阅读说明：本技术 一种智能可移动式故障补位工业机器人及其控制方法 (Intelligent movable type fault position-supplementing industrial robot and control method thereof ) 是由 张雨昂 于 2021-10-07 设计创作，主要内容包括：本发明公开了一种智能可移动式故障补位工业机器人及其控制方法,设计了一种可移动式的故障补位机器人,其可通过云端平台共享生产线运行数据。在生产线某工位机器人故障时,改机器人可根据生产线云端数据平台的智能调度,到达故障工位点暂代故障机器人进行生产线作业,待该工位机器人修复完成后,再返回待机点,极大的保证了生产线的运行可靠性和生产效率。(The invention discloses an intelligent movable fault position-supplementing industrial robot and a control method thereof, and designs a movable fault position-supplementing robot which can share production line operation data through a cloud platform. When a robot at a certain station of a production line breaks down, the robot can arrive at a fault working site for the time to carry out production line operation according to intelligent scheduling of a production line cloud data platform, and returns to a standby point after the robot at the station finishes repairing, so that the operational reliability and the production efficiency of the production line are greatly ensured.)

1. An intelligent movable fault position-supplementing industrial robot is characterized by comprising: the system comprises a mechanical arm module (1), a movable base (11), a control module and a production line cloud data platform (13);

the mechanical arm module (1) is fixed on the movable base (11) through a screw (4) and comprises a driving node (7), a joint (3) and a working claw (2);

in addition, according to the requirements of mechanical arm movement and work, cooling devices and automatic detection devices are also selected and installed on the mechanical arm module (1);

the driving node (7) is arranged between the joints (3) and is used for driving the joints to move;

the working claw (2) is arranged on a driving node at the tail end and is used for processing the products on the production line;

the movable base (11) comprises base wheels (6), a base platform (12), a steering engine (15), a steering engine shaft (14), a driving motor (17) and a driving shaft (16);

the base wheels (6) are symmetrically arranged on two sides of the base platform (12) and used for supporting the base platform (12) and serving as a moving medium of the base platform (12);

the steering engine (15) is installed at the front end of the top of the base platform (12), and the output end of the steering engine is connected with the input end of the steering engine shaft (14) and used for driving the base platform (12) to steer;

the output end of the steering engine shaft (14) is connected with two base wheels (6) at the front end of the base platform (12);

the driving motor (17) is arranged at the rear end of the top of the base platform (12), and the output end of the driving motor is connected with the input end of the driving shaft (16) and used for driving the base platform (12) to move;

the output end of the driving shaft (16) is connected with two base wheels (6) at the rear end of the base platform (12);

the control module comprises a base control unit (10), a mechanical arm control unit (8), an ultrasonic radar (5) and a positioner (9);

the base control unit (10) is installed on the base platform (12), is connected with the production line cloud data platform (13) through a network, is electrically connected with the steering engine (15) and the driving motor (17), and is used for receiving production line fault station information and a route to a fault station and controlling the movable base (11) to move;

the mechanical arm control unit (8) is installed on the mechanical arm module (1), is in network connection with the production line cloud data platform (13), and is used for receiving production line fault station information and controlling the movement of the mechanical arm module (1);

the ultrasonic radar (5) is installed at the front end of the base platform (12), is electrically connected with the base control unit (10), and is used for sensing environmental information and sending the information to the base control unit (10);

the positioner (9) is arranged below the base platform (12), is electrically connected with the base control unit (10), and is used for sensing the position of the current robot and sending information to the base control unit (10);

the production line cloud data platform (13) is used for monitoring the running state of robots at each station of the production line, monitoring running faults in real time and scheduling the robots when the faults occur.

2. An intelligent movable fault-repairing industrial robot according to claim 1, characterized in that the robot arm module (1) can be disassembled and replaced according to different industrial robots of each production line.

3. The intelligent movable fault relocation industrial robot according to claim 2, wherein the robot arm control unit (8) records therein working programs in robots at various stations in the production line, and the programs to be run after arriving at the stations can be selected according to fault work sites transmitted in real time by the cloud data platform (13) of the production line.

4. A control method of an intelligent movable fault relocation industrial robot, based on the system of any one of claims 1-3, characterized by the following concrete steps:

(1) historical operating data and real-time operating data of robots at all stations of the automatic production line are collected and synchronized to a cloud data platform of the production line;

(2) the production line cloud data platform carries out fault detection according to the operation data of the robots at all stations on the production line, which are acquired in the step (1);

(3) according to the fault detection result in the step (2), scheduling the fault position-supplementing industrial robot through a production line cloud data platform;

(4) according to the fault station information and the route information to the fault station received in the step (3), the base control unit controls the fault position-supplementing industrial robot to move to the fault station along the received route, after the fault station is fixed, the mechanical arm control unit calls a station operation algorithm to take over the work of the fault robot, and the normal operation of a production line is guaranteed;

(5) and (4) in the process that the fault position-supplementing industrial robot runs along the received route, the positioner and the ultrasonic radar acquire environment and position information in real time and transmit the environment and position information to the base control unit, and the base control unit controls the robot to avoid the obstacles on the route.

5. The method for controlling an intelligent movable fault-repairing industrial robot as claimed in claim 4, wherein the operation data collected in step (1) includes data such as total power consumption, power of each motor, base vibration and task execution result, angular velocity of driving joint and motor vibration signal.

6. The control method of an intelligent movable fault relocation industrial robot according to claim 5, wherein the fault detection in the step (2) adopts hidden Markov theory, and comprises the following specific steps:

(21) according to a fault database of an industrial robot on the existing production line, extracting data such as total consumed power, power of each motor, base vibration and task execution results, angular velocity of a driving joint, motor vibration signals and the like as fault classification bases, dividing the fault of the industrial robot into fault types such as A, B, C, D, E and the like, and defining a normal operation state as H;

(22) establishing hidden Markov models under each fault and normal state in the step (21), defining the hidden state as the fault type plus 1 by using the data in the step (21) as an observation variable, and respectively training hidden Markov model parameters corresponding to each fault and normal state by using a Baum-Welch algorithm;

(23) when the production line runs, collecting data such as total consumed power, power of each motor, base vibration and task execution results, angular speed of a driving joint, motor vibration signals and the like in real time, extracting a characteristic sequence by adopting a sliding time window method, and taking the time window interval as 5 s;

(24) and (4) inputting the feature sequences extracted in the step (23) into the hidden Markov models trained in the step (22), and respectively calculating the probability of generating the feature sequences by each model by adopting a forward-backward algorithm, wherein the model with the highest probability is the corresponding operating state of the current industrial robot, namely the fault type.

7. The control method of an intelligent movable fault relocation industrial robot according to claim 6, wherein the specific flow in the step (3) is as follows:

(31) setting a probability threshold value of a hidden Markov model in a normal operation state;

(32) if the result is any fault type in A, B, C, D, E, controlling the production line to stop temporarily, transmitting fault station information and fault station route information to a base control unit and a mechanical arm control unit of the fault position-supplementing industrial robot through a cloud data platform of the production line, dispatching the fault position-supplementing industrial robot to the station, and controlling the production line to continue to run after the fault position-supplementing industrial robot arrives;

(33) if the result is H and the corresponding probability value is greater than the set probability threshold value, the production line is considered to work normally, and the fault position-supplementing industrial robot is not scheduled;

(34) and if the result is H and the corresponding probability numerical value is smaller than the set probability threshold value, determining that a fault type which is not in the plan appears, controlling the production line to stop temporarily, transmitting fault station information and route information to the fault station to a base control unit and a mechanical arm control unit of the fault position-supplementing industrial robot through the production line cloud data platform, dispatching the fault position-supplementing industrial robot to the station, and controlling the production line to continue to run after the fault position-supplementing industrial robot arrives.

8. The control method of the intelligent movable fault-tolerant industrial robot according to claim 7, wherein the fault-tolerant industrial robot in the step (5) is subjected to obstacle avoidance by the following specific steps:

(51) the fault position-supplementing industrial robot automatically runs according to the received route;

(52) acquiring environmental position information by using the positioner and the ultrasonic radar in the driving process;

(53) the base control unit makes a motion behavior decision according to the data acquired in the step (52) and confirms that the fault position supplementing industrial robot needs to carry out obstacle avoidance, obstacle braking and obstacle avoidance or normal running;

(54) if the decision result of (53) is braking and obstacle avoidance, immediately executing a parking instruction, detecting whether the vehicle has a parking trend, if not, adopting emergency braking, and returning to the step (52);

(55) if the decision result of (54) is steering obstacle avoidance, returning the detected obstacle information, judging whether a drivable path exists, if so, planning an obstacle avoidance path, returning to the original path after passing through the obstacle, and returning to the step (52); if not, the decision result is modified to 'brake obstacle avoidance', and the step (54) is returned.

Technical Field

The method relates to the technical field of industrial robots, in particular to an intelligent movable fault position-supplementing industrial robot and a control method thereof.

Background

With the rapid development of modern manufacturing industry in recent years, the automation of industrial robot production lines becomes the mainstream and future development direction, industrial robots are widely used in the automobile industry, casting industry, engineering machinery and other industries at home and abroad to realize automatic production lines, so that the product quality is uniform, the production efficiency is improved, and a large number of industrial accidents are avoided.

However, the existing industrial robot still has certain defects when in use, according to the statistics of the test result of the CR test part of the published Sedi robot detection and authentication center, the current situation of the functional safety of the domestic robot is great, the average dangerous failure rate is 3-5 times higher than the standard requirement, wherein the service robot is particularly serious and individually reaches 10 times or more, which seriously restricts the foot step of the development of the automatic production line. At present, most of solutions to the problem of faults tend to detect faults in time through various means, and although production efficiency is actually improved to a certain extent, an automatic production line of an industrial robot still needs to stop production work during maintenance of technicians, so that production efficiency of enterprises is greatly influenced.

Disclosure of Invention

Based on the defects of the prior art, the invention aims to provide an intelligent movable fault position-supplementing industrial robot and a control method thereof, so as to solve the problems that the production line stops producing and the production efficiency of an enterprise is reduced when the industrial robot at each station on the production line has a fault in the prior art; the invention provides a movable fault position-supplementing robot, which can share production line operation data through a cloud platform, can achieve a fault working site to temporarily replace a fault robot to carry out production line operation according to intelligent scheduling of cloud data when a certain station robot of a production line has a fault, and returns to a standby point after the station robot finishes repairing, so that the operation reliability and the production efficiency of the production line are greatly ensured.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the invention discloses an intelligent movable fault position-supplementing industrial robot which comprises a mechanical arm module, a movable base, a control module and a production line cloud data platform, wherein the mechanical arm module is connected with the movable base through a connecting rod;

the mechanical arm module is fixed on the movable base through screws and comprises a driving node, a joint and a working claw. In addition, according to the requirements of the movement and the work of the mechanical arm, cooling devices and automatic detection devices are also selected and installed on the mechanical arm module;

the driving node is arranged between the joints and used for driving the joints to move;

the working claw is arranged at the driving node at the tail end and is used for processing the products on the production line;

the movable base comprises a base wheel, a base platform, a steering engine shaft, a driving motor and a driving shaft;

the base wheels are symmetrically arranged on two sides of the base platform and used for supporting the base platform and serving as a moving medium of the base platform;

the steering engine is arranged at the front end of the top of the base platform, and the output end of the steering engine is connected with the input end of the steering engine shaft and used for driving the base platform to steer;

the output end of the steering engine shaft is connected with two base wheels at the front end of the base platform;

the driving motor is arranged at the rear end of the top of the base platform, and the output end of the driving motor is connected with the input end of the driving shaft and used for driving the base platform to move;

the output end of the driving shaft is connected with the two base wheels at the rear end of the base platform;

the control module comprises a base control unit, a mechanical arm control unit, an ultrasonic radar and a positioner;

the base control unit is arranged on the base platform, is connected with the production line cloud data platform through a network, is electrically connected with the steering engine and the driving motor, and is used for receiving production line fault station information and a route to a fault station and controlling the movable base to move;

the mechanical arm control unit is mounted on the mechanical arm module, is connected with the production line cloud data platform through a network, and is used for receiving production line fault station information and controlling the movement of the mechanical arm module;

the ultrasonic radar is arranged at the front end of the base platform, is electrically connected with the base control unit, and is used for sensing environmental information and sending the information to the base control unit;

the positioner is arranged below the base platform, is electrically connected with the base control unit, and is used for sensing the position of the current robot and sending information to the base control unit;

the production line cloud data platform is used for monitoring the running state of robots at each station of a production line, monitoring running faults in real time and scheduling the robots when the faults occur;

further, the mechanical arm module can be disassembled, assembled and replaced according to different industrial robots of various production lines;

furthermore, working programs in robots at all stations on the production line are recorded in the mechanical arm control unit, and programs to be operated after arriving at the stations can be selected according to fault work sites transmitted by a cloud data platform of the production line in real time;

in addition, the invention also provides a control method of the intelligent movable fault position-supplementing industrial robot, which comprises the following specific steps:

(1) historical operating data and real-time operating data of robots at all stations of the automatic production line are collected and synchronized to a cloud data platform of the production line;

(2) the production line cloud data platform carries out fault detection according to the operation data of the robots at all stations on the production line, which are acquired in the step (1);

(3) according to the fault detection result in the step (2), scheduling the fault position-supplementing industrial robot through a production line cloud data platform;

(4) according to the fault station information and the route information to the fault station received in the step (3), the base control unit controls the fault position-supplementing industrial robot to move to the fault station along the received route, after the fault station is fixed, the mechanical arm control unit calls a station operation algorithm to take over the work of the fault robot, and the normal operation of a production line is guaranteed;

(5) in the process that the fault position-supplementing industrial robot runs along the received route in the step (4), environment and position information are collected in real time by a positioner and an ultrasonic radar and are transmitted to a base control unit, and the base control unit controls the robot to avoid obstacles on the route;

further, the operation data collected in the step (1) includes data such as total power consumption, power of each motor, base vibration and task execution results, angular velocity of a driving joint, motor vibration signals and the like;

further, the fault detection in the step (2) adopts hidden markov theory, and the specific steps are as follows:

(21) according to a fault database of an industrial robot on the existing production line, extracting data such as total consumed power, power of each motor, base vibration and task execution results, angular velocity of a driving joint, motor vibration signals and the like as fault classification bases, dividing the fault of the industrial robot into fault types such as A, B, C, D, E and the like, and defining a normal operation state as H;

(22) establishing hidden Markov models under each fault and normal state in the step (21), defining the hidden state as the fault type plus 1 by using the data in the step (21) as an observation variable, and respectively training hidden Markov model parameters corresponding to each fault and normal state by using a Baum-Welch algorithm;

(23) when the production line runs, collecting data such as total consumed power, power of each motor, base vibration and task execution results, angular speed of a driving joint, motor vibration signals and the like in real time, extracting a characteristic sequence by adopting a sliding time window method, and taking the time window interval as 5 s;

(24) inputting the characteristic sequences extracted in the step (23) into the hidden Markov models trained in the step (22), and respectively calculating the probability of generating the characteristic sequences by each model by adopting a forward-backward algorithm, wherein the model with the highest probability is the corresponding operating state of the current industrial robot, namely the fault type;

further, the specific process in the step (3) is as follows:

(31) setting a probability threshold value of a hidden Markov model in a normal operation state;

(32) if the result is any fault type in A, B, C, D, E, controlling the production line to stop temporarily, transmitting fault station information and fault station route information to a base control unit and a mechanical arm control unit of the fault position-supplementing industrial robot through a cloud data platform of the production line, dispatching the fault position-supplementing industrial robot to the station, and controlling the production line to continue to run after the fault position-supplementing industrial robot arrives;

(33) if the result is H and the corresponding probability value is greater than the set probability threshold value, the production line is considered to work normally, and the fault position-supplementing industrial robot is not scheduled;

(34) if the result is H and the corresponding probability value is smaller than the set probability threshold value, the fault type which is not in the plan is considered to appear, the production line is controlled to stop temporarily, fault station information and route information to the fault station are transmitted to a base control unit and a mechanical arm control unit of the fault position-supplementing industrial robot through a production line cloud data platform, the fault position-supplementing industrial robot is dispatched to the station and the production line is controlled to continue to operate after the fault position-supplementing industrial robot reaches the station, and the fault position-supplementing industrial robot in the step (5) specifically comprises the following steps:

(51) the fault position-supplementing industrial robot automatically runs according to the received route;

(52) acquiring environmental position information by using the positioner and the ultrasonic radar in the driving process;

(53) the base control unit makes a motion behavior decision according to the data acquired in the step (52) and confirms that the fault position supplementing industrial robot needs to carry out obstacle avoidance, obstacle braking and obstacle avoidance or normal running;

(54) if the decision result of (53) is braking and obstacle avoidance, immediately executing a parking instruction, detecting whether the vehicle has a parking trend, if not, adopting emergency braking, and returning to the step (52);

(55) if the decision result of (54) is steering obstacle avoidance, returning the detected obstacle information, judging whether a drivable path exists, if so, planning an obstacle avoidance path, returning to the original path after passing through the obstacle, and returning to the step (52); if not, the decision result is modified into 'braking obstacle avoidance', and the step (54) is returned;

the invention has the beneficial effects that:

the fault position-supplementing industrial robot provided by the invention can realize real-time data sharing through cloud interconnection, can perform quick fault response and emergency treatment, and improves the fault treatment speed of a production line;

according to the intelligent movable fault position-supplementing industrial robot, the non-stop production maintenance operation during the production line fault can be realized, so that the automatic production line has higher fault-tolerant capability, and the influence on the productivity of the automatic production line due to the fact that the station machine cannot be used due to sudden fault is effectively reduced.

Drawings

FIG. 1 is a front view of a fault relocation industrial robot structure of the present invention;

FIG. 2 is a structural top view of a fault relocation industrial robot of the present invention;

FIG. 3 is a control flow chart of the fault relocation industrial robot of the present invention;

FIG. 4 is a flow chart of fault detection for an industrial robot in a production line according to the present invention;

FIG. 5 is a flow chart of the fault relocation industrial robot scheduling of the present invention;

in the figure, 1-robot arm module; 2-a working claw; 3-a joint; 4-screws; 5-ultrasonic radar; 6-base wheel; 7-a drive node; 8-a robot arm control unit; 9-a locator; 10-a base control unit; 11-a movable base; 12-a base platform; 13-production line cloud data platform; 14-rudder machine shaft; 15-a steering engine; 16-a drive shaft; 17-driving the motor.

Detailed Description

In order to facilitate understanding of those skilled in the art, the present invention will be further described with reference to the following examples and drawings, which are not intended to limit the present invention.

Referring to fig. 1 and 2, an intelligent movable fault relocation industrial robot of the present invention includes: the system comprises a mechanical arm module (1), a movable base (11), a control module and a production line cloud data platform (13);

the mechanical arm module (1) is fixed on the movable base (11) through a screw (4) and comprises a driving node (7), a joint (3) and a working claw (2). In addition, according to the requirements of mechanical arm movement and work, cooling devices and automatic detection devices are also selected and installed on the mechanical arm module (1);

the driving node (7) is arranged between the joints (3) and is used for driving the joints to move;

the working claw (2) is arranged on a driving node at the tail end and is used for processing the products on the production line;

the movable base (11) comprises base wheels (6), a base platform (12), a steering engine (15), a steering engine shaft (14), a driving motor (17) and a driving shaft (16);

the base wheels (6) are symmetrically arranged on two sides of the base platform (12) and used for supporting the base platform (12) and serving as a moving medium of the base platform (12);

the steering engine (15) is installed at the front end of the top of the base platform (12), and the output end of the steering engine is connected with the input end of the steering engine shaft (14) and used for driving the base platform (12) to steer;

the output end of the steering engine shaft (14) is connected with two base wheels (6) at the front end of the base platform (12);

the driving motor (17) is arranged at the rear end of the top of the base platform (12), and the output end of the driving motor is connected with the input end of the driving shaft (16) and used for driving the base platform (12) to move;

the output end of the driving shaft (16) is connected with two base wheels (6) at the rear end of the base platform (12);

the control module comprises a base control unit (10), a mechanical arm control unit (8), an ultrasonic radar (5) and a positioner (9);

the base control unit (10) is installed on the base platform (12), is connected with the production line cloud data platform (13) through a network, is electrically connected with the steering engine (15) and the driving motor (17), and is used for receiving production line fault station information and a route to a fault station and controlling the movable base (11) to move;

the mechanical arm control unit (8) is installed on the mechanical arm module (1), is in network connection with the production line cloud data platform (13), and is used for receiving production line fault station information and controlling the movement of the mechanical arm module (1);

the ultrasonic radar (5) is installed at the front end of the base platform (12), is electrically connected with the base control unit (10), and is used for sensing environmental information and sending the information to the base control unit (10);

the positioner (9) is arranged below the base platform (12), is electrically connected with the base control unit (10), and is used for sensing the position of the current robot and sending information to the base control unit (10);

the production line cloud data platform (13) is used for monitoring the running state of robots at each station of the production line, monitoring running faults in real time and scheduling the robots when the faults occur;

in a preferable example, the mechanical arm module (1) can be disassembled and replaced according to different industrial robots of various production lines;

in a preferable example, a working program in each station robot on the production line is recorded in the mechanical arm control unit (8), and a program to be operated after arriving at a station can be selected according to a fault station point transmitted by the production line cloud data platform (13) in real time;

referring to fig. 3, the present invention further provides a control method of an intelligent movable fault relocation industrial robot, comprising:

(1) historical operation data and real-time operation data such as total power consumption of robots at all stations of the automatic production line, power of motors, base vibration and task execution results, angular speed of driving joints, motor vibration signals and the like are collected and synchronized to a production line cloud data platform.

(2) Referring to fig. 4, the production line cloud data platform performs fault detection by using a hidden markov theory according to the operation data of the robot at each station on the production line collected in the step (1), and the specific steps are as follows:

(21) according to a fault database of an industrial robot on the existing production line, extracting data such as total consumed power, power of each motor, base vibration and task execution results, angular velocity of a driving joint, motor vibration signals and the like as fault classification bases, dividing the fault of the industrial robot into fault types such as A, B, C, D, E and the like, and defining a normal operation state as H;

(22) establishing hidden Markov models under each fault and normal state in the step (21), defining the hidden state as the fault type plus 1 by using the data in the step (21) as an observation variable, and respectively training hidden Markov model parameters corresponding to each fault and normal state by using a Baum-Welch algorithm;

(23) when the production line runs, collecting data such as total consumed power, power of each motor, base vibration and task execution results, angular speed of a driving joint, motor vibration signals and the like in real time, extracting a characteristic sequence by adopting a sliding time window method, and taking the time window interval as 5 s;

(24) and (4) inputting the feature sequences extracted in the step (23) into the hidden Markov models trained in the step (22), and respectively calculating the probability of generating the feature sequences by each model by adopting a forward-backward algorithm, wherein the model with the highest probability is the corresponding operating state of the current industrial robot, namely the fault type.

(3) Referring to fig. 5, according to the fault detection result in the step (2), scheduling of the fault position-supplementing industrial robot is performed through a production line cloud data platform, and the specific flow is as follows:

(31) setting a probability threshold value of a hidden Markov model in a normal operation state;

(32) if the result is any fault type in A, B, C, D, E, controlling the production line to stop temporarily, transmitting fault station information and fault station route information to a base control unit and a mechanical arm control unit of the fault position-supplementing industrial robot through a cloud data platform of the production line, dispatching the fault position-supplementing industrial robot to the station, and controlling the production line to continue to run after the fault position-supplementing industrial robot arrives;

(33) if the result is H and the corresponding probability value is greater than the set probability threshold value, the production line is considered to work normally, and the fault position-supplementing industrial robot is not scheduled;

(34) and if the result is H and the corresponding probability numerical value is smaller than the set probability threshold value, determining that a fault type which is not in the plan appears, controlling the production line to stop temporarily, transmitting fault station information and route information to the fault station to a base control unit and a mechanical arm control unit of the fault position-supplementing industrial robot through the production line cloud data platform, dispatching the fault position-supplementing industrial robot to the station, and controlling the production line to continue to run after the fault position-supplementing industrial robot arrives.

(4) And (4) according to the fault station information and the route information to the fault station received in the step (3), the base control unit controls the fault position-supplementing industrial robot to move to the fault station along the received route, and after the fault position-supplementing industrial robot is fixed to the fault station, the mechanical arm control unit calls the station operation algorithm to take over the work of the fault robot, so that the normal operation of the production line is ensured.

(5) In step (4), in the process that the fault position-supplementing industrial robot runs along the received route, the locator and the ultrasonic radar acquire environment and position information in real time and transmit the environment and the position information to the base control unit, the base control unit controls the robot to avoid obstacles on the route, and the method specifically comprises the following steps:

(51) the fault position-supplementing industrial robot automatically runs according to the received route;

(52) acquiring environmental position information by using the positioner and the ultrasonic radar in the driving process;

(53) the base control unit makes a motion behavior decision according to the data acquired in the step (52) and confirms that the fault position supplementing industrial robot needs to carry out obstacle avoidance, obstacle braking and obstacle avoidance or normal running;

(54) if the decision result of (53) is braking and obstacle avoidance, immediately executing a parking instruction, detecting whether the vehicle has a parking trend, if not, adopting emergency braking, and returning to the step (52);

(55) if the decision result of (54) is steering obstacle avoidance, returning the detected obstacle information, judging whether a drivable path exists, if so, planning an obstacle avoidance path, returning to the original path after passing through the obstacle, and returning to the step (52); if not, the decision result is modified to 'brake obstacle avoidance', and the step (54) is returned.

While the invention has been described in terms of its preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.