CN112536817B - Steering engine fault processing method and device and terminal equipment - Google Patents
Steering engine fault processing method and device and terminal equipment Download PDFInfo
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- CN112536817B CN112536817B CN201910900939.6A CN201910900939A CN112536817B CN 112536817 B CN112536817 B CN 112536817B CN 201910900939 A CN201910900939 A CN 201910900939A CN 112536817 B CN112536817 B CN 112536817B
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Abstract
The invention is suitable for the technical field of intelligent robots, and provides a steering engine fault processing method, a steering engine fault processing device and terminal equipment, wherein the steering engine fault processing method comprises the following steps: and detecting the working state of any steering engine of the robot, and calling the robot according to a preset steering engine fault processing program when a calling instruction is received if the working state of any steering engine is a fault state, so that the robot can normally run. According to the invention, by detecting the working state of the steering engine of the robot, if any steering engine fails, the preset steering engine fault processing program is started to call the robot when a call instruction is received, so that the robot can be continuously used in the state of the failure of the steering engine, the service life of the robot is prolonged, and the user experience is improved.
Description
Technical Field
The invention belongs to the technical field of intelligent robots, and particularly relates to a steering engine fault processing method and device and terminal equipment.
Background
Recently, due to the diversity of smart robots, they are widely used in various fields and occasions.
However, when the robot is in use, the steering engine of the robot is inevitably failed or damaged. The steering wheel trouble or the damage of robot can lead to the robot can not normal use to influence the life-span of robot to a certain extent, reduced user experience degree. The invention reasonably utilizes the bad steering engine by detecting the damage of the steering engine, thereby ensuring that the robot continues to be used under certain conditions and prolonging the service life of the robot.
Disclosure of Invention
In view of this, embodiments of the present invention provide a steering engine fault handling method, a steering engine fault handling device, and a terminal device, so as to solve the problems in the prior art that a steering engine fault or damage of a robot may cause that the robot cannot be used normally, the service life of the robot is affected to a certain extent, and the user experience is reduced.
The first aspect of the embodiment of the invention provides a steering engine fault processing method, which comprises the following steps:
detecting the working state of any steering engine of the robot;
if the working state of any steering engine is a fault state, when a calling instruction is received, the robot is called according to a preset steering engine fault processing program, and the robot is enabled to normally run.
Optionally, call according to predetermineeing steering wheel fault handling procedure the robot makes the robot normal operating includes:
analyzing the calling instruction to obtain the information of the steering engine corresponding to the calling instruction; the information of the steering engine comprises the ID of the steering engine, the model of the steering engine and the attribute of the steering engine;
if the information of any steering engine corresponding to the calling instruction is the same as that of the fault steering engine, closing a calling processing program of the fault steering engine;
and starting a personalized interaction program of the robot to enable the robot to normally operate.
Optionally, the starting of the personalized interactive program of the robot includes:
calling other steering engines corresponding to the calling instruction; and the other steering engines are the steering engines corresponding to the calling instruction except the fault steering engine.
Optionally, the operating condition of arbitrary steering wheel of detection robot includes:
receiving a return result of a sensor of any steering engine;
and if the returned result of the sensor of any steering engine is an error result, judging that the steering engine corresponding to the error result has a fault.
Optionally, the operating condition of arbitrary steering wheel of detection robot includes:
calling any steering engine to execute a fault judgment instruction;
and if a failure result of calling of the fault judgment instruction returned by any one steering engine is received, judging that the steering engine corresponding to the failure result of calling of the fault judgment instruction fails.
Optionally, the operating condition of arbitrary steering wheel of detection robot includes:
and if the steering engine fault information reported by the user is acquired, judging that the steering engine corresponding to the steering engine fault information has a fault.
Optionally, if the operating condition of arbitrary steering wheel is the fault state, then when receiving the call instruction, according to presetting steering wheel fault treatment procedure and calling the robot, make after the robot normal operating, include:
uploading steering engine fault information to a manufacturer terminal;
acquiring a steering engine processing interaction program sent by a manufacturer terminal;
upgrading a system program of the robot according to the steering engine processing interaction program so as to repair the steering engine; alternatively, the first and second electrodes may be,
and sending fault processing prompt information to the user terminal.
A second aspect of the embodiments of the present invention provides a steering engine fault processing apparatus, including:
the detection module is used for detecting the working state of any steering engine of the robot;
and the processing module is used for calling the robot according to a preset steering engine fault processing program when a calling instruction is received if the working state of any steering engine is a fault state, so that the robot can normally run.
A third aspect of an embodiment of the present invention provides a terminal device, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the method as described above when executing the computer program.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as described above.
According to the embodiment of the invention, the working states of the steering engines of the robot are detected, and if any steering engine fails, the preset steering engine failure processing program is started to call the robot when a calling instruction is received, so that the robot can be continuously used in the state of the failure of the steering engine, the service life of the robot is prolonged, and the user experience degree is improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions 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 based on these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a steering engine fault processing method according to an embodiment of the present invention;
fig. 2 is a schematic flow chart of a steering engine fault processing method according to a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a steering engine fault processing device provided in the third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a steering engine fault processing device provided in the fourth embodiment of the present invention;
fig. 5 is a schematic diagram of a terminal device according to a fifth embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood by those skilled in the art, the technical solutions in the embodiments of the present invention will be clearly described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "comprises" and "comprising," and any variations thereof, in the description and claims of this invention and the above-described drawings are intended to cover non-exclusive inclusions. For example, a process, method, or system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus. Furthermore, the terms "first," "second," and "third," etc. are used to distinguish between different objects and are not used to describe a particular order.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
Example one
As shown in fig. 1, the present embodiment provides a steering engine fault handling method, which can be applied to terminal devices such as an intelligent robot and a humanoid robot. The steering engine fault processing method provided by the embodiment comprises the following steps:
s101, detecting the working state of any steering engine of the robot.
In specific application, the working state of any steering engine of the robot is detected in real time to determine whether the steering engine fails. The steering engine is a position (angle) servo driver and is suitable for a control system which needs to change and keep the angle continuously. The operating state includes, but is not limited to, a normal state and a fault state.
S102, if the working state of any steering engine is a fault state, when a calling instruction is received, the robot is called according to a preset steering engine fault processing program, and the robot is enabled to normally run.
In the specific application, if the working state of any one steering engine is detected to be a fault state, the robot is called according to a preset steering engine fault processing program when a calling instruction for calling the robot is received, so that the robot can normally run. It should be noted that the faulty steering engine may be one or more steering engines whose operating states are faulty states.
In one embodiment, the robot is called according to a preset steering engine fault handling program to enable the robot to normally operate, and the method includes the following steps:
analyzing the calling instruction to obtain the information of the steering engine corresponding to the calling instruction; the information of the steering engine comprises the ID of the steering engine, the model of the steering engine and the attribute of the steering engine;
if the information of any steering engine corresponding to the calling instruction is the same as that of the fault steering engine, closing a calling processing program of the fault steering engine;
and starting a personalized interaction program of the robot to enable the robot to normally operate.
In specific application, the steering engine information corresponding to the calling instruction is obtained by analyzing the calling instruction of the calling robot. For example, if the calling command is to call the robot to perform street dance, the steering engine information corresponding to the command to call the robot to perform street dance includes information of all steering engines of the robot. The information of the steering engine includes but is not limited to at least one of the ID of the steering engine, the model of the steering engine and the attribute of the steering engine.
For example, if the calling command calls that the robot lifts up the left arm, the steering engine information corresponding to the calling command includes information of all steering engines on the left arm of the robot.
And if the information of any one or more steering engines corresponding to the calling instruction is the same as that of the fault steering engine, closing the calling processing program of the fault steering engine. For example, if the calling command is to call the robot to perform street dance and the fault steering engines are the steering engines with the IDs 001 and 003 on the right arm of the robot, the calling processing program of the steering engines with the IDs 001 and 003 on the right arm of the robot is closed.
When the right arm of the robot is controlled to execute a command for performing street dance, the fault steering engines with the IDs of 001 and 003 are required to execute the command, and the calling processing programs of all the steering engines on the right arm of the robot are closed to ensure that the two fault steering engines are not called.
In one embodiment, initiating a personalized interactive program for a robot includes:
calling other steering engines corresponding to the calling instruction; and the other steering engines are the steering engines corresponding to the calling instruction except the fault steering engine.
In specific application, the personalized interaction program of the steering engine can be specifically set according to actual conditions. For example, if the robot is a robot with a dance function and obtains a dance instruction for calling a fault steering engine, a preset dance action is executed. For example, if the calling command is to call the robot to perform street dance, a fault steering engine exists on the right arm of the robot, and the calling processing program of the right arm of the robot is closed, the robot is controlled to execute street dance motions (such as sliding) without using the steering engine on the right arm, so that the robot can operate normally.
And meanwhile, prompt information that the steering engine of the right arm of the robot breaks down and cannot accurately execute the instruction is displayed.
And if the robot is a robot with a motion function and receives a motion instruction for calling the fault steering engine, executing preset motion operation.
For example, if the call command is a command for controlling the robot to move forward, a faulty steering engine is present on the right arm of the robot, and the call processing program of the right arm of the robot is closed, the robot is controlled to complete the forward movement only by swinging the left arm, the left leg and the right leg (i.e. the forward movement is completed only by using the steering engines on the left arm, the left leg and the right leg). And meanwhile, prompt information that the steering engine of the right arm of the robot breaks down and cannot accurately execute the instruction is displayed.
Through the operation, the robot can enter a self-protection state, and the fault steering engine is prevented from being further damaged.
In one embodiment, the preset steering engine fault handling program includes:
uploading the fault information of the steering engine to a manufacturer terminal;
acquiring a steering engine processing interaction program sent by a manufacturer terminal;
upgrading a system program of the robot according to the steering engine processing interaction program so as to repair the steering engine; alternatively, the first and second liquid crystal display panels may be,
and sending fault processing prompt information to the user terminal.
In the specific application, the fault information of the steering engine is uploaded to terminal equipment of a manufacturer, so that the manufacturer designs a steering engine processing interaction program according to the fault information of the steering engine, obtains the steering engine processing interaction program sent by the manufacturer terminal, and upgrades a system program of the robot according to the steering engine processing interaction program to repair the fault steering engine. The steering engine fault information includes, but is not limited to, ID of the steering engine, position information of the steering engine, damage degree of the steering engine, and the like.
Or sending a fault processing prompt message to the user terminal (in a specific application, the fault processing prompt message can be directly displayed, or the fault processing prompt message can be prompted in a voice prompt mode).
In this embodiment, the OTA can be used to acquire the steering engine to process the interactive program to upgrade the robot. Space download Technology (OTA).
And S104, upgrading the system program of the robot according to the steering engine processing interaction program so as to repair the steering engine.
In specific application, the system program of the robot is upgraded according to the steering engine processing interaction program so as to repair the steering engine. And after the upgrade is finished, the robot exits from the self-protection state, so that the robot is recovered to the normal state.
By acquiring a steering engine processing interaction program sent by a manufacturer terminal, fault steering engines are frequently processed and upgraded in real time, and the service life of the robot is prolonged.
In one embodiment, the steering engine fault API can be customized in advance, and when a steering engine fault is detected, a personalized interaction program developed by a developer and used for processing the steering engine fault is acquired, so that the robot can normally operate.
In specific application, a personalized interaction program for processing the fault of the steering engine can be specifically set according to actual conditions, for example, if the robot is a robot puppy and a fault steering engine exists in any joint of four limbs of the robot puppy, when an instruction for controlling the robot puppy to move forwards is received, wheels arranged at the bottoms of the four limbs are called out through the personalized interaction program and the robot puppy moves forwards through the wheels.
The working state of the steering engine of the robot is detected, if any steering engine breaks down, the preset steering engine fault processing program is started to call the robot when a call instruction is received, so that the robot can continue to be used in the state of the fault of the steering engine, the service life of the robot is prolonged, and the user experience degree is improved.
Example two
As shown in fig. 2, this embodiment is a further description of the method steps in the first embodiment. In this embodiment, step S101 includes:
and S1011, receiving a return result of a sensor of any steering engine.
In specific application, a return result of a sensor of any one steering engine of the robot is received in real time, and whether the return result is a correct return result is judged. Wherein the sensor includes, but is not limited to, at least one of a pressure sensitive sensor, a load cell, and a piezoelectric sensor.
And S1012, if the returned result of the sensor of any steering engine is an error result, judging that the steering engine corresponding to the error result has a fault.
In specific application, if the returned result of the sensor of any steering engine is received as an error returned result, the steering engine corresponding to the error result is judged to be in fault, and corresponding steering engine fault information is generated.
In one embodiment, step S101 further includes:
calling any steering engine to execute a fault judgment instruction;
and if a failure result of calling of the fault judgment instruction returned by any one steering engine is received, judging that the steering engine corresponding to the failure result of calling of the fault judgment instruction fails.
In specific application, any one steering engine is called to execute a fault judgment instruction so as to obtain a calling result of the steering engine to the fault judgment instruction. If a failure calling result of the fault judgment instruction returned by any one steering engine is received, the failure calling of the fault judgment instruction is judged to be unsuccessful, namely the steering engine corresponding to the failure calling result of the fault judgment instruction fails, and steering engine failure information is generated.
The fault judgment instruction is used for controlling the robot to execute a preset fault judgment action. The preset fault judgment action can be specifically set according to the actual situation. For example, if the robot is a dancing robot, the robot is called to complete any dancing action, such as jumping and sliding actions, and if the robot does not accurately complete the dancing action, it is determined that the robot may have a fault steering engine, and a fault determination command returned by the fault steering engine of the robot is received to call a failure result.
In one embodiment, step S101 further includes:
and if the steering engine fault information reported by the user is acquired, judging that the steering engine corresponding to the steering engine fault information has a fault.
In specific application, if steering engine fault information reported by a user is acquired, the steering engine corresponding to the steering engine fault information is judged to have a fault.
For example, if the steering engine fault information reported by the user includes the contents of ID 010 and model a001, it is determined that the steering engine with ID 010 and model a001 has a fault.
This embodiment detects the state of steering wheel through multiple mode, judges whether the steering wheel breaks down, has improved the efficiency and the rate of accuracy to whether the steering wheel breaks down and detects.
It should be understood that, the sequence numbers of the steps in the foregoing embodiments do not imply an execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present invention.
EXAMPLE III
As shown in fig. 3, the present embodiment provides a steering engine fault handling device 100 for performing the method steps in the first embodiment. The steering engine fault handling device 100 provided by the embodiment comprises:
the detection module 101 is used for detecting the working state of any steering engine of the robot;
and the processing module 102 is used for calling the robot according to a preset steering engine fault processing program when a calling instruction is received if the working state of any steering engine is a fault state, so that the robot operates normally.
In one embodiment, the apparatus comprises:
the uploading module is used for uploading the fault information of the steering engine to a manufacturer terminal;
the acquisition module is used for acquiring a steering engine processing interaction program sent by a manufacturer terminal;
the upgrading module is used for upgrading the system program of the robot according to the steering engine processing interaction program so as to repair the steering engine; alternatively, the first and second electrodes may be,
and the sending module is used for sending the fault processing prompt information to the user terminal.
In one embodiment, the calling the robot according to a preset steering engine fault handling program to enable the robot to operate normally includes:
analyzing the calling instruction to obtain the information of the steering engine corresponding to the calling instruction; the information of the steering engine comprises the ID of the steering engine, the model of the steering engine and the attribute of the steering engine;
if the information of any steering engine corresponding to the calling instruction is the same as that of the fault steering engine, closing a calling processing program of the fault steering engine;
and starting a personalized interaction program of the robot to enable the robot to normally operate.
In one embodiment, initiating a personalized interactive program for a robot includes:
calling other steering engines corresponding to the calling instruction; and the other steering engines are the steering engines corresponding to the calling instruction except the fault steering engine.
The working state of the steering engine of the robot is detected, if any steering engine breaks down, the preset steering engine fault processing program is started to call the robot when a call instruction is received, so that the robot can continue to be used in the state of the fault of the steering engine, the service life of the robot is prolonged, and the user experience degree is improved.
Example four
As shown in fig. 4, in the present embodiment, the detection module 101 in the fourth embodiment further includes the following structure for executing the method steps in the second embodiment:
a receiving unit 1011 for receiving a return result of a sensor of any steering engine;
the first determination unit 1012 is configured to determine that a steering engine corresponding to an error result has a failure if a returned result of a sensor of any of the steering engines is an error result.
In one embodiment, the detection module 101 further includes:
the calling unit is used for calling any steering engine to execute the fault judgment instruction;
and the second judging unit is used for judging that the steering engine corresponding to the calling failure result of the fault judging instruction fails to be in fault if the calling failure result of the fault judging instruction returned by any one steering engine is received.
In one embodiment, the detection module 101 further includes:
a third determining unit 1012, configured to determine that a steering engine corresponding to steering engine fault information has a fault if the steering engine fault information reported by the user is acquired.
This embodiment detects the state of steering wheel through multiple mode, judges whether the steering wheel breaks down, has improved the efficiency and the rate of accuracy to whether the steering wheel breaks down and detects.
EXAMPLE five
Fig. 5 is a schematic diagram of the terminal device provided in this embodiment. As shown in fig. 5, the terminal device 5 of this embodiment includes: a processor 50, a memory 51 and a computer program 52, such as a steering engine fault handling program, stored in said memory 51 and operable on said processor 50. When the processor 50 executes the computer program 52, the steps in the steering engine fault handling method embodiments, such as steps S101 to S102 shown in fig. 1, are implemented. Alternatively, the processor 50, when executing the computer program 52, implements the functions of each module/unit in the above-mentioned device embodiments, for example, the functions of the modules 101 to 102 shown in fig. 3.
Illustratively, the computer program 52 may be partitioned into one or more modules/units that are stored in the memory 51 and executed by the processor 50 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution process of the computer program 52 in the terminal device 5. For example, the computer program 52 may be divided into a detection module and a processing module, and the specific functions of each module are as follows:
the detection module is used for detecting the working state of any steering engine of the robot;
and the processing module is used for calling the robot according to a preset steering engine fault processing program when a calling instruction is received if the working state of any steering engine is a fault state, so that the robot can normally run.
The terminal device 5 may be a desktop computer, a notebook, a palm computer, a cloud server, or other computing devices. The terminal device may include, but is not limited to, a processor 50, a memory 51. Those skilled in the art will appreciate that fig. 5 is merely an example of a terminal device 5, and does not constitute a limitation of the terminal device 5, and may include more or fewer components than those shown, or some of the components may be combined, or different components, e.g., the terminal device may also include an input-output device, a network access device, a bus, etc.
The Processor 50 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The memory 51 may be an internal storage unit of the terminal device 5, such as a hard disk or a memory of the terminal device 5. The memory 51 may also be an external storage device of the terminal device 5, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital Card (SD), a Flash memory Card (Flash Card) and the like provided on the terminal device 5. Further, the memory 51 may also include both an internal storage unit and an external storage device of the terminal device 5. The memory 51 is used for storing the computer program and other programs and data required by the terminal device. The memory 51 may also be used to temporarily store data that has been output or is to be output.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (8)
1. A steering engine fault processing method is characterized by comprising the following steps:
detecting the working state of any steering engine of the robot;
if the working state of any steering engine is a fault state, analyzing the calling instruction when receiving the calling instruction, and acquiring the information of the steering engine corresponding to the calling instruction; the information of the steering engine comprises the ID of the steering engine, the model of the steering engine and the attribute of the steering engine; if the information of any steering engine corresponding to the calling instruction is the same as that of the fault steering engine, closing a calling processing program of the fault steering engine; calling other steering engines corresponding to the calling instruction; and the other steering engines are the steering engines corresponding to the calling instruction except the fault steering engine.
2. The steering engine fault handling method according to claim 1, wherein the detecting the working state of any steering engine of the robot comprises:
receiving a return result of a sensor of any steering engine;
and if the returned result of the sensor of any steering engine is an error result, judging that the steering engine corresponding to the error result has a fault.
3. The steering engine fault handling method according to claim 1, wherein the detecting the working state of any steering engine of the robot comprises:
calling any steering engine to execute a fault judgment instruction;
and if a failure result of calling of the fault judgment instruction returned by any one steering engine is received, judging that the steering engine corresponding to the failure result of calling of the fault judgment instruction fails.
4. The steering engine fault handling method according to claim 1, wherein the detecting the working state of any steering engine of the robot comprises:
and if the steering engine fault information reported by the user is acquired, judging that the steering engine corresponding to the steering engine fault information has a fault.
5. The steering engine fault handling method according to claim 1, wherein if the working state of any one of the steering engines is a fault state, when a call instruction is received, the robot is called according to a preset steering engine fault handling program, and after the robot is normally operated, the method includes:
uploading steering engine fault information to a manufacturer terminal;
acquiring a steering engine processing interaction program sent by a manufacturer terminal;
upgrading a system program of the robot according to the steering engine processing interaction program so as to repair the steering engine; alternatively, the first and second electrodes may be,
and sending fault processing prompt information to the user terminal.
6. A steering engine fault handling device is characterized by comprising:
the detection module is used for detecting the working state of any steering engine of the robot;
the processing module is used for analyzing the calling instruction when receiving the calling instruction if the working state of any steering engine is a fault state, and acquiring the information of the steering engine corresponding to the calling instruction; the information of the steering engine comprises the ID of the steering engine, the model of the steering engine and the attribute of the steering engine; if the information of any steering engine corresponding to the calling instruction is the same as the information of the fault steering engine, closing a calling processing program of the fault steering engine; calling other steering engines corresponding to the calling instruction; and the other steering engines are the steering engines corresponding to the calling instruction except the fault steering engine.
7. A terminal device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1 to 5 when executing the computer program.
8. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910900939.6A CN112536817B (en) | 2019-09-23 | 2019-09-23 | Steering engine fault processing method and device and terminal equipment |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910900939.6A CN112536817B (en) | 2019-09-23 | 2019-09-23 | Steering engine fault processing method and device and terminal equipment |
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| Publication Number | Publication Date |
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| CN112536817A CN112536817A (en) | 2021-03-23 |
| CN112536817B true CN112536817B (en) | 2022-08-02 |
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Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103171645B (en) * | 2013-04-19 | 2015-06-10 | 吉林大学 | Hexapod robot capable of travelling in rolling manner |
| CN109975700B (en) * | 2017-12-27 | 2021-10-29 | 深圳市优必选科技有限公司 | Steering engine abnormal state detection method and device, terminal device and medium |
| CN208084387U (en) * | 2018-03-27 | 2018-11-13 | 森汉智能科技（深圳）有限公司 | A kind of steering engine error reporting system, steering engine assembly and intelligent robot |
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