Multi-element cooperative positioning method and device for series circuit faults of devices of same model

Abstract

The invention discloses a multi-element cooperative positioning device for series circuit faults of devices of the same type, which comprises a core component, information acquisition equipment and fault point marking equipment, and is characterized in that the core component comprises a logic cooperative unit and N fault positioning units; the fault point marking device prints a mark on each determined fault component according to a fault positioning result of the core component. The invention provides three multi-element cooperative fault interval division strategies suitable for single-point fault positioning and a fault interval division strategy suitable for positioning all fault devices under the condition that the number of the fault devices is unknown, and provides a fault positioning device for a series circuit of devices of the same model. The device can select a proper fault interval division strategy to implement circuit fault multi-element cooperative positioning according to actual conditions.

Description

Technical Field

[0001] The present invention relates to the field of electronic information technology, and particularly to a method and device for multi - collaborative positioning of faults in a series circuit of devices of the same model. Background Art

[0002] Today, the applications of electronics and information technology have covered many fields of human life. Many products contain circuits composed of a large number of series - connected semiconductor devices of the same type. A typical example in daily life is an LED lighting lamp. Currently in cities, the penetration rate of LED lighting lamps is relatively high, and most of these LED lamps contain circuits composed of dozens or even hundreds of series - connected LED light - emitting diodes of the same model.

[0003] After the lighting lamp has been used for a period of time, faults will occur in this series circuit. The most common fault is that one of the diodes in the circuit composed of devices of the same model is burned out, while the vast majority of the other diodes are still functional. Although experienced maintenance personnel can easily find this faulty component and repair this series circuit within a certain time limit.

[0004] However, due to the relatively low price of LED lamps themselves, it takes a certain amount of time to find the location of the faulty component among numerous series - connected components, and repairing a faulty circuit requires professional maintenance personnel and a dedicated maintenance environment. As a result, in many cases, a large number of LED lamp users abandon the repair and have to purchase new LED lamps. For these discarded LED lamps, the vast majority of the lamp beads in their series circuits are in good condition. After being discarded, they will become solid waste and have an adverse impact on the environment. Therefore, if the faulty component can be efficiently and quickly found from this series circuit of components of the same model, for quickly repairing this faulty circuit, on the one hand, it can improve people's living experience and even increase the production efficiency of enterprises, and on the other hand, it can reduce the damage to the environment caused by solid waste such as electronic product waste.

[0005] The aging of the population requires more refined social stratification and more professional service industries to provide services for people's daily lives. The continuous progress in the field of artificial intelligence (AI) provides broad prospects for the automatic diagnosis of circuit faults. Automatic circuit fault location is the basis of automatic fault diagnosis. With the continuous integration of AI technology and the field of fault diagnosis and repair technology, in the near future, automatic circuit fault repair will become a reality. Summary of the Invention

[0006] 1. Technical Problems to be Solved

[0007] The purpose of the present invention is to solve the problem of how to quickly and automatically locate faults in a series circuit of devices of the same model in the prior art, and to propose a method and device for multi - collaborative positioning of faults in a series circuit of devices of the same model.

[0008] 2. Technical Solution

[0009] To achieve the above object, the present invention adopts the following technical solution:

[0010] A multi - element collaborative positioning device for faults in a series circuit of devices of the same model, comprising a core component, an information acquisition device, and a fault point marking device. The information acquisition device is used to obtain the number M of series devices in the series circuit to be detected, the element spacing d, the number N of fault location units, the external dimensions of the fault location units, and the selected test interval division strategy; the core component includes a logic collaboration unit and N fault location units, where N is an integer greater than or equal to 2; the program executed by the logic collaboration unit includes the test interval division strategy selected by the information acquisition device; the fault point marking device prints and marks each determined faulty component according to the fault location result of the core component.

[0011] Preferably, the logic collaboration unit is used to simultaneously assign a fault detection range to each fault location unit and receive the detection result reports of each fault location unit, and then determine whether further positioning is required according to the detection result reports of all fault location units; if further positioning is required, calculate the reduced fault search range, and divide the new search range into N search intervals according to the selected division strategy, and simultaneously notify each search interval to the corresponding fault location unit; each of the fault location units simultaneously receives the fault search interval assigned to this fault location unit by the logic collaboration unit, and simultaneously and independently drives the two boundary positioning mechanical components of this fault location unit to reach the boundary points of the search interval designated for this fault location unit. Subsequently, the boundary positioning mechanical components at both ends extend the probes to keep good contact with the detection points in the designated search interval on the measured series circuit. Subsequently, the fault location unit issues a test signal to detect whether there is a fault in this section of the series circuit. Each fault location unit reports the detection result of whether there is a fault in the corresponding search interval to the logic collaboration unit through the dedicated signal channel of this fault location unit.

[0012] The present invention also proposes a multi - element collaborative positioning method for a series circuit of devices of the same model with only a single fault. Let the number of devices of the same model in the series circuit be M. When M ≤ N, since the number of fault location units is sufficient to assign a fault location unit to each series circuit element, all faulty components can be found through one - time multi - element collaborative positioning. When M > N, the program adopted by the logic collaboration unit includes the following steps:

[0013] S1: Evenly divide the M series circuit elements along the extension direction of the series circuit into N parts, so that each part contains an integer number of circuit units and the difference in the number of circuit units contained in each part does not exceed 1, that is, generate N - 1 non - repeating integers I1, I2, …, I in the interval [1, M - 1] N-1, such that 0 < I1 < I2 < … < I N-1 <M, I1, I2, …, I N-1 successively represent the numbers of the last components included in the 1st, 2nd, …, (N - 1)th intervals, and also the starting coordinates of the 2nd, 3rd, …, Nth intervals in terms of the length occupied by one component in the series circuit; meanwhile, send the corresponding initial test intervals to each fault location unit U1, U2, …, U N respectively. The initial test interval of U1 is [0, I1], the initial test interval of U2 is [I1, I2], …, the initial test interval of U N-1 is [I N-2 , I N-1 , and the initial test interval of U N is [I N-1 , M];

[0014] S2: Receive the test result reports from each fault location unit until the test result reports of all fault location units in this round are complete;

[0015] S3: Analyze the test results in this round, select the interval [I X-1 , I X reported by the fault location unit X that contains the fault point. If I X - I X-1 = 1, then the interval tested by the fault location unit X in this round contains only one unit and this unit is the only fault unit in the entire series circuit, and the fault location task is completed. Go to S6 and the program ends; otherwise, re-divide the fault point interval [I X-1 , I X into N equal intervals, calculate N - 1 non-repeating new integers I1, I2, …, I X-1 + 1, I X - 1] in the interval, such that I N-1 < I1 < I2 < … < I X-1 < I N-1 < I X . Send the test intervals composed of I X-1 , the new integers I1, I2, …, I N-1 and I X to the corresponding fault location units U1, U2, …, U N respectively. The test interval of U1 is [I X-1 , I1], the initial test interval of U2 is [I1, I2], …, the test interval of U N-1 is [I N-2 , I N-1 , and the test interval of U N is [I N-1 , I X ;

[0016] S4: Receive the test results from each fault location unit until the test result reports of all fault location units in this round are complete;

[0017] S5: Go to S3;

[0018] S6: The algorithm of the logic coordination unit ends, and all fault location units are notified to restore and return to their original positions respectively.

[0019] Preferably, the working process of each fault location unit includes the following steps:

[0020] A1: Wait until a notification message from the logic coordination unit is received;

[0021] A2: After receiving the notification information sent by the logic coordination unit to this fault location unit, analyze whether the message indicates the test range of this fault location unit or a task end notification. If it is a task end notification, go to step A6; otherwise, continue to execute the subsequent steps;

[0022] A3: Drive the mechanical components for boundary location at both ends equipped with this fault location unit to the two ends of the detection range responsible for this fault location unit newly designated by the logic coordination unit;

[0023] A4: The mechanical components for boundary location at both ends extend the robotic arms, align the test probes with the test points at the corresponding boundary points and maintain good electrical contact;

[0024] A5: Turn on the test circuit, send a test signal, then judge whether there is a fault within the range of the series circuit measured by this fault location unit according to the test results, report the round number, measurement range and fault information to the logic coordination unit, and then go to step A1;

[0025] A6: Disconnect the test circuit, retract the probes, drive the mechanical components for boundary location of this fault location unit to tighten and move the main body to its corresponding initial position;

[0026] A7: End.

[0027] In the present invention, a uniform division strategy for a multi - element collaborative location device for faults in a series circuit of the same type of devices is also proposed, which is applicable to the condition that there is only a single fault point in the entire series circuit, and the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is less than the space length occupied by one series circuit unit. Specifically, the range to be searched is divided into N + 1 intervals of the same size, where N represents the number of fault location units.

[0028] Preferably, when the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is greater than the space length occupied by one series circuit unit, the above - mentioned uniform division strategy needs to be changed as follows:

[0029] The entire fault location process is divided into three stages: the full-team collaborative search stage, the partial collaborative search stage, and the unit independent search stage. Let L represent the number of circuit units along the extension direction of the series circuit occupied when each fault location unit tightens. In the full-team collaborative search stage, the range to be searched is divided into N + 1 intervals of the same size, where N represents the number of fault location units. After one round of collaborative search, the entire collaborative search range will be reduced to 1 / (N + 1) of the previous search range. If the number of series circuit units included in the new search interval assigned to each fault location unit is not less than L, then a new round of full-team collaborative search continues; otherwise, the full-team collaborative search stage is completed and the partial collaborative search stage is entered. In the partial collaborative search stage, the number of fault location units participating in the collaborative search in each round gradually decreases as the fault search range continuously decreases. It is necessary to have as many fault location units as possible participate in the collaborative search in this round while ensuring that the number of series circuit units included in the search interval of each fault location unit is not less than L. As the partial collaborative search stage progresses, when the remaining fault search range is less than 2L series circuit units, the partial collaborative search stage ends and the unit independent search stage is entered. In the unit independent search stage, the logic collaborative unit selects a fault location unit closest to the search range to carefully search the search range. The available search methods for careful search include binary search or sequential search until the accurate fault point location is found.

[0030] For the case where there may be multiple faulty components in the series circuit, the method proposed by the present invention is:

[0031] The entire fault location process is divided into two stages: the faulty area marking stage and the fault point precise location stage. The faulty area marking stage is further divided into the following two steps:

[0032] Step B1: Divide the entire series circuit into N equal parts, where N is the number of fault location units. Each fault location unit performs a connectivity test at both ends of the corresponding search interval to determine whether there is a fault in this interval. Subsequently, each fault location unit reports the detection result of this interval, and the logic collaborative unit makes a mark of whether there is a fault for each interval based on this.

[0033] Step B2: The logic coordination unit notifies each corresponding fault location unit that reported a fault section in Step B1 to divide the detection section responsible for by this unit into floor(floor(M / N) / L) equal parts, so that the number of series circuit units contained in each part is not less than L. floor(x) represents the operation of rounding down the positive number x. Then, each corresponding fault location unit successively conducts a connectivity test on both ends of each of the floor(floor(M / N) / L) subdivided sections (or small sections) it is responsible for, and represents the test results of whether there is a fault in each subdivided small section with an array. Subsequently, the test result array is reported to the logic coordination unit. After receiving the data reported by each fault location unit, the logic coordination unit marks whether there is a fault in each corresponding subdivided section; in this step, the fault location units corresponding to all sections that reported no fault in the previous step, i.e., Step B1, do not need to perform any operation;

[0034] After the above Step B2 is completed, the precise location stage is entered, which includes the following two steps:

[0035] Step B3: The logic coordination unit counts the total number of segments J of the subdivided sections with faults and the start and end positions of each subdivided section, and assigns corresponding fault location units to each subdivided section with a fault: First, it is necessary to calculate the number of rounds R of precise location = ceil(J / N), where ceil represents rounding up; when the number of fault subdivided sections is less than N, the number of fault location units is more than the number of fault subdivided sections. According to the principle of proximity priority, a corresponding fault location unit is selected for each fault subdivided section to reduce the time required for the fault location unit to move; when the number of fault subdivided sections J is equal to the number of fault location units, due to spatial position limitations, only one corresponding fault location unit can be assigned to each fault subdivided section according to the principle that the position order of the fault subdivided section and the fault location unit is the same; when the number of fault subdivided sections is more than the number of fault location units, R≥2, then more than two rounds of fault precise location are required. In the previous R-1 rounds, all fault location units operate at full load. The fault subdivided sections are divided into N areas according to their spatial positions, so that the number of fault subdivided sections contained in each area is basically equal. In each round, one fault subdivided section is selected from each area according to the principle of the same position order and assigned to the corresponding fault location unit; in the last round, if all N fault location units are at full load, it is still assigned according to the principle of the same position order, and if the number of fault subdivided sections to be precisely located is less than N, the fault location units can be assigned to each fault subdivided section according to the principle of proximity priority;

[0036] Step B4: Each fault location unit conducts a unit-by-unit conductivity test on the series circuit in the subdivided section assigned to it by the logic coordination unit to determine whether there is a fault, and reports the test results to the logic coordination unit in the form of an array.

[0037] 3. Beneficial effects

[0038] Compared with the prior art, the advantages of the present invention are as follows:

[0039] In the present invention, three multi - collaborative fault interval division strategies applicable to single - point fault location and one fault interval division strategy applicable to the case of unknown number of faulty devices for locating all faulty devices are provided, and a fault location device for series circuits of devices of the same model is provided. This device can select a suitable fault interval division strategy according to actual conditions to implement multi - collaborative location of circuit faults. Brief description of the drawings

[0040] Figure 1 It is a schematic diagram of the core structure composition of the multi - collaborative fault location for series circuits proposed by the present invention;

[0041] Figure 2 It is a working flow chart of the logic collaborative unit in the method for multi - collaborative location of single - fault points in series circuits of devices of the same model proposed by the present invention;

[0042] Figure 3 It is a working flow chart of any one of the fault location units in the method for multi - collaborative location of single - fault points in series circuits of devices of the same model proposed by the present invention;

[0043] Figure 4 It is an overall working flow chart of the uniform division strategy under the condition that the series circuit contains multiple fault points and the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is greater than the length of one series circuit unit in the series circuits proposed by the present invention. Detailed implementation manners

[0044] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0045] Embodiment 1:

[0046] Referring to Figures 1-4 , a multi - collaborative fault location device for series circuits of devices of the same model includes a core component, an information acquisition device, and a fault point marking device. The information acquisition device is used to obtain the number of series devices M, the element spacing d, the number of fault location units N, the appearance size of the fault location units, and the selected test interval division strategy of the series circuit to be detected; the core component includes a logic collaborative unit and N fault location units, where N is an integer greater than or equal to 2; the program executed by the logic collaborative unit includes the test interval division strategy selected by the information acquisition device; the fault point marking device prints and marks each determined faulty component according to the fault location result of the core component.

[0047] In the present invention, the logic coordination unit is used to simultaneously assign a fault detection range to each fault location unit and receive the detection result reports of each fault location unit, and then determine whether further location is required according to the detection result reports of all fault location units; if further location is required, calculate the reduced fault search range, divide the new search range into N search intervals according to the selected division strategy, and notify each search interval to the corresponding fault location unit at the same time; each fault location unit simultaneously receives the fault search interval assigned to the present fault location unit by the logic coordination unit, and simultaneously and independently drives the two boundary location mechanical components of the present fault location unit to the boundary points of the search interval designated for the present fault location unit, then the boundary location mechanical components at both ends extend the probes to keep good contact with the detection points of the designated search interval on the measured series circuit, and then the fault location unit issues a test signal to detect whether there is a fault in this section of the series circuit, and each fault location unit reports the detection result of whether there is a fault in the corresponding search interval to the logic coordination unit through the dedicated signal channel of the present fault location unit.

[0048] In the present invention, for a method for multi - element cooperative location of faults in a series circuit of the same type of devices, assuming that the number of the same type of devices included in the series circuit is M, when M ≤ N, since the number of fault location units is sufficient to assign a fault location unit to each series circuit element, all fault elements can be found through one - time multi - element cooperative location. When M > N, the program adopted by the logic coordination unit includes the following steps:

[0049] S1: Divide the M series circuit elements evenly into N parts along the extension direction of the series circuit, so that each part contains an integer number of circuit units and the difference between the number of circuit units contained in each part does not exceed 1, that is, generate N - 1 non - repeating integers I1, I2, …, I N-1 , such that 0 < I1 < I2 < … < I N-1 < M, I1, I2, …, I N-1 represent the numbers of the last elements included in the 1st, 2nd, …, N - 1st intervals in turn, and also represent the starting coordinates of the 2nd, 3rd, …, Nth intervals in units of the length occupied by one element in the series circuit; at the same time, send the corresponding initial test intervals to each fault location unit U1, U2, …, U N respectively. The initial test interval of U1 is [0, I1], the initial test interval of U2 is [I1, I2], …, the initial test interval of U N-1 is [I N-2 , I N-1 , and the initial test interval of U N is [I N-1 , M];

[0050] S2: Receive the test result reports from each fault location unit until the test result reports of all fault location units in this round are complete;

[0051] S3: Analyze the test results of this round, and select the interval [I X-1 , I X reported by the fault location unit X that contains the fault point. If I X - I X-1 = 1, it means that the interval tested by the fault location unit X in this round contains only one unit and this unit is the only fault unit in the entire series circuit. The fault location task is completed, go to S6, and the program ends; otherwise, re-divide the fault point interval [I X-1 , I X into N equal intervals, calculate N - 1 non-repeating new integers I1, I2,..., I X-1 + 1, I X - 1] in the interval, so that I N-1 < I1 < I2 <... < I X-1 < I N-1 < I X . Send the test intervals composed of I X-1 , the new integers I1, I2,..., I N-1 and I X to the corresponding fault location units U1, U2,..., U N respectively. The test interval of U1 is [I X-1 , I1], the initial test interval of U2 is [I1, I2],..., the test interval of U N-1 is [I N-2 , I N-1 , and the test interval of U N is [I N-1 , I X ;

[0052] S4: Receive the test results from each fault location unit until the test result reports of all fault location units in this round are complete;

[0053] S5: Go to S3;

[0054] S6: The algorithm of the logic coordination unit ends, and notify all fault location units to restore and return to their original positions respectively.

[0055] In the present invention, the working process of each fault location unit includes the following steps:

[0056] A1: Wait until receiving the notification message from the logic coordination unit;

[0057] A2: After receiving the notification information sent from the logic cooperation unit to this fault location unit, analyze whether the message indicates the test range of this fault location unit or a task end notification. If it is a task end notification, go to step A6; otherwise, continue to execute the subsequent steps.

[0058] A3: Drive the mechanical components for boundary location at both ends equipped with this fault location unit to the two ends of the detection range responsible for this fault location unit newly designated by the logic cooperation unit.

[0059] A4: The mechanical components for boundary location at both ends extend the robotic arms, align the test probes with the test points at the corresponding boundary points and maintain good electrical contact.

[0060] A5: Turn on the test circuit, send out a test signal, then determine whether there is a fault within the range of the series circuit measured by this fault location unit according to the test results, report the round number, measurement range and whether there is a fault information of this round to the logic cooperation unit, and then go to step A1.

[0061] A6: Disconnect the test circuit, retract the probes, drive the mechanical components for boundary location of this fault location unit to tighten and move the main body to its corresponding initial position.

[0062] A7: End.

[0063] In the present invention, a multi - element cooperative location device for faults in series circuits of the same type of devices is applied to the uniform division strategy under the conditions that the entire series circuit contains only a single fault point and the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is less than the space length occupied by a single series circuit unit. Specifically, the range to be searched is divided into N + 1 intervals of the same size, where N represents the number of fault location units.

[0064] When the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is greater than the space length occupied by one series circuit unit, the entire fault location process is divided into three stages: the full-team collaborative search stage, the partial collaborative search stage, and the unit independent search stage; use L (L≥2) to represent the number of circuit units along the extension direction of the series circuit required to be occupied when each fault location unit is tightened; in the full-team collaborative search stage, the range to be searched is divided into N + 1 intervals of the same size, N represents the number of fault location units, after one round of collaborative search, the entire collaborative search range will be reduced to 1 / (N + 1) of the previous search range. If the number of series circuit units included in the new search interval assigned to each fault location unit is not less than L, continue the new round of full-team collaborative search; otherwise, the full-team collaborative search stage is completed and enter the partial collaborative search stage. In the partial collaborative search stage, the number of fault location units participating in the collaborative search in each round gradually decreases as the fault search range continues to decrease. It is necessary to have as many fault location units as possible participate in the collaborative search in this round, and at the same time ensure that the number of series circuit units included in the search interval of each fault location unit is not less than L. As the partial collaborative search stage progresses, when the remaining fault search range is less than 2L series circuit units, the partial collaborative search stage ends and enters the unit independent search stage; in the unit independent search stage, the logic collaborative unit selects a fault location unit closest to the search range to carefully search the search range. The optional search methods for careful search include binary search or sequential search until the accurate fault point location is found.

[0065] For the case where there are two or more faulty circuit units in the series circuit, in the present invention, the entire fault location process is divided into two stages: the faulty area marking stage and the fault point precise location stage. The faulty area marking stage is further divided into the following two steps:

[0066] Step B1: Divide the entire series circuit into N equal parts, N is the number of fault location units. Each fault location unit accordingly conducts a connectivity test at both ends of the corresponding search interval to determine whether there is a fault in this interval. Subsequently, each fault location unit reports the detection result of this interval, and the logic collaborative unit accordingly makes a mark of whether there is a fault for each interval.

[0067] Step B2: The logic coordination unit notifies each corresponding fault location unit that reported a fault section in Step B1 to divide the detection section responsible for by this unit into floor(floor(M / N) / L) equal parts, so that the number of series circuit units contained in each part is not less than L. floor(x) represents the floor operation on the positive number x. Then, each corresponding fault location unit sequentially performs a connectivity test on both ends of each of the floor(floor(M / N) / L) subdivided sections (or segments) it is responsible for, and represents the test results of whether there is a fault in each subdivided segment with an array. Subsequently, the test result array is reported to the logic coordination unit. After receiving the data reported by each fault location unit, the logic coordination unit marks whether there is a fault in each corresponding subdivided section; in this step, all fault location units corresponding to the sections that reported no fault in the previous step, i.e., Step B1, do not need to perform any operation;

[0068] After the completion of the above Step B2, the precise location phase is entered, which includes the following two steps:

[0069] Step B3: The logic coordination unit counts the total number of segments J of the subdivided sections with faults and the start and end positions of each subdivided section, and assigns corresponding fault location units to each subdivided section with a fault: First, it is necessary to calculate the number of rounds R of precise location = ceil(J / N), where ceil represents the ceiling operation; when the number of segments J of the fault subdivided sections is less than N, the number of fault location units is more than the number of fault subdivided sections. According to the principle of proximity priority, a corresponding fault location unit is selected for each fault subdivided section to reduce the time required for the fault location unit to move; when the number of fault subdivided sections J is equal to the number of fault location units, due to space position limitations, only one corresponding fault location unit can be assigned to each fault subdivided section according to the principle that the position order of the fault subdivided section and the fault location unit is the same; when the number of segments of the fault subdivided sections is more than the number of fault location units, R≥2, then more than two rounds of fault precise location are required. In the previous R - 1 rounds, all fault location units operate at full load. The fault subdivided sections are divided into N areas according to their spatial positions, so that the number of fault subdivided sections contained in each area is basically the same. In each round, one fault subdivided section is selected from each area according to the principle of the same position order and assigned to the corresponding fault location unit; in the last round, if all N fault location units are at full load, it is still assigned according to the principle of the same position order, and if the number of fault subdivided sections to be precisely located is less than N, the fault location units can be assigned to each fault subdivided section according to the principle of proximity priority;

[0070] Step B4: Each fault location unit performs a unit-by-unit conductivity test on the series circuit within the subdivided section assigned to it by the logic coordination unit to determine whether there is a fault, and reports the test results to the logic coordination unit in the form of an array.

[0071] Example 2:

[0072] In this embodiment, for the core structure of the multi - collaborative fault location system of the series - connected circuit of devices of the same model, there are two optional specific implementation structures: The first type is that microcontroller chips with the same processing performance, a main frequency of about 100 MHz, and a sufficient number of input - output interfaces respectively serve as the logic collaboration unit and the fault location unit. The microcontroller chip of the logic collaboration unit performs two - way data transmission with each fault location unit through its multiple parallel ports. Each microcontroller chip of the fault location unit is also connected to the boundary location mechanical component, the probe telescopic control component, the position movement control component, and the test signal generation and test result analysis component through its IO port. The second type is composed of a powerful central processing unit (with a main frequency above 1 GHz and multi - core) chip, several inexpensive single - chip microcomputer chips (with a main frequency of dozens of MHz and 30 - 50 input - output ports), and the boundary location mechanical component, the probe telescopic control component, the position movement control component, and the test signal generation and test result analysis component.

[0073] In this embodiment, the series - connected circuit includes M = 100 series - connected element units, and the serial numbers of the series - connected circuit elements are natural numbers from 1 to 100. The number of fault location units N = 8, and the serial numbers of the fault location units are from 1 to 8. The increasing direction of their serial numbers and the increasing direction of the serial numbers of the series - connected circuit elements are both consistent with the positive direction of the extension direction of the series - connected circuit. The length of each fault location unit body when tightened along the circuit extension direction is less than the length of one series unit. Therefore, several fault location units can simultaneously measure the connectivity of the series - connected circuit composed of a single element respectively. The circuit has only one fault point, and the serial number of the faulty element is 95.

[0074] In this embodiment, in the first step S1, the logic collaboration unit evenly divides 100 elements into 8 parts. Since the number of series - connected element units included in each part can only be an integer, the actual detection intervals assigned to the 8 fault location units are as follows: The detection intervals of the fault location units numbered 1 - 4 each contain 13 circuit units, and the detection intervals of the fault location units numbered 5 - 8 each contain 12 circuit units. According to the principle of consistent position order, the detection interval assigned to the 1st fault location unit is [1, 13], the detection interval assigned to the 2nd fault location unit is [14, 26], the detection interval assigned to the 3rd fault location unit is [27, 39], the detection interval assigned to the 4th fault location unit is [40, 52], the detection interval assigned to the 5th fault location unit is [53, 64], the detection interval assigned to the 6th fault location unit is [65, 76], the detection interval assigned to the 7th fault location unit is [77, 88], and the detection interval assigned to the 8th fault location unit is [89, 100].

[0075] In this embodiment, the logic cooperation unit notifies each fault location unit of the above-mentioned detection interval division. Each fault location unit, according to the series element interval assigned to itself, moves to the middle position of the specified interval, then drives the boundary positioning components at both ends to move near the two ends, and then extends the probe to maintain good contact with the test points at the boundary elements. Calculate the required signal amplitude according to the known physical characteristics of normal elements and the number of elements included in the detected interval, send a connectivity test signal through the probe and collect the test results, and judge whether the series circuits in each interval are normal; in this embodiment, since the faulty element is located in the detection interval of the last fault location unit, the detection results reported by the 1st to 8th fault location units in the first round are: normal, normal, normal, normal, normal, normal, normal, abnormal.

[0076] In this embodiment, after receiving the above reports, the logic cooperation unit learns that the fault is between [89, 100]. There are 12 elements in this interval, which are divided into 8 equal parts, with each part containing 1 - 2 elements. Specifically, the first 4 fault location units each detect 2 elements, and the last 4 units each detect 1 element. That is, the new round of division is: the detection interval assigned to the 1st fault location unit is [89, 90], the detection interval assigned to the 2nd fault location unit is [91, 92], the detection interval assigned to the 3rd fault location unit is [93, 94], the detection interval assigned to the 4th fault location unit is [95, 96], the detection interval assigned to the 5th fault location unit is [97, 97], the detection interval assigned to the 6th fault location unit is [98, 98], the detection interval assigned to the 7th fault location unit is [99, 99], and the detection interval assigned to the 8th fault location unit is [100, 100]. Then, the second-round detection interval division message is sent to each fault location unit.

[0077] In this embodiment, after receiving the detection interval division message, each fault location unit moves to the appropriate position in its respective interval according to the principle of consistent position order, controls its boundary positioning mechanical components to move to the appropriate positions at the boundaries of their respective intervals, extends the probe to maintain good contact, calculates the appropriate test signal amplitude, sends the test signal and collects the detection signal, and determines whether the connectivity test is normal. In this embodiment, the 4th fault location unit reports abnormal in this round, and the other fault location units all report normal.

[0078] In this embodiment, after the logic cooperation unit collects the second-round fault cooperation location reports, it learns that the No. 4 fault location unit reports a fault. The fault area contains two components and one more round of fault location is required. In the last round, only two fault location units need to be assigned to detect one component each. According to the principle of consistent position order and proximity priority, the detection range assigned to the No. 4 fault location unit is [95, 95], and the detection range assigned to the No. 5 fault location unit is [96, 96]. Then, a detection range assignment message is sent to these two fault location units.

[0079] After receiving the detection range assignment message for the third round, the No. 4 fault location unit performs a connectivity test on the 95th circuit component, while the No. 5 fault location unit detects the 96th circuit component. The reported results are: abnormal, normal, respectively.

[0080] In this embodiment, after the logic cooperation unit receives the above report, since the detection range tested by the fault location unit only contains one component, it determines that the 95th circuit component is the only fault point. The fault location task is completed, so a task end message is sent to make each fault location unit return to its original position.

[0081] In this embodiment, the location of the single fault point is determined after three rounds of cycles.

[0082] Embodiment 3:

[0083] In this embodiment, except for the different partitioning strategies, other conditions are the same as those in Specific Embodiment 2. In the first step S1, the logic cooperation unit evenly divides 100 series-connected circuit components into 9 parts. Since the number of series-connected component units in each part can only be an integer, the actual detection ranges assigned to 8 fault location units are as follows: the detection range of the No. 1 fault location unit contains 12 circuit units, the detection ranges of the No. 2 - 8 fault location units each contain 11 circuit units, and finally there is a range containing 11 circuit units to which no fault location unit is assigned. According to the principle of consistent position order, the detection range assigned to the No. 1 fault location unit is [1, 12], the detection range assigned to the No. 2 fault location unit is [13, 23], the detection range assigned to the No. 3 fault location unit is [24, 34], the detection range assigned to the No. 4 fault location unit is [35, 45], the detection range assigned to the No. 5 fault location unit is [46, 56], the detection range assigned to the No. 6 fault location unit is [57, 67], the detection range assigned to the No. 7 fault location unit is [68, 78], the detection range assigned to the No. 8 fault location unit is [79, 89], and the last range without a fault location unit assigned is [90 - 100].

[0084] In this embodiment, the logic cooperation unit notifies each fault location unit of the above-mentioned detection interval division. Each fault location unit, according to the series element interval assigned to itself, moves to the middle position of the specified interval, then drives the boundary location components at both ends to move near the two ends, and then extends the probe to maintain good contact with the test points at the boundary elements. Calculate the required signal amplitude according to the known physical characteristics of normal elements and the number of elements included in the detected interval, send a connectivity test signal through the probe and collect the test results, and judge whether the series circuits in each interval are normal according to the test results; in this embodiment, since the faulty element is located in the interval of the last unassigned fault location unit, the detection results reported by the 1st - 8th fault location units in the first round are: normal, normal, normal, normal, normal, normal, normal, normal.

[0085] In this embodiment, after receiving the above reports, the logic cooperation unit, according to the strategy described in claim 5, determines that the fault is within the interval [90, 100] of the unassigned fault location unit. There are 11 elements in this interval, which is divided into 9 equal parts, each containing 1 - 2 elements. Specifically, the first 2 fault location units each detect 2 elements, the last 6 units each detect 1 element, and the interval of the last unassigned fault location unit only contains 1 element. That is, the new round of division is: the detection interval assigned to the 1st fault location unit is [90, 91], the detection interval assigned to the 2nd fault location unit is [92, 93], the detection interval assigned to the 3rd fault location unit is [94, 94], the detection interval assigned to the 4th fault location unit is [95, 95], the detection interval assigned to the 5th fault location unit is [96, 96], the detection interval assigned to the 6th fault location unit is [97, 97], the detection interval assigned to the 7th fault location unit is [98, 98], the detection interval assigned to the 8th fault location unit is [99, 99], and the interval of the unassigned fault location unit is [100, 100]. Then the second-round detection interval division message is sent to each fault location unit.

[0086] In this embodiment, after receiving the detection interval division message, each fault location unit moves to the appropriate position in its own interval according to the principle of consistent position order, controls its boundary location mechanical components to move near the boundaries of their respective intervals, extends the probe to maintain good contact, calculates the appropriate test signal amplitude, sends a test excitation signal and collects the detected response signal, and determines whether the connectivity test is normal. In this embodiment, the 4th fault location unit reports an abnormality in this round, and the other fault location units all report normal.

[0087] In this embodiment, after the logic cooperation unit collects the second-round fault cooperation location reports, it learns that the No. 4 unit reports a fault, and there is only 1 component in the fault area. Based on this, it is determined that the component included in this interval, i.e., the No. 95 component, is the faulty component, and the fault location task is completed. Therefore, a task end message is sent to make each fault location unit return to its original position.

[0088] In this embodiment, the location of the single fault point is determined after two rounds of cycling.

[0089] Embodiment 4:

[0090] In this embodiment, the series circuit includes M = 100 series component units, and the serial numbers of the series circuit components are natural numbers from 1 to 100; the number of fault location units N = 8, and the serial numbers of the fault location units are from 1 to 8. The increasing direction of their serial numbers and the increasing direction of the serial numbers of the series circuit components are both consistent with the positive direction of the extension direction of the series circuit. The length of each fault location unit body when tightened along the circuit extension direction is 1.5 times the length of a series circuit unit, which is greater than the length of one series unit, L = 2. The circuit contains only one fault point, and the serial number of the faulty component is 95.

[0091] In this embodiment, since the length of a single fault location unit body is greater than the length of one series circuit unit, the problem of position conflict needs to be considered. Therefore, the detection interval is divided according to the strategy described in claim 6 and the entire fault location process is controlled.

[0092] In this embodiment, the entire fault location process is divided into three stages. The first stage is the full-member cooperation search stage: In the first round, the logic cooperation unit divides 100 components into 9 equal parts. Since the number of series component units included in each part can only be an integer, the actual detection intervals assigned to 8 fault location units are as follows: the detection interval of the fault location unit numbered 1 contains 12 circuit units, the detection intervals of the fault location units numbered 2 - 8 each contain 11 circuit units, and finally there is an interval containing 11 circuit units to which no fault location unit is assigned. According to the principle of consistent position order, the detection interval assigned to the fault location unit numbered 1 is [1, 12], the detection interval assigned to the fault location unit numbered 2 is [13, 23], the detection interval assigned to the fault location unit numbered 3 is [24, 34], the detection interval assigned to the fault location unit numbered 4 is [35, 45], the detection interval assigned to the fault location unit numbered 5 is [46, 56], the detection interval assigned to the fault location unit numbered 6 is [57, 67], the detection interval assigned to the fault location unit numbered 7 is [68, 78], the detection interval assigned to the fault location unit numbered 8 is [79, 89], and the last interval to which no fault location unit is assigned is [90 - 100].

[0093] In this embodiment, the logic cooperation unit notifies each fault location unit of the above-mentioned detection interval division. Each fault location unit, according to the series element interval assigned to itself, moves to the middle position of the specified interval, then drives the boundary location components at both ends to move near the two ends, and then extends the probe to maintain good contact with the test points at the boundary elements. According to the known physical characteristics of normal elements and the number of elements included in the detected interval, the required signal amplitude is calculated, and a connectivity test signal is sent through the probe and the test result is collected. According to the test result, it is judged whether the series circuit in each interval is normal or not; in this embodiment, since the faulty element is located in the interval of the last unassigned fault location unit, the detection results reported by the 1st - 8th fault location units in the first round are: normal, normal, normal, normal, normal, normal, normal, normal.

[0094] In this embodiment, after receiving the above reports, the logic cooperation unit can judge that the fault is within the interval [90, 100] of the unassigned fault location unit. There are 11 elements in this interval. If it is divided into 9 equal parts, each part contains 1 - 2 elements, and there must be some intervals with the number of elements less than L (in this example, L = 2). Therefore, the first stage ends and the second stage, that is, the partial cooperation location stage, is started.

[0095] In this embodiment, since the interval to be detected contains 11 elements, when dividing the interval, it is necessary to ensure that the number of elements in each interval is not less than L, where L is 2 here. So the interval [90, 100] is divided into 5 equal parts and assigned to 4 adjacent fault location units. Moreover, since this 11 - element interval is located at the end section of the entire series circuit, the 4 fault location units with the largest numbers are assigned to participate in the second stage, that is, the partial cooperation search stage. The specific division is as follows: the interval responsible for fault location unit 5 is: [90, 92], the interval responsible for fault location unit 6 is: [93, 94], the interval responsible for fault location unit 7 is: [95, 96], the interval responsible for fault location unit 8 is: [97, 98], and the interval of the last unassigned fault location unit is: [99, 100].

[0096] In this embodiment, after receiving the detection interval division message, each fault location unit moves to the appropriate position in its own interval according to the principle of consistent position order, controls its boundary location mechanical components to move near the boundaries of their respective intervals, extends the probe to maintain good contact, calculates the appropriate test signal amplitude, sends the test signal and collects the detection result, and determines whether the connectivity test is normal or not. In this embodiment, the 7th fault location unit reports an abnormality in this round, and the other fault location units all report normal.

[0097] In this embodiment, after the logic collaboration unit receives all the second round of fault collaborative location reports, it learns that fault location unit No. 7 reports a fault. The fault area contains two components. Due to the limitation of the space occupied by the fault location unit, it is not suitable to be further divided. The partial collaborative search phase ends and the third phase is started: the independent search phase.

[0098] In this embodiment, in the independent search phase, the logical coordination unit notifies the No. 7 fault location unit to independently perform a connectivity test on each component of the interval [95, 96] reported as having a fault in the second phase. In the first component-by-component test, it is found that the No. 95 component has a fault. The second component-by-component test is for the No. 96 component, which is confirmed to be normal. At this point, it is determined that the single fault point location task has been completed, and a task end message is issued to restore each fault location unit to its original position.

[0099] In this embodiment, the location of the single fault point is confirmed after four rounds of connectivity tests.

[0100] Embodiment 5:

[0101] In this embodiment, the series circuit includes a number of series element units M=100, and the series circuit element numbers are natural numbers from 1 to 100; the number of fault location units N=8, and the fault location units are numbered from 1 to 8, and the numbering direction is consistent with the direction of increase of the series circuit element numbers and the positive direction of the series circuit extension direction. The length of each fault location unit body when tightened along the circuit extension direction is 1.5 series circuit unit lengths, which is greater than the length of one series circuit unit, L=2, and the circuit actually contains 9 fault points, and the fault element numbers are 3, 7, 8, 21, 33, 57, 64, 72, and 95 (only multiple faults were known before testing).

[0102] In this embodiment, the entire fault location process is divided into two stages. The first stage is the fault area marking stage, and the second stage is the fault point precise location stage. The fault area marking stage is divided into the following two steps:

[0103] Step B1: The logic coordination unit evenly divides 100 series circuit elements into 8 equal parts. Since the number of series element units in each part can only be an integer, the detection intervals actually assigned to the 8 fault location units are as follows: The detection intervals of the fault location units numbered 1 - 4 each contain 13 circuit units, and the detection intervals of the fault location units numbered 5 - 8 each contain 12 circuit units. According to the principle of consistent position order, the detection interval assigned to the 1st fault location unit is [1, 13], the detection interval assigned to the 2nd fault location unit is [14, 26], the detection interval assigned to the 3rd fault location unit is [27, 39], the detection interval assigned to the 4th fault location unit is [40, 52], the detection interval assigned to the 5th fault location unit is [53, 64], the detection interval assigned to the 6th fault location unit is [65, 76], the detection interval assigned to the 7th fault location unit is [77, 88], and the detection interval assigned to the 8th fault location unit is [89, 100]. The logic coordination unit notifies each fault location unit of the above detection interval division. Each fault location unit moves to the middle position of the assigned series circuit element interval according to its own situation, then drives the boundary positioning components at both ends to move near both ends, and then extends the probes to maintain good contact with the test points at the boundary elements. Calculate the required signal amplitude according to the known physical characteristics of normal elements and the number of elements contained in the detected interval, send a connectivity test signal through the probes and collect the test results, and judge whether the series circuits in each interval are normal according to the test results; in this embodiment, the detection results of the 1st - 8th fault location units in the first round are: abnormal, abnormal, abnormal, normal, abnormal, abnormal, normal, abnormal; each fault location unit reports the detected results, and the logic location unit marks the intervals reported as abnormal as faulty intervals.

[0104] Step B2: The logic coordination unit evenly divides each faulty interval into equal parts with no less than L (L is 2 in this example) circuit units, and assigns them to the original fault location units that were assigned in Step B1 and are now marked as faulty intervals. Then each fault location unit conducts connectivity tests on these subdivided intervals one by one. Specifically:

[0105] The detection intervals assigned to Fault Location Unit 1 include 6 sub-intervals: R11 = [1, 3], R12 = [4, 5], R13 = [6, 7], R14 = [8, 9], R15 = [10, 11], R16 = [12, 13]; the results of the connectivity tests for each sub-interval are in sequence: abnormal, normal, abnormal, abnormal, normal, normal; the detection intervals assigned to Fault Location Unit 2 include 6 sub-intervals: R21 = [14, 16], R22 = [17, 18], R23 = [19, 20], R24 = [21, 22], R25 = [23, 24], R26 = [25, 26]; the corresponding connectivity test results for each sub-interval are in sequence: normal, normal, normal, abnormal, normal, normal;

[0106] The detection intervals assigned to Fault Location Unit 3 include 6 sub-intervals: R31 = [27, 29], R32 = [30, 31], R33 = [32, 33], R34 = [34, 35], R35 = [36, 37], R36 = [38, 39]; the corresponding connectivity test results for each sub-interval are in sequence: normal, normal, abnormal, normal, normal, normal;

[0107] Fault Location Unit 4 is temporarily idle;

[0108] The detection intervals assigned to Fault Location Unit 5 include 6 sub-intervals: R51 = [53, 54], R52 = [55, 56], R53 = [57, 58], R54 = [59, 60], R55 = [61, 62], R56 = [63, 64]; the corresponding connectivity test results for each sub-interval are in sequence: normal, normal, abnormal, normal, normal, abnormal;

[0109] The detection intervals assigned to Fault Location Unit 6 include 6 sub-intervals: R61 = [65, 66], R62 = [67, 68], R63 = [69, 70], R64 = [71, 72], R65 = [73, 74], R66 = [75, 76], and the corresponding connectivity test results for each sub-interval are: normal, normal, normal, abnormal, normal, normal;

[0110] Fault Location Unit 7 is temporarily idle;

[0111] The detection range assigned to Fault Location Unit No. 8 includes 6 sub-ranges: R81 = [89, 90], R82 = [91, 92], R83 = [93, 94], R84 = [95, 96], R85 = [97, 98], R86 = [99, 100]. The connectivity test results of the corresponding sub-ranges are: normal, normal, normal, abnormal, normal, normal. After each fault location unit reports the connectivity test results of the sub-ranges within its detection range to the Logic Collaboration Unit, the Logic Collaboration Unit marks the sub-ranges with abnormal connectivity test results as faulty sub-ranges. The faulty area marking phase is completed. In this phase, each fault location unit simultaneously conducts up to 7 connectivity tests respectively.

[0112] In this embodiment, after the faulty area marking phase is completed, it enters the precise fault location phase, which includes the following steps:

[0113] Step B3, the Logic Collaboration Unit counts that the total number J of the sub-ranges marked as faulty is 9. Using all 8 fault location units, two rounds of detection of each sub-range by each unit are required. According to the principle of as even division as possible and consistent position order, assign sub-range R11 to Fault Location Unit No. 1, assign sub-ranges R13 and R14 to Fault Location Unit No. 2, assign sub-range R24 to Fault Location Unit No. 3, assign sub-range R33 to Fault Location Unit No. 4, assign sub-range R53 to Fault Location Unit No. 5, assign sub-range R56 to Fault Location Unit No. 6, assign sub-range R64 to Fault Location Unit No. 7, and assign sub-range R84 to Fault Location Unit No. 8.

[0114] Step B4: Each fault location unit, as assigned by the logic coordination unit, conducts connectivity tests on each component one by one for each assigned sub-interval. Among them, in the first round, fault location unit 1 conducts component-by-component detection on the faulty sub-interval R11, with a total of 3 single-component detections, and detects component 3 as the faulty component. At the same time, fault location unit 2 conducts component-by-component detection on the faulty sub-intervals R13 and R14 in two rounds successively, with a total of 4 component-by-component detections, and successively detects component 7 and component 8 as faulty components. At the same time, fault location unit 3 conducts component-by-component detection on the faulty sub-interval R24, with a total of 2 component-by-component detections, and detects component 24 as the faulty component. At the same time, fault location unit 4 conducts component-by-component detection on the faulty sub-interval R33, with a total of 2 component-by-component detections, and detects component 33 as the faulty component. At the same time, fault location unit 5 conducts component-by-component detection on the faulty sub-interval R53, with a total of 2 component-by-component detections, and detects component 57 as the faulty component. At the same time, fault location unit 6 conducts component-by-component detection on the faulty sub-interval R56, with a total of 2 component-by-component detections, and detects component 64 as the faulty component. At the same time, fault location unit 7 conducts component-by-component detection on the faulty sub-interval R64, with a total of 2 component-by-component detections, and detects component 72 as the faulty component. At the same time, fault location unit 8 conducts component-by-component detection on the faulty sub-interval R84, with a total of 2 component-by-component detections, and detects component 95 as the faulty component. Thus, all faulty components in the series circuit are detected, and they are successively the 3rd, 7th, 8th, 21st, 33rd, 57th, 64th, 72nd, and 95th components. In step B4, the number of sub-intervals assigned to each fault location unit is different, and the number of component-by-component detections required is also different. Fault location unit 1 experiences 3 component-by-component connectivity tests, the most is fault location unit 2 which experiences 4 component-by-component connectivity tests, and the other fault location units all only experience two component-by-component connectivity tests.

[0115] In this embodiment, in the first stage, each fault location unit executes a maximum of 7 connectivity tests, and in the second stage, the most is fault location unit 2 which experiences 4 connectivity tests. According to the 2nd fault diagnosis unit with the longest time-consuming, the number of connectivity tests it experiences is 11 times, which is far less than the 100 measurement times required for simply using one fault location unit to conduct component-by-component tests on 100 series circuit components, and also less than the number of detections required for simply evenly assigning all series circuit components to 8 fault location units and then each fault location unit directly conducts component-by-component detection on the series circuit components (100 / 8 = 12.5. If this simple method is adopted, to conduct component-by-component detection on all series circuit components, there must be a fault location unit that needs to experience 13 component-by-component detections on the series circuit components).

[0116] It should also be noted that from the perspective of the causes of faults, the faults in the series circuit of devices of the same model can be divided into single-point faults and multi-point faults. When a fault occurs for the first time, the vast majority are single-point faults. Subsequently, if there is improper use of the faulty circuit, it may lead to damage of more components and turn into multi-point faults, but the probability of such multi-point faults is relatively small. From the perspective of improving the efficiency of fault location, for a faulty series circuit, when it is uncertain whether the faulty circuit has only single-point faults or multi-point faults, in order to improve the efficiency of fault location, the multi-source collaborative fault location method provided by the present invention can be first tried to adopt the single-fault multi-source collaborative location method. If more than one fault location unit reports a fault during the fault collaborative location process, the faulty interval is marked and the multi-point fault location is continued according to the method described in claim 7 in the subsequent fault location process until the location of all faulty components is completed.

[0117] As mentioned above, the above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, makes equivalent substitutions or changes, and all should be covered by the protection scope of the present invention.

Claims

1. A multi - element collaborative positioning device for faults in a series circuit of devices of the same model, comprising a core component, an information acquisition device, and a fault point marking device, characterized in that, The information acquisition device is used to obtain the number of series devices M, the element spacing d, the number of fault location units N, the appearance size of the fault location units, and the selected test interval division strategy of the series circuit to be detected; the core component includes a logic coordination unit and N fault location units, where N is an integer greater than or equal to 2; the program executed by the logic coordination unit includes the test interval division strategy selected by the information acquisition device. The fault point marking device prints and marks each determined faulty component according to the fault location result of the core component.

2. The multi - element collaborative positioning device for the series circuit fault of the same - type devices according to claim 1, wherein, The logic coordination unit is used to simultaneously assign a fault detection range to each fault location unit and receive the detection result reports of each fault location unit, and then determine whether further location is required according to the detection result reports of all fault location units; if further location is required, calculate the reduced fault search range, and divide the new search range into N search intervals according to the selected division strategy, and simultaneously notify each search interval to the corresponding fault location unit; each of the fault location units simultaneously receives the fault search interval assigned to this fault location unit by the logic coordination unit, and each independently drives the two boundary location mechanical components of this fault location unit to the boundary points of the search interval designated for this fault location unit, and then the boundary location mechanical components at both ends extend the probes to maintain good contact with the detection points of the designated search interval on the series circuit to be measured, and then the fault location unit sends a test signal to detect whether there is a fault in this section of the series circuit. Each fault location unit reports the detection result of whether there is a fault in the corresponding search interval to the logic coordination unit through the dedicated signal channel of this fault location unit.

3. A method for multi - collaborative localization of faults in a series circuit of same - type devices according to any one of claims 1 - 2, characterized in that, Suppose the number of devices of the same model in the series circuit is M. When M ≤ N, since the number of fault location units is sufficient to assign a fault location unit to each series circuit element, all faulty components can be found through one multi-element collaborative location. When M > N, the program adopted by the logic coordination unit includes the following steps: S1: Divide M series circuit elements evenly into N parts along the extension direction of the series circuit, so that each part contains an integer number of circuit units and the difference in the number of circuit units contained in each part does not exceed 1, that is, generate N - 1 non-repeating integers I1, I2, …, I N-1 , such that 0 < I1 < I2 < … < I N-1 < M, I1, I2, …, I N-1 represent the numbers of the last elements included in the 1st, 2nd, …, N - 1st intervals in sequence, and also the starting coordinates of the 2nd, 3rd, …, Nth intervals in units of the length occupied by one element in the series circuit; meanwhile, send the corresponding initial test intervals to each fault location unit U1, U2, …, U N respectively. The initial test interval of U1 is [0, I1], the initial test interval of U2 is [I1, I2], …, the initial test interval of U N-1 is [I N-2 , I N-1 , and the initial test interval of U N is [I N-1 , M]; S2: Receive the test result reports from each fault location unit until the test result reports of all fault location units in this round are complete. S3: Analyze the test results of this round, and select the interval [I X-1 , I X reported by the fault location unit X that contains the fault point. If I X - I X-1 = 1, it means that the interval tested by the fault location unit X in this round contains only one circuit unit, and this circuit unit is the only fault unit in the entire series circuit. The fault location task is completed, go to S6, and the program ends; otherwise, re-divide the fault point interval [I X-1 , I X into N equal intervals, calculate N - 1 non-repeating new integers I1, I2,..., I X-1 + 1, I X - 1] in the interval, such that I N-1 < I1 < I2 <... < I X-1 < I N-1 < I X . Send the test intervals composed of I X-1 , the new integers I1, I2,..., I N-1 and I X to the corresponding fault location units U1, U2,..., U N respectively. The test interval of U1 is [I X-1 , I1], the initial test interval of U2 is [I1, I2],..., the test interval of U N-1 is [I N-2 , I N-1 , and the test interval of U N is [I N-1 , I X ; S4: Receive the test results from each fault location unit until the test result reports of all fault location units in this round are complete. S5: Go to S3. S6: The algorithm of the logic coordination unit ends, and all fault location units are notified to restore and return to their original positions respectively.

4. A method for multi - collaborative localization of faults in a series circuit of devices of the same model according to claim 3, characterized in that, The working process of each fault location unit includes the following steps: A1: Wait until a notification message from the logic coordination unit is received. A2: After receiving the notification information sent by the logic coordination unit to this fault location unit, analyze whether the message indicates the test interval of this fault location unit or a task end notification. If it is a task end notification, go to step A6; otherwise, continue to execute the subsequent steps. A3: Drive the two boundary location mechanical components equipped with this fault location unit to the two boundaries of the detection interval responsible for this fault location unit newly designated by the logic coordination unit. A4: The boundary positioning mechanical components at both ends extend out of the robotic arm, align the test probes with the test points at the corresponding boundary points, and maintain good electrical contact; A5: Turn on the test circuit, send out test signals, and then determine whether there is a fault within the range of the series circuit measured by this fault location unit according to the test results. Report the round number, measurement range, and fault information to the logic cooperation unit, and then go to step A1; A6: Turn off the test circuit, retract the probes, drive the boundary positioning mechanical components of this fault location unit to tighten, and move the main body to its corresponding initial position; A7: End.

5. The multi - element collaborative positioning device for the series circuit fault of the same - type devices according to claim 1, wherein, Apply the uniform division strategy under the conditions that the entire series circuit contains only a single fault point and the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is less than the space length occupied by a series circuit unit. Specifically, divide the range to be searched into N + 1 intervals of the same size, where N represents the number of fault location units.

6. A uniform partitioning strategy different from the applicable conditions described in claim 5, characterized in that, When the space size occupied by each fault location unit when tightened along the extension direction of the series circuit is greater than the space length occupied by a series circuit unit, divide the entire fault location process into three stages: the full - scale cooperation search stage, the partial cooperation search stage, and the unit - alone search stage; use L to represent the number of circuit units required to be occupied by each fault location unit when tightened along the extension direction of the series circuit. In the full - scale cooperation search stage, divide the range to be searched into N + 1 intervals of the same size, where N represents the number of fault location units. After one round of cooperation search, the entire cooperation search range will be reduced to one - (N + 1) - th of the previous search range. If the number of series circuit units contained in the new search interval assigned to each fault location unit is not less than L, continue the new round of full - scale cooperation search; otherwise, the full - scale cooperation search stage is completed and enter the partial cooperation search stage. In the partial cooperation search stage, the number of fault location units participating in the cooperation search in each round gradually decreases as the fault search range continuously decreases. It is necessary to ensure that as many fault location units as possible participate in the cooperation search in this round and at the same time ensure that the number of series circuit units contained in the search interval of each fault location unit is not less than L. As the partial cooperation search stage progresses, when the remaining fault search range is less than 2L series circuit units, the partial cooperation search stage ends and enters the unit - alone search stage. In the unit - alone search stage, the logic cooperation unit selects a fault location unit closest to the search range to carefully search the search range. The optional search methods for careful search include binary search or sequential search until the accurate fault point location is found.

7. A uniform partitioning strategy applicable to the condition of multiple faulty components in a series circuit, characterized in that Divide the entire fault location process into two stages: the faulty area marking stage and the fault point precise location stage. The faulty area marking stage is further divided into the following two steps: Step B1: Divide the entire series circuit into N equal parts, where N is the number of fault location units. Each fault location unit conducts a connectivity test at both ends of the corresponding search interval to determine whether there is a fault in this interval. Subsequently, each fault location unit reports the detection result of this interval, and the logic cooperation unit makes a fault or no - fault mark for each interval based on this; Step B2: The logic coordination unit notifies each corresponding fault location unit that reported a fault interval in Step B1 to divide the detection interval responsible for by this unit into floor(floor(M / N) / L) equal parts, so that the number of series circuit units contained in each equal part is not less than L. floor(x) represents the operation of rounding down the positive number x. Then, each corresponding fault location unit successively conducts connectivity tests on both ends of each of the floor(floor(M / N) / L) subdivided intervals (or small segments) it is responsible for, and represents the test results of whether there is a fault in each small segment after subdivision as an array. Subsequently, the test result array is reported to the logic coordination unit. After the logic coordination unit receives the data reported by each fault location unit, it marks whether there is a fault in each corresponding subdivided interval; in this step, all fault location units corresponding to the intervals that reported no fault in the previous step, i.e., Step B1, do not need to perform any operations; After the above Step B2 is completed, the precise positioning stage is entered, and this stage includes the following two steps: Step B3: The logic coordination unit counts the total number of segments J of the subdivided intervals with faults and the start and end positions of each subdivided interval, and assigns a corresponding fault location unit to each subdivided interval with a fault; Step B4: Each fault location unit conducts a unit-by-unit conduction test on the series circuit within the subdivided interval assigned to it by the logic coordination unit to determine whether there is a fault, and reports the test results to the logic coordination unit in the form of an array.

8. A uniform partitioning strategy applicable to the condition of multiple faulty components in a series circuit according to claim 7, characterized in that In Step B3, first, the number of rounds R of precise positioning needs to be calculated as R = ceil(J / N), where ceil represents rounding up; when the number of segments of the fault subdivided intervals is less than N, the number of fault location units is more than the number of fault subdivided segments. According to the principle of proximity priority, a corresponding fault location unit is selected for each fault subdivided interval to reduce the time required for the fault location unit to move; when the number of fault subdivided intervals J is equal to the number of fault location units, due to spatial position limitations, only one corresponding fault location unit can be assigned to each fault subdivided interval according to the principle that the position order of the fault subdivided interval and the fault location unit is the same; when the number of segments of the fault subdivided intervals is more than the number of fault location units, R≥2, then more than two rounds of fault precise positioning are required. In the previous R - 1 rounds, all fault location units operate at full load. The fault subdivided intervals are divided into N areas according to their spatial positions, so that the number of fault subdivided intervals contained in each area is basically the same. In each round, one fault subdivided interval is selected from each area according to the principle of the same position order and assigned to the corresponding fault location unit; in the last round, if all N fault location units are at full load, it is still assigned according to the principle of the same position order, and if the number of fault subdivided intervals to be precisely positioned is less than N, the fault location units can be assigned to the fault subdivided intervals according to the principle of distance priority.

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