CN116766263A

CN116766263A - Fault processing method and device of working robot and operation and maintenance robot

Info

Publication number: CN116766263A
Application number: CN202310805029.6A
Authority: CN
Inventors: 李炜; 赵家豪; 周兆杰
Original assignee: Industrial and Commercial Bank of China Ltd ICBC
Current assignee: Industrial and Commercial Bank of China Ltd ICBC
Priority date: 2023-06-30
Filing date: 2023-06-30
Publication date: 2023-09-19

Abstract

The specification provides a fault processing method and device of a working robot and an operation and maintenance robot, which are applied to artificial intelligence technology. Based on the method, the operation and maintenance robot detects whether the target working robot has a fault currently according to the operation state data of the current time period uploaded by the target working robot; under the condition that the current fault of the target working robot is determined, determining the specific fault type of the target working robot; and determining a target fault handling strategy matched with the fault type from a preset fault handling strategy set. Then, the operation and maintenance robot can move to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy. Therefore, the working robot with faults can be accurately detected, and the fault robot can be timely and automatically subjected to targeted repair treatment so as to eliminate the faults, and further, the workload of operation and maintenance personnel can be effectively reduced.

Description

Fault processing method and device of working robot and operation and maintenance robot

Technical Field

The specification belongs to the technical field of artificial intelligence, and particularly relates to a fault processing method and device of a working robot and an operation and maintenance robot.

Background

With the development and popularization of intelligent robot technology, more and more robots are put into various working scenes to bring convenience to life and work of people.

However, when the robot runs in a specific work in a work scene, faults are easy to occur, so that the responsible work is stagnated, and even the normal work of other robots or users is influenced. Based on the existing method, most of the robots need to be manually monitored by operation and maintenance personnel to identify the robot with fault abnormality; and then carrying out manual recovery and manual repair on the robot with the fault abnormality. Based on the method, when the method is implemented, the workload of operation and maintenance personnel is often high; and the operation and maintenance personnel are required to rely on subjective knowledge and experience, and errors and the like are easy to occur.

In view of the above problems, no effective solution has been proposed at present.

Disclosure of Invention

The specification provides a fault processing method and device for a working robot and an operation and maintenance robot, which can timely and accurately detect the working robot with faults and automatically carry out targeted repair processing on the fault robot so as to better eliminate the faults of the robot.

The specification provides a fault processing method of a working robot, which is applied to an operation and maintenance robot and comprises the following steps:

receiving running state data of a current time period uploaded by a target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working;

detecting whether a fault exists in the target working robot currently according to the running state data of the current time period;

under the condition that the current fault of the target working robot is determined, determining the fault type of the target working robot; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set;

moving to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

In one embodiment, the operational status data for the current time period includes at least one of: the mobile position data of the current time period, the navigation path used by the current time period, the battery monitoring data of the current time period, the mobile part monitoring data of the current time period and the processor monitoring data of the current time period.

In one embodiment, detecting whether the target working robot is currently faulty according to the operation state data of the current time period includes:

detecting whether fault error reporting information exists according to the running state data of the current time period;

under the condition that the fault reporting information is determined to exist, collecting environment data related to the target working robot;

and determining whether the target working robot has a fault currently by combining the running state data and the environment data of the target working robot in the current time period.

In one embodiment, the environmental data includes at least one of: the system comprises target working robots, target image data of adjacent range areas, target audio data collected in the adjacent range areas of the target working robots, network state data of the target working areas and running state data of other working robots adjacent to the target working robots.

In one embodiment, the fault types include: hardware failure and/or non-hardware failure; wherein the hardware failure includes at least one of: a mobile part failure, a processor failure, and a positioning device failure; the non-hardware failure includes at least one of: depletion of electricity, lost navigation, system stuck, electronic virus intrusion.

In one embodiment, determining the type of fault for the target work robot includes:

according to a preset combination rule, combining running state data and environment data of a target working robot in a current time period to obtain target joint data aiming at the target working robot;

processing the target joint data by using a preset fault type classification model to obtain a corresponding classification result;

and determining the fault type of the target working robot according to the classification result.

In one embodiment, the target working robot is at least provided with an external first data interface, an external restart switch and an external first connecting part.

In one embodiment, the operation and maintenance robot is provided with a second data interface matched with the first data interface, an operation arm matched with the restarting switch, a second connecting part matched with the first connecting part, and a lifting part.

In one embodiment, in the case that the fault type is an electronic virus intrusion, performing corresponding fault processing on the target working machine according to a target fault processing policy, including:

acquiring a first field image containing a current target working robot;

Determining the position information of a first data interface of the target working robot and the position information of a restarting switch according to the first field image;

controlling the second data interface to be connected with the first data interface of the target working robot according to the position information of the first data interface; and a local virus searching and killing process is called, and virus searching and killing is carried out on the target working robot through the connected data interface;

after the virus killing is determined to be completed, the operation arm is controlled to physically trigger the restarting switch of the target working robot according to the position information of the restarting switch, so that the target working robot is restarted.

In one embodiment, after controlling the operation arm to physically trigger the restart switch of the target work robot according to the position information of the restart switch, the method further includes:

detecting whether the fault of the target working robot is successfully repaired;

under the condition that the failure of the target working robot is determined to be not repaired successfully, acquiring a second field image containing the current target working robot;

determining the position information of the first connecting part of the target working robot according to the second field image;

controlling the second connecting part to be connected with the first connecting part of the target working robot according to the position information of the first connecting part; the target working robot is dragged to a first area adjacent to the base station through the connected connecting part; the first area is used for storing fault robots which cannot be repaired by the operation and maintenance robot.

In one embodiment, in the case that the fault type is power exhaustion, performing corresponding fault processing on the target working machine according to a target fault processing policy, including:

acquiring a third field image containing the current target working robot;

determining the position information of the first connecting part of the target working robot according to the third field image;

controlling the second connecting part to be connected with the first connecting part of the target working robot according to the position information of the first connecting part; the target working robot is dragged to a second area adjacent to the base station through the connected connecting part; the second area is used for storing fault robots which can be repaired by the operation and maintenance robot; and the second area is at least provided with a charging pile matched with the first data interface of the target working robot.

The specification also provides a fault handling device of a working robot, which is applied to an operation and maintenance robot and comprises:

the receiving module is used for receiving the running state data of the current time period uploaded by the target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working;

The detection module is used for detecting whether the target working robot has a fault currently according to the running state data of the current time period;

the determining module is used for determining the fault type of the target working robot under the condition that the current fault of the target working robot is determined; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set;

the processing module is used for moving to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

The specification also provides an operation and maintenance robot, which at least comprises a moving part, a second data interface, an operation arm, a second connecting part, a network communication port, a processor and a memory, wherein the second data interface, the operation arm and the second connecting part are respectively matched with the first data interface, the restarting switch and the first connecting part of the working robot, the memory is used for storing executable instructions of the processor, and the processor realizes relevant steps of a fault processing method of the working robot when executing the instructions.

The present specification also provides a computer readable storage medium having stored thereon computer instructions which, when executed by a processor, implement the steps of the fault handling method of the work robot.

The present specification also provides a computer program product comprising a computer program which, when executed by a processor, implements the steps of the method for fault handling of a work robot.

Based on the fault processing method and device of the working robot and the operation and maintenance robot provided by the specification, after the target working robot starts working, the operation state data of the corresponding time period are collected and uploaded to the operation and maintenance robot every preset time period. The operation and maintenance robot detects whether the target working robot has a fault currently according to the operation state data of the current time period uploaded by the target working robot; under the condition that the current fault of the target working robot is determined, determining the specific fault type of the target working robot; and determining a target fault handling strategy matched with the fault type from a preset fault handling strategy set. Then, the operation and maintenance robot can move to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy. Therefore, the working robot with faults can be timely and accurately detected and identified, and the fault robot is automatically and timely subjected to targeted repair treatment, so that the faults of the robot are well eliminated, the workload of operation and maintenance personnel can be effectively reduced, and the influence of the faults of the robot on normal business work is reduced.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure, the drawings that are required for the embodiments will be briefly described below, and the drawings described below are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person of ordinary skill in the art.

Fig. 1 is a flow chart of a fault handling method of a working robot according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram of one embodiment of a fault handling method for a work robot, as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 3 is a schematic view of an embodiment of a fault handling method for a work robot, to which the embodiments of the present disclosure are applied, in one example of a scenario;

FIG. 4 is a schematic diagram of one embodiment of a fault handling method for a work robot, as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 5 is a schematic diagram of one embodiment of a fault handling method for a work robot, as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 6 is a schematic diagram of one embodiment of a fault handling method for a work robot as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 7 is a schematic diagram of one embodiment of a fault handling method for a work robot, as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 8 is a schematic diagram of one embodiment of a fault handling method for a work robot as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 9 is a schematic diagram of one embodiment of a fault handling method for a work robot, as provided by the embodiments of the present disclosure, in one example scenario;

FIG. 10 is a schematic diagram of one embodiment of a fault handling method for a work robot, as provided by the embodiments of the present disclosure, in one example scenario;

fig. 11 is a schematic structural composition diagram of an operation and maintenance robot provided in an embodiment of the present disclosure;

fig. 12 is a schematic structural diagram of a fault handling apparatus of a work robot according to an embodiment of the present disclosure.

Detailed Description

In order to make the technical solutions in the present specification better understood by those skilled in the art, the technical solutions in the embodiments of the present specification will be clearly and completely described below with reference to the drawings in the embodiments of the present specification, and it is obvious that the described embodiments are only some embodiments of the present specification, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art without undue burden from the present disclosure, are intended to be within the scope of the present disclosure.

Referring to fig. 1, an embodiment of the present disclosure provides a fault handling method for a working robot. The method is particularly applied to one side of the operation and maintenance robot. In particular implementations, the method may include the following:

s101: receiving running state data of a current time period uploaded by a target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working;

s102: detecting whether a fault exists in the target working robot currently according to the running state data of the current time period;

s103: under the condition that the current fault of the target working robot is determined, determining the fault type of the target working robot; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set;

s104: moving to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

Based on the above embodiment, an operation and maintenance robot for maintaining and managing the target working robot may be disposed in the target working area, and the operation and maintenance robot may acquire and automatically detect and determine whether the target working robot has a fault at present according to the operation state data of the current time period that is uploaded by the target working robot at regular time; under the condition that the target working robot is determined to have faults, the fault type of the target working robot can be further determined through the operation and maintenance robot, and a target fault processing strategy matched with the fault type is determined; and then, according to a target fault processing strategy, the operation and maintenance robot automatically performs matched fault processing on the target working robot, and eliminates faults in time.

In some embodiments, referring to fig. 2, the target working robot may specifically be a wheeled intelligent robot responsible for corresponding working services in a target working area. The operation and maintenance robot can be an intelligent robot which is responsible for operation and maintenance management of the intelligent robot running in the target area and automatic repair to a certain extent.

Specifically, for example, the target working robot may be a machine room inspection robot responsible for performing inspection maintenance on a server in a machine room (i.e., a target working area) of a data center.

For another example, the target work robot may be a customer service robot that is responsible for providing a self-service guidance service for a user who handles a business in a business hall (i.e., another target work area) of a transaction facility such as a bank.

For another example, the target working robot may be a production robot that is responsible for producing and processing a certain component of a product in a line production shop (i.e., another target working area).

Of course, it should be noted that the above-listed working areas, as well as the working robot, are only one schematic illustration. In specific implementation, according to specific application scenes and processing requirements, other types of working robots in other working areas can be further included. The present specification is not limited to this.

In some embodiments, the target working robot may be a working robot that has started working in a target working area.

When the target working robot receives and responds to the starting instruction, the target working robot triggers communication interaction with the operation and maintenance robot when starting to start working, so that a temporary data transmission channel is established between the target working robot and the operation and maintenance robot. The data transmission channel may specifically be a communication connection based on bluetooth or a local area network. The data transmission channel may also be marked with a robot identification of the target work robot (e.g., name, number, etc. of the target work robot). When the target working robot completes the relevant working service, the data transmission channel is automatically disconnected.

The target working robot may report the collected running state data of the latest time period to the operation and maintenance robot through the data transmission channel every preset time period (for example, every 5 minutes). The operation and maintenance robot can analyze the latest operation state of the target working robot in real time according to the operation state data and detect whether faults exist or not; and when the fault of the target working robot is determined, the target working robot can be subjected to targeted fault processing in time according to the running state data so as to automatically repair the fault, so that the target working robot can continue to work normally.

In some embodiments, the operating state data for the current time period includes at least one of: mobile location data for a current time period, a navigation path used for the current time period, battery monitoring data for the current time period, mobile portion monitoring data for the current time period, processor monitoring data for the current time period, and the like.

Based on the embodiment, the operation and maintenance robot can acquire and accurately and comprehensively analyze the real operation state of the target working robot according to the richer and diversified operation state data, and further can accurately detect and judge whether the target working robot has faults.

In some embodiments, the target working robot may have a monitoring process disposed therein.

When the target working robot starts to start working, the target working robot can acquire the information such as the residual electric quantity of the battery, the temperature of the battery, the discharge parameter of the battery and the like of the target working robot in real time through a monitoring process, and the information is used as battery monitoring data; the corresponding sensor can be called through the monitoring process to collect the information such as the motion characteristics, error reporting information, abrasion parameters and the like of the moving part (such as a moving wheel and the like) of the target working robot, and the information is used as the monitoring data of the moving part; the CPU occupancy rate, IO response parameters, memory residual quantity and the like of the processor can be collected as processing monitoring data through the monitoring process.

In addition, the above target working robot may not be provided with positioning devices such as a radar, an infrared camera, a range finder, and the like. Correspondingly, when the target working robot runs and works specifically, the latest position information of the target working robot can be positioned and acquired in real time through the positioning equipment to serve as mobile position data; meanwhile, the navigation path used is updated in real time by the processor according to the latest position information.

In some embodiments, referring to fig. 3, according to the running state data of the current time period, detecting whether the target working robot has a fault currently may include the following when implemented:

s1: detecting whether fault error reporting information exists according to the running state data of the current time period;

s2: under the condition that the fault reporting information is determined to exist, collecting environment data related to the target working robot;

s3: and determining whether the target working robot has a fault currently by combining the running state data and the environment data of the target working robot in the current time period.

Based on the embodiment, the running state data and the environment data of the target working robot in the current time period can be comprehensively utilized, and whether the target working robot has a fault or not can be accurately detected and judged.

In some embodiments, in some cases, the built-in monitoring process of the target working robot collects battery monitoring data, mobile part monitoring data and processor monitoring data, and performs preliminary analysis and judgment according to built-in detection rules based on the collected monitoring data through rule matching to determine whether the target working robot has a fault. When determining that a fault occurs, the monitoring process also generates corresponding fault error reporting information, and adds the fault error reporting information into the running state data to upload the running state data to the operation and maintenance server.

However, the accuracy of fault reporting information obtained by judging through preliminary analysis based on only the target working robot is often relatively low. Therefore, after the operation and maintenance robot detects that the fault error information exists, only the fault risk of the target working robot can be determined, and the current fault of the target working robot cannot be directly determined. And triggering and acquiring the running state data of the current time period of the target working robot and related environmental data by taking the fault error information as a reference, and further analyzing and judging to finally determine whether the target working robot has a fault.

Under other conditions, the operation and maintenance robot can also judge relatively simple rules according to the running state data of the current time period and the related threshold detection rules to determine whether the target working robot has fault risks.

In some embodiments, the environmental data may specifically include at least one of: the system comprises a target working robot, target image data of a neighboring range area, target audio data collected in the neighboring range area of the target working robot, network state data of the target working area, running state data of other working robots neighboring to the target working robot and the like.

Based on the embodiment, richer environmental data can be collected and utilized simultaneously, so that the environmental data can be combined, and whether the target working robot really has faults or not can be detected and judged more accurately.

First, before implementation, related devices such as an image acquisition device (e.g., a camera) and an audio acquisition device (e.g., a radio) may be disposed at different positions of the target working area. In the implementation, the operation and maintenance robot can determine and control the adjacent image acquisition equipment according to the current moving position data of the target working robot, and the audio acquisition equipment acquires the target image data comprising the target working robot and the adjacent range area and the target audio data acquired in the adjacent range area of the target working robot.

For the target image data, the operation and maintenance robot can process the target image data by utilizing an image recognition model to obtain a corresponding image recognition result; according to the image recognition result, the operation and maintenance robot can intuitively judge whether the target working robot is blocked at the current position or the target working robot is damaged externally to cause faults.

For the target audio data, the operation and maintenance robot can process the target audio data by utilizing a voice recognition model to obtain a corresponding voice recognition result; according to the voice recognition result, the operation and maintenance robot can intuitively judge whether the current working sound of the target working robot is normal or not and whether the target working robot is abnormal due to the non-compliance voice instruction of the user or not.

Secondly, the operation and maintenance robot can collect the operation state data of other working robots adjacent to the target working robot according to the current moving position data of the target working robot; and the running state data of the target working robot can be transversely compared with the running state data of other adjacent working robots, and whether the target working robot really fails or not is judged by searching and according to the common characteristics in the running state data.

Furthermore, the operation and maintenance robot can test the network connected with the target working robot in the target working area through a built-in network test process, and acquire corresponding network test data; according to the network test data, determining network state data of a target working area; and further, whether the target working robot fails due to the network problem can be analyzed according to the target network state data.

In some embodiments, the fault types may specifically include: hardware failure and/or non-hardware failure, etc.; wherein the hardware failure includes at least one of: a moving part failure, a processor failure, a positioning device failure, etc.; the non-hardware failure includes at least one of: depletion of electricity, lost navigation, system stuck, electronic virus intrusion, etc.

Based on the embodiment, after the operation and maintenance robot determines that the target working equipment has faults, different fault types can be finely detected and distinguished, so that different fault types can be processed in a fine and targeted manner by adopting different processing strategies.

Further, the fault types may further include: repairable faults and unrepairable faults. Wherein, repairable faults may in turn include: a field repairable fault, and an offsite repairable fault. The above-mentioned off-site repairable fault may be specifically understood as a fault that the operation and maintenance robot is required to drag and move the designated area and then complete the repair by using the related equipment of the designated area, for example, a power consumption, a fault of a moving part, etc. The above-mentioned repairable faults can be understood as those which do not need to be dragged to a designated area, and the operation and maintenance robot has a high probability of completing the repair at the current position of the target working robot, such as navigation getting lost, system stuck, electronic virus invasion, etc.

The unrepairable faults can be specifically understood as faults that the operation and maintenance robot cannot independently and automatically complete repair and can complete repair only by participation of operation and maintenance personnel.

Of course, it should be noted that, in the case of a repair failure, the above-mentioned field repairable fault may be converted into an offsite repairable fault; the repairable fault may also be converted into an unrepairable fault in the event of a repair failure.

In some embodiments, referring to fig. 4, the determining the fault type of the target working robot may include the following when implemented:

s1: according to a preset combination rule, combining running state data and environment data of a target working robot in a current time period to obtain target joint data aiming at the target working robot;

s2: processing the target joint data by using a preset fault type classification model to obtain a corresponding classification result;

s3: and determining the fault type of the target working robot according to the classification result.

Based on the above embodiment, the operation state data and the environment data can be effectively processed in a combined manner through the preset fault type classification model, so as to accurately determine the fault type of the target working robot.

In the implementation, the running state data and the environment data of the current time period can be spliced in sequence according to a preset combination rule to obtain target combined data meeting the requirements.

Before implementation, the preset fault type classification model can be obtained through training in the following manner: acquiring sample running state data and sample environment data of a sample robot with faults; according to a preset combination rule, combining sample running state data and sample environment data of the sample robot to obtain corresponding sample joint data; labeling the sample joint data of the sample robot according to the fault type of the sample robot to obtain labeled sample data; and training an initial classification model by using the marked sample data to obtain a preset fault type classification model meeting the requirements.

In some embodiments, referring to fig. 5, the target working robot may be at least provided with an external first data interface, an external restart switch, an external first connection portion, and so on.

The first data interface may be used as an interface for data connection, or may be used as a charging interface. The first connecting portion may be an external connecting hook.

Based on the embodiment, the structure of the target working robot is correspondingly modified, so that the target working robot can be better subjected to corresponding fault processing by matching with the operation and maintenance robot.

In some embodiments, referring to fig. 6, the operation and maintenance robot may specifically be provided with a second data interface matched with the first data interface, an operation arm matched with the restart switch, a second connection part matched with the first connection part, and a lifting part.

Specifically, the layout positions of the second data interface, the operation arm and the second connection part on the operation and maintenance robot may correspond to the layout positions of the first data interface, the restart switch and the first connection part on the target working robot respectively.

The lifting part can be a lifting assembly. The lifting assembly specifically may include: portal frame and fork etc. With the above-described lifting portion, the operation and maintenance robot can efficiently lift the target work machine and then move the target work machine to the designated area even for the target work robot that cannot be dragged normally due to a failure of the moving portion or the like.

Based on the above embodiment, based on the structure of the target working robot, the operation and maintenance robot can better perform corresponding fault processing on the target working robot by correspondingly modifying the structure of the operation and maintenance robot.

In some embodiments, the preset set of fault handling policies may specifically include a plurality of preset fault handling policies. Wherein each preset fault handling policy corresponds to a fault type.

Before the implementation, a large number of historical fault processing records aiming at working robots with different fault types can be collected; splitting the historical fault processing records into a plurality of record data sets according to the fault types, wherein each record data set comprises a plurality of historical fault processing records corresponding to the same fault type; clustering the multiple recorded data groups to obtain common characteristics aiming at the same fault type; and combining the common characteristics corresponding to the same fault type during processing to obtain a preset fault processing rule corresponding to the fault type.

In specific implementation, the determined fault type of the target working robot may be a fault type, and correspondingly, the operation and maintenance robot may determine a preset fault processing policy corresponding to the fault type from a preset fault processing policy set, and use the determined fault type as the target fault processing policy. Furthermore, the determined fault type of the target working robot can be multiple fault types, and correspondingly, the operation and maintenance robot can determine multiple preset fault treatment strategies corresponding to the multiple fault types from the preset fault treatment strategy set; and then according to a certain rule, the target fault processing strategy is obtained by combining the plurality of preset fault processing strategies.

In some embodiments, in the case where the fault type is an electronic virus intrusion, referring to fig. 7, the foregoing performing, according to the target fault handling policy, the corresponding fault handling on the target working machine may include the following when implemented:

s1: acquiring a first field image containing a current target working robot;

s2: determining the position information of a first data interface of the target working robot and the position information of a restarting switch according to the first field image;

s3: controlling the second data interface to be connected with the first data interface of the target working robot according to the position information of the first data interface; and a local virus searching and killing process is called, and virus searching and killing is carried out on the target working robot through the connected data interface;

s4: after the virus killing is determined to be completed, the operation arm is controlled to physically trigger the restarting switch of the target working robot according to the position information of the restarting switch, so that the target working robot is restarted.

Wherein, still can lay image acquisition equipment such as camera on the fortune dimension robot. Correspondingly, the operation and maintenance robot can acquire the field image containing the target working robot through the image acquisition equipment.

In addition, the operation and maintenance robot can also interact with cloud server data periodically or in real time, and update local virus searching and killing processes in time.

Based on the embodiment, the operation and maintenance robot can independently and automatically perform more effective and targeted fault processing on the target working robot which is faulty due to the invasion of the electronic virus, and timely eliminate the fault of the target working robot.

In some embodiments, after controlling the operation arm to physically trigger the restart switch of the target working robot according to the position information of the restart switch, referring to fig. 8, when the method is implemented, the method may further include the following:

s1: detecting whether the fault of the target working robot is successfully repaired;

s2: under the condition that the failure of the target working robot is determined to be not repaired successfully, acquiring a second field image containing the current target working robot;

s3: determining the position information of the first connecting part of the target working robot according to the second field image;

s4: controlling the second connecting part to be connected with the first connecting part of the target working robot according to the position information of the first connecting part; the target working robot is dragged to a first area adjacent to the base station through the connected connecting part; the first area is used for storing fault robots which cannot be repaired by the operation and maintenance robot.

In the specific implementation, the operation and maintenance robot can acquire and detect whether the fault of the target working robot is successfully repaired according to the latest reported running state data after the target working robot is repaired.

Based on the above embodiment, the operation and maintenance robot can automatically detect whether the repair is successful or not after completing the repair of the target working robot; and under the condition that the restoration is unsuccessful, the operation and maintenance robot can drag and move the target working robot to the first area in time. In this way, on the one hand, the target working robot can be dragged to the first area for subsequent further fault handling; on the other hand, the problem that the target working robot stagnates in the target working area for a long time due to faults, which causes interference and influence on the normal work of other working robots in the target working area, is avoided.

In some embodiments, prior to dragging the target work robot to the first area of the neighboring base station, the method further comprises:

the operation and maintenance robot collects current working progress data of the target working robot through a connected data interface; and sending the current work progress data of the target work robot and the robot identification of the target work robot to the cloud server.

After receiving the current working progress data of the target working robot and the robot identification of the target working robot, the cloud server can firstly inquire and determine the working task data of the target working robot according to the robot identification of the target working robot; then, according to the work task data and the current work progress data of the target work robot, determining the residual work task data of the target work robot; and then, the residual work task data of the target work robot is sent to other work robots in the target work area or the standby work robot so as to continuously carry out the residual work task on the basis of the current work progress data of the target work robot, thereby avoiding influencing the whole business work in the target work area.

In some embodiments, after dragging the target work robot to the first area of the neighboring base station, the method further comprises: the operation and maintenance robot generates fault prompt information aiming at the target working robot; and sending the fault prompt information to an operation and maintenance terminal held by the operation and maintenance personnel to wait for the manual repair of the operation and maintenance personnel.

The operation and maintenance terminal specifically comprises a front end which is applied to one side of operation and maintenance personnel and can realize functions of data acquisition, data transmission and the like. Specifically, the operation and maintenance terminal may be, for example, an electronic device such as a desktop computer, a tablet computer, a notebook computer, a smart phone, and the like. Alternatively, the operation and maintenance terminal may be a software application capable of running in the electronic device.

In some embodiments, in the case that the fault type is power consumption, referring to fig. 9, the performing, according to the target fault handling policy, corresponding fault handling on the target working machine includes:

s1: acquiring a third field image containing the current target working robot;

s2: determining the position information of the first connecting part of the target working robot according to the third field image;

s3: controlling the second connecting part to be connected with the first connecting part of the target working robot according to the position information of the first connecting part; the target working robot is dragged to a second area adjacent to the base station through the connected connecting part; the second area is used for storing fault robots which can be repaired by the operation and maintenance robot; and the second area is at least provided with a charging pile matched with the first data interface of the target working robot.

In addition to the charging piles, the second area may further be provided with a component warehouse, where the component warehouse may specifically store structural components, such as a moving part, that facilitate the operation and maintenance robot to automatically replace the target working robot simply.

Based on the embodiment, the operation and maintenance robot can independently and automatically perform more effective and targeted fault processing on the target working robot which is faulty due to electric quantity exhaustion, and timely eliminate the fault of the target working robot.

In some embodiments, where the fault type is two different fault types, power exhaustion and mobile part fault, the determined target fault handling policy is a combined policy for both fault types simultaneously. Accordingly, as described with reference to fig. 10, the foregoing performing, according to the target fault handling policy, the corresponding fault handling on the target working machine may include the following when implemented:

s1: acquiring a fourth field image containing the current target working robot;

s2: according to the fourth field image, controlling the lifting part to lift the target working robot; and transporting the target working robot to a second area;

s3: in the second area, a first data interface of the control target working robot is connected with the charging pile; and according to the robot identification of the target working robot, a moving part matched with the target working robot is found in the component warehouse, and the moving part is replaced for the target working robot.

In some embodiments, in the case that the fault type is navigation lost, the foregoing performing, according to the target fault handling policy, the corresponding fault handling on the target working machine may include the following when implemented: acquiring current positioning data of an operation and maintenance robot and relative position parameters of the operation and maintenance robot and a target working robot; according to the current positioning data of the operation and maintenance robot and the relative position parameter of the operation and maintenance robot and the target working robot, correcting the moving position data and the navigation path of the target working robot to obtain the moving position data and the corrected navigation path of the target working robot; acquiring and determining the position information of a first data interface of a target working robot according to a field image containing the target working robot; controlling the second data interface to be connected with the first data interface of the target working robot according to the position information of the first data interface; and transmitting the corrected mobile position data and the corrected navigation path to the target working robot through the connected data interface so as to replace the mobile position data and the navigation path used before the target working robot.

In some embodiments, in the case that the fault type is that the system is stuck, the foregoing performing, according to the target fault handling policy, the corresponding fault handling on the target working machine may include the following when implemented: acquiring and determining the position information of a restarting switch of the target working robot according to the field image containing the target working robot; and according to the new position of the restarting switch, controlling the operating arm to trigger the restarting switch of the target working robot so as to control the restarting of the target working robot system.

From the above, according to the fault processing method of the working robot provided by the embodiment of the present disclosure, after the target working robot starts working, the operation state data of the corresponding time period is collected and uploaded to the operation and maintenance robot every preset time period. The operation and maintenance robot detects whether the target working robot has a fault currently according to the operation state data of the current time period uploaded by the target working robot; under the condition that the current fault of the target working robot is determined, determining the specific fault type of the target working robot; and determining a target fault handling strategy matched with the fault type from a preset fault handling strategy set. Then, the operation and maintenance robot can move to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy. Therefore, the working robot with faults can be timely and accurately detected, and the fault robot is automatically subjected to targeted repair treatment, so that the faults of the robot are well eliminated, the workload of operation and maintenance personnel can be effectively reduced, and the influence of the faults of the robot on normal business work is reduced.

The embodiment of the specification also provides an operation and maintenance robot, which comprises a processor and a memory for storing executable instructions of the processor, wherein the processor can execute the following steps according to the instructions when being concretely implemented: receiving running state data of a current time period uploaded by a target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working; detecting whether a fault exists in the target working robot currently according to the running state data of the current time period; under the condition that the current fault of the target working robot is determined, determining the fault type of the target working robot; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set; moving to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

In order to more accurately complete the above-mentioned instructions, referring to fig. 11, the embodiment of the present disclosure further provides another specific operation and maintenance robot, where the operation and maintenance robot may at least include a moving part 1101, a second data interface 1102, a restart switch, a first connection part of the working robot, a second connection part 1104, a network communication port 1105, a processor 1106, and a memory 1107 for storing processor executable instructions, where the above-mentioned structures are connected by an internal cable, so that each structure may perform specific data interaction.

The network communication port 1105 may be specifically configured to receive running state data of a current time period uploaded by the target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working.

The processor 1106 may be specifically configured to detect whether a fault exists in the target working robot according to the running state data of the current time period; under the condition that the current fault of the target working robot is determined, determining the fault type of the target working robot; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set; moving to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

The memory 1107 may be used for storing a corresponding program of instructions.

In this embodiment, the network communication port 1105 may be a virtual port that binds with different communication protocols, so that different data may be sent or received. For example, the network communication port may be a port responsible for performing web data communication, a port responsible for performing FTP data communication, or a port responsible for performing mail data communication. The network communication port may also be an entity's communication interface or a communication chip. For example, it may be a wireless mobile network communication chip, such as GSM, CDMA, etc.; it may also be a Wifi chip; it may also be a bluetooth chip.

In this embodiment, the processor 1106 may be implemented in any suitable manner. For example, the processor may take the form of, for example, a microprocessor or processor, and a computer-readable medium storing computer-readable program code (e.g., software or firmware) executable by the (micro) processor, logic gates, switches, an application specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic controller, and an embedded microcontroller, among others. The description is not intended to be limiting.

In this embodiment, the memory 1107 may include a plurality of layers, and in a digital system, the memory may be any memory as long as it can hold binary data; in an integrated circuit, a circuit with a memory function without a physical form is also called a memory, such as a RAM, a FIFO, etc.; in the system, the storage device in physical form is also called a memory, such as a memory bank, a TF card, and the like.

The embodiments of the present specification also provide a computer readable storage medium based on the above-described fault handling method for a working robot, the computer readable storage medium storing computer program instructions that when executed implement: receiving running state data of a current time period uploaded by a target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working; detecting whether a fault exists in the target working robot currently according to the running state data of the current time period; under the condition that the current fault of the target working robot is determined, determining the fault type of the target working robot; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set; moving to the current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

In the present embodiment, the storage medium includes, but is not limited to, a random access Memory (Random Access Memory, RAM), a Read-Only Memory (ROM), a Cache (Cache), a Hard Disk (HDD), or a Memory Card (Memory Card). The memory may be used to store computer program instructions. The network communication unit may be an interface for performing network connection communication, which is set in accordance with a standard prescribed by a communication protocol.

In this embodiment, the functions and effects of the program instructions stored in the computer readable storage medium may be explained in comparison with other embodiments, and are not described herein.

The present specification also provides a computer program product comprising a computer program which, when executed by a processor, implements the relevant steps of a fault handling method of a work robot.

Referring to fig. 12, on a software level, the embodiment of the present disclosure further provides a fault handling apparatus for a working robot, where the apparatus may specifically include the following structural modules:

the receiving module 1201 may be specifically configured to receive the running state data of the current time period uploaded by the target working robot; the target working robot is an intelligent robot working in a target working area; the target working robot is arranged to collect and upload running state data of a corresponding time period every preset time period after starting working;

The detection module 1202 may be specifically configured to detect whether a fault exists in the target working robot currently according to the running state data of the current time period;

the determining module 1203 may be specifically configured to determine a fault type of the target working robot when determining that the target working robot has a fault currently; determining a target fault processing strategy matched with the fault type from a preset fault processing strategy set;

the processing module 1204 may be specifically configured to move to a current position of the target working robot; and performing corresponding fault processing on the target working machine according to the target fault processing strategy.

In some embodiments, the operational status data for the current time period may include at least one of: mobile location data for a current time period, a navigation path used for the current time period, battery monitoring data for the current time period, mobile portion monitoring data for the current time period, processor monitoring data for the current time period, and the like.

In some embodiments, when the detection module 1202 is specifically implemented, it may detect whether the target working robot has a fault currently according to the running state data of the current time period in the following manner: detecting whether fault error reporting information exists according to the running state data of the current time period; under the condition that the fault reporting information is determined to exist, collecting environment data related to the target working robot; and determining whether the target working robot has a fault currently by combining the running state data and the environment data of the target working robot in the current time period.

In some embodiments, the environmental data may include at least one of: the system comprises target working robots, target image data of adjacent range areas, target audio data collected in the adjacent range areas of the target working robots, network state data of the target working areas and running state data of other working robots adjacent to the target working robots.

In some embodiments, the fault types may specifically include: hardware failure and/or non-hardware failure; wherein the hardware failure includes at least one of: a moving part failure, a processor failure, a positioning device failure, etc.; the non-hardware failure includes at least one of: depletion of electricity, lost navigation, system stuck, electronic virus intrusion, etc.

In some embodiments, when the determining module 1203 is specifically implemented, the fault type of the target working robot may be determined as follows: according to a preset combination rule, combining running state data and environment data of a target working robot in a current time period to obtain target joint data aiming at the target working robot; processing the target joint data by using a preset fault type classification model to obtain a corresponding classification result; and determining the fault type of the target working robot according to the classification result.

In some embodiments, the target working robot may be at least provided with an external first data interface, an external restart switch, an external first connection portion, and the like.

In some embodiments, the operation and maintenance robot may be provided with a second data interface matched with the first data interface, an operation arm matched with the restarting switch, a second connection part matched with the first connection part, a lifting part and the like.

In some embodiments, in the case that the fault type is an electronic virus intrusion, when the processing module 1204 is specifically implemented, the corresponding fault processing may be performed on the target working machine according to the target fault processing policy in the following manner: acquiring a first field image containing a current target working robot; determining the position information of a first data interface of the target working robot and the position information of a restarting switch according to the first field image; controlling the second data interface to be connected with the first data interface of the target working robot according to the position information of the first data interface; and a local virus searching and killing process is called, and virus searching and killing is carried out on the target working robot through the connected data interface; after the virus killing is determined to be completed, the operation arm is controlled to physically trigger the restarting switch of the target working robot according to the position information of the restarting switch, so that the target working robot is restarted.

In some embodiments, the processing module 1204 may be further configured to, when implemented, control the operation arm to physically trigger the restart switch of the target working robot according to the position information of the restart switch: detecting whether the fault of the target working robot is successfully repaired; under the condition that the failure of the target working robot is determined to be not repaired successfully, acquiring a second field image containing the current target working robot; determining the position information of the first connecting part of the target working robot according to the second field image; controlling the second connecting part to be connected with the first connecting part of the target working robot according to the position information of the first connecting part; the target working robot is dragged to a first area adjacent to the base station through the connected connecting part; the first area is used for storing fault robots which cannot be repaired by the operation and maintenance robot.

In some embodiments, in the case that the fault type is power consumption, when the processing module 1204 is specifically implemented, the corresponding fault processing may be performed on the target working machine according to the target fault processing policy in the following manner: acquiring a third field image containing the current target working robot; determining the position information of the first connecting part of the target working robot according to the third field image; controlling the second connecting part to be connected with the first connecting part of the target working robot according to the position information of the first connecting part; the target working robot is dragged to a second area adjacent to the base station through the connected connecting part; the second area is used for storing fault robots which can be repaired by the operation and maintenance robot; and the second area is at least provided with a charging pile matched with the first data interface of the target working robot.

It should be noted that, the units, devices, or modules described in the above embodiments may be implemented by a computer chip or entity, or may be implemented by a product having a certain function. For convenience of description, the above devices are described as being functionally divided into various modules, respectively. Of course, when the present description is implemented, the functions of each module may be implemented in the same piece or pieces of software and/or hardware, or a module that implements the same function may be implemented by a plurality of sub-modules or a combination of sub-units, or the like. The above-described apparatus embodiments are merely illustrative, for example, the division of the units is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.

From the above, based on the fault processing device of the working robot provided by the embodiment of the specification, the working robot with fault can be timely and accurately detected, and the fault robot can be automatically subjected to targeted repair processing, so that the fault of the robot can be well eliminated, the workload of operation and maintenance personnel can be effectively reduced, and the influence of the fault of the robot on normal business work is reduced.

Although the present description provides method operational steps as described in the examples or flowcharts, more or fewer operational steps may be included based on conventional or non-inventive means. The order of steps recited in the embodiments is merely one way of performing the order of steps and does not represent a unique order of execution. When implemented by an apparatus or client product in practice, the methods illustrated in the embodiments or figures may be performed sequentially or in parallel (e.g., in a parallel processor or multi-threaded processing environment, or even in a distributed data processing environment). The terms "comprises," "comprising," or any other variation 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 may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, it is not excluded that additional identical or equivalent elements may be present in a process, method, article, or apparatus that comprises a described element. The terms first, second, etc. are used to denote a name, but not any particular order.

The description may be described in the general context of computer-executable instructions, such as program modules, being executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, classes, etc. that perform particular tasks or implement particular abstract data types. The specification may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network. In a distributed computing environment, program modules may be located in both local and remote computer-readable storage media including memory storage devices.

Although the present specification has been described by way of example, it will be appreciated by those skilled in the art that there are many variations and modifications to the specification without departing from the spirit of the specification, and it is intended that the appended claims encompass such variations and modifications as do not depart from the spirit of the specification.

Claims

1. A fault handling method for a work robot, applied to an operation and maintenance robot, comprising:

2. The method of claim 1, wherein the operational status data for the current time period comprises at least one of: the mobile position data of the current time period, the navigation path used by the current time period, the battery monitoring data of the current time period, the mobile part monitoring data of the current time period and the processor monitoring data of the current time period.

3. The method of claim 2, wherein detecting whether the target work robot is currently faulty based on the operational status data for the current time period comprises:

4. A method according to claim 3, wherein the environmental data comprises at least one of: the system comprises target working robots, target image data of adjacent range areas, target audio data collected in the adjacent range areas of the target working robots, network state data of the target working areas and running state data of other working robots adjacent to the target working robots.

5. The method of claim 1, wherein the fault type comprises: hardware failure and/or non-hardware failure; wherein the hardware failure includes at least one of: a mobile part failure, a processor failure, and a positioning device failure; the non-hardware failure includes at least one of: depletion of electricity, lost navigation, system stuck, electronic virus intrusion.

6. The method of claim 5, wherein determining the type of fault for the target work robot comprises:

7. The method of claim 5, wherein the target working robot is configured with at least an external first data interface, an external restart switch, and an external first connection.

8. The method of claim 7, wherein the operation and maintenance robot is provided with a second data interface matched with the first data interface, an operation arm matched with the restart switch, a second connection part matched with the first connection part, and a lifting part.

9. The method of claim 8, wherein in the event that the fault type is an electronic virus intrusion, performing a corresponding fault process on the target work machine according to a target fault process policy, comprising:

acquiring a first field image containing a current target working robot;

10. The method of claim 9, wherein after controlling the operating arm to physically trigger the restart switch of the target work robot based on the position information of the restart switch, the method further comprises:

11. The method of claim 8, wherein in the event that the fault type is a power exhaustion, performing a corresponding fault process on the target work machine according to a target fault process policy, comprising:

acquiring a third field image containing the current target working robot;

12. A fault handling apparatus for a work robot, applied to an operation and maintenance robot, comprising:

13. An operation and maintenance robot, characterized by comprising at least a moving part, a second data interface, an operation arm, a second connecting part, a network communication port, a processor and a memory for storing processor executable instructions, which when executed by the processor implement the steps of the method according to any of claims 1 to 11, which are respectively matched with the first data interface, the restart switch and the first connecting part of the working robot.

14. A computer readable storage medium, having stored thereon computer instructions which, when executed by a processor, implement the steps of the method of any of claims 1 to 11.

15. A computer program product comprising a computer program which, when executed by a processor, implements the steps of the method of any one of claims 1 to 11.