CN110308669B - Modular robot self-repairing simulation system and method - Google Patents
Modular robot self-repairing simulation system and method Download PDFInfo
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- G05B17/00—Systems involving the use of models or simulators of said systems
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- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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Abstract
The invention discloses a modular robot self-repairing simulation system which comprises a management module, wherein the management module is connected with a data module, a simulation module, a control platform, a monitoring module, an analysis module and a repairing module, the analysis module comprises a language comparison module and an action comparison module, the language comparison module is connected with a language error recognition module, the action comparison module is connected with an action error recognition module, the language error recognition module and the action error recognition module are connected with an analysis processing module, and the repairing module comprises a kinematics algorithm module, a dynamics algorithm module, a motion simulation repairing module and a control algorithm improving module. Has the advantages that: the modular robot can better perform self-repairing, and is convenient to better meet the use requirements of people.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a system and a method for simulating self-repairing of a modular robot.
Background
The modular robot is a robot system consisting of a plurality of autonomous intelligent modules, changes the overall configuration by utilizing the connectivity and interchangeability among the modules and the ambient environment information sensed by the sensors of the modules, expands the movement form, realizes different movement gaits and completes corresponding operation tasks by mutual operation among a large number of modules; the modular robot is suitable for occasions with large change of working environment and complex operation tasks, such as space operation, disaster relief search, battlefield reconnaissance, nuclear power station maintenance and the like, and when the modular robot performs the operations, the modular robot is easy to break down due to variable conditions and uncertain factors of the environment; the existing module robot cannot perform self-repairing better after a fault occurs, so that the existing module robot cannot be operated and used better, and cannot better meet the use requirements of people.
In summary, how to enable the modular robot to perform self-repairing better is a technical problem which needs to be solved urgently at present.
Disclosure of Invention
The technical task of the invention is to provide a self-repairing simulation system and method for a modular robot to solve the problem of how to enable the modular robot to perform self-repairing better.
The technical scheme of the invention is realized as follows:
a self-repairing simulation system of a modular robot comprises a management module, wherein the management module is connected with a data module, a simulation module, a control platform, a monitoring module, an analysis module and a repairing module, the analysis module comprises a language comparison module and an action comparison module, the language comparison module is connected with a language error recognition module, the action comparison module is connected with an action error recognition module, the language error recognition module and the action error recognition module are connected with an analysis processing module, and the repairing module comprises a kinematic algorithm module, a dynamic algorithm module, a motion simulation repairing module and a control algorithm improving module;
when a fault is detected in the process of carrying out simulation operation on the module robot, the specific condition of the fault is detected through the monitoring module 5, and after the specific fault is detected, the fault is analyzed through the analysis module 6;
the analysis module 6 compares the language and the action data of the modular robot, identifies specific error data, and transmits the result to the repair module 7 through the analysis processing module 12 after the identification is finished;
the repair module 7 receives the instruction to perform self-repair on the fault, performs the repair on the fault through a kinematic algorithm and a dynamic algorithm, then performs motion simulation, performs repair improvement on the control algorithm, and transmits a new algorithm to the data module 2 after the repair improvement is completed.
Preferably, the simulation module comprises an instruction receiving module, a language module, an action module and an environment recognition module.
Preferably, the language module comprises a grammar module and a sound production module.
Preferably, the action module includes a head action module, a hand action module, a lower limb action module, and an action path module.
Preferably, the monitoring module comprises a language detection module, an action detection module, an instruction receiving detection module, an environment recognition detection module and a collision detection module.
Preferably, the language detection module includes a grammar detection module and an error reply detection module.
Preferably, the action detection module includes a head action detection module, a hand action detection module, a lower limb action detection module, and an action path detection module.
Preferably, the data module comprises a data recording module, a data improving module and a data updating module, the data module is connected with a limiting module, and the limiting module is connected between the management module and the simulation module.
Preferably, the control platform comprises a man-machine module, a hardware module and a communication module.
A self-repairing simulation method of a modular robot comprises the following specific steps:
s1, a module robot receives an instruction to perform simulation action operation;
s2, in the process of carrying out simulation action operation on the module robot, the monitoring module carries out real-time monitoring on the language, action, instruction receiving, environment recognition and collision of the module robot;
s3, when a fault is detected in the process of carrying out simulation operation on the module robot, detecting the specific condition of the fault through the monitoring module, and analyzing the fault through the analysis module after the specific fault is detected;
s4, the analysis module compares the language and the action data of the modular robot, then identifies specific error data, and transmits the result to the repair module through the analysis processing module after the identification is finished;
s5, the repair module receives the instruction to perform self-repair on the fault, repairs the fault through a kinematic algorithm and a kinetic algorithm, then performs motion simulation, repairs and improves the control algorithm, and transmits a new algorithm to the data module after the repair and improvement are completed;
s6, the data module receives data information and records, improves and updates the data information;
s7, after the data updating is finished, the limiting module limits the simulation action operation of the modular robot in error according to the updated data information; if a new failure occurs, the operations S1-S7 are repeated.
Compared with the prior art, the invention has the advantages and positive effects that:
1. through the simulation module, the modular robot can better perform simulation action operation, so that people can use the modular robot better.
2. Through the monitoring module can carry out real-time supervision to the trouble that module robot took place in the use to can be convenient for timely discovery problem, and then can be convenient for better carry out the selfreparing.
3. Through the interaction of the analysis module and the repair module, the fault of the modular robot can be analyzed, and self repair can be performed in time, so that the modular robot can be better used.
4. The invention well solves the problem of how to enable the modular robot to better perform self-repairing, so that the modular robot can timely and effectively perform self-repairing after a fault occurs, thereby facilitating better operation and use of the modular robot and better meeting the use requirements of people.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a block diagram of a system according to an embodiment of the invention;
FIG. 2 is a block diagram of an analysis module according to an embodiment of the invention;
FIG. 3 is a block diagram of a repair module according to an embodiment of the invention;
FIG. 4 is a block diagram of a simulation module according to an embodiment of the present invention;
FIG. 5 is a block diagram of a language module according to an embodiment of the present invention;
FIG. 6 is a block diagram of an action module according to an embodiment of the invention;
FIG. 7 is a block diagram of a monitoring module according to an embodiment of the invention;
FIG. 8 is a block diagram of a data module according to an embodiment of the present invention;
fig. 9 is a block diagram of a method according to an embodiment of the invention.
In the figure:
1. a management module; 2. a data module; 3. a simulation module; 4. a control platform; 5. a monitoring module; 6. an analysis module; 7. a repair module; 8. a language comparison module; 9. an action comparison module; 10. a language error recognition module; 11. a motion error identification module; 12. an analysis processing module; 13. a kinematic algorithm module; 14. a dynamics algorithm module; 15. a motion simulation restoration module; 16. a control algorithm improvement module; 17. an instruction receiving module; 18. a language module; 19. an action module; 20. an environment recognition module; 21. a grammar module; 22. a sound producing module; 23. a head action module; 24. a hand action module; 25. a lower limb action module; 26. an action path module; 27. a language detection module; 28. a motion detection module; 29. an instruction receiving detection module; 30. an environment recognition detection module; 31. a collision detection module; 32. a grammar detection module; 33. an error reply detection module; 34. a head motion detection module; 35. a hand motion detection module; 36. a lower limb movement detection module; 37. an action path detection module; 38. a data recording module; 39. a data improvement module; 40. a data update module; 41. defining a module; 42. a human-machine module; 43. a hardware module; 44. and a communication module.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
The invention is further described with reference to the following figures and specific examples.
In the first embodiment, as shown in fig. 1 to 3, a modular robot self-repairing simulation system according to an embodiment of the present invention includes a management module 1, the management module 1 is connected to a data module 2, a simulation module 3, a control platform 4, a monitoring module 5, an analysis module 6, and a repairing module 7, the simulation module 3 enables the modular robot to perform simulation action better, so as to be better convenient for people to use, the monitoring module 5 can perform real-time monitoring on a fault occurring in a using process of the modular robot, so as to be convenient for finding a problem in time, so as to perform self-repairing better, the analysis module 6 includes a language comparison module 8 and an action comparison module 9, the language comparison module 8 is connected to a language error recognition module 10, the action comparison module 9 is connected to an action error recognition module 11, the language error recognition module 10 and the action error recognition module 11 are both connected with an analysis processing module 12, and the repair module 7 comprises a kinematics algorithm module 13, a dynamics algorithm module 14, a motion simulation repair module 15 and a control algorithm improvement module 16; through the interaction of the analysis module 6 and the repair module 7, the fault of the modular robot can be analyzed and self-repaired in time, so that the modular robot can be better used;
when a fault is detected in the process of carrying out simulation operation on the module robot, the specific condition of the fault is detected through the monitoring module 5, and after the specific fault is detected, the fault is analyzed through the analysis module 6;
the analysis module 6 compares the language and the action data of the modular robot, identifies specific error data, and transmits the result to the repair module 7 through the analysis processing module 12 after the identification is finished;
the repair module 7 receives the instruction to perform self-repair on the fault, performs the repair on the fault through a kinematic algorithm and a dynamic algorithm, then performs motion simulation, performs repair improvement on the control algorithm, and transmits a new algorithm to the data module 2 after the repair improvement is completed.
In a second embodiment, as shown in fig. 4, the simulation module 3 includes an instruction receiving module 17, a language module 18, an action module 19, and an environment recognition module 20; the module robot can better receive the instruction, so that the simulation operation of language and action can be better performed, the environment can be sensed and identified while the simulation operation is performed, and the simulation operation can be better performed.
In a third embodiment, as shown in fig. 5, the language module 18 includes a grammar module 21 and a sound generation module 22; through the grammar module 21 and the sound production module 22, the modular robot can be closer to reality in dialogue communication, and therefore a better simulation effect can be achieved.
In a fourth embodiment, as shown in fig. 5, the action module 19 includes a head action module 23, a hand action module 24, a lower limb action module 25, and an action path module 26; the simulation system can enable the modular robot to be closer to a real-man mode in the actions of the head, the hands and the lower limbs and the action path in the simulation operation process, so that a better simulation effect can be achieved.
Fifth embodiment, as shown in fig. 7, the monitoring module 5 includes a language detection module 27, an action detection module 28, an instruction reception detection module 29, an environment recognition detection module 30, and a collision detection module 31; the system can monitor the language, action, instruction receiving and environment recognition conditions of the modular robot in real time in the using process of the modular robot, so that faults can be monitored timely and effectively, and the self-repairing effect can be better achieved.
Sixth embodiment, as shown in fig. 7, the language detection module 27 includes a syntax detection module 32 and an error recovery detection module 33; the method can detect the grammar and the correctness of the reply when the modular robot carries out simulation conversation communication, so that the fault of the modular robot on the language can be found in time, and the modular robot can be better self-repaired.
Seventh embodiment, as shown in fig. 7, the action detection module 28 includes a head action detection module 34, a hand action detection module 35, a lower limb action detection module 36, and an action path detection module 37; the detection method has the advantages that the head, the hands, the lower limbs and the action paths of the modular robot can be detected when the modular robot carries out simulation actions, faults of the modular robot on the head actions, the hands, the lower limbs and the action paths can be found out in time conveniently, and therefore the modular robot can be self-repaired better.
In an eighth embodiment, as shown in fig. 1 and 8, the data module 2 includes a data recording module 38, a data improving module 39 and a data updating module 40; the data can be recorded, improved and updated in time, so that the modular robot can be better used; a limiting module 41 is connected with the data module 2, and the limiting module 41 is connected between the management module 1 and the simulation module 3; the simulation action operation of the modular robot can be limited necessarily, so that the fault rate is reduced, and the use of people can be met better.
In a ninth embodiment, as shown in fig. 1, the control platform 4 includes a human-machine module 42, a hardware module 43, and a communication module 44; the convenient people operate and use, can be better satisfy people's user demand.
In a tenth embodiment, as shown in fig. 9, the invention provides a self-repair simulation method for a modular robot, which includes the following specific steps:
s1, a module robot receives an instruction to perform simulation action operation;
s2, in the process of carrying out simulation action operation on the module robot, the monitoring module 5 carries out real-time monitoring on the language, action, instruction receiving, environment recognition and collision of the module robot;
s3, when detecting that the module robot has a fault in the process of carrying out simulation operation, detecting the specific condition of the fault through the monitoring module 5, and after detecting the specific fault, analyzing the fault through the analysis module 6;
s4, the analysis module 6 compares the language and the action data of the modular robot, then identifies the specific error data, and transmits the result to the repair module 7 through the analysis processing module 12 after the identification is finished;
s5, the repair module 7 receives the instruction to perform self-repair on the fault, repairs the fault through a kinematic algorithm and a kinetic algorithm, then performs motion simulation, repairs and improves the control algorithm, and transmits a new algorithm to the data module 2 after the repair and improvement are completed;
s6, the data module 2 receives the data information and carries out recording, improvement and updating;
s7, after the data updating is finished, the limiting module 41 limits the simulation action operation of the modular robot in error according to the updated data information; if a new failure occurs, the operations S1-S7 are repeated.
The present invention can be easily implemented by those skilled in the art from the above detailed description. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the basis of the disclosed embodiments, a person skilled in the art can combine different technical features at will, thereby implementing different technical solutions.
Claims (10)
1. A self-repairing simulation system of a modular robot is characterized by comprising a management module (1), the management module (1) is connected with a data module (2), a simulation module (3), a control platform (4), a monitoring module (5), an analysis module (6) and a repair module (7), the analysis module (6) comprises a language comparison module (8) and an action comparison module (9), the language comparison module (8) is connected with a language error recognition module (10), the action comparison module (9) is connected with an action error identification module (11), the language error recognition module (10) and the action error recognition module (11) are both connected with an analysis processing module (12), the repair module (7) comprises a kinematic algorithm module (13), a dynamic algorithm module (14), a motion simulation repair module (15) and a control algorithm improvement module (16);
when a fault is detected in the process of carrying out simulation operation on the modular robot, the specific condition of the fault is detected through the monitoring module (5), and after the specific fault is detected, the fault is analyzed through the analysis module (6);
the analysis module (6) compares the language and the action data of the modular robot, then identifies the specific error data, and transmits the result to the repair module (7) through the analysis processing module (12) after the identification is finished;
the repair module (7) receives the instruction to carry out self-repair on the fault, carries out repair on the fault through a kinematic algorithm and a dynamic algorithm, then carries out motion simulation, carries out repair improvement on the control algorithm, and transmits a new algorithm to the data module (2) after the repair improvement is finished.
2. The modular robotic self-healing simulation system according to claim 1, wherein the simulation module (3) includes an instruction receiving module (17), a language module (18), an action module (19), and an environment recognition module (20).
3. The modular robotic self-healing simulation system of claim 2, wherein the language module (18) comprises a grammar module (21) and a vocalization module (22).
4. The modular robotic self-repair simulation system according to claim 2, wherein the action modules (19) comprise a head action module (23), a hand action module (24), a lower limb action module (25) and an action path module (26).
5. The modular robotic self-healing simulation system according to claim 1, wherein the monitoring module (5) comprises a language detection module (27), an action detection module (28), an instruction reception detection module (29), an environment recognition detection module (30), and a collision detection module (31).
6. The modular robotic self-healing simulation system of claim 5, wherein the language detection module (27) comprises a grammar detection module (32) and an error recovery detection module (33).
7. The modular robotic self-repair simulation system according to claim 5, wherein the action detection module (28) comprises a head action detection module (34), a hand action detection module (35), a lower limb action detection module (36), and an action path detection module (37).
8. The self-repairing simulation system of modular robot as claimed in claim 1, wherein the data module (2) comprises a data recording module (38), a data improving module (39) and a data updating module (40), the data module (2) is connected with a defining module (41), and the defining module (41) is connected between the management module (1) and the simulation module (3).
9. The modular robot self-healing simulation system according to claim 1, wherein the control platform (4) comprises a human-machine module (42), a hardware module (43), and a communication module (44).
10. A self-repairing simulation method of a modular robot, which is used for the self-repairing simulation system of the modular robot as claimed in claim 1, comprises the following specific steps:
s1, a module robot receives an instruction to perform simulation action operation;
s2, in the process of carrying out simulation action operation on the module robot, the monitoring module (5) carries out real-time monitoring on the language, action, instruction receiving, environment recognition and collision of the module robot;
s3, when a fault is detected in the process of carrying out simulation operation on the module robot, detecting the specific condition of the fault through the monitoring module (5), and analyzing the fault through the analysis module (6) after the specific fault is detected;
s4, the analysis module (6) compares the language and the action data of the modular robot, then identifies the specific error data, and transmits the result to the repair module (7) through the analysis processing module (12) after the identification is finished;
s5, the repair module (7) receives the instruction to perform self-repair on the fault, repairs the fault through a kinematic algorithm and a kinetic algorithm, then performs motion simulation, repairs and improves the control algorithm, and transmits a new algorithm to the data module (2) after the repair and improvement are completed;
s6, the data module (2) receives data information and carries out recording, improvement and updating;
s7, after the data updating is finished, the limiting module (41) limits the simulation action operation of the modular robot in error according to the updated data information; if a new failure occurs, the operations S1-S7 are repeated.
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| JP2017220176A (en) * | 2016-06-10 | 2017-12-14 | 富士通株式会社 | Determination device, determination method and determination program |
| CN108687760A (en) * | 2017-03-30 | 2018-10-23 | 株式会社安川电机 | Robot motion instructs generation method and robot motion command generating device |
| CN107479528A (en) * | 2017-06-19 | 2017-12-15 | 中国烟草总公司广东省公司 | The fault warning system and fault handling method of agricultural intelligent device |
| CN108009490A (en) * | 2017-11-29 | 2018-05-08 | 宁波高新区锦众信息科技有限公司 | A kind of determination methods of chat robots system based on identification mood and the system |
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| WO2021017080A1 (en) | 2021-02-04 |
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