Fault diagnosis method and device for multi-robot interconnection system, electronic equipment and storage medium

Abstract

The invention discloses a fault diagnosis method and device for a multi-robot interconnection system, electronic equipment and a storage medium, and relates to the technical field of fault diagnosis, and the method comprises the steps: obtaining system data of each robot system in the multi-robot interconnection system, and constructing a multi-robot interconnection system model corresponding to the multi-robot interconnection system; carrying out augmentation processing on the multi-robot interconnection system model to obtain a corresponding augmented multi-robot interconnection system model; according to the augmented multi-robot interconnection system model, solving interconnection system fault upper bounds and interconnection system fault lower bounds in all time domains in the augmented multi-robot interconnection system model; and comparing the fault upper bound of the interconnection system with a preset fault upper bound threshold value, comparing the fault lower bound of the interconnection system with a preset fault lower bound threshold value, and then obtaining a fault diagnosis result of the multi-robot interconnection system according to a comparison result. According to the invention, the accuracy of fault diagnosis of the multi-robot interconnection system can be improved.

Description

Technical Field

[0001] The present invention relates to the field of fault diagnosis technology, and in particular to a fault diagnosis method, device, electronic equipment and storage medium for a multi-robot interconnection system. Background Art

[0002] The development of robotics technology has continuously improved the capabilities of robots, and the application areas and scope of robots are constantly expanding. Due to the complexity of the task, a single robot often finds it difficult to complete the task independently, and multiple robots need to coordinate and cooperate through information interaction. The whole system consisting of a multi-robot system with information interaction can be defined as a large-scale system. Therefore, ensuring the smooth operation and reliability of large-scale systems is a key requirement of modern technology. Large-scale robot systems are highly complex, so the requirements for safety are getting higher and higher in actual engineering. It is necessary to build a fault diagnosis process to supervise the operation of the robot system, and to detect and locate the fault early before the fault causes a major accident.

[0003] At present, research on large-scale robot system fault detection and isolation has achieved fruitful results. A large number of important studies are carried out based on model-based fault diagnosis methods, that is, designing fault detection and isolation observers for robot system models to achieve fault detection and isolation. However, the construction cost of fault detection and isolation observers is relatively high, and the selection of different types of observers has a great influence on the fault diagnosis results, resulting in low accuracy of robot system fault diagnosis. Summary of the invention

[0004] The present invention provides a fault diagnosis method, device, electronic device and storage medium for a multi-robot interconnected system to solve the technical problems that the construction cost of the fault detection and isolation observer is high, and the selection of different types of observers has a great influence on the fault diagnosis result, resulting in low accuracy of robot system fault diagnosis.

[0005] In order to solve the above technical problems, an embodiment of the present invention provides a fault diagnosis method for a multi-robot interconnection system, comprising:

[0006] Acquire system data of each robot system in the multi-robot interconnected system, and construct a multi-robot interconnected system model corresponding to the multi-robot interconnected system according to the system data; wherein the system data includes: robot dynamics equations, network topology structure and interaction constraints;

[0007] Performing augmentation processing on the multi-robot interconnection system model to obtain a corresponding augmented multi-robot interconnection system model;

[0008] According to the augmented multi-robot interconnected system model, solving the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model;

[0009] According to the system failure upper bound, system failure lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model, the interconnected system failure upper bound and interconnected system failure lower bound in all time domains in the augmented multi-robot interconnected system model are solved;

[0010] The upper fault limit of the interconnected system is compared with a preset upper fault limit threshold, and the lower fault limit of the interconnected system is compared with a preset lower fault limit threshold, and then the fault diagnosis result of the multi-robot interconnected system is obtained according to the comparison result.

[0011] As a preferred solution, the multi-robot interconnection system model is augmented to obtain a corresponding augmented multi-robot interconnection system model, including:

[0012] Performing augmentation processing on the multi-robot interconnection system model to obtain a corresponding first augmented multi-robot interconnection system model;

[0013] Acquire new variables of the first augmented multi-robot interconnected system model; wherein the new variables are variables obtained by uniformly representing the data at each moment in the first augmented multi-robot interconnected system model, and the new variables include input variables, disturbance variables, fault variables, output variables, and state variables;

[0014] Substituting the new variable into the first augmented multi-robot interconnected system model to obtain a second augmented multi-robot interconnected system model corresponding to the new variable;

[0015] The initial value of the system state and the system disturbance in the second augmented multi-robot interconnected system model are augmented into corresponding augmented variables, and the augmented variables are substituted into the second augmented multi-robot interconnected system model to obtain a third augmented multi-robot interconnected system model corresponding to the augmented variables, and then the third augmented multi-robot interconnected system model is used as the corresponding augmented multi-robot interconnected system model.

[0016] As a preferred solution, the interconnection system fault upper limit is compared with a preset fault upper limit threshold, the interconnection system fault lower limit is compared with a preset fault lower limit threshold, and then the fault diagnosis result of the multi-robot interconnection system is obtained according to the comparison result, including:

[0017] The interconnection system fault upper bound is compared with a preset fault upper bound threshold, and the interconnection system fault lower bound is compared with a preset fault lower bound threshold. When the interconnection system fault upper bound is greater than the fault upper bound threshold or the interconnection system fault lower bound is less than the fault lower bound threshold, it is determined that the multi-robot interconnection system has a fault; otherwise, it is determined that the multi-robot interconnection system has not a fault.

[0018] As a preferred solution, the multi-robot interconnection system model is:

[0019]

[0020] y i (k) = C i x i (k)+R i u i (k)+E i d i (k)+F i f i (k);

[0021] Where i is the robot system number, i = 1, 2, ..., r, r is the number of robot systems; x i (k) is the state of the i-th robot system; x n (k) is the state of the nth robot system; x n (k+1) is the forward difference of the nth robot system state; u i (k) and y i (k) are the input and output of the i-th robot system respectively; d i (k) and f i (k) are the external disturbance and fault of the i-th robot system respectively; A i , B i , D i , G i , C i , R i 、E i and F i is the i-th robot system matrix; H ni is the interconnection matrix between the i-th robot system and the n-th robot system; x i (0) and are the initial states x of the i-th robot system respectively. i (0) lower and upper bounds; d i (k) and are the initial disturbance d of the i-th robot system respectively. i (0) is the lower and upper bound of

[0022] As a preferred solution, the first augmented multi-robot interconnected system model is:

[0023]

[0024] in, For variables Forward difference of and are respectively the augmented state, augmented input, augmented disturbance, augmented fault and augmented output corresponding to the multi-robot interconnected system; and They are respectively the system matrices of the first augmented multi-robot interconnected system model.

[0025] As a preferred solution, the second augmented multi-robot interconnected system model is:

[0026]

[0027] in, and are respectively the input variable, disturbance variable, fault variable, output variable and state variable of the second augmented multi-robot Internet system model; and They are respectively the system matrices of the second augmented multi-robot interconnected system model.

[0028] As a preferred solution, the third augmented multi-robot interconnected system model is:

[0029]

[0030] Wherein, w is the augmented variable of the second augmented multi-robot interconnected system model; and They are respectively the initial value of the system state and the system disturbance in the second augmented multi-robot interconnected system model.

[0031] On the basis of the above embodiments, another embodiment of the present invention provides a fault diagnosis device for a multi-robot interconnected system, comprising: a multi-robot interconnected system model construction module, an augmented multi-robot interconnected system model construction module, a system upper and lower bound solving module, an interconnected system fault upper and lower bound solving module, and a multi-robot interconnected system fault diagnosis module;

[0032] The multi-robot interconnection system model building module is used to obtain system data of each robot system in the multi-robot interconnection system, and build a multi-robot interconnection system model corresponding to the multi-robot interconnection system according to the system data; wherein the system data includes: robot dynamics equations, network topology structure and interaction constraints;

[0033] The augmented multi-robot interconnected system model construction module is used to perform augmentation processing on the multi-robot interconnected system model to obtain a corresponding augmented multi-robot interconnected system model;

[0034] The system upper and lower bounds solving module is used to solve the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model according to the augmented multi-robot interconnected system model;

[0035] The interconnected system fault upper and lower bounds solving module is used to solve the interconnected system fault upper bound and interconnected system fault lower bound in all time domains in the augmented multi-robot interconnected system model according to the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model;

[0036] The multi-robot interconnection system fault diagnosis module is used to compare the interconnection system fault upper limit with a preset fault upper limit threshold, and compare the interconnection system fault lower limit with a preset fault lower limit threshold, and then obtain the fault diagnosis result of the multi-robot interconnection system according to the comparison result.

[0037] Based on the above embodiments, another embodiment of the present invention provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and when the processor executes the computer program, it implements the fault diagnosis method of the multi-robot interconnection system described in the above invention embodiment.

[0038] Based on the above embodiments, another embodiment of the present invention provides a storage medium, wherein the storage medium includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the fault diagnosis method of the multi-robot interconnection system described in the above invention embodiment.

[0039] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0040] The present invention provides a fault diagnosis method for a multi-robot interconnected system, which includes obtaining system data of each robot system in the multi-robot interconnected system, and constructing a multi-robot interconnected system model corresponding to the multi-robot interconnected system according to the system data; performing augmentation processing on the multi-robot interconnected system model to obtain a corresponding augmented multi-robot interconnected system model; solving the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model according to the augmented multi-robot interconnected system model; solving the interconnected system fault upper bound and interconnected system fault lower bound in all time domains in the augmented multi-robot interconnected system model according to the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model; comparing the interconnected system fault upper bound with a preset fault upper bound threshold, comparing the interconnected system fault lower bound with a preset fault lower bound threshold, and then obtaining the fault diagnosis result of the multi-robot interconnected system according to the comparison result. Compared with the prior art which requires the construction of a fault detection and isolation observer, the present invention provides a new fault diagnosis method which does not require the construction of a fault detection and isolation observer. By using the system data of each robot system to construct an augmented multi-robot interconnected system model, and comparing the upper bound of the interconnected system fault and the lower bound of the interconnected system fault in all time domains in the augmented multi-robot interconnected system model with the corresponding thresholds, fault diagnosis of the multi-robot interconnected system can be achieved, thereby improving the accuracy of fault diagnosis of the multi-robot interconnected system. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a flowchart of a fault diagnosis method for a multi-robot interconnection system provided by an embodiment of the present invention;

[0042] Figure 2 It is a structural schematic diagram of a fault diagnosis device for a multi-robot interconnection system provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solutions and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0045] In the description of the embodiments of the present application, the technical terms "first", "second", etc. are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features. In the description of the embodiments of the present application, the meaning of "multiple" is more than two, unless otherwise clearly and specifically defined.

[0046] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0047] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of the associated objects, indicating that there may be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0048] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces).

[0049] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0050] Embodiment 1

[0051] Please refer to Figure 1, is a flow chart of a fault diagnosis method for a multi-robot interconnection system provided by an embodiment of the present invention, comprising the following specific steps:

[0052] S1. Obtaining system data of each robot system in a multi-robot interconnected system, and constructing a multi-robot interconnected system model corresponding to the multi-robot interconnected system according to the system data; wherein the system data includes: robot dynamics equations, network topology structure and interaction constraints;

[0053] Preferably, the multi-robot interconnection system model is:

[0054]

[0055] y i (k) = C i x i (k)+R i u i (k)+E i d i (k)+F i f i (k);

[0056] Where i is the robot system number, i = 1, 2, ..., r, r is the number of robot systems; x i (k) is the state of the i-th robot system; x n (k) is the state of the nth robot system; x n (k+1) is the forward difference of the nth robot system state; u i (k) and y i (k) are the input and output of the i-th robot system respectively; d i (k) and f i (k) are the external disturbance and fault of the i-th robot system respectively; A i , B i , D i , G i , C i , R i 、E i and F i is the i-th robot system matrix; H ni is the interconnection matrix between the i-th robot system and the n-th robot system; x i (0) and are the initial states x of the i-th robot system respectively. i (0) lower and upper bounds; d i (k) and are the initial disturbance d of the i-th robot system respectively.i (0) is the lower and upper bound of

[0057] Specifically, in response to the problems existing in the prior art, the present invention utilizes the input and output data of the robot system to construct a fault detection and isolation mechanism. At the same time, it can update the diagnosis mechanism in real time according to the information of the robot system status to complete the detection and isolation of the fault, without the need to realize the detection and isolation of the fault by constructing a fault detection and isolation observer.

[0058] The present invention designs a fault diagnosis scheme for the system model of the robot to detect and isolate the fault, which specifically includes the following steps:

[0059] Step 1: Construct a dynamic mathematical model of the multi-robot interconnected system:

[0060] Firstly, the robot dynamics equations, network topology, and interaction constraints of each robot system are discretized to construct a discrete-time interconnected robot system, that is, a multi-robot interconnected system model S corresponding to the multi-robot interconnected system, where the i-th robot system S i Has the following form:

[0061]

[0062] y i (k) = C i x i (k)+R i u i (k)+E i d i (k)+F i f i (k);

[0063] Where i = 1, 2, ..., r represents the robot system serial number, r represents the number of robot systems; x i (k) represents the state of the i-th robot system; x n (k) represents the state of the nth robot system; x n (k+1) represents the forward difference of the nth robot system state; u i (k) and y i (k) represent the input and output of the i-th robot system respectively; d i (k) and f i (k) represent the external disturbance and fault of the i-th robot system respectively; A i , B i , D i , G i , C i , R i 、E i、F i represents the i-th robot system matrix, H ni represents the interconnection matrix between the i-th robot system and the n-th robot system; x i (0) and Respectively represent the initial state x of the i-th robot system i The lower and upper bounds of (0) are known; d i (k) and denote the initial disturbance d of the i-th robot system i (0) and are known; in addition, the relationship between the initial state and its upper and lower bounds, and the relationship between the initial perturbation and its upper and lower bounds are expressed as follows:

[0064] S2. Augmenting the multi-robot interconnection system model to obtain a corresponding augmented multi-robot interconnection system model;

[0065] Preferably, the method of performing augmentation processing on the multi-robot interconnection system model to obtain a corresponding augmented multi-robot interconnection system model includes: performing augmentation processing on the multi-robot interconnection system model to obtain a corresponding first augmented multi-robot interconnection system model; obtaining new variables of the first augmented multi-robot interconnection system model; wherein the new variables are variables obtained by uniformly representing the data at each moment in the first augmented multi-robot interconnection system model, and the new variables include: input variables, disturbance variables, fault variables, output variables and state variables; substituting the new variables into the first augmented multi-robot interconnection system model to obtain a second augmented multi-robot interconnection system model corresponding to the new variables; augmenting the system state initial value and system disturbance in the second augmented multi-robot interconnection system model into corresponding augmented variables, and substituting the augmented variables into the second augmented multi-robot interconnection system model to obtain a third augmented multi-robot interconnection system model corresponding to the augmented variables, and then using the third augmented multi-robot interconnection system model as the corresponding augmented multi-robot interconnection system model.

[0066] Preferably, the first augmented multi-robot interconnected system model is:

[0067]

[0068] in, For variables Forward difference of and are respectively the augmented state, augmented input, augmented disturbance, augmented fault and augmented output corresponding to the multi-robot interconnected system; and They are respectively the system matrices of the first augmented multi-robot interconnected system model.

[0069] Preferably, the second augmented multi-robot interconnected system model is:

[0070]

[0071] in, and are respectively the input variable, disturbance variable, fault variable, output variable and state variable of the second augmented multi-robot Internet system model; and They are respectively the system matrices of the second augmented multi-robot interconnected system model.

[0072] Preferably, the third augmented multi-robot interconnected system model is:

[0073]

[0074] Wherein, w is the augmented variable of the second augmented multi-robot interconnected system model; and They are respectively the initial value of the system state and the system disturbance in the second augmented multi-robot interconnected system model.

[0075] Step 2: Build an augmented fault detection and isolation system for the multi-robot interconnected system model:

[0076] (1) This step requires simultaneous analysis of different robot systems. It is necessary to expand the multi-robot interconnected system consisting of r robot systems into a large augmented multi-robot interconnected system, and then analyze the augmented system. The augmented form is as follows:

[0077] Defining variables and They are respectively used as augmented state, augmented input, augmented disturbance, augmented fault and augmented output as shown below:

[0078]

[0079] Then, the multi-robot interconnected system model can be rewritten as the following first augmented multi-robot interconnected system model:

[0080]

[0081] in Representation variables The forward difference of and The system matrix defined as the first augmented multi-robot interconnected system model has the following structure:

[0082]

[0083] (2) In the present invention, it is also necessary to use the past data related to the control input, disturbance signal, fault signal, output signal and status signal of the multi-robot interconnected system composed of r robots at different times to design the fault detection and isolation scheme. In order to facilitate the unified representation of the data at N-1 different times in the past, it is necessary to further define new variables, which are input variables Disturbance Variable Fault variables Output variables and state variables The parameters in these new variables are about different moments, and the brackets indicate different moments.

[0084] By bringing the augmented multi-robot interconnected system into the above defined new variables, the augmented multi-robot interconnected system model can then be rewritten into the new variable form, that is, the second augmented multi-robot interconnected system model:

[0085]

[0086] in and express The lower and upper bounds of and express The lower and upper bounds of , and the matrix The system matrix representing the second augmented multi-robot interconnected system model is as follows:

[0087] ;

[0088] (3) In addition, the initial value of the system state is augmented The upper and lower bounds and augmented perturbations of The upper and lower bounds of will be used in the design of fault detection and isolation mechanisms, and the upper and lower bounds of both will be considered simultaneously. and Transpose Add another new variable The upper and lower bounds of this new variable are used to design fault detection and isolation mechanisms. and The second augmented multi-robot interconnected system model can be written as a third augmented multi-robot interconnected system model, and the third augmented multi-robot interconnected system model is used as a fault detection and isolation system, as shown below:

[0089]

[0090] S3. According to the augmented multi-robot interconnected system model, solving the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model;

[0091] Step 3: Build a fault detection and isolation solution:

[0092] (3.1) The upper bound of the system failure of the i-th robot system is solved:

[0093] The value of the i-th robot system failure is always less than the upper limit of the failure, so the inequality is always true. Then based on this idea, the above inequality can be expanded and combined with and The new variable system gives the following fault upper bound solution:

[0094] Will and are defined as the set of real diagonal matrices and the set of symmetric matrices, respectively, where m represents the dimension, and the set in Indicates that D belongs to If there is a matrix variable and matrix variables (N w and N y represents the dimension, and represents a set) such that Established, where the large matrix As shown below:

[0095]

[0096] Where * represents the symmetric term in a symmetric matrix. Then, for any i=1,2,…,r, we have I represents the identity matrix of appropriate dimension.

[0097] So, satisfied The upper bound of the system failure of the ith robot system can be given by:

[0098]

[0099] (3.2) The lower bound of the system failure of the i-th robot system is solved:

[0100] The solution to the lower bound of the i-th robot system failure is similar to (3.1). The value of the i-th robot system failure is always greater than the lower bound of the failure. Therefore, the inequality is always true. Then based on this idea, the above inequality can be expanded and combined with and The new variable system gives the following fault lower bound solution:

[0101] Defining a Collection If there is a matrix and Make the large matrix Established, of which As shown below:

[0102]

[0103] Then, for any i = 1, 2, ..., r, we have

[0104] So, satisfied The lower bound of the ith robot system failure is given by:

[0105]

[0106] As mentioned above, due to Therefore, the initial augmented state of the multi-robot interconnected system is bounded. Get each in the estimation range from 0 to N-1 After reaching the boundary, we need to predict the next augmented state In order to continue the proposed method in the next range from 1 to N. Next, a modified version of the method in (3.1) and (3.2) is given to obtain the subsequent augmented state The upper and lower bounds of .

[0107] (3.3) Augmented state Solution for the upper bound:

[0108] Augmented State The solution of the upper bound is similar to the solution of the upper bound of the fault in (3.1). The value of the i-th robot system state is always smaller than the state upper bound. Therefore, the inequality is always true. Then based on this idea, the above inequality can be expanded and combined with and The new variable system gives the following state upper bound solution:

[0109] If there is a matrix and Make Established, where the large matrix As shown below:

[0110]

[0111]

[0112] Among them B uu , B dd , B ff ,I u ,I d ,I f denote the new augmented matrices respectively. Then, for any i=1,2,…,r, we have

[0113] So, satisfied The augmented state The upper bound of is given by:

[0114]

[0115] (3.4) Augmented state The solution of the lower bound is:

[0116] Augmented State The solution of the lower bound is similar to the solution of the upper bound of the state in (3.3). The value of the i-th robot system state is always greater than the lower bound of the state. Therefore, the inequality Then based on this idea, the above inequality can be expanded and combined with and The new variable system gives the following state bound solution:

[0117] If there is a matrix and Make the large matrix Established, of which As shown below:

[0118]

[0119] Then, for any i = 1, 2, ..., r, we have

[0120] So, satisfied The augmented state The lower bound of is given by:

[0121]

[0122] S4. According to the system failure upper bound, system failure lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model, solve and obtain the interconnected system failure upper bound and interconnected system failure lower bound in all time domains in the augmented multi-robot interconnected system model;

[0123] (3.5) The upper and lower bounds of interconnected system failures in all time domains in the augmented multi-robot interconnected system model are solved:

[0124] (1) Set j = 0;

[0125] (2) Get input and output data u i (j),y i (j);

[0126] (3) Set j = j + 1, and go to (2) until j = N - 1;

[0127] (4) Calculate f using (3.1) and (3.2) i (0), f i (1), ..., f i The upper and lower bounds of (N-1);

[0128] (5) Set m = 1;

[0129] (6) Calculate x using (3.1) and (3.4) i (m) upper and lower bounds;

[0130] (7) Get u i (m+N-1) and y i (m+N-1), use (3.1) and (3.2) to calculate f i The upper and lower bounds of (m+N-1);

[0131] (8) Set m=m+1 and go to (6);

[0132] (9) Obtain the upper and lower bounds of all faults in the time domain.

[0133] S5. Compare the upper fault limit of the interconnected system with a preset upper fault limit threshold, and compare the lower fault limit of the interconnected system with a preset lower fault limit threshold, and then obtain a fault diagnosis result of the multi-robot interconnected system according to the comparison result.

[0134] Preferably, the interconnection system fault upper bound is compared with a preset upper fault bound threshold, and the interconnection system fault lower bound is compared with a preset lower fault bound threshold, and then the fault diagnosis result of the multi-robot interconnection system is obtained according to the comparison result, including: comparing the interconnection system fault upper bound with the preset upper fault bound threshold, and comparing the interconnection system fault lower bound with the preset lower fault bound threshold; when the interconnection system fault upper bound is greater than the upper fault bound threshold or the interconnection system fault lower bound is less than the lower fault bound threshold, it is determined that the multi-robot interconnection system has a fault; otherwise, it is determined that the multi-robot interconnection system has not a fault.

[0135] Step 4: The upper and lower bounds of all faults in the time domain are passed to the fault diagnosis unit for evaluation, thereby achieving the purpose of fault detection and isolation:

[0136] The upper limit of the interconnected system fault is compared with the preset upper limit threshold of the fault, and the lower limit of the interconnected system fault is compared with the preset lower limit threshold of the fault. When the upper limit of the interconnected system fault and the lower limit of the interconnected system fault in the system are both within the preset threshold, it indicates that no fault has occurred in the multi-robot interconnected system. When the upper limit of the interconnected system fault and the lower limit of the interconnected system fault in the system exceed the preset threshold, it indicates that the system has a fault, and then the fault detection unit will issue an alarm. If the upper and lower limits of the fault in any system of the system exceed the threshold, it indicates that the system has a fault, so that the fault can be isolated.

[0137] It can be seen that the present invention provides a fault diagnosis method for a multi-robot interconnected system. Through the present invention, fault detection and isolation of a large multi-robot interconnected system can be achieved by constructing a fault detection and isolation scheme using input and output data without building a fault detection and isolation observer.

[0138] Embodiment 2

[0139] Please refer to Figure 2 , is a schematic diagram of a structure of a fault diagnosis device for a multi-robot interconnected system provided by an embodiment of the present invention, the device comprising: a multi-robot interconnected system model construction module, an augmented multi-robot interconnected system model construction module, a system upper and lower bounds solving module, an interconnected system fault upper and lower bounds solving module, and a multi-robot interconnected system fault diagnosis module;

[0140] The multi-robot interconnection system model building module is used to obtain system data of each robot system in the multi-robot interconnection system, and build a multi-robot interconnection system model corresponding to the multi-robot interconnection system according to the system data; wherein the system data includes: robot dynamics equations, network topology structure and interaction constraints;

[0141] The augmented multi-robot interconnected system model construction module is used to perform augmentation processing on the multi-robot interconnected system model to obtain a corresponding augmented multi-robot interconnected system model;

[0142] The system upper and lower bounds solving module is used to solve the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model according to the augmented multi-robot interconnected system model;

[0143] The interconnected system fault upper and lower bounds solving module is used to solve the interconnected system fault upper bound and interconnected system fault lower bound in all time domains in the augmented multi-robot interconnected system model according to the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model;

[0144] The multi-robot interconnection system fault diagnosis module is used to compare the interconnection system fault upper limit with a preset fault upper limit threshold, and compare the interconnection system fault lower limit with a preset fault lower limit threshold, and then obtain the fault diagnosis result of the multi-robot interconnection system according to the comparison result.

[0145] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0146] Those skilled in the art can clearly understand that for the sake of convenience and brevity, the specific working process of the device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0147] Embodiment 3

[0148] Accordingly, an embodiment of the present invention provides an electronic device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the fault diagnosis method for the multi-robot interconnection system described in the above-mentioned embodiment of the invention is implemented.

[0149] The electronic device may be a computing device such as a desktop computer, a notebook, a palm computer, a cloud server, etc. The device may include, but is not limited to, a processor and a memory.

[0150] The processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor is the control center of the device, and various interfaces and lines are used to connect various parts of the entire device.

[0151] Embodiment 4

[0152] Accordingly, an embodiment of the present invention provides a storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the fault diagnosis method of the multi-robot interconnection system described in the above-mentioned embodiment of the invention.

[0153] The memory can be used to store the computer program, and the processor realizes various functions of the device by running or executing the computer program stored in the memory and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, at least one application required for a function, etc.; the data storage area can store data created according to the use of the mobile phone, etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (FlashCard), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0154] The storage medium is a computer-readable storage medium, and the computer program is stored in the computer-readable storage medium. When the computer program is executed by the processor, the steps of each method embodiment described above can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0155] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A fault diagnosis method for a multi-robot interconnected system, characterized in that: include: Acquire system data of each robot system in the multi-robot interconnected system, and construct a multi-robot interconnected system model corresponding to the multi-robot interconnected system according to the system data; wherein the system data includes: robot dynamics equations, network topology structure and interaction constraints; Performing augmentation processing on the multi-robot interconnection system model to obtain a corresponding augmented multi-robot interconnection system model; According to the augmented multi-robot interconnected system model, solving the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model; According to the system failure upper bound, system failure lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model, the interconnected system failure upper bound and interconnected system failure lower bound in all time domains in the augmented multi-robot interconnected system model are solved; The upper fault limit of the interconnected system is compared with a preset upper fault limit threshold, and the lower fault limit of the interconnected system is compared with a preset lower fault limit threshold, and then the fault diagnosis result of the multi-robot interconnected system is obtained according to the comparison result.

2. The fault diagnosis method of a multi-robot interconnected system according to claim 1, characterized in that: The augmenting the multi-robot interconnection system model to obtain a corresponding augmented multi-robot interconnection system model includes: Performing augmentation processing on the multi-robot interconnection system model to obtain a corresponding first augmented multi-robot interconnection system model; Acquire new variables of the first augmented multi-robot interconnected system model; wherein the new variables are variables obtained by uniformly representing the data at each moment in the first augmented multi-robot interconnected system model, and the new variables include input variables, disturbance variables, fault variables, output variables, and state variables; Substituting the new variable into the first augmented multi-robot interconnected system model to obtain a second augmented multi-robot interconnected system model corresponding to the new variable; The initial value of the system state and the system disturbance in the second augmented multi-robot interconnected system model are augmented into corresponding augmented variables, and the augmented variables are substituted into the second augmented multi-robot interconnected system model to obtain a third augmented multi-robot interconnected system model corresponding to the augmented variables, and then the third augmented multi-robot interconnected system model is used as the corresponding augmented multi-robot interconnected system model.

3. The fault diagnosis method of a multi-robot interconnected system as claimed in claim 2, characterized in that: The method of comparing the upper fault limit of the interconnected system with a preset upper fault limit threshold, and comparing the lower fault limit of the interconnected system with a preset lower fault limit threshold, and then obtaining the fault diagnosis result of the multi-robot interconnected system according to the comparison result, includes: The interconnection system fault upper bound is compared with a preset fault upper bound threshold, and the interconnection system fault lower bound is compared with a preset fault lower bound threshold. When the interconnection system fault upper bound is greater than the fault upper bound threshold or the interconnection system fault lower bound is less than the fault lower bound threshold, it is determined that the multi-robot interconnection system has a fault; otherwise, it is determined that the multi-robot interconnection system has not a fault.

4. The fault diagnosis method of a multi-robot interconnected system according to claim 1, characterized in that: The multi-robot interconnection system model is: y i (k)=C i x i (k)+R i u i (k)+E i d i (k)+F i f i (k); Where i is the robot system number, i = 1, 2, ..., r, r is the number of robot systems; x i (k) is the state of the i-th robot system; x n (k) is the state of the nth robot system; x n (k+1) is the forward difference of the nth robot system state; u i (k) and y i (k) are the input and output of the i-th robot system respectively; d i (k) and f i (k) are the external disturbance and fault of the i-th robot system respectively; A i , B i , D i , G i , C i , R i 、E i and F i is the i-th robot system matrix; H ni is the interconnection matrix between the i-th robot system and the n-th robot system; x i (0) and are the initial states x of the i-th robot system respectively. i (0) lower and upper bounds; d i (k) and are the initial disturbance d of the i-th robot system respectively. i (0) is the lower and upper bound of 5. The fault diagnosis method of a multi-robot interconnected system as claimed in claim 4, characterized in that: The first augmented multi-robot interconnected system model is: in, For variables Forward difference of and are respectively the augmented state, augmented input, augmented disturbance, augmented fault and augmented output corresponding to the multi-robot interconnected system; and They are respectively the system matrices of the first augmented multi-robot interconnected system model.

6. The fault diagnosis method of a multi-robot interconnected system as claimed in claim 5, characterized in that: The second augmented multi-robot interconnected system model is: in, and are respectively the input variable, disturbance variable, fault variable, output variable and state variable of the second augmented multi-robot interconnected system model; and They are respectively the system matrices of the second augmented multi-robot interconnected system model.

7. The fault diagnosis method of a multi-robot interconnected system as claimed in claim 6, characterized in that: The third augmented multi-robot interconnected system model is: Wherein, w is the augmented variable of the second augmented multi-robot interconnected system model; and They are respectively the initial value of the system state and the system disturbance in the second augmented multi-robot interconnected system model.

8. A fault diagnosis device for a multi-robot interconnected system, characterized in that: include: Multi-robot interconnected system model building module, augmented multi-robot interconnected system model building module, system upper and lower bounds solving module, interconnected system fault upper and lower bounds solving module and multi-robot interconnected system fault diagnosis module; The multi-robot interconnection system model building module is used to obtain system data of each robot system in the multi-robot interconnection system, and build a multi-robot interconnection system model corresponding to the multi-robot interconnection system according to the system data; wherein the system data includes: robot dynamics equations, network topology structure and interaction constraints; The augmented multi-robot interconnected system model construction module is used to perform augmentation processing on the multi-robot interconnected system model to obtain a corresponding augmented multi-robot interconnected system model; The system upper and lower bounds solving module is used to solve the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model according to the augmented multi-robot interconnected system model; The interconnected system fault upper and lower bounds solving module is used to solve the interconnected system fault upper bound and interconnected system fault lower bound in all time domains in the augmented multi-robot interconnected system model according to the system fault upper bound, system fault lower bound, augmented state upper bound and augmented state lower bound of each robot system in the augmented multi-robot interconnected system model; The multi-robot interconnection system fault diagnosis module is used to compare the interconnection system fault upper limit with a preset fault upper limit threshold, and compare the interconnection system fault lower limit with a preset fault lower limit threshold, and then obtain the fault diagnosis result of the multi-robot interconnection system according to the comparison result.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, the fault diagnosis method for a multi-robot interconnected system as claimed in any one of claims 1 to 7 is implemented.

10. A storage medium, characterized in that: The storage medium includes a stored computer program, wherein when the computer program is running, the device where the storage medium is located is controlled to execute the fault diagnosis method for a multi-robot interconnected system as described in any one of claims 1 to 7.

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