CN-121979082-A - Tunnel robot instruction execution and fault self-recovery method

CN121979082ACN 121979082 ACN121979082 ACN 121979082ACN-121979082-A

Abstract

The invention discloses a method for executing tunnel robot instructions and recovering faults automatically, which relates to the technical field of cooperative control of tunnel robots and fault self-recovery, and comprises the steps of receiving a main control chip instruction packet and analyzing to obtain instruction codes and data segments; the method comprises the steps of driving an executing mechanism according to an instruction code and a data section, collecting operation parameters of a driving motor, returning the operation parameters to a main control chip, continuously receiving a heartbeat data packet, resetting a timeout timer, judging a fault type according to the state of the timeout timer and the operation information of the driving motor, executing a differential recovery strategy according to the fault type, and waiting for the main control chip to issue an instruction again after the fault is removed. The invention can realize the autonomous detection and recovery of faults of the main control chip and the driving motor, does not need manual intervention, reduces the operation and maintenance cost, and ensures the continuous and stable operation of the tunnel robot in a severe environment.

Inventors

GUO YANG
WU SHUAI
WU KEWEI
HE XIAOGANG

Assignees

北京卓视智通科技有限责任公司

Dates

Publication Date: 20260505
Application Date: 20251229

Claims (10)

1. The tunnel robot instruction execution and fault self-recovery method is characterized by comprising the following steps of: s1, receiving an instruction packet from a main control chip, and analyzing the instruction packet to obtain an instruction code and a data segment; s2, driving an executing mechanism to execute corresponding operation according to the instruction code and the data segment, collecting operation parameters of a driving motor in the executing mechanism after execution is completed, packaging the operation parameters into feedback data packets, and transmitting the feedback data packets back to the main control chip; s3, continuously receiving a heartbeat data packet from the main control chip during the corresponding operation of the driving execution mechanism, resetting a built-in timeout timer when the heartbeat data packet is received, and judging the fault type according to the state of the built-in timeout timer and the running information of the driving motor, wherein the running information is acquired in real time; s4, executing a differential recovery strategy according to the fault type, and waiting for the main control chip to issue the instruction again to recover operation after the fault is removed.
2. The method for executing and recovering from a fault by a tunnel robot according to claim 1, wherein said determining the fault type based on the state of the built-in timeout timer and the operation information of the driving motor comprises: When the timeout timer does not receive the heartbeat data packet within a set timeout threshold, judging that the main control chip fails; when the current data exceeds a first preset threshold value and the rotating speed data is lower than a second preset threshold value, judging that the driving motor has a first type of faults; And when the fluctuation amplitude of the rotating speed data exceeds a third preset threshold value and the instruction code is unchanged, judging that the driving motor has a second type of faults.
3. The method for performing and recovering from a tunnel robot instruction according to claim 2, wherein said performing a differential recovery strategy according to said fault type comprises: When the main control chip fails, the power supply branch of the main control chip is cut off, the power supply of the power supply branch of the main control chip is recovered after a first delay time, and the main control chip is restarted and the instruction is sent again to recover operation.
4. The method for performing and recovering from a tunnel robot instruction according to claim 2, wherein said performing a differential recovery strategy according to said fault type comprises: When the first type of faults or the second type of faults occur in the driving motor, a driving signal of the driving motor is cut off, a power supply branch of the driving motor is cut off, the power supply of the power supply branch of the motor is recovered after a second delay time, a inching reverse instruction is output to clear the blocking, and recovery completion information is fed back after the operation information acquired again is recovered to be normal.
5. The method for performing and recovering from a failure of a tunnel robot according to claim 1, further comprising: In the fault judging and fault recovering processes, driving signals of the executing mechanism are synchronously cut off, the gesture of the robot is locked, fault diffusion is avoided, and after recovery is completed, the main control chip waits for sending instructions again to recover operation.
6. The tunnel robot instruction execution and fault self-recovery system is characterized by comprising an instruction processing module, an execution feedback module, a state monitoring module and a fault recovery module; the instruction processing module is used for receiving an instruction packet from the main control chip and analyzing the instruction packet to obtain an instruction code and a data segment; The execution feedback module is used for driving an execution mechanism to execute corresponding operation according to the instruction code and the data segment, collecting operation parameters of a driving motor in the execution mechanism after execution is completed, packaging the operation parameters into feedback data packets and transmitting the feedback data packets back to the main control chip; The state monitoring module is used for continuously receiving a heartbeat data packet from the main control chip during the corresponding operation of the driving execution mechanism, resetting the built-in timeout timer when the heartbeat data packet is received, and judging the fault type according to the state of the built-in timeout timer and the running information of the driving motor, wherein the running information is acquired in real time; and the fault recovery module is used for executing a differential recovery strategy according to the fault type, and waiting for the main control chip to issue the instruction again to recover operation after the fault is removed.
7. The system of claim 6, wherein the determining the fault type based on the state of the built-in timeout timer and the operation information of the driving motor comprises: When the timeout timer does not receive the heartbeat data packet within a set timeout threshold, judging that the main control chip fails; when the current data exceeds a first preset threshold value and the rotating speed data is lower than a second preset threshold value, judging that the driving motor has a first type of faults; And when the fluctuation amplitude of the rotating speed data exceeds a third preset threshold value and the instruction code is unchanged, judging that the driving motor has a second type of faults.
8. The tunneling robot instruction execution and failure self-recovery system of claim 6, further comprising: In the fault judging and fault recovering processes, driving signals of the executing mechanism are synchronously cut off, the gesture of the robot is locked, fault diffusion is avoided, and after recovery is completed, the main control chip waits for the command issuing party to recover operation.
9. A computer device, characterized in that it comprises a processor coupled to a memory, in which at least one computer program is stored, which is loaded and executed by the processor, to cause the computer device to implement a tunnel robot instruction execution and failure self-recovery method according to any of claims 1 to 5.
10. A computer readable storage medium, wherein at least one computer program is stored in the computer readable storage medium, and the at least one computer program is loaded and executed by a processor, so that a computer implements a tunnel robot instruction execution and fault self-recovery method according to any one of claims 1 to 5.

Description

Tunnel robot instruction execution and fault self-recovery method Technical Field The invention relates to the technical field of tunnel robot cooperative control and fault self-recovery, in particular to a tunnel robot instruction execution and fault self-recovery method. Background In the tunnel robot operation scene, the main control chip needs to bear complex operation functions such as path planning, data fusion, task scheduling and the like, and the execution layer operation needs to be fast in response, stable and reliable. The tunnel environment has severe conditions such as electromagnetic interference, dust, high and low temperature and the like, and the main control chip is easy to be blocked and has no response and other faults under the environment. In the prior art, two major core problems exist, namely, in a master-slave chip cooperative architecture, an execution layer lacks a high-efficiency and accurate execution mechanism for responding to a master chip instruction to influence the operation continuity of a robot, and after important hardware equipment such as a master control chip or a motor and the like are failed, an autonomous recovery scheme without manual intervention is lacking, a large amount of manpower and material resources are required to enter a field to check, even a road sealing process is required, so that operation interruption and operation and maintenance cost are increased, and the continuous operation capability of a tunnel robot is seriously influenced. Therefore, a technical scheme capable of ensuring that an execution layer efficiently responds to a main control chip instruction and achieving fault autonomous recovery is needed. There are two typical implementations in the prior art. The first is a single-chip direct control scheme, which adopts a single main control chip to integrate all functions and is directly connected with a robot executing mechanism, the main control chip not only completes complex tasks such as path planning, data operation and the like, but also directly outputs control instructions to drive the executing mechanism, and no independent slave control chip participates. The second is a double-chip scheme which relies on external circuit reset, an independent external reset module is newly added on the basis of the double-chip architecture, the external reset module monitors parameters such as voltage, clock signals and the like of a main control chip through a hardware circuit, when abnormality is detected, the main control chip is triggered to reset, and a slave control chip only bears an executing function and does not participate in fault monitoring and reset control. However, the above prior art has significant drawbacks. In the single-chip direct control scheme, the single chip is overloaded, complex operation and real-time execution instructions conflict, control response delay is caused, the operation precision of the robot is affected, an independent fault monitoring unit is not needed, once a main control chip is blocked, any independent recovery way is not needed, the single-chip direct control scheme is required to rely on manual power-off restarting or field entering maintenance, the anti-interference capability is weak, the whole robot is stopped due to the single-chip fault, and the redundant design is not needed. In a double-chip scheme relying on external circuit reset, an external reset module can only monitor hardware parameter abnormality, common faults such as software blocking of a main control chip cannot be identified, a reset triggering scene is limited, the external module is increased in hardware complexity, weak in tunnel electromagnetic interference resistance and dust resistance and easy to cause reset failure due to faults, reset logic is fixed, cannot be linked with an execution state of a slave control chip, and misoperation of an executing mechanism possibly occurs during reset, so that safety risks exist. In summary, the prior art cannot meet the requirements of the tunnel robot on efficient instruction execution and fault autonomous recovery at the same time, and has serious shortcomings in response speed, fault coverage, autonomous recovery capability, operation safety and severe environment adaptability. A new technical scheme is needed, the abnormal states of equipment such as a main control chip, a motor and the like are identified in real time through a reliable fault detection mechanism, efficient instruction execution is realized through master-slave double-chip cooperative control, rapid restarting recovery without manual intervention is realized, and safe, stable and continuous operation of the tunnel robot in a severe environment is ensured. Disclosure of Invention The invention aims to solve the technical problems of high operation and maintenance cost, operation interruption and the like caused by low instruction execution efficiency, lack of autonomous recovery capability after the failure of a