CN1794124A - Unmanned maintenance system - Google Patents
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- CN1794124A CN1794124A CN 200510115498 CN200510115498A CN1794124A CN 1794124 A CN1794124 A CN 1794124A CN 200510115498 CN200510115498 CN 200510115498 CN 200510115498 A CN200510115498 A CN 200510115498A CN 1794124 A CN1794124 A CN 1794124A
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Abstract
A maintenance system free of manpower comprises robot, maintenance model storage unit, fault positing and fault shooting unit. It features that maintenance model storage unit is set in headquarters server and operation station server, fault positioning method and fault shooting method can be called up by robot through logging on headquarters server and operation station server of network.
Description
Technical field
The present invention relates to a kind of automatic control system, relate to a kind of unmanned maintenance system that is used for on-line monitoring and maintenance specifically.
Background technology
At present, manufacturing enterprise need safeguard or after sale service equipment in order to make the normal operation of equipment, plant maintenance work place one's entire reliance upon the basically supplier or the special maintenance talent, therefore after sale service and special maintenance personal troop are huge, consume many plant maintenance personnel's energy and material resources, brought huge expenditure to enterprise simultaneously.The work period of adding equipment reparation finishing because fault quits work is longer, and institute is so that the service efficiency reduction of equipment.
Existing equipment has all designed term of life usually, this term of life is the parameter that draws by the parts of testing term of life minimum in this equipment, and can represent the term of life of entire equipment, this just makes the term of life of entire equipment reduce, and causes great waste.Though, can accomplish the periodic replacement of some parts by annual test, bring some human factors again inevitably into, cause new hidden danger, and when annual test, need to shut down.
Summary of the invention
Technical matters solved by the invention provides a kind of unmanned maintenance system, has realized that the unmanned of system detects and maintenance automatically in real time.
This unmanned maintenance system comprises:
Robot is used for equipment is carried out attended operation;
The Maintenance Model storage unit is provided with memory element, is used for storage failure location and row's barrier method;
Localization of fault and row's barrier unit receive the instruction of described robot, transfer localization of fault and row's barrier method from described Maintenance Model storage unit, send to described robot.
Described robot comprises processor, analog to digital converter, digital to analog converter, it is characterized in that also comprising:
Sensor is used to produce measurement result and sends;
Signal processor receives the measurement result of described sensor, produces processing signals, delivers to described processor through described analog to digital converter and calculates, and send to described digital to analog converter;
Carry out the actuating signal driver, receive the signal of described digital to analog converter, the generation drive signal is also sent;
Execution architecture receives the signal of carrying out the actuating signal driver, and finishes corresponding action;
The message exchange parts are connected with described sensor by digital signal interface, simulating signal or digital pulse signal adapter, are used to realize the exchange with external information.
Described robot sets up according to the following step:
(1) fault self-checking;
(2) robot initialization;
(3) system verifies robot, if by verifying then execution in step (4), if by checking, then execution in step (9);
(4) tour equipment;
(5) if the fault of tour, execution in step (6) then, if do not make an inspection tour fault, execution in step (3) again;
(6) fault is positioned and get rid of;
(7) if fault is got rid of successfully, then execution in step (3) is not successful if fault is got rid of, then execution in step (8);
(8) report troubleshooting stage to system;
(9) finish to make an inspection tour.
Described step (8) is specially, and makes an inspection tour equipment when robot and breaks down, according to means such as model, remote guides, when robot still can't fix a breakdown, promptly to native system report details, wait command.
Described Maintenance Model storage unit follows these steps to set up:
(1) the software and hardware data of the maintained equipment of admission;
(2) according to the software and hardware data of maintained equipment, principle etc. will be inferred generable fault, and referential fault diagnosis example and other method are all simulated in the model;
(3) set up the hardware configuration of model.Comprise location and row's barrier unit.As: sensors etc. obtain the unit of data, mechanical arm, control power, performance element etc.;
(4), set up the software configuration of model according to the hardware configuration of setting up model.The localization of fault and row's barrier method flow, the row's barrier operating effect that comprise robot detect the confirmation method flow process, get rid of and make an inspection tour control method flow process etc.
Described establishment step also comprises: the step of improving related content.
Described localization of fault and row's barrier unit carry out according to the following step:
(1) if can orient fault according to model, execution in step (4) then, if can not orient fault according to model, execution in step (2) then;
(2) if can't fault location, also need to obtain other relevant informations according to the information of having obtained, execution in step (3) then, if do not need, execution in step (7) then;
(3) carry out information acquisition;
(4) carry out localization of fault according to the information of obtaining;
(5) row's of obtaining barrier flow process is arranged the barrier operation from model;
(6) hinder successfully if confirm row;
(7) return.
Described step (4) if in can not carry out localization of fault according to the information of obtaining, then return step (2).
Described step (6) if in confirm not success of row's barrier operation, whether other row's barrier operating processes are then arranged, if having then execution in step (5) in the judgment models.
There are not other row's barrier operating process, then execution in step (7) in the described model.
Under monitoring of the present invention, reduced equipment failure rate, saved the maintenance cost of many equipment.Owing to realized the real-time monitoring and maintenance of equipment self reparation and robot in the unmanned maintenance system, maintenance speed is fast, efficient is high, significantly reduced for some reason barrier and the out-of-work time, even need not out of servicely just can repair fault, made the service efficiency raising of equipment.Robot and equipment can carry out self on-line monitoring, and fault is eliminated in bud, avoid and reduce the loss.Owing to reduced the input of manpower, saved the cost of a large amount of service and maintenance for enterprise.
Under special environment, the present invention can be used widely, under the particularly harmful environment, for example, and high temperature, low temperature environment, at the environment of harmful gas, wait under water, the present invention can realize real-time online operation or monitoring.
Description of drawings
Fig. 1 fault model set up process flow diagram;
Fig. 2 is the robot construction block diagram;
Fig. 3 is the main boot flow figure of robot;
Fig. 4 is fault location and row's barrier process flow diagram.
Embodiment
The present invention can scrap processing to the equipment that can not utilize once more, carries out scientifically environmental protection treatment under the guidance of system.For the equipment that can repair, can realize maintenance by the present invention, for example to equipment, when a certain device failure, utilize relay etc. to have the parts of state exchange function that original damage device is disconnected, will back up device to put into operation, to reach the purpose of " repairing automatically " fault.In equipment, can utilize the method for intelligence, the present invention is arranged on this device interior, equipment is realized the unmanned maintenance management, perhaps according to actual conditions, the present invention is arranged on this device external, utilize robot to realize the unmanned maintenance management.In harmful environment, utilize robot can replace the people to operate, can avoid the infringement of objectionable impurities to human body.
The slip-stick artist needs fully the software and hardware of unmanned maintenance function to be considered in its structure, to optimize the function of unmanned maintenance as far as possible when design maintained equipment of the present invention.During by Installation and Debugging maintained equipment of the present invention, as far as possible the unmanned maintenance function is carried out artificial debugging, to reach best unmanned maintenance effect.During product approval, the 26S Proteasome Structure and Function of unmanned maintenance system is finalized the design simultaneously.
Among the present invention, model comprises two parts of hardware and software.The foundation of model is to make up concrete model at concrete maintained equipment.The foundation of model will be determined according to the function that realizes in proper order, at first, creates and realizes the required hardware environment of unmanned maintenance function, then, under the support of particular hardware environment,, promptly set up the software section of model at concrete maintained equipment according to the hardware written-out program.Certainly, when setting up the software section of model, can adjust the configuration of hardware as required.
Except prototype software part 342 (referring to Fig. 2), all physical units all belong to the hardware components in the model.The hardware components of model refers to robot or intelligent maintenance equipment.Specifically, the function of Shi Xianing as required at first comes to determine the part of obtaining of information, promptly monitors part.For example sensor among the present invention 354 (referring to Fig. 2) or non-sensing measurement parts.Execution unit 355 (referring to Fig. 2) comprises robot ambulation platform 305, manipulator part 306, state transformation part 308, control light parts 309, sounding parts 310, temperature control parts 311, control power parts 312 etc.Because these two parts are bases of model hardware part, according to different maintained equipment different structures is arranged, choose different parts.Miscellaneous part sensor 354 in the present invention, non-sensing measurement parts, the execution unit 355 can be chosen according to the robot construction needs.
The software section of model refers to ROBOT CONTROL program or method.It tour device program, equipment on-line monitoring program, fault locating program, fault that comprises robot is got rid of the definite program etc. that reaches.
Robot monitors maintained equipment under the software section control of model, for example, monitors by sensor.Robot can also realize localization of fault, row's barrier (by execution unit 355) under the software section control of model, to realize unmanned maintenance.
Establishment step below in conjunction with 1 pair of Maintenance Model storage unit of the present invention of accompanying drawing is described in detail.
(1) the software and hardware data (step S001) of the maintained equipment of admission;
(2) according to the software and hardware data of maintained equipment, principle etc. will be inferred generable fault, and referential fault diagnosis example and other method are all simulated (step S002) in the model;
(3) set up the hardware configuration of model.Comprise location and row's barrier unit, as: sensors etc. obtain the unit of data, mechanical arm, control power, performance element etc. (step S003);
(4), set up the software configuration of model according to the hardware configuration of setting up model.The localization of fault that comprises robot hinders (step S004) such as method flow, row's barrier operating effect detection confirmation method flow process, eliminating tour control method flow processs with arranging.
If also have the perfect step that needs, then improve uncompleted related content (S005).
At concrete maintained equipment,, can set up its concrete Maintenance Model (comprising hardware and software) by above-mentioned steps.
Above-mentioned model can improve or upgrades by following method.
1, the design engineer's updates and upgrades.
2, in the process of system maintenance, constantly receive data such as good fault diagnosis example, data that model is upgraded.
3, by the monitoring in using with along with the continuing of time, progressively improve the precision and the accuracy of model.
4, obtain parameter by other means, model is improved.
Above-mentioned Maintenance Model storage unit can be arranged on headquarters server, workstation servers and machine intimate, even can be arranged on concrete device interior.If this Maintenance Model storage unit is arranged in headquarters server, the workstation servers, robot can pass through network login headquarters server, workstation servers, transfers localization of fault and row's barrier method.
2 pairs of robots are described in detail below in conjunction with accompanying drawing.
Robot mainly comprises processor CPU301, analog to digital converter 335, digital to analog converter 302, sensor 354, signal processor 334, carries out actuating signal driver 304, execution unit 355, message exchange parts.Sensor 354 is used to produce measurement result and sends; Signal processor 334, receive the measurement result of described sensor, produce processing signals, deliver to described processor CPU301 through analog to digital converter 335 and calculate, and send to digital to analog converter 302, CPU301 according to the data of prototype software part 342 compare, calculating such as judgement; Carry out actuating signal driver 304, receive the signal of digital to analog converter 302, the generation drive signal is also sent; Execution unit 355 receives the signal of carrying out actuating signal driving 304, and finishes corresponding action; The message exchange parts are used to realize that external information exchanges.The present invention is provided with the port that two classes realize information interchange, a, connects 346 by digital signal; B, be connected with described sensor by simulating signal or digital pulse signal adapter.
1, topworks 355 carries out and action.
(1) walking: robot utilizes video camera 314 and displacement sensing 321 to determine the position of oneself.Analyzing the walking order of sending according to CPU301, through D/A converter 302, signal drives 304 makes ground-engaging element 305 actions to achieve the goal.Walking also can be actions such as flight, diving.
(2) " mechanical arm " actions such as dismounting or welding: obtain psychomotor task by CPU301, send action command, through D/A converter 302, signal drives 304 makes topworks 355 make corresponding action, for example, and actions such as the turn of the screw.
(3) robot uses external instrument
A, the use of the instrument of digital signal output interface is arranged.
Robot uses external instrument to measure under the effect of topworks 355, and the result of measurement carries out message exchange by the digital signal delivery outlet of instrument and the digital signal interface 346 mutual communications of robot with CPU301.
The use of b, no-output interface instrument.Utilize robot under the effect of topworks 355, to use outside instrument to measure, and the measurement result of the robot sensor 354 by robot is read in CPU301.
(4) vocal function.After CPU301 obtains audible signal, this signal is driven 304 by D/A converter 302, execution actuating signal, send corresponding sound by sounding parts 310 at last.
(5) utilize the parts that to finish psychomotor task in other maintenance works to finish other execution and action.
2, the function of sensor 354
(1) measures
Delivered to A/D converter 335 through signal processor 334 and convert digital signal to and send to CPU301 what sensor 354 obtained.The result that CPU301 is considered as these data to measure.Measured signal can be electric signal, light signal, temperature etc.The method of measuring can be continuous or discrete.If do not utilize sensor technology, can utilize probe or scanning to measure.Utilize the probe measurement of robot can save the physical connection adapter, and the test speed of robot is fast, the operation controllability precision is greater than people's control accuracy.
(2) video capability
Scanned continuously by altimetric image by 314 pairs of shooting parts, can obtain vision signal.
(3) audio-frequency function
Can obtain sound signal by audio sensor 319, sound signal is read by CPU301 through signal processor 334, A/D converter 335.
In sensor 354, other sensors can also be set, be convenient to obtain other signals.
3, the prototype software part 342
(1) localization of fault
CPU301 obtains location tasks, the data of obtaining in data that the scene is recorded and the model 342, and from model 342, obtain localization method, and position, obtain positioning result.
(2) repair method
According to the repair method in positioning result in (1) and the model 342, corresponding order, carry out repair action.
(3) operation acknowledgement
The repairing of carrying out is confirmed.
(4) read function
The signal that robot obtains by shooting part 314 is read by CPU301 after signal processor 334, A/D converter 335 conversions.According to data, identifying and analyzing method in character image signal that obtains and the model 342, CPU301 can discern the content of character image.
4, robot and external digital communication function.
Robot can realization and network and people carry out communication.
Robot can be read by CPU301 after signal processor 334, A/D converter 335 conversions by audio sensor 319.Robot can also send sound signal by CPU301, changes through D/A converter 302, signal processor 334, is sounded by sounding parts 301.
Utilize image file that shooting part 314 obtains after signal processor 334, A/D converter 302 are handled, send to CPU301.
5, signal generator 343
CPU301 sends the corresponding signal generator 343 of ordering when receiving signal, produce corresponding signal by signal generator 343.
6, display unit 353
CPU301 will send such as picture signals such as data drawing list, waveforms to display unit 353 receiving need be to signal that display unit 353 sends the time.
7, reliability security system
(1) CPU301 by be installed in robot before the window on one's body 353 and the monitoring point obtain corresponding data.Confirm that in conjunction with the normal data that from model 342, obtains and localization method (containing traditional fault self-checking), row's barrier flow process, row's barrier flow process etc. finishes the robot self.
(2) software and hardware reliability such as house dog ensures parts.
(3) native system ensures that the measure that reliability, stability, the security of robot take is as follows:
A, the backup of fragile parts realize fast automatic reparation.
B, emergency processing parts.
C, emergency help.
The sensor 354 can be shooting part 314, photoelectric sensor 316, temperature sensor 317, pressure transducer 318, audio sensor 319, gas sensor 320, displacement transducer 321, moisture sensor 322, voltage sensor 323, current sensor 324, frequency sensor 325, ultrasonic sensor 326, enzyme sensor 327, microbiological sensor 328, tissus sensor 329, cell sensor 330, immunosensor 331 etc., also can be other sensors or non-sensor measurement.
The sensor 354 can be connected with voice dialogue communication port 337, infrared receiving/transmission communication port 338, electromagnetic wave transmitting-receiving communication port 339, wired socket 340 etc. by simulating signal or digital pulse signal adapter 336, and other socket can also be set.
Above-mentioned topworks 355 can be conversion 308, control light 309, sounding parts 310, temperature control 311, the control power 312 of robot ambulation platform 305, manipulator part 306, state, and the parts that can finish psychomotor task in other maintenance work or other moving link as required can also be set.
Application to above-mentioned robot is described in detail below.
1, for the robot that is installed in the maintained device body.
The object of safeguarding generally is maintained equipment and robot self.For example: one has the air conditioner from maintenance function, except the maintenance of being responsible for this TV station air-conditioning, also can safeguard miscellaneous equipment by its maintenance function.
Sensor 354 can be directly installed on that equipment under test is finished on the monitoring point of own job functional part, robot self (operation conditions that is used for monitoring robot self).The sensor element that is used for traverse measurement is installed in the action component of robot.
Carry out with action component 355, model and software 342 all be specially at maintained equipment and self.
2, the robot that is independent of maintained equipment can safeguard many different equipment.The sensor 354 of this robot, execution can be at many different equipment with action component 355 models 342 and software.
3, be applicable to that the occasion of safeguarding in the body just uses body inner machine people to safeguard, be applicable to that external parts and occasion use external robot to safeguard.
Safeguard that the kind with robot can be divided into following four kinds of situations:
1, popular universal robot
The related software that this robotlike only needs load facility to safeguard, and utilize external instrument instrument just can finish maintenance work.This robotlike is applicable to the many situations of device category that flowability is big, safeguard.
2, the robot of special maintenance
This robotlike is furnished with and safeguards required hardware (comprising the testing tool that uses and the instrument etc. safeguarded), software, can finish maintenance work.This robotlike is applicable to the situation that specificity is strong, and the body that can be arranged on maintained equipment is interior or external.
3, comprehensive robot
Be furnished with in this robotlike's body and safeguard required hardware (comprising the testing tool that uses and the instrument etc. safeguarded), software, can use external testing tool of robot and instrument.This robotlike is applicable to the equipment that robot increases newly.
4, disposable robot
This robotlike task that executes is destroyed thereupon, for example handles the robot that the virus spread refuse is arranged.
Method of work below in conjunction with 3 pairs of robots of accompanying drawing is described in detail.
At first, robot powers on.After powering on, robot detects the parts that needs detect.If detect not by according to circumstances handle accordingly, have only by after, the more initialized parts of needs are carried out initialization.Next, system verifies robot, with the reliability of further affirmation robot, and accuracy, etc.After having confirmed that above function of robot and performance are normal or meeting the requirements, the machine talent carries out tour equipment.Discovering device breaks down when robot, just according to program in the model, calls localization of fault and with row's barrier method equipment is detected, and utilizes means such as inspection, test to come fault location and get rid of fault.If robot utilizes its all ways and means to locate or to fix a breakdown, then report fault information such as can't get rid of, and finish tour this equipment to system.
Robot carries out work according to the following step:
(1) fault self-checking (step S371);
(2) robot initialization (step S372);
(3) system verifies robot, if by verifying then execution in step (4), if by checking, then execution in step (9) (step S373);
(4) tour equipment (step S374);
(5) if the fault of tour, he execution in step (6) then is not if make an inspection tour fault, in execution in step (3) (step S375);
(6) fault is positioned and arranges barrier (step S376);
(7) if fault is got rid of successfully, then execution in step (3) is not successful if fault is got rid of, then execution in step (8) (step S377);
(8) report troubleshooting stage (step S378) to system;
(9) finish to make an inspection tour (step S379).
Above-mentioned steps (8) is to make an inspection tour equipment when robot to break down specifically, according to means such as model, remote guides, when robot still can't fix a breakdown, promptly to native system report details, wait command.
Be described in detail below in conjunction with 4 pairs of localization of fault of the present invention of accompanying drawing and row's barrier unit.
Localization of fault and row's barrier unit carry out according to the following step::
(1) if can orient fault according to model, execution in step (4) then, if can not orient fault according to model, execution in step (2) (step S752) then;
(2) if can't fault location, also need to obtain other relevant informations according to the information of having obtained, execution in step (3) then, if do not need, execution in step (7) (step S753) then;
(3) carry out information acquisition (step S754);
(4) carry out localization of fault (step S755) according to the information of obtaining;
(5) row's of obtaining barrier flow process is arranged barrier operation (step S756) from model;
(6) hinder successfully (step S757) if confirm row;
(7) return (step S759).
Above-mentioned steps (4) if in can not carry out localization of fault according to the information of obtaining, then return step (2) (step S755).
Above-mentioned steps (6) if in confirm not success of row's barrier operation, whether other row's barrier operating processes are then arranged, if having then execution in step (5), if there are other row's barrier operating process, then execution in step (7) (step S758) in the model in the judgment models.
Claims (10)
1, a kind of unmanned maintenance system is characterized in that, comprising:
Robot is used for equipment is carried out attended operation;
The Maintenance Model storage unit is provided with memory element, is used for storage failure location and row's barrier method;
Localization of fault and row's barrier unit receive the instruction of described robot, transfer localization of fault and row's barrier method from described Maintenance Model storage unit, send to described robot.
2, unmanned maintenance system according to claim 1, described robot comprises processor, analog to digital converter, digital to analog converter, it is characterized in that also comprising:
Sensor is used to produce measurement result and sends;
Signal processor receives the measurement result of described sensor, produces processing signals, delivers to described processor through described analog to digital converter and calculates, and send to described digital to analog converter;
Carry out the actuating signal driver, receive the signal of described digital to analog converter, the generation drive signal is also sent;
Execution architecture receives the signal of carrying out the actuating signal driver, and finishes corresponding action;
The message exchange parts are connected with described sensor by digital signal interface, simulating signal or digital pulse signal adapter, are used to realize the exchange with external information.
3, unmanned maintenance system according to claim 2 is characterized in that, described robot carries out work according to the following step:
(1) fault self-checking;
(2) robot initialization;
(3) system verifies robot, if by verifying then execution in step (4), if by checking, then execution in step (9);
(4) tour equipment;
(5) if the fault of tour, execution in step (6) then, if do not make an inspection tour fault, execution in step (3) again;
(6) fault is positioned and get rid of;
(7) if fault is got rid of successfully, then execution in step (3) is not successful if fault is got rid of, then execution in step (8);
(8) report troubleshooting stage to system;
(9) finish to make an inspection tour.
4, unmanned maintenance system according to claim 3, it is characterized in that, described robot method of work, step (8) is specially, make an inspection tour equipment when robot and break down, according to means such as model, remote guides, when robot still can't fix a breakdown, promptly to native system report details, wait command.
5, unmanned maintenance system according to claim 1 is characterized in that, described Maintenance Model storage unit follows these steps to set up:
(1) the software and hardware data of the maintained equipment of admission;
(2) according to the software and hardware data of maintained equipment, principle etc. will be inferred generable fault, and referential fault diagnosis example and other method are all simulated in the model;
(3) set up the hardware configuration of model.Comprise location and row's barrier unit.As: sensors etc. obtain the unit of data, mechanical arm, control power, performance element etc.;
(4), set up the software configuration of model according to the hardware configuration of setting up model.The localization of fault and row's barrier method flow, the row's barrier operating effect that comprise robot detect the confirmation method flow process, get rid of and make an inspection tour control method flow process etc.
6, unmanned maintenance system according to claim 5 is characterized in that, described job step also comprises: the step of improving related content.
7, unmanned maintenance system according to claim 1 is characterized in that, described localization of fault and row's barrier unit carry out according to the following step:
(1) if can orient fault according to model, execution in step (4) then, if can not orient fault according to model, execution in step (2) then;
(2) if can't fault location, also need to obtain other relevant informations according to the information of having obtained, execution in step (3) then, if do not need, execution in step (7) then;
(3) carry out information acquisition;
(4) carry out localization of fault according to the information of obtaining;
(5) row's of obtaining barrier flow process is arranged the barrier operation from model;
(6) hinder successfully if confirm row;
(7) return.
8, unmanned maintenance system according to claim 7 is characterized in that, described step (4) if in can not carry out localization of fault according to the information of obtaining, then return step (2).
9, unmanned maintenance system according to claim 7 is characterized in that, described step (6) if in confirm not success of row's barrier operation, whether other row's barrier operating processes are then arranged, if having then execution in step (5) in the judgment models.
10, unmanned maintenance system according to claim 7 is characterized in that, does not have other row's barrier operating process, then execution in step (7) in the described model.
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| Application Number | Priority Date | Filing Date | Title |
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| CN 200510115498 CN1794124A (en) | 2005-11-04 | 2005-11-04 | Unmanned maintenance system |
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| CN 200510115498 CN1794124A (en) | 2005-11-04 | 2005-11-04 | Unmanned maintenance system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102486645A (en) * | 2010-12-06 | 2012-06-06 | 青岛三利中德美水设备有限公司 | Industrial robot wireless control device |
| CN102575947A (en) * | 2009-10-09 | 2012-07-11 | 株式会社奥巴尔 | Maintenance expert system for measuring instrument |
| CN102693166A (en) * | 2012-05-10 | 2012-09-26 | 华为技术有限公司 | Method, device and system for processing information |
| CN104063803A (en) * | 2013-03-20 | 2014-09-24 | 江苏核电有限公司 | Safety instrument operation risk automatic analysis system for reactor |
| CN104112056A (en) * | 2013-04-18 | 2014-10-22 | 腾讯科技（深圳）有限公司 | Method and system for detecting data processing faults |
| CN104635718A (en) * | 2013-11-12 | 2015-05-20 | 沈阳新松机器人自动化股份有限公司 | Robot fault repairing system and method |
| CN104889997A (en) * | 2015-07-03 | 2015-09-09 | 四川理工学院 | Solid brewing yeast turning precisely-positioned mechanical hand control system and method |
| JP2017220247A (en) * | 2017-07-28 | 2017-12-14 | ファナック株式会社 | Management system for machine tool |
| CN107528705A (en) * | 2016-06-20 | 2017-12-29 | 中兴通讯股份有限公司 | Fault handling method and device |
| WO2019080316A1 (en) * | 2017-10-28 | 2019-05-02 | 深圳市前海安测信息技术有限公司 | Method and device for automatic fault analysis of service robot |
| CN109760060A (en) * | 2019-03-02 | 2019-05-17 | 安徽理工大学 | A kind of multi-freedom robot intelligent barrier avoiding method and its system |
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| CN102575947A (en) * | 2009-10-09 | 2012-07-11 | 株式会社奥巴尔 | Maintenance expert system for measuring instrument |
| CN102486645A (en) * | 2010-12-06 | 2012-06-06 | 青岛三利中德美水设备有限公司 | Industrial robot wireless control device |
| CN102693166B (en) * | 2012-05-10 | 2015-04-22 | 华为技术有限公司 | Method, device and system for processing information |
| CN102693166A (en) * | 2012-05-10 | 2012-09-26 | 华为技术有限公司 | Method, device and system for processing information |
| CN104063803A (en) * | 2013-03-20 | 2014-09-24 | 江苏核电有限公司 | Safety instrument operation risk automatic analysis system for reactor |
| CN104112056B (en) * | 2013-04-18 | 2017-11-21 | 腾讯科技（深圳）有限公司 | The fault detection method and system of data processing |
| CN104112056A (en) * | 2013-04-18 | 2014-10-22 | 腾讯科技（深圳）有限公司 | Method and system for detecting data processing faults |
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