CN-121997105-A - AGV robot operation fault information returning method, equipment and system

CN121997105ACN 121997105 ACN121997105 ACN 121997105ACN-121997105-A

Abstract

The application relates to the technical field of digital information transmission, in particular to an AGV robot operation fault information returning method, equipment and a system. The method comprises the steps of when a certain AGV robot (hereinafter referred to as a target robot) is detected to be in communication interruption with a platform, cooperatively collecting state information such as the position, the speed and the like of the target robot by scheduling the AGV robots which normally run around the AGV robot as mobile monitoring nodes and uploading the state information to the cloud platform, dynamically optimizing a monitoring strategy by the platform based on the discrete cooperative monitoring data, combining a preset route and an intelligent algorithm, restoring the motion trail of the target robot with high precision, and finally intelligently judging the fault type of the target robot, so that reliable return of fault information independent of a fault robot body is realized, and the fault investigation and treatment efficiency is improved because manual field inspection is not needed.

Inventors

YE MAOXING
CUI HUIJUN

Assignees

杭州亿亿德传动设备有限公司

Dates

Publication Date: 20260508
Application Date: 20260409

Claims (10)

1. An AGV robot operation fault information feedback method is characterized by comprising the following steps: When detecting that a first target robot does not communicate with a cloud platform for a plurality of times continuously, scheduling a second target robot which normally works around the first target robot to acquire and report state information of the first target robot, wherein the state information comprises an information acquisition time stamp; acquiring the dynamic attention of the first target robot based on the information acquisition time stamp; Optimizing a preset basic monitoring frequency according to the dynamic attention, and determining a theoretical demand monitoring frequency; Acquiring a continuous motion track of the first target robot during communication interruption by adopting an interpolation algorithm based on the discrete position coordinate sequence of the first target robot acquired by the theoretical demand monitoring frequency; comparing the continuous motion track with a preset path of the first target robot to obtain an overall track deviation degree; And determining fault information of the first target robot according to the overall track deviation degree, and transmitting the fault information back to the cloud platform.
2. The method for returning information of operation failure of an AGV robot according to claim 1, wherein the acquiring the dynamic attention of the first target robot based on the information acquisition time stamp includes: acquiring the time interval from the nth monitoring to the nth monitoring according to the information acquisition time stamp; acquiring a historical average value of the previous n-1 monitoring time intervals; acquiring the accumulated time length from the communication interruption to the nth monitoring; And acquiring the dynamic attention of the first target robot according to the time interval, the historical average value and the accumulated duration.
3. The method for returning operation fault information of an AGV robot according to claim 1, wherein the optimizing the preset basic monitoring frequency according to the dynamic attention degree to determine the theoretical demand monitoring frequency includes: acquiring a preliminary optimization frequency according to the dynamic attention and the basic monitoring frequency; Acquiring an importance coefficient of the preset path; Acquiring a monitoring frequency upper limit according to the current available communication bandwidth, the total communication bandwidth and the importance coefficient of the preset path of the system; and determining a theoretical demand monitoring frequency according to the preliminary optimization frequency and the smaller value in the upper limit of the monitoring frequency.
4. The method for returning information of operation failure of an AGV robot according to claim 3, wherein the obtaining the importance coefficient of the preset path includes: Acquiring the self length of the preset path; acquiring the number of intersection points of the preset path and other robot planning paths; determining a basic value of the preset path according to the length of the preset path and the number of the intersection points; acquiring the average value of the basic values of all the planning paths; And acquiring an importance coefficient of the preset path according to the basic value of the preset path and the average value of the basic value.
5. The method for returning information of operation failure of an AGV robot according to claim 1, wherein the acquiring the sequence of discrete position coordinates of the first target robot based on the theoretical demand monitoring frequency, using an interpolation algorithm, acquires a continuous motion trajectory of the first target robot during a communication interruption, includes: acquiring the speed abnormality degree of the second target robot; Normalizing the speed abnormality degree to a relevance index; dynamically adjusting a smoothing factor of a B spline interpolation algorithm according to the relevance index; and B spline interpolation is carried out by utilizing the dynamically adjusted smoothing factors based on the discrete position coordinate sequence, so that a continuous motion track of the first target robot during communication interruption is obtained.
6. The method for returning information of operation failure of an AGV robot according to claim 5, wherein said obtaining the speed abnormality degree of the second target robot comprises: Acquiring the number of the second target robots; Acquiring real-time speeds of the positions where each second target robot passes through the first target robot; acquiring a global planning mean value speed at the position of the first target robot; and acquiring the speed abnormality degree of the second target robot according to the number of the second target robots, the real-time speed and the global planning average speed.
7. The method for returning operation fault information of an AGV robot according to claim 1, wherein comparing the continuous motion trajectory with the preset path of the first target robot to obtain the overall trajectory deviation comprises: acquiring a deviation value of the first target robot relative to the preset path at each moment; acquiring a weighted sum of the deviation values; obtaining the sum of the weighting coefficients; And acquiring the overall track deviation degree according to the weighted sum value of the deviation values and the sum value of the weighting coefficients.
8. The method of claim 1, wherein prior to obtaining the continuous motion trajectory of the first target robot during the communication disruption using an interpolation algorithm based on the sequence of discrete position coordinates of the first target robot obtained at the theoretical demand monitoring frequency, the method further comprises: Acquiring the total monitoring frequency which can be provided by all robots in a current working state; if the theoretical demand monitoring frequency is greater than the total monitoring frequency, calculating the number of robots to be subjected to supplementary scheduling, and scheduling the robots of the number of robots to be subjected to supplementary scheduling from the robots in a non-working state to join in monitoring work so as to fill in the monitoring capability gap.
9. An AGV robot operation failure information return apparatus, wherein the AGV robot operation failure information return apparatus is deployed at an edge computing node, the apparatus comprising: A memory having a computer program stored thereon; A processor for executing the computer program in the memory to implement the steps of the method of any one of claims 1-8.
10. The AGV robot operation fault information feedback system is characterized by comprising a cloud platform, the AGV robot operation fault information feedback device according to claim 9, a plurality of robots, a first communication module and a second communication module, wherein the first communication module is used for communicating with the AGV robot operation fault information feedback device, the second communication module is used for sensing and data interaction with adjacent robots, the AGV robot operation fault information feedback device sends a monitoring instruction to the second target robot through the first communication module after detecting that the first target robot is not communicated with the cloud platform for a plurality of times, and the second target robot senses state information of the first target robot through the second communication module and reports the state information to the AGV robot operation fault information feedback device through the first communication module.

Description

AGV robot operation fault information returning method, equipment and system Technical Field The application belongs to the technical field of digital information transmission, and particularly relates to an AGV robot operation fault information returning method, equipment and a system. Background In continuous operation scenes such as intelligent storage, production lines and the like, stable operation of the AGV robot cluster is important. Once a certain AGV robot breaks down, if the fault information of the AGV robot cannot be timely and accurately reported to a central management platform, chain reactions such as production line congestion and task chain breakage are extremely easy to cause great production loss. Therefore, real-time and reliable fault information feedback is a key for ensuring quick response and recovery of the system. Currently, the mainstream AGV fault information feedback mechanism relies on a communication module (such as a 5G, wi-Fi module) of the fault robot to actively send state data to a cloud platform. However, the method has the inherent defect that if the fault happens to the communication module, or the communication module cannot work due to serious faults (such as power supply and main control board faults), the fault robot falls into a 'disconnection' state, and any information cannot be reported automatically. At this time, the management platform cannot timely sense the occurrence of the fault, and cannot acquire the real-time position and state of the fault robot, so that the fault investigation and treatment are seriously delayed. Therefore, a redundant information feedback mechanism independent of the communication capability of the fault robot is needed, so that the platform can still acquire the key fault information through other ways under the 'out-of-connection' state of the robot. Disclosure of Invention In order to solve the problems, the embodiment of the application provides an AGV robot operation fault information returning method, equipment and a system. According to a first aspect of an embodiment of the present application, there is provided an AGV robot operation failure information returning method, including: When detecting that a first target robot does not communicate with a cloud platform for a plurality of times continuously, scheduling a second target robot which normally works around the first target robot to acquire and report state information of the first target robot, wherein the state information comprises an information acquisition time stamp; acquiring the dynamic attention of the first target robot based on the information acquisition time stamp; Optimizing a preset basic monitoring frequency according to the dynamic attention, and determining a theoretical demand monitoring frequency; Acquiring a continuous motion track of the first target robot during communication interruption by adopting an interpolation algorithm based on the discrete position coordinate sequence of the first target robot acquired by the theoretical demand monitoring frequency; comparing the continuous motion track with a preset path of the first target robot to obtain an overall track deviation degree; And determining fault information of the first target robot according to the overall track deviation degree, and transmitting the fault information back to the cloud platform. In one embodiment, the acquiring the dynamic attention of the first target robot based on the information acquisition time stamp includes: acquiring the time interval from the nth monitoring to the nth monitoring according to the information acquisition time stamp; acquiring a historical average value of the previous n-1 monitoring time intervals; acquiring the accumulated time length from the communication interruption to the nth monitoring; And acquiring the dynamic attention of the first target robot according to the time interval, the historical average value and the accumulated duration. In one embodiment, the optimizing the preset basic monitoring frequency according to the dynamic attention, and determining the theoretical demand monitoring frequency includes: acquiring a preliminary optimization frequency according to the dynamic attention and the basic monitoring frequency; Acquiring an importance coefficient of the preset path; Acquiring a monitoring frequency upper limit according to the current available communication bandwidth, the total communication bandwidth and the importance coefficient of the preset path of the system; and determining a theoretical demand monitoring frequency according to the preliminary optimization frequency and the smaller value in the upper limit of the monitoring frequency. In one embodiment, the obtaining the importance coefficient of the preset path includes: Acquiring the self length of the preset path; acquiring the number of intersection points of the preset path and other robot planning paths; determining a basic value of the preset path accordin