Quadruped robot reliability evaluation method and device

Abstract

The invention discloses a reliability assessment method and device for a quadruped robot, and relates to the technical field of reliability assessment, and the method employs a reliability model for the quadruped robot, thereby facilitating the mastering of weak links or potential fault points of the quadruped robot in advance. By determining the reliability level of each component module, the selection of proper devices is facilitated, the optimization design of the quadruped robot is carried out, and the overall quality and performance of the quadruped robot are improved; by mastering the reliability evaluation result of the quadruped robot, a maintenance plan and a maintenance strategy can be systematically formulated, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of reliability evaluation, in particular to a quadruped robot reliability evaluation method and device. BACKGROUND

[0002] At present, aerospace equipment, vehicle engineering equipment, safety-critical equipment and the like all have reliability analysis and evaluation links, and the reliability research of quadruped robots is all based on some components or links such as foot ends, protection, software and the like.

[0003] With the rapid development of quadruped robot technology, simulation technology and evaluation technology, the application of quadruped robots has already been widespread in various industries, and the reliability evaluation of the whole quadruped robot has important significance. How to scientifically evaluate the reliability of the whole quadruped robot based on a quadruped robot base type platform, a task load and a control terminal is a problem to be solved at present. SUMMARY

[0004] In view of the above problems, the present application provides a quadruped robot reliability evaluation method and device for overcoming the above problems or at least partially solving the above problems.

[0005] The present application provides the following solutions:

[0006] A quadruped robot reliability evaluation method comprises the following steps:

[0007] Determine a component unit of the quadruped robot to be reliability evaluated, wherein the component unit to be reliability evaluated comprises a combination of one or more of a base type platform, a task load and a control terminal;

[0008] Obtain a failure rate of the component unit to be reliability evaluated, wherein the failure rate comprises a sum of failure rates of each maintainable device included in the component unit to be reliability evaluated;

[0009] Input the failure rate of the component unit to be reliability evaluated into a reliability model, so that the reliability model outputs a reliability evaluation result corresponding to the component unit to be reliability evaluated; the reliability model comprises a reliability function of the base type platform, a reliability function of the task load and a reliability function of the control terminal.

[0010] Preferably, the failure rate of the base type platform is calculated in the following formula:

[0011] λ 1j = λ 11 + λ 12 + λ 13 + λ 14 + λ 15 + λ 16 + λ 17

[0012] wherein λ 11 is the failure rate of the joint module, λ 12 is the failure rate of the limb mechanism, λ 13 is the failure rate of the body module, λ 14 is the failure rate of the power system, λ 15 is the failure rate of the motion control system, λ 16 is the failure rate of the body perception system, λ 17 is the failure rate of the field communication system.

[0013] Preferably, the failure rate of the mission payload is calculated as follows:

[0014]

[0015] wherein λ 21 is the failure rate of the robotic arm payload, λ 22 is the failure rate of the reconnaissance payload, λ 23 is the failure rate of the strike payload.

[0016] Preferably, the failure rate of the control terminal is calculated as follows:

[0017] λ 3j = λ 31 + λ 32 + λ 33 + λ 34 + λ 35

[0018] wherein λ 31 is the failure rate of the processor, λ 32 is the failure rate of the memory, λ 33 is the failure rate of the display screen, λ 34 is the failure rate of the input device, λ 35 is the failure rate of the terminal communication system.

[0019] Preferably, the reliability model is represented by the following equation:

[0020] R(t) = R1(t)R2(t)R3(t)

[0021] wherein R1(t) represents the reliability function of the base platform, R2(t) represents the reliability function of the mission payload, and R3(t) represents the reliability function of the control terminal.

[0022] Preferably, the reliability function of the base platform is represented by the following equation:

[0023]

[0024] wherein λ1i represents the failure rate of the base platform.

[0025] Preferably, the reliability function of the mission payload is represented by the following formula:

[0026]

[0027] wherein λ 2i represents the failure rate of the mission payload.

[0028] Preferably, the reliability function of the control terminal is represented by the following formula:

[0029]

[0030] wherein λ 3i represents the failure rate of the control terminal.

[0031] Preferably, the failure rate of the component unit to be reliability evaluated is input into a mean time between failure model, so that the mean time between failure model outputs a mean time to failure evaluation result; the mean time between failure model is represented by the following formula:

[0032]

[0033] wherein λ ij represents the failure rate of the component unit to be reliability evaluated.

[0034] A quadruped robot reliability evaluation device for executing the quadruped robot reliability evaluation method described above, the device comprising:

[0035] A to-be-evaluated unit determination unit for determining a component unit of the quadruped robot to be reliability evaluated, the component unit to be reliability evaluated comprising a combination of one or more of a base platform, a mission payload, and a control terminal;

[0036] A failure rate acquisition unit for acquiring the failure rate of the component unit to be reliability evaluated, the failure rate comprising the sum of the failure rates of each maintainable device included in the component unit to be reliability evaluated;

[0037] A reliability evaluation result acquisition unit for inputting the failure rate of the component unit to be reliability evaluated into a reliability model, so that the reliability model outputs a reliability evaluation result corresponding to the component unit to be reliability evaluated; the reliability model comprising a reliability function of the base platform, a reliability function of the mission payload, and a reliability function of the control terminal.

[0038] According to the specific embodiments of the present application, the following technical effects are provided:

[0039] The four-legged robot reliability evaluation method and device provided by the embodiment of the application have the advantages that the reliability model for the four-legged robot helps to grasp the weak links or potential failure points of the four-legged robot in advance, the reliability level of each component module is clear, which helps to select appropriate devices and optimize the design of the four-legged robot, and improves the overall quality and performance of the four-legged robot, and the reliability evaluation result of the four-legged robot can be used to systematically formulate a maintenance plan and a maintenance strategy, and reduce the maintenance cost.

[0040] Of course, implementing any product of the application does not necessarily need to achieve all the advantages described above at the same time. BRIEF DESCRIPTION OF DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the application or in the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description only constitute some embodiments of the application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0042] Figure 1 is a flowchart of a four-legged robot reliability evaluation method provided by the embodiment of the application;

[0043] Figure 2 is a schematic diagram of a four-legged robot provided by the embodiment of the application;

[0044] Figure 3 is a schematic diagram of a four-legged robot reliability evaluation device provided by the embodiment of the application;

[0045] Figure 4 is a schematic diagram of a four-legged robot reliability evaluation device provided by the embodiment of the application. DETAILED DESCRIPTION

[0046] The technical solutions in the embodiments of the application will be described clearly and completely below with reference to the drawings in the embodiments of the application. Obviously, the described embodiments only constitute some of the embodiments of the application, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments in the application belong to the protection scope of the application.

[0047] Referring to Figure 1 , a four-legged robot reliability evaluation method provided by the embodiment of the application, as shown in the figure, the method can include: Figure 1

[0048] S101: determining a component unit of the four-legged robot to be reliability evaluated, the component unit to be reliability evaluated including one or a combination of several of a base platform, a task load and a control terminal;​

[0049] S102: obtaining failure rates of the component units to be reliability evaluated, the failure rates including sums of failure rates of each maintainable device included in the component units to be reliability evaluated;

[0050] The failure rates of each component unit provided by the embodiments of the present application can be obtained by pre-computing corresponding historical data of parts, and in the specific implementation, the embodiments of the present application can further provide a calculation method of the failure rate of the base platform as shown in the following formula:

[0051] λ 1j = λ 11 + λ 12 + λ 13 + λ 14 + λ 15 + λ 16 + λ 17

[0052] In the formula, λ 11 is a failure rate of a joint module, λ 12 is a failure rate of a four-limb mechanism, λ 13 is a failure rate of a body module, λ 14 is a failure rate of a power system, λ 15 is a failure rate of a motion control system, λ 16 is a failure rate of a body perception system, and λ 17 is a failure rate of a field communication system.

[0053] The calculation method of the failure rate of the task load is shown in the following formula:

[0054]

[0055] In the formula, λ 21 is a failure rate of a mechanical arm load, λ 22 is a failure rate of a reconnaissance load, and λ 23 is a failure rate of a strike load.

[0056] The calculation method of the failure rate of the control terminal is shown in the following formula:

[0057] λ 3j = λ 31 + λ 32 + λ 33 + λ 34 + λ 35

[0058] In the formula, λ 31 is a failure rate of a processor, λ 32 is a failure rate of a memory, λ 33 is a failure rate of a display screen, and λ 34λ is the failure rate of the input device 35 λ is the failure rate of the terminal communication system.

[0059] S103: input the failure rate of the component unit to be reliability evaluated into the reliability model, so that the reliability model outputs the reliability evaluation result corresponding to the component unit to be reliability evaluated; the reliability model comprises a reliability function of a base platform, a reliability function of a task load, and a reliability function of a control terminal.

[0060] In a specific implementation, the reliability model can be represented by the following formula:

[0061] R(t) = R1(t)R2(t)R3(t)

[0062] In the formula, R1(t) represents the reliability function of the base platform, R2(t) represents the reliability function of the task load, and R3(t) represents the reliability function of the control terminal.

[0063] Further, the reliability function of the base platform is represented by the following formula:

[0064]

[0065] In the formula, λ 1i represents the failure rate of the base platform.

[0066] The reliability function of the task load is represented by the following formula:

[0067]

[0068] In the formula, λ 2i represents the failure rate of the task load.

[0069] The reliability function of the control terminal is represented by the following formula:

[0070]

[0071] In the formula, λ 3i represents the failure rate of the control terminal.

[0072] To evaluate the mean time between failures (MTBF), the component unit to be reliability evaluated can be input into a mean time between failures model, so that the mean time between failures model outputs the mean time between failures evaluation result; the mean time between failures model is represented by the following formula:

[0073]

[0074] In the formula, λ ijFailure rate of a component unit to be reliability evaluated.

[0075] As shown in Figure 2 The quadruped robot provided by the embodiment of the present application mainly consists of a basic platform, a task load and a control terminal, wherein the basic platform consists of a joint module, a four-limb mechanism, a body module, a power system, a motion control system, a body perception system and a field communication system, the task load consists of a mechanical arm load, a reconnaissance load and a strike load, and the control terminal mainly consists of a processor, a memory, a display screen, an input device and a terminal communication system.

[0076] The reliability model is a reliability model used to estimate the maintenance and support requirements caused by possible failures of the quadruped robot and its component units. In order to ensure the integrity of the quadruped robot, the reliability of each sub-system group must meet the design requirements. Therefore, the reliability model of the quadruped robot adopts a series-parallel model. It is assumed that the quadruped robot and each sub-system are repairable devices, and the failure of the modules of the component devices occurs randomly and obeys an exponential distribution. In actual application, one or several component units can be selected for reliability analysis according to needs.

[0077] Among them, the basic platform and the control terminal of the quadruped robot are series models, and the task load of the quadruped robot is a replaceable parallel model.

[0078] This method ensures the reliability of the quadruped robot during operation, can effectively prevent the weak links of each module of the quadruped robot, and take effective measures in advance to reduce or eliminate risks. At the same time, it is helpful to master the reliability level of each component of the quadruped robot, optimize the design, and improve the overall level of the quadruped robot.

[0079] The method divides the quadruped robot into a basic platform, a task load and a control terminal. This classification method and reliability evaluation method can be extended to other unmanned equipment.

[0080] In summary, the quadruped robot reliability evaluation method provided by the present application adopts a reliability model for the quadruped robot, which helps to master the weak links or potential failure points of the quadruped robot in advance. By clearly defining the reliability level of each component module, it is helpful to select appropriate devices, optimize the design of the quadruped robot, and improve the overall quality and performance of the quadruped robot. By mastering the reliability evaluation results of the quadruped robot, a systematic maintenance plan and maintenance strategy can be developed to reduce maintenance costs.

[0081] Referring to Figure 3 The embodiment of the present application can also provide a quadruped robot reliability evaluation device, as shown in Figure 3 for executing the quadruped robot reliability evaluation method described above, the device comprises:

[0082] The unit to be evaluated determination unit 301 is used to determine the constituent units to be evaluated for the reliability of the quadruped robot. The constituent units to be evaluated for reliability include one or more of the following: base platform, task payload, and control terminal.

[0083] Failure rate acquisition unit 302 is used to acquire the failure rate of the component unit to be evaluated for reliability, wherein the failure rate includes the sum of the failure rates of each repairable device included in the component unit to be evaluated for reliability.

[0084] The reliability assessment result acquisition unit 303 is used to input the failure rate of the component to be reliably assessed into the reliability model, so that the reliability model outputs the reliability assessment result corresponding to the component to be reliably assessed; the reliability model includes the reliability function of the base platform, the reliability function of the task payload, and the reliability function of the control terminal.

[0085] This application embodiment can also provide a quadruped robot reliability assessment device, the device including a processor and a memory:

[0086] The memory is used to store program code and transmit the program code to the processor;

[0087] The processor is used to execute the steps of the quadruped robot reliability assessment method described above according to the instructions in the program code.

[0088] like Figure 4 As shown in the embodiment of this application, a quadruped robot reliability evaluation device may include: a processor 10, a memory 11, a communication interface 12, and a communication bus 13. The processor 10, memory 11, and communication interface 12 all communicate with each other through the communication bus 13. In this embodiment, the processor 10 may be a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic devices.

[0089] The processor 10 can call the program stored in the memory 11. Specifically, the processor 10 can execute the operations in the embodiments of the quadruped robot reliability assessment method.

[0090] The memory 11 is used to store one or more programs, which may include program code, including computer operation instructions. In this embodiment, the memory 11 stores at least a program for implementing the following functions: The method includes:

[0091] Determine a component unit to be reliability evaluated of the quadruped robot, the component unit to be reliability evaluated includes one or more combinations of a base platform, a task load and a control terminal;

[0092] Obtain a failure rate of the component unit to be reliability evaluated, the failure rate includes a sum of failure rates of each maintainable device included in the component unit to be reliability evaluated;

[0093] Input the failure rate of the component unit to be reliability evaluated into a reliability model, so that the reliability model outputs a reliability evaluation result corresponding to the component unit to be reliability evaluated; the reliability model includes a reliability function of the base platform, a reliability function of the task load and a reliability function of the control terminal.

[0094] In a possible implementation, the memory 11 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function (such as a file creation function, a data read-write function) and the like; and the data storage area can store data created in the use process, such as initialization data and the like.

[0095] In addition, the memory 11 can include a high-speed random access memory, and can also include a non-volatile memory, for example, at least one magnetic disk storage device or other volatile solid-state storage device.

[0096] The communication interface 12 can be an interface of a communication model, used for connecting with other devices or systems.

[0097] Of course, it needs to be explained that, Figure 4 The structures shown do not constitute a limitation on the quadruped robot reliability evaluation device in the embodiments of the present application, and in actual applications, the quadruped robot reliability evaluation device can include more or fewer components than Figure 4 those shown, or combine certain components.

[0098] The embodiments of the present application can also provide a computer readable storage medium for storing program codes, the program codes being used to execute the steps of the quadruped robot reliability evaluation method described above.

[0099] It is to be noted that, in the present text, the terms such as first and second, and the like, are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between such entities or operations. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by "comprises a" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0100] From the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which can be stored in a storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0101] Each of the embodiments in the present specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other. Each embodiment focuses on the difference from other embodiments. In particular, for the system or system embodiments, since it is basically similar to the method embodiments, it is described more simply, and the relevant parts can be referred to the part of the method embodiments. The above-described system and system embodiments are merely illustrative, and the units described as separate components can be or can not be physically separated, and the components displayed as units can be or can not be physical units, i.e., they can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the present embodiment according to actual needs. Those skilled in the art can understand and implement it without creative labor.

[0102] The above only describes the preferred embodiments of the present application and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application is included in the protection scope of the present application.

Claims

1. A method for reliability assessment of a quadruped robot, characterized in that, include: The components to be evaluated for reliability of a quadruped robot are determined, and the components to be evaluated for reliability include one or more of the following: a base platform, a task payload, and a control terminal. Obtain the failure rate of the component unit to be reliability evaluated, wherein the failure rate includes the sum of the failure rates of each repairable device included in the component unit to be reliability evaluated; The failure rate of the component to be reliably evaluated is input into the reliability model so that the reliability model outputs the reliability evaluation result corresponding to the component to be reliably evaluated; the reliability model includes the reliability function of the base platform, the reliability function of the mission payload, and the reliability function of the control terminal.

2. The method for reliability assessment of a quadruped robot according to claim 1, characterized in that, The failure rate of the base platform is calculated using the following formula: l 1j =λ 11 +λ 12 +λ 13 +λ 14 +λ 15 +λ 16 +λ 17 In the formula: λ 11 λ represents the failure rate of the joint module. 12 For the failure rate of the limb mechanism, λ 13 For the failure rate of the body module, λ 14 λ represents the failure rate of the power system. 15 For the failure rate of the motion control system, λ 16 For the failure rate of the ontology perception system, λ 17 This refers to the failure rate of the field communication system.

3. The method for reliability assessment of a quadruped robot according to claim 1, characterized in that, The failure rate of the mission payload is calculated using the following formula: In the formula: λ 21 λ is the failure rate of the robotic arm load. 22 To detect the failure rate of the payload, λ 23 To combat the failure rate of the load.

4. The method for reliability assessment of a quadruped robot according to claim 1, characterized in that, The failure rate of the control terminal is calculated using the following formula: l 3j =λ 31 +λ 32 +λ 33 +λ 34 +λ 35 Where, λ 31 For processor failure rate, λ 32 For memory failure rate, λ 33 For the failure rate of the display screen, λ 34 For input device failure rate, λ 35 The failure rate of the terminal communication system.

5. The method for reliability assessment of a quadruped robot according to claim 1, characterized in that, The reliability model is represented by the following equation: R(t)=R1(t)R2(t)R3(t) In the formula: R1(t) represents the reliability function of the basic platform, R2(t) represents the reliability function of the mission load, and R3(t) represents the reliability function of the control terminal.

6. The method for reliability assessment of a quadruped robot according to claim 5, characterized in that, The reliability function of the base platform is expressed by the following formula: In the formula: λ 1i This indicates the failure rate of the base platform.

7. The method for reliability assessment of a quadruped robot according to claim 5, characterized in that, The reliability function of the task payload is expressed by the following formula: In the formula: λ 2i This indicates the failure rate of the mission payload.

8. The method for reliability assessment of a quadruped robot according to claim 5, characterized in that, The reliability function of the control terminal is expressed by the following formula: In the formula: λ 3i This indicates the failure rate of the control terminal.

9. The method for reliability assessment of a quadruped robot according to claim 1, characterized in that, The failure rate of the component to be reliability evaluated is input into the mean time between failures (MTBF) model, so that the MTBF model outputs the mean time between failures (MTBF) evaluation result; the MTBF model is expressed by the following formula: In the formula: λ ij This indicates the failure rate of the component to be evaluated for reliability.

10. A reliability assessment device for a quadruped robot, characterized in that, The apparatus for performing the quadruped robot reliability assessment method according to any one of claims 1-9, the apparatus comprising: The unit to be evaluated is used to determine the constituent units of the quadruped robot to be evaluated for reliability. The constituent units to be evaluated for reliability include one or a combination of basic platform, task payload, and control terminal. A failure rate acquisition unit is used to acquire the failure rate of the component unit to be evaluated for reliability, wherein the failure rate includes the sum of the failure rates of each repairable device included in the component unit to be evaluated for reliability. The reliability assessment result acquisition unit is used to input the failure rate of the component to be reliably assessed into the reliability model, so that the reliability model outputs the reliability assessment result corresponding to the component to be reliably assessed; the reliability model includes the reliability function of the base platform, the reliability function of the mission payload, and the reliability function of the control terminal.

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