A control system and control method for a retrieval robot

Abstract

The present application relates to the technical field of control adjustment, and particularly relates to a control system and a control method of a back-taking robot, the control system is used for controlling the back-taking robot to complete a back-taking process, and the control system comprises a central control platform, an interactive module, a control module, a voting module and an execution module; the control information is synchronously transmitted to three industrial computer units through the interactive module, each industrial computer unit independently analyzes an instruction and generates a first control signal containing motion parameters, and simultaneously, a reliability index calculated in real time is added; the voting module periodically collects signals and reliability data output by each unit, when detecting that the reliability index of a certain industrial computer unit continuously falls below a threshold value, the weight of the certain industrial computer unit is automatically reduced until the abnormal signal is temporarily shielded; the problem that the control system of the back-taking robot in the prior art is easily affected by single particle effects is effectively alleviated, and accurate control of the back-taking robot is realized.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of control adjustment technology, in particular to a control system and control method of a back-taking robot. BACKGROUND

[0002] Back-taking of sludge is one of the main tasks of cleaning the waste liquid storage tank. There is still a small amount of residual waste water in the bottom of the storage tank, which has not been treated. In order to reduce the harm to the environment, it is necessary to clean the waste liquid storage tank. Under the existing operation technology, there is a way of using an automatic robot for back-taking operation.

[0003] However, the existing robot control system is designed for conventional industrial environment, and the special challenges brought by the high-intensity radiation field in the storage tank are not fully considered. The core electronic control unit is extremely fragile in the radiation environment, which seriously restricts the reliability and safety of the back-taking operation.

[0004] Specifically, the high-energy particle radiation in the storage tank can cause two types of fatal electronic device effects:

[0005] One is single event upset (SEU), which can cause bit flip of the logic state of the memory or register unit, resulting in control instruction error, navigation data tampering or program execution flow confusion. For example, the coordinate parameters of a preset motion instruction may be distorted due to SEU during transmission or processing, causing the robot to collide with the tank wall or reinforcing rib, resulting in task failure or equipment damage.

[0006] The second is single event latchup (SEL), which can form a low impedance path inside the CMOS device, causing power short circuit and large current phenomenon. If the power cannot be turned off in a short time, the main control chip will be directly burned out, causing permanent failure of the entire control system. SUMMARY

[0007] The main purpose of the present application is to provide a control system and control method of a back-taking robot, which aims to alleviate the problem that the control system of the back-taking robot in the prior art is susceptible to single particle effect.

[0008] To achieve the above-mentioned purpose, the present application provides a control system of a back-taking robot, which is used for controlling the back-taking robot to complete the back-taking process, and comprises:

[0009] A central control platform, which is used for inputting control information;

[0010] An interaction module, which is used for realizing information interaction between the back-taking robot and the central control platform;

[0011] A control module, the control module comprising at least three industrial computer units, the industrial computer units being configured to convert control information into first control signals;

[0012] A voting module, the voting module being configured to introduce a credibility index into the first control signals, and to weight and arbitrate all credibility indexes to vote on the first control signals output by all industrial computer units, and to output second control signals after voting;

[0013] An execution module, the execution module being configured to execute the second control signals.

[0014] Optionally, the control system further comprises an updating module, the updating module being configured to update the credibility indexes after each decision cycle.

[0015] Optionally, the control system further comprises a watchdog module, the watchdog module being configured to define a health vector of the control system, and to intervene in the control module in a hierarchical manner through comparison of the health threshold and the health vector.

[0016] Optionally, the industrial computer units are further configured to perform a hash operation on the control information to obtain first check signals, the first control signals comprising angle information and speed information.

[0017] Optionally, the control system further comprises a time delay module, the time delay module being signal-connected with the voting module and the execution module, the time delay module comprising a time delay calculation unit, the time delay calculation unit being configured to receive the second control signals, and to record an initial time when the second control signals are transmitted to the execution module; the time delay calculation unit is further configured to calculate a dynamic time delay, and to transmit the first check signals to the execution module according to the dynamic time delay.

[0018] Optionally, the execution module is further configured to perform a hash operation to obtain second check signals, and to compare the first check signals with the second check signals.

[0019] Optionally, the execution module comprises a mechanical arm unit, the mechanical arm unit comprising at least one rotary joint, the rotary joint being configured to execute the second control signals.

[0020] To achieve the above-mentioned purposes, the present application further provides a control method of a back-take robot, the control method comprising the following steps:

[0021] Obtaining control information;

[0022] Converting the control information into first control signals;

[0023] The credibility index of the first control signal is introduced, all credibility indexes are weighted and arbitrated to vote all first control signals output by the industrial computer units, and a second control signal after voting is output;

[0024] The second control signal is executed.

[0025] Optionally, after the output of the second control signal after voting, the execution of the second control signal further comprises the following steps:

[0026] The control information is subjected to a hash operation to obtain a first check signal;

[0027] The voting module receives the second control signal and records the initial time when the second control signal is transmitted to the execution module; the time delay calculation unit is further used to calculate a dynamic time delay and transmit the first check signal to the execution module according to the dynamic time delay;

[0028] The execution module receives the second control signal and sends the second control signal to the instruction cache area of the motor driver; the execution module further performs a hash operation to obtain a second check signal, and compares the first check signal with the second check signal.

[0029] Optionally, the comparison condition of the comparison of the first check signal with the second check signal is:

[0030] If the first check signal is equal to the second check signal, the second control signal is executed;

[0031] If the first check signal is not equal to the second check signal, the instruction cache area is emptied, and an execution error is fed back.

[0032] The beneficial effects that can be achieved by the present application are as follows:

[0033] After the central control platform of the present application receives an operation instruction, the control information is synchronously transmitted to three industrial computer units through the interaction module, each industrial computer unit independently analyzes the instruction and generates a first control signal containing motion parameters, and simultaneously, a credibility index calculated in real time is added; the voting module periodically collects the signals and credibility data output by each unit, uses a sliding window algorithm to statistically analyze the historical reliability of each unit, and dynamically adjusts the weight distribution ratio; when it is detected that the credibility index of a certain industrial computer unit continuously falls below a threshold value, the weight of the industrial computer unit is automatically reduced until the abnormal signal is temporarily shielded; the second control signal after arbitration is transmitted to the execution module through a double-channel check mechanism, and the mechanical arm is driven to complete the predetermined action, based on the above process, the problem that the control system of the back-taking robot in the prior art is easily affected by single particle effect is effectively alleviated, and accurate control of the back-taking robot is realized. BRIEF DESCRIPTION OF DRAWINGS

[0034] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0035] Figure 1 This is a structural block diagram of the control system in Embodiment 1 of the present invention;

[0036] Figure 2 This is a flowchart illustrating the control method in Embodiment 3 of the present invention.

[0037] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0039] If the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Furthermore, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied. Additionally, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0040] Example 1

[0041] As attached Figure 1 As shown, this embodiment provides a control system for a retrieval robot. The control system is used to control the retrieval robot to complete the retrieval process. The control system includes:

[0042] Central control platform, which is used to input control information;

[0043] An interaction module is configured to realize information interaction between the retrieval robot and the central control platform.

[0044] A control module includes at least three industrial computer units, which are configured to convert control information into first control signals.

[0045] A voting module is configured to introduce a reliability index into the first control signals, and is further configured to weight and arbitrate all reliability indexes, vote on the first control signals output by all industrial computer units, and output second control signals after voting.

[0046] An execution module is configured to execute the second control signals.

[0047] It should be noted that in the prior art, the automatic robot control system used in the waste liquid tank cleaning operation usually adopts a single control unit architecture, and the core electronic devices thereof are susceptible to single particle effects in a high-intensity radiation environment. When there is high-energy particle radiation inside the tank, the register unit of the traditional control system may be subject to bit flipping, resulting in distortion of motion instruction coordinate parameters, and in severe cases, may cause mechanical arm collision accidents. More seriously, single particle locking effect may cause permanent damage to the main control chip, causing the entire control system to completely fail, resulting in interruption of cleaning operation and equipment loss.

[0048] It should be further noted that by analyzing the transmission path of control instructions in a radiation environment, it is found that the traditional system lacks a dynamic verification mechanism for instruction integrity. Through research on redundant control systems, a strategy of multi-node parallel processing combined with dynamic arbitration is proposed. The core idea is to generate control signals through multiple independent control units, and then select the optimal instruction through reliability evaluation, which not only ensures fault tolerance in the instruction generation stage, but also avoids error accumulation that may be caused by simple majority voting.

[0049] Based on the above problems, after receiving an operation instruction, the central control platform in the embodiment synchronously transmits control information to three industrial computer units through the interaction module. Each industrial computer unit independently analyzes the instruction and generates a first control signal containing motion parameters, while adding a real-time calculated reliability index. The voting module periodically collects the signals and reliability data output by each unit, uses a sliding window algorithm to statistically analyze the historical reliability of each unit, and dynamically adjusts the weight distribution ratio. When it is detected that the reliability index of a certain industrial computer unit is continuously lower than a threshold value, the weight of the industrial computer unit is automatically reduced until the abnormal signal is temporarily shielded. The second control signal after arbitration is transmitted to the execution module through a double-channel verification mechanism, and drives the mechanical arm to complete the predetermined action.

[0050] Compared with the prior art, the traditional control system directly outputs a control signal by using a single master control unit, and lacks an active protection mechanism against radiation interference. The embodiment effectively disperses the risk of damage to the control core caused by single event effects by providing multiple parallel industrial control computer units. Even if a single unit fails, the remaining units can still maintain the basic functions of the system. A dynamic weighted arbitration mechanism is introduced to replace the fixed majority voting, which can identify and suppress the gradual error accumulation caused by continuous radiation interference, and improve the identification accuracy of intermittent faults compared with the traditional three-out-of-two voting method.

[0051] Through the above technical solutions, the embodiment can effectively resist the interference of a high-intensity radiation environment on the control system and prevent control command errors caused by single event effects. The multi-industrial control computer unit design ensures that the system can still operate normally when some units fail, and the dynamic weighted arbitration mechanism significantly reduces the probability of executing incorrect commands. The execution module receives control signals that have been subjected to multiple verifications, thereby avoiding deviations in the movement trajectory of the mechanical arm caused by signal distortion and ensuring the safety and continuity of the waste liquid tank cleaning operation.

[0052] In some embodiments, the industrial control computer unit refers to an industrial control chip with independent computing capability, which can be implemented by using an embedded controller with an X86 architecture or an ARM architecture. Each unit independently runs the same control algorithm to generate control commands.

[0053] In some embodiments, the voting module refers to a logic processing unit with data fusion function, which can be implemented by using an FPGA chip to implement a weighted arbitration algorithm. The weight coefficients of each industrial control computer unit are dynamically adjusted according to the historical accuracy.

[0054] In some embodiments, the credibility index refers to a quantitative parameter reflecting the reliability of the control signal, which can be obtained by comprehensively calculating the matching degree of the check code, the historical command accuracy, and the hardware running state monitoring data.

[0055] In the embodiment, the control system further includes an updating module configured to update the credibility index after each decision-making cycle.

[0056] It can be understood that the updating module performs a clear and reconstruction operation on the credibility index at the end of each decision cycle, and when the first control signal output by the industrial computer unit is processed by the voting module, the updating module re-calculates the credibility weight of each unit by comparing the deviation value of the unit output signal in the current cycle with the voting result. More specifically, for sporadic error signals caused by single event upsets, the corresponding credibility weight of the industrial computer unit will be dynamically reduced, while the weight of the unit that outputs stably for a plurality of consecutive cycles is gradually increased. Through this periodic index reconstruction mechanism, it is ensured that the reliability evaluation of each unit in the weighted arbitration process is always based on the latest running state data, and the influence of the error index caused by early radiation interference on the subsequent decision is avoided.

[0057] It can also be understood that based on the above scheme, the problem of credibility index distortion accumulation caused by single event upset effect in a high-intensity radiation environment is solved, it is ensured that the weighted arbitration process is always based on the latest device state data, the continuous interference of historical errors on the current decision is effectively prevented, and the long-term running reliability of the control system in the radiation field is significantly improved.

[0058] In some embodiments, the decision cycle refers to a time period in which the system completes one control signal generation and execution, which can be implemented by a fixed time interval or an event trigger mechanism, for example, a configurable parameter in the range of 100 milliseconds to 1 second.

[0059] In this embodiment, the control system further comprises a watchdog module, and a health threshold is input into the watchdog module through an interaction module. The watchdog module is used to define a health vector of the control system, so as to perform hierarchical intervention on the control module by comparing the health threshold with the health vector.

[0060] It can be understood that the watchdog module continuously receives temperature sensor data, power current monitoring data and instruction verification error counter data from the industrial computer units, and integrates them into a multi-dimensional health vector. Each parameter in the health vector is compared with the corresponding preset health threshold in real time, and the intervention mechanism is triggered when any parameter exceeds the threshold. For example, if the processor temperature exceeds the safety threshold but does not reach the lock threshold, a soft reset instruction is sent to the industrial computer unit; if the power current suddenly increases to the lock threshold, the power supply of the unit is immediately cut off and the redundant unit is activated. This hierarchical processing can distinguish between transient errors caused by single event upsets and hardware failures caused by single event upsets, and avoid excessive intervention or insufficient protection caused by a single response strategy.

[0061] It can also be understood that the watchdog module in the prior art only monitors the system heartbeat signal and lacks multi-dimensional state parameter fusion analysis capability. In this embodiment, multi-dimensional matching of the health vector and the threshold is realized to achieve accurate classification and hierarchical response to radiation-induced failures, while maintaining continuous operation of the system and avoiding hardware damage.

[0062] Through the technical solution, the embodiment can effectively identify the transient control instruction error caused by single event upset, and quickly recover the affected industrial control unit through soft reset. For the power short circuit phenomenon caused by single event latch-up, the power supply of the fault unit can be cut off within milliseconds to prevent the main control chip from burning out. The mechanism maintains the continuous availability of the control module under radiation interference, and ensures that the mechanical arm unit avoids collision or shutdown accidents caused by electronic device failure when performing the back taking operation inside the tank.

[0063] In some embodiments, the expression of the voting module for weighted arbitration of all credibility indicators satisfies:

[0064] ;

[0065] Wherein, is the first control signal output by the N industrial control units, respectively represented as: O 1( t ), O 2( t ), O 3( t ), …… O N ( t );

[0066] is the credibility indicator output by the N industrial control units, respectively represented as: C 1( t ), C 2( t ), C 3( t ), …… C N ( t ), that is, the module i at time t credibility indicator;

[0067] t is the time;

[0068] It can be understood that the above expression is preferred when the second control signal is a continuous value.

[0069] For its discrete value or the output of the second control signal satisfies:

[0070] ;

[0071] ;

[0072] Wherein, V kis an output value;

[0073] S V k is a total credibility support.

[0074] First, all different output values are found, and the total credibility support obtained by each output value is calculated, and finally the corresponding output with the highest credibility index is selected as the second control signal.

[0075] In some embodiments, the update of the credibility index satisfies the expression:

[0076]

[0077] where λ is a loss of credibility penalty factor;

[0078] gamma is a compliance reward factor;

[0079] delta i t is a consistency flag.

[0080] In some embodiments, the definition of the health vector satisfies the expression:

[0081]

[0082] where H(t) is the overall health vector of the system at time t; t S j (t) is the state heartbeat of M key software tasks (such as path planning, visual recognition, etc.).

[0083] In some embodiments, the watchdog module is also defined with an alarm threshold, and the decision logic expression of the watchdog module satisfies:

[0084]

[0085] where A(…) is an action of layered intervention taken by the watchdog; wd

[0086] F(…) is a decision function;

[0087]

[0088] warn is an alarm threshold; T

[0089] T crit is a health threshold, less than the alarm threshold.

[0090] It can be understood that the action of layered intervention includes:​​​​​​​

[0091] Level 1: Software task restart

[0092] The trigger condition is that the state heartbeat is equal to 0, and only the specific software task is restarted, without affecting other tasks and system operation.

[0093] Level 2: Module soft reset

[0094] The trigger condition is that the credibility index is lower than the alarm threshold and the credibility index is greater than or equal to the health threshold, i.e. the credibility of a certain module first falls below the alarm line and is in a temporary logical error state; the intervention action at this time is to perform a soft reset (software restart or logical reset) on the module, and reset its credibility to an initial value (such as the average value).

[0095] Level 3: Fault module isolation

[0096] The trigger condition is that the credibility index is less than the health threshold, i.e. the credibility of a certain module continues to decrease and falls below the critical line, which is judged as a hard fault or persistent soft fault; the intervention action at this time is to permanently or temporarily set the weight of the module to zero, and the system will be downgraded to N-1 redundancy mode to continue running, and a detailed hardware fault alarm will be sent to the control platform.

[0097] Level 4: System hard restart

[0098] The trigger condition is that the overall heartbeat signal times out, which indicates that the entire control system may have collapsed, and the intervention action is to perform a final, traditional hardware reset to restart the entire robot control system.

[0099] Embodiment 2

[0100] This embodiment only describes the parts that are different from embodiment 1, specifically, the industrial computer unit is also used to perform a hash operation on the control information to obtain a first check signal, and the first control signal includes angle information and speed information.

[0101] It should be noted that when the industrial computer unit generates the control instruction, it simultaneously performs a hash operation on the original data composed of angle information and speed information to generate a corresponding first check signal, and when the control signal is transmitted to the voting module through the bus, the hash value is transmitted together with the angle and speed parameters. In the subsequent execution phase, the execution module generates a second check signal by repeating the hash operation and compares it with the received first check signal. If they are inconsistent, it is determined that the control information has been tampered with due to the single event upset effect in the transmission process, triggering the instruction discard and error feedback mechanism; the angle information and speed information are core parameters for motion control, and the hash check mechanism can cover both spatial positioning and time response dimensions, forming a complete integrity verification closed loop for key control data.

[0102] In some embodiments, the hash operation refers to converting input data of arbitrary length into output values of fixed length through a hash algorithm, which can be implemented by using the SHA-256 algorithm. The irreversibility and collision resistance of the SHA-256 algorithm can effectively identify single-bit flips of the control information occurring in the transmission process.

[0103] In some embodiments, the angle information refers to a rotation parameter of the end effector of the robot arm relative to a reference coordinate system, which can be encoded by using Euler angles or quaternions to ensure the spatial positioning accuracy of the motion trajectory of the robot arm.

[0104] In some embodiments, the speed information refers to a rotation speed setting value of each joint motor of the robot arm, which can be transmitted by using a pulse width modulation signal to maintain the dynamic stability of the motion process.

[0105] In the embodiment, the control system further comprises a time delay module, which is in signal connection with the voting module and the execution module. The time delay module comprises a time delay calculation unit, which is configured to receive the second control signal and record the initial time when the second control signal is transmitted to the execution module. The time delay calculation unit is further configured to calculate a dynamic delay and transmit the first check signal to the execution module according to the dynamic delay.

[0106] It can be understood that when the clock drift caused by single event upset is triggered by radiation interference, the time delay calculation unit records the initial time stamp when the second control signal reaches the execution module to monitor the abnormal delay of the signal transmission path in real time. Then, a dynamic delay model is established based on historical transmission data, the jitter range of the current transmission channel is calculated by using a sliding window algorithm, and a delay parameter matching the real-time transmission state is generated. The delay parameter is used to adjust the sending timing of the first check signal, so that the check signal and the control signal arrive at the same time within a variable time window. Therefore, the hash check mechanism can ensure the strict alignment of the check signal and the control signal by dynamically matching the transmission delay in the timing disorder scenario caused by radiation, thereby avoiding the check out-of-sync problem caused by the failure of the fixed delay mechanism.

[0107] In the embodiment, the execution module is further configured to perform a hash operation to obtain a second check signal, and the execution module is further configured to compare the first check signal with the second check signal.

[0108] It should be noted that after receiving the second control signal, the execution module synchronously starts the built-in hash operation unit to process the instruction data and generate the second check signal. Before the execution of the instruction, the comparison unit automatically extracts the first check signal of the register and the second check signal generated in real time for matching verification. When the two are completely consistent, it is determined that the control signal is not interfered by radiation, and the robot arm unit immediately executes the motion instruction.

[0109] In the embodiment, the execution module comprises a mechanical arm unit, and the mechanical arm unit comprises at least one rotary joint for executing the second control signal.

[0110] It can be understood that the mechanical arm unit executes the second control signal through the coordinated action of the rotary joints, each rotary joint is configured to independently execute a unit; when a certain joint causes signal distortion due to radiation interference, the remaining joints can still maintain the basic motion function based on the redundant control strategy. The rotary motion mode of the rotary joint reduces the electromagnetic sensitive area of the linear displacement mechanism, and reduces the influence of single event effects on the signal transmission path. The second control signal is decomposed into multiple joint motion instructions, and a multiple check mechanism is formed in the spatial coordinate system, and the abnormal motion deviation of any joint can be corrected through the motion compensation of adjacent joints.

[0111] Embodiment 3:

[0112] As shown in the accompanying drawings, Figure 2 The control method of the embodiment provides a control method of a back taking robot, and the control method comprises the following steps:

[0113] Obtaining control information;

[0114] Converting the control information into a first control signal;

[0115] Introducing a credibility index of the first control signal, and performing weighted arbitration on all credibility indexes to vote all first control signals output by the industrial computer units and output a second control signal after voting;

[0116] Executing the second control signal.

[0117] It should be noted that after obtaining the control information, the multiple industrial computer units convert the control instructions into the first control signal containing angle and speed parameters, the credibility index is dynamically updated through real-time monitoring of the historical error rate and the current running state of each industrial computer unit, and the high credibility unit is given a higher voting weight in the weighted arbitration process. Before the second control signal generated after arbitration is transmitted to the execution module, a first check signal is generated through a hash algorithm and compared with a second check signal generated by the execution module. When the time delay calculation unit detects that the signal transmission delay exceeds the preset threshold, the release timing of the instruction cache area is dynamically adjusted to ensure the synchronization of the mechanical arm joint motion and the instruction.

[0118] Compared with the prior art, the traditional robot control method does not set a credibility dynamic evaluation mechanism, and cannot cope with the randomness failure problem of multiple industrial control units in a radiation environment. The single check code static verification method in the prior art cannot cover the timing deviation in the transmission process, and the embodiment realizes multi-dimensional protection of instruction errors, data tampering and execution failures by combining weighted arbitration, dynamic hash verification and time delay compensation.

[0119] Through the above technical solutions, the embodiment solves the problems of instruction errors, data tampering and execution failures of the robot control system caused by the high-intensity radiation field in the storage tank; the credibility weighted arbitration mechanism effectively screens out control signals with strong anti-radiation interference capability, and the hash verification and time delay compensation ensure the integrity of instruction transmission and the synchronization of execution, thereby improving the reliability and safety of the retrieval operation.

[0120] In the embodiment, after the output of the second control signal after voting, the execution of the second control signal further includes the following steps:

[0121] Hashing the control information to obtain a first check signal;

[0122] The voting module receives the second control signal and records the initial time when the second control signal is transmitted to the execution module; the time delay calculation unit is also used to calculate the dynamic time delay and transmit the first check signal to the execution module according to the dynamic time delay;

[0123] The execution module receives the second control signal and sends the second control signal to the instruction cache area of the motor driver; the execution module performs hash operation again to obtain a second check signal, and compares the first check signal with the second check signal.

[0124] It can be understood that the control information is hashed to generate a first check signal before transmission, which is the unique identifier of the original data. The initial time when the second control signal output by the voting module is transmitted to the execution module is recorded and used for dynamic time delay calculation. The delay is adjusted in real time according to the stability of the current transmission path, ensuring that the first check signal and the second control signal match in timing. The execution module temporarily stores the received second control signal in the instruction cache area, and performs hash operation on the control information again to generate a second check signal. By comparing the results of the two hash operations, the instruction tampering caused by single event upset or lock can be detected. If the verification results are consistent, the instruction is loaded from the cache area for execution; if they are not consistent, the cache area is emptied and an error is fed back to block the propagation of the error instruction.

[0125] It can also be understood that in some embodiments, the hash operation can adopt a segmented processing manner, which splits the control information into multiple data blocks for generating check codes respectively, so as to reduce the influence of single event on the overall check process. The dynamic delay calculation can combine historical transmission delay data to predict the current delay threshold through a sliding window algorithm, thereby improving the accuracy of timing adjustment; the instruction cache area can be configured as a circular queue structure to support parallel caching and sequential execution of multiple groups of instructions.

[0126] In the embodiment, the comparison condition of comparing the first check signal and the second check signal is:

[0127] If the first check signal is equal to the second check signal, the second control signal is executed.

[0128] If the first check signal is not equal to the second check signal, the instruction cache area is emptied, and an execution error is fed back.

[0129] It can be understood that during the transmission of the control signal, the industrial computer unit performs hash operation on the control information to generate a first check signal, and the signal is transmitted to the execution module together with a second control signal. After receiving the second control signal, the execution module immediately performs the same hash operation to generate a second check signal. When the two check codes completely match, it indicates that the control signal is not affected by radiation interference, and the robot unit performs actions according to the instructions; when the check codes differ, it indicates that single event upset occurs in the transmission or processing link of the signal, causing data anomaly, at which time emptying the instruction cache area can prevent the error instructions from entering the execution queue, and at the same time, feedback error code to the central control platform to start the error correction mechanism. The process monitors the signal integrity in real time through the double check mechanism, quickly isolates the fault instructions when detecting the anomaly, and avoids mechanical collision or system locking caused by error data.

[0130] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent flow transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A control system for a retrieval robot, characterized in that The control system is used for controlling the retrieval robot to complete the retrieval process, and the control system comprises: a central control platform, which is used for inputting control information; an interaction module, which is used for realizing information interaction between the retrieval robot and the central control platform; a control module, which comprises at least three industrial computer units, and is used for converting the control information into first control signals; a voting module, which is used for introducing a credibility index of the first control signals, and is also used for weighting and arbitrating all credibility indexes to vote the first control signals output by all industrial computer units and output second control signals after voting; an execution module, which is used for executing the second control signals; the second control signals are continuous values or discrete values, wherein, when the second control signals are continuous values, an expression of the voting module for weighting and arbitrating all credibility indexes satisfies: ； The first control signals output for N industrial computer units are respectively represented as: O 1( t ), O 2( t ), O 3( t ), …… O N ( t ); The credibility indexes output for N industrial computer units are respectively represented as: C 1( t ), C 2( t ), C 3( t ), …… C N ( t ), namely the module i The credibility index at time point t ; t time of day; denotes a second control signal; when the second control signals are discrete values, the voting module is used for finding all different output values, calculating total credibility support obtained by each output value, selecting a corresponding output with the highest credibility index as the second control signal, and an expression satisfies: ； ； wherein V k is the output value; S V k ) is the total trust support;​ an expression for updating the credibility index satisfies: ； wherein, λ is a credibility penalty factor; γ Compliance reward factor; δ i ( t ) is a consistency flag.

2. A control system for a retrieval robot as claimed in claim 1, wherein, The control system further comprises an updating module, which is used for updating the credibility index after each decision cycle.

3. A control system for a retrieval robot as claimed in claim 1, wherein, The control system further comprises a watchdog module, a health threshold is input into the watchdog module through the interaction module, the watchdog module is used for defining a health vector of the control system, and the control module is intervened in layers through comparison between the health threshold and the health vector.

4. The control system of a retrieval robot according to claim 1, wherein The industrial computer unit is also used for performing a hash operation on the control information to obtain a first check signal, and the first control signal comprises angle information and speed information.

5. A control system for a retrieval robot as claimed in claim 4, wherein, The control system further comprises a time delay module, which is in signal connection with the voting module and the execution module, and comprises a time delay calculation unit, the time delay calculation unit is used for receiving the second control signals and recording initial time of the second control signals transmitted to the execution module, and is also used for calculating a dynamic time delay and transmitting the first check signal to the execution module according to the dynamic time delay.

6. A control system for a retrieval robot as claimed in claim 5, wherein, The execution module is also used for performing a hash operation to obtain a second check signal, and is also used for comparing the first check signal with the second check signal.

7. A control system for a retrieval robot as claimed in claim 5 or 6, wherein, The execution module comprises a mechanical arm unit, the mechanical arm unit comprises at least one rotating joint, and the rotating joint is used for executing the second control signals.

8. A control method of a retrieval robot, characterized by, The control method is based on the control system of the retrieval robot according to claim 6, and the control method comprises the following steps: obtaining control information; converting the control information into first control signals; introducing a credibility index of the first control signals, weighting and arbitrating all credibility indexes to vote the first control signals output by all industrial computer units, and outputting second control signals after voting; executing the second control signals.

9. The control method of a retrieval robot according to claim 8, wherein After the second control signals after voting are output, the following steps are further included before the second control signals are executed: Hashing the control information to obtain a first check signal; The voting module receives the second control signal and records the initial time when the second control signal is transmitted to the execution module; the time delay calculation unit is further configured to calculate a dynamic time delay and transmit the first check signal to the execution module according to the dynamic time delay; The execution module receives the second control signal and sends the second control signal to the instruction cache area of the motor driver; the execution module further performs hashing to obtain a second check signal, and compares the first check signal with the second check signal.

10. The control method of a retrieval robot according to claim 9, wherein The comparison condition for comparing the first check signal with the second check signal is: If the first check signal is equal to the second check signal, the second control signal is executed; If the first check signal is not equal to the second check signal, the instruction cache area is emptied, and an execution error is fed back.

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