination of methods two and three can be used to determine the target collaborative robot. That is, if there are idle collaborative robots in the work area, the idle collaborative robot that is closest to the faulty robot is determined as the target collaborative robot.

[0154] Alternatively, a combination of methods one and two can be used to determine the target collaborative robot, that is, a collaborative robot that is idle in a defined work area and corresponds to the fault type is identified as the target collaborative robot.

[0155] Furthermore, a combination of methods one and three can be used to determine the target collaborative robot. That is, among the collaborative robots that are idle in the defined work 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 robots with remaining power exceeding the preset power threshold in the work area are identified as target collaborative robots.

[0158] To determine the power consumption of the target collaborative robot when repairing the faulty robot, collaborative robots with remaining power exceeding a preset power threshold in the work area are prioritized as target collaborative robots. This is to prevent the target collaborative robot from being assigned a charging task due to power issues during the repair process, thus interrupting or pausing the repair of the faulty robot.

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

[0160] In some embodiments, when the fault category is "location cannot be located," it indicates that the robot has deviated from its intended position and needs to be repositioned. If the fault category of the malfunctioning robot is "location cannot be located," after sending a collaborative repair instruction to the target collaborative robot, the method further includes:

[0161] The system receives the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot from the target collaborative robot; the actual location information is obtained by the target collaborative robot based on its own location.

[0162] Based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, the walking path of the faulty robot for fault recovery is replanned;

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

[0164] For scenarios where the fault category is "location cannot be located", the fault will occur when the faulty robot's position deviates and cannot be restored to its original position, or when the work area triggers an emergency stop for all robots and the robot restarts but cannot obtain the current position information of the faulty robot.

[0165] In the first embodiment, based on the scenario where the fault category is location cannot be located, the target collaborative robot determines the actual location information and the passable area within the predetermined range of the faulty robot, and sends the actual location information and the passable area within the predetermined range of the faulty robot to the server. The server replans the walking path for the faulty robot to recover from the fault based on the actual location information and the passable area within the predetermined range of the faulty robot, and sends the fault recovery walking path to the faulty robot. The purpose is to enable the faulty robot to restore its location positioning function based on the received fault recovery walking path.

[0166] In practical applications, the predetermined range is a variable. When setting the predetermined range, it can be a circle with a radius of 2 meters centered on the faulty robot, etc. Then the passable area within the predetermined range is the range covered by the circular area. The specific embodiments of this application are not limited.

[0167] In the second embodiment, if the fault category of the faulty robot is location inability, after sending a collaborative repair instruction to the target collaborative robot, the method further includes:

[0168] The system receives a fault repair instruction from the target collaborative robot. The fault repair instruction carries the fault recovery path of the faulty robot. The fault recovery path is calculated by the target collaborative robot based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot.

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

[0170] In the second embodiment, based on the scenario where the fault category is location cannot be located, the target collaborative robot replans 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 back to the faulty robot, so that the faulty robot can restore its repositioning function based on the replanned walking path.

[0171] The target collaborative robot determines the actual location information and, based on the passable area within a predetermined range near the faulty robot, replans the fault recovery walking path for 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 its location 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 the walking path for fault recovery. If the target collaborative robot does not have the path planning function, the replanning of the walking path for fault recovery can be implemented according to the method of the first embodiment.

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

[0174] Please continue reading 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 self-repair, it can do so in the following two ways:

[0175] The first method involves the server monitoring all robots within the work area and identifying non-self-repairing faulty robots based on the monitoring results. Specifically, this includes the server detecting robot faults within the work area, determining that the fault type is one that the robot cannot repair itself, and then identifying the robot as a faulty robot.

[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 approach, the execution logic on the robot side is as follows: After detecting a robot malfunction, the robot determines the type of malfunction and whether it can repair itself. If it can repair itself, the robot executes the repair command to repair the malfunction. If it cannot repair itself, the malfunctioning robot sends a request for collaborative recovery to the server, requesting the system to control the target collaborative robot to complete the malfunction repair.

[0178] Figure 4 This is a flowchart illustrating a robot fault handling method provided in an embodiment of this application.

[0179] like Figure 4 As shown, this method is applied to collaborative robots and includes the following steps:

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

[0182] Step 402: The target collaborative robot determines the actual location information of the faulty robot based on the fault location information and the 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 assisting robot to the fault location information of the faulty robot. Based on this walking path, it locates the faulty robot and determines its actual location information.

[0184] In some embodiments, the fault location information of the faulty robot may be the same as or different from the actual location information. When the faulty robot can be found based on its fault location information, it means that the fault location information is the same as the actual location information. When the faulty robot cannot be found based on its fault location information, 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-localization of the target collaborative robot.

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

[0186] The target collaborative robot assists in repairing the malfunctioning robot, including but not limited to sending the walking path to the server, which then sends a regenerated walking path to the malfunctioning robot. Alternatively, after determining the actual location information of the malfunctioning robot, the target collaborative robot reports it to the server, which then generates a walking path for the malfunctioning robot based on the malfunctioning robot's fault location information and actual location information, and sends this walking path to the malfunctioning robot to repair positional deviations or inability to locate itself.

[0187] The robot fault handling method provided in this application, when it is determined that there is a faulty robot that cannot self-repair, the server obtains the fault information of the faulty robot, and based on the fault collaborative repair strategy and fault information, determines a target collaborative robot with 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. In this embodiment of the application, after determining that the faulty robot cannot self-repair, the target collaborative robot is controlled to repair the faulty robot, realizing the collaborative fault repair function between robots, maximizing the utilization rate of the robot, and reducing the probability of maintenance personnel entering the robot's work area, thereby improving the robot's working efficiency to a certain extent.

[0188] In some embodiments, such as Figure 5 As shown, Figure 5This application provides a method for determining the actual location information of a faulty robot based on fault information, the method comprising:

[0189] Step 501: Plan the walking path to the faulty robot based on the fault location information in the fault information.

[0190] Step 502: Search for the faulty robot according to the walking path and marking information, and determine the actual location information of the faulty robot.

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

[0192] Step 5021: Execute 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 or may not be the same as its actual location information. When the fault location information is the same as the actual location information, the faulty robot can be directly located based on the fault location information.

[0194] When the fault location information differs from the actual location information, it is necessary to reposition the target collaborative robot to obtain the actual location information of the faulty robot.

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

[0196] During the search for faulty robots, the target-assisting robot can acquire target images based on its camera equipment at the target location or within the target area, obtain and identify the robot's identification information (such as a QR code). If the identification result of the target image matches the identification information of the faulty robot carried in the received collaborative repair instruction, it is identified as a faulty robot. If the identification result of the target image does not match the identification information carried in the received collaborative repair instruction, the search is repeated within the target area centered on the target location 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 at the target location or within the target area. The model of the faulty robot can be determined based on the identification information carried in the collaborative repair instruction. Different models may have different robot outlines (appearances). Laser scanning can be enabled to scan the robots in the target area, and the faulty robot with the corresponding outline can be searched by the identification information of the fault information.

[0198] In some embodiments, within a target location or target area, the search for a faulty robot corresponding to the identified information is conducted through collaborative localization with other collaborative robots. This robot search method relies on at least two target collaborative robots; that is, when the server issues a collaborative repair instruction, the instruction is sent to at least two target collaborative robots, which then jointly complete the search for the faulty robot.

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

[0200] When searching for a faulty robot, the target robot can be selected to use its own image recognition function or laser scanning function to select any of the above search methods. Specifically, this application does not limit the specific methods.

[0201] Step 5023: Relocate the faulty robot based on its own localization to determine the actual location information of the faulty robot.

[0202] In some embodiments, when the server repairs a faulty robot based on its actual location information, it employs the following two methods:

[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. The server will then replan the faulty robot's recovery path based on the actual location information and the passable area within the predetermined range of the faulty robot, and send the recovery path to the faulty robot. The faulty robot will then perform fault repair based on the received recovery path.

[0204] Method 2:

[0205] Based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, a new walking path for the faulty robot to perform fault recovery is replanned. The fault repair instruction is sent to the server, and the fault repair instruction includes the fault recovery walking path, so that the server can send the fault recovery walking path to the fault server. The faulty robot performs fault repair based on the received fault recovery walking path.

[0206] The two implementation methods of the target-assisted robot in repairing a faulty robot can be found in the detailed description of the above embodiments, and will not be repeated here.

[0207] like Figure 7 As shown, Figure 7This paper illustrates a flowchart of another robot fault handling method provided in an embodiment of this application. The method describes the data interaction relationship between a server, a faulty robot, and a target collaborative robot, including:

[0208] Step 701: The faulty robot sends a fault collaborative recovery request 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: Based on the fault collaborative repair strategy and fault information, the server determines the target collaborative robot that has the ability to repair the faulty robot.

[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 location information of the faulty robot based on the fault location information and identification information, and sends the actual location information and the passable area within the predetermined range of the faulty robot to the server.

[0214] Step 707: The server receives the actual location information of the faulty robot sent by the target collaborative robot, and replans the walking path of the faulty robot for fault recovery based on the actual location 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 recovery path to the faulty robot.

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

[0217] For details on steps 701 to 709, please refer to the detailed description of the above embodiments, which will not be repeated here.

[0218] Corresponding to the above-described robot fault handling method, this invention also proposes a robot fault handling device. Since the device embodiments of this invention correspond to the above-described method embodiments, details not disclosed in the device embodiments can be referred to the above-described method embodiments, and will not be repeated here.

[0219] Figure 8 This is a schematic diagram of the structure of a robot fault handling device provided in an embodiment of this application, as shown below. Figure 8 As shown, it includes:

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

[0221] The first determining unit 82 is configured to determine a target collaborative robot with the ability to repair faulty robots based on the fault collaborative repair strategy and fault information.

[0222] The sending unit 83 is configured to send a collaborative repair instruction to the target collaborative robot. 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 in this application, when determining that there is a faulty robot that cannot self-repair, obtains the fault information of the faulty robot through a server. Based on the fault collaborative repair strategy and the fault information, it determines a target collaborative robot capable of repairing 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, so that the target collaborative robot can search for and repair the faulty robot based on the fault location information and identification information. In this embodiment of the application, after determining that the faulty robot cannot self-repair, the target collaborative robot is controlled to repair the faulty robot, realizing the collaborative fault repair function between robots, maximizing the utilization rate of the robot, and reducing the probability of maintenance personnel entering the robot's work area, thereby improving the robot's working efficiency to a certain extent.

[0224] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 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 category, the identification information of the faulty robot, and the fault location information.

[0226] The determination module 822 is configured to determine the target collaborative robot based on the fault category, the identification information of the faulty robot, the fault location information, 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 one possible implementation of the embodiments of this application, such as Figure 9 As shown, the determination module 822 is further configured to determine the target collaborative robot based on the fault category, the identification information of the faulty robot, the fault location information, and the fault collaborative repair strategy, including:

[0228] Based on the correspondence between fault categories and collaborative robots 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 identified as the target collaborative robot.

[0230] According to the idle priority strategy in the fault collaborative repair strategy, the collaborative robot that is idle in the work area is identified as the target collaborative robot;

[0231] Alternatively, according to the remaining power strategy in the fault collaborative repair strategy, the collaborative robot with remaining power exceeding the preset power threshold in the work area can be identified as the target collaborative robot.

[0232] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 9 As shown, if the fault category of the malfunctioning robot is location inability, after sending a collaborative repair command to the target collaborative robot, the device further includes:

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

[0234] Planning unit 85 is configured to replan the walking path of the faulty robot for fault recovery based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot.

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

[0236] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 9 As shown, if the fault category of the malfunctioning robot is location inability, after sending a collaborative repair command to the target collaborative robot, the device further includes:

[0237] The second receiving unit 86 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. The fault repair instruction carries a fault recovery walking path for the faulty robot, which is calculated by the target collaborative robot based on the actual position information of the faulty robot and a predetermined range of the faulty robot.

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

[0239] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 9 As shown, the device further includes a second determining unit 87, which is configured to: determine the existence of a non-self-repairable faulty robot, including:

[0240] Monitor all robots within the work area and identify any non-self-repairing faulty robots 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, embodiments of this application also provide a fault handling device for a robot, such as... Figure 10 As shown, it includes:

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

[0245] The determining unit 1002 is configured to determine the actual location information of the faulty robot based on the fault location information and the identification information.

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

[0247] The robot fault handling device provided in this application, when determining that there is a faulty robot that cannot self-repair, obtains the fault information of the faulty robot by the server, determines the target collaborative robot with the ability to repair the faulty robot based on the fault collaborative repair strategy and the fault information, 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. In this embodiment of the application, after determining that the faulty robot cannot self-repair, the target collaborative robot is controlled to repair the faulty robot, realizing the collaborative fault repair function between robots, maximizing the utilization rate of the robot, and reducing the probability of maintenance personnel entering the robot's work site, thereby improving the working efficiency of the robot to a certain extent.

[0248] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 11 As shown, the determining unit 1002 includes:

[0249] The arrival module 10021 is configured to plan a walking path to the faulty robot based on 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 location information of the faulty robot.

[0251] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 11 As shown, the determining module 10022 includes:

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

[0253] Search submodule 100222 is configured to search for faulty robots corresponding to identification information at the target location or within a target area centered on the target location.

[0254] Submodule 100223 is configured to reposition the faulty robot based on its own localization and determine the actual location information of the faulty robot.

[0255] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 11 As shown, the search submodule 100222 is also configured as follows:

[0256] At the target location or within the target area, the acquired target images are identified, and the faulty robot is determined based on the identification results. The target images contain the robot's identification information.

[0257] At the target location or within the target area, the faulty robot corresponding to the identification information is scanned using laser scanning.

[0258] Alternatively, within the target location or target area, the faulty robot corresponding to the identification information can be searched by cooperating with other collaborative robots for localization.

[0259] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 11 As shown, the repair unit 1003 is further configured to include:

[0260] The actual location information of the malfunctioning robot and the passable area within the predetermined range of the malfunctioning robot are sent to the server. The server then replans the malfunctioning robot's walking path for fault recovery based on the actual location information and the passable area within the predetermined range of the malfunctioning robot, and sends the fault recovery walking path to the malfunctioning robot. The malfunctioning robot performs fault repair based on the received fault recovery walking path.

[0261] Furthermore, in one possible implementation of the embodiments of this application, such as Figure 11As shown, the repair unit 1003 is also configured to repair the faulty robot based on actual location information, including:

[0262] Based on the actual location information of the faulty robot and the passable area within the predetermined range of the faulty robot, the walking path of the faulty robot for fault recovery is replanned.

[0263] The fault repair command is sent to the server. The fault repair command includes a fault recovery walking path, so that the server sends the fault recovery walking path to the fault server. The fault robot performs fault repair based on the received fault recovery walking path.

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

[0265] Server 121 includes Figure 8 or Figure 9 The robot's fault handling device;

[0266] Target collaborative robot 122 includes Figure 10 or Figure 11 The robot's fault handling device.

[0267] The robot fault handling system provided in this application, when it is determined that there is a faulty robot that cannot self-repair, obtains the fault information of the faulty robot, determines a target collaborative robot with the ability to repair the faulty robot based on the faulty collaborative repair strategy and the fault information, 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. In this embodiment of the application, after determining that the faulty robot cannot self-repair, the target collaborative robot is controlled to repair the faulty robot, realizing the collaborative fault repair function between robots, maximizing the utilization rate of the robot, and reducing the probability of maintenance personnel entering the robot's work area, thereby improving the robot's working efficiency to a certain extent.

[0268] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of the embodiments of this application, and the principle is the same. Therefore, the embodiments of this application are not limited thereto.

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

[0270] Figure 13A schematic block diagram of an example electronic device 1300 that can be used to implement embodiments of this application is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the application described and / or claimed herein.

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

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

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

[0274] Various implementations of the systems and techniques described above herein can 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 implementations may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0275] The program code used to implement the methods of this application may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing device, such that when executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0276] In the context of this application, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, RAM, ROM, EPROM (Electrically Programmable Read-Only Memory) or flash memory, optical fiber, CD-ROM (Compact Disc 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 for displaying information to the user (e.g., a CRT (Cathode-Ray Tube) or LCD (Liquid Crystal Display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, 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 sound input, voice input, or tactile input).

[0278] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or middleware components (e.g., application servers), or frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include LANs (Local Area Networks), WANs (Wide Area Networks), the Internet, and blockchain networks.

[0279] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service ecosystem, addressing the shortcomings of traditional physical hosts and VPS (Virtual Private Server, or simply "VPS") services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0280] It's important to note that artificial intelligence (AI) is the study of enabling computers to simulate certain human thought processes and intelligent behaviors (such as learning, reasoning, thinking, and planning). It encompasses both hardware and software technologies. AI hardware technologies generally include sensors, dedicated AI chips, cloud computing, distributed storage, and big data processing. AI software technologies primarily include computer vision, speech recognition, natural language processing, machine learning / deep learning, big data processing, and knowledge graph technologies.

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

[0282] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand 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 within the scope of protection of this application.

Claims

1. A failure processing method of a robot characterized by comprising: The method comprises the following steps: In the case of determining that there is a non-self-repairable faulty robot, obtaining the fault information of the faulty robot; Based on the fault collaborative repair strategy and the fault information, determine the target collaborative robot that has the ability to repair the faulty robot; Send a collaborative repair instruction to the target collaborative robot, the collaborative repair instruction carries the identification information and the fault location information of the faulty robot, so that the target collaborative robot searches and repairs the faulty robot based on the identification information and the fault location information; If the fault category of the faulty robot is position cannot be located, according to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, determine the walking path of the fault recovery of the faulty robot, and send the walking path of the fault recovery to the faulty robot, so that the faulty robot repairs the fault based on the received walking path of the fault recovery.

2. The method of claim 1, wherein, The method comprises the following steps: Analyzing the fault information to obtain the fault category, identification information and fault location information of the faulty robot in the fault information; According to the fault category, identification information and fault location information of the faulty robot, and the fault collaborative repair strategy, determine the target collaborative robot, which is an operation and maintenance robot, or a robot of the same type as the faulty robot.

3. The method of claim 2, wherein, The method comprises the following steps: 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; According to the nearest distance strategy in the fault collaborative repair strategy, determine 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, determine the collaborative robot in the idle state in the working area as the target collaborative robot; Or, according to the residual capacity strategy in the fault collaborative repair strategy, determine the collaborative robot in the working area with residual capacity exceeding the preset capacity threshold as the target collaborative robot.

4. The method of claim 1, wherein, The method comprises the following steps: 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; According to the actual position information of the faulty robot and the passable area within the predetermined range of the faulty robot, re-plan the walking path of the fault recovery of the faulty robot; Send the fault recovery walking path to the fault robot, so that the fault robot performs fault repair based on the received fault recovery walking path.

5. The method of claim 1, wherein, The determination of the fault recovery walking path of the fault robot based on the actual position information of the fault robot and the passable area within the predetermined range of the fault robot, and the sending of the fault recovery walking path to the fault robot comprise: Receiving the fault repair instruction sent by the target cooperative robot, the fault repair instruction carrying the fault recovery walking path of the fault robot, the fault recovery walking path being calculated by the target cooperative robot based on the actual position information of the fault robot and the passable area within the predetermined range of the fault robot; Send the fault recovery walking path to the fault robot, so that the fault robot performs fault repair based on the received fault recovery walking path.

6. The method according to any one of claims 1-5, characterized in that, The determination of the fault robot that cannot be self-repaired comprises: Monitoring all robots in the working area, and determining the fault robot that cannot be self-repaired according to the monitoring result; Or, In response to the fault information reported by the fault robot, the fault robot that cannot be self-repaired is determined.

7. A failure processing method of a robot characterized by comprising: Comprise: Receiving the cooperative repair instruction sent by the server, the cooperative repair instruction carrying the fault position information and the identification information of the fault robot; If the fault category of the fault robot is that the position cannot be located, the actual position information of the fault robot is determined according to the fault position information and the identification information; Repair the fault robot based on the actual position information.

8. The method of claim 7, wherein, The determination of the actual position information of the fault robot based on the fault position information and the identification information comprises: Planning a walking path to reach the fault robot according to the fault position information; Search for the fault robot according to the walking path and the identification information, and determine the actual position information of the fault robot.

9. The method of claim 8, wherein, The search for the fault robot according to the walking path and the identification information, and the determination of the actual position information of the fault robot comprise: Execute the walking path to reach the target position corresponding to the fault position information; Search for the fault robot corresponding to the identification information in the target position or the target area centered on the target position; Reposition the fault robot based on the self-positioning to determine the actual position information of the fault robot.

10. The method of claim 9, wherein, The search for the fault robot corresponding to the identification information in the target position or the target area centered on the target position comprises: Identify the target image collected in the target position or the target area, and determine the fault robot according to the identification result, wherein the target image contains the identification information of the robot; Scan the fault 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, search for the corresponding fault robot of the identification information in a cooperative positioning manner with other cooperative robots.

11. The method of claim 7, wherein, The repairing of the fault robot based on the actual position information comprises: sending the actual position information of the fault robot and the passable area within the predetermined range of the fault robot to the server, so that the server re-plans a walking path for the fault recovery of the fault robot according to the actual position information of the fault robot and the passable area within the predetermined range of the fault robot, and sends the walking path for the fault recovery to the fault robot, and the fault robot performs fault repair based on the received walking path for the fault recovery.

12. The method of claim 7, wherein, The repairing of the fault robot based on the actual position information comprises: re-planning a walking path for the fault recovery of the fault robot according to the actual position information of the fault robot and the passable area within the predetermined range of the fault robot; sending a fault repair instruction to the server, wherein the fault repair instruction comprises the walking path for the fault recovery, so that the server sends the walking path for the fault recovery to the fault server, and the fault robot performs fault repair based on the received walking path for the fault recovery.

13. A failure processing device of a robot characterized by comprising: comprise: an acquisition unit configured to acquire fault information of the fault robot if it is determined that there is a fault robot that cannot be self-repaired; a first determination unit configured to determine a target cooperative robot that has the ability to repair the fault robot based on a fault cooperative repair strategy and the fault information; a sending unit configured to send a cooperative repair instruction to the target cooperative robot, wherein the cooperative repair instruction carries identification information and fault position information of the fault robot, so that the target cooperative robot searches for and repairs the fault robot based on the identification information and the fault position information. If the fault category of the fault robot is that the position cannot be located, a walking path for the fault recovery of the fault robot is determined according to the actual position information of the fault robot and the passable area within the predetermined range of the fault robot, and the walking path for the fault recovery is sent to the fault robot, so that the fault robot performs fault repair based on the received walking path for the fault recovery.

14. A failure processing device of a robot characterized by comprising: comprise: a receiving unit configured to receive a cooperative repair instruction sent by a server, wherein the cooperative repair instruction carries fault position information and identification information of a fault robot; a determination unit configured to determine actual position information of the fault robot according to the fault position information if the fault category of the fault robot is that the position cannot be located; a repair unit configured to repair the fault robot based on the actual position information and the identification information.

15. A failure handling system of a robot characterized by comprising: The system comprises a server, a target cooperative robot and a fault robot, wherein: the server comprises the fault handling device of the robot according to claim 13; the target cooperative robot comprises the fault handling device of the robot according to claim 14.

16. An electronic device, comprising: comprise: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being 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 having stored thereon computer instructions, wherein, the computer instructions are for causing the computer to perform the method of any one of claims 1-6 or 7-12.

18. A computer program product, characterised in that, a computer program that, when executed by a processor, implements the method of any one of claims 1-6 or 7-12.

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