Robot joint detection method and device, computer device and readable storage medium

Abstract

The application provides a robot joint detection method and device, computer equipment and a readable storage medium. The method comprises the following steps: in the running process of a robot, the rotation angle of each joint of the robot and the running parameter under the rotation angle are acquired in real time; according to the running parameter of each joint under the rotation angle and the reference curve of each joint established in advance, whether each joint appears running abnormity is determined, wherein the reference curve is used to represent the change information of the running parameter of the joint with the rotation angle when the joint runs normally; if any joint of the robot appears running abnormity, the robot is controlled to perform an abnormality response operation. The application can accurately realize collision detection and joint motor gear damage detection without relying on a sensor related to collision detection. The problems of complex structure, high cost and limitation in the collision detection of the prior art are solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot joint detection method and device, computer equipment and a readable storage medium. BACKGROUND

[0002] Robots are increasingly widely used in industrial manufacturing, logistics, home applications and other fields, and play an important role in various fields. In addition to accurately performing the expected action, the robot also needs to perform effective collision detection during operation to ensure safety and decision assistance.

[0003] In the prior art, the collision detection of the robot is mainly achieved by adding external sensors. For example, a wrist force sensor is added to the end of the robot hand to detect the collision force of the end of the hand, and for example, the whole robot is covered with a sensing skin to detect the collision of each part.

[0004] However, the method of the prior art causes the structure of the robot to be complex and the hardware cost to be too high, and at the same time, the detection range has limitations. SUMMARY

[0005] The purpose of the present application is to solve the problems of complex structure, high hardware cost and limited detection range of the robot in the prior art by providing a robot joint detection method, device, computer equipment and readable storage medium.

[0006] To achieve the above purpose, the technical solutions adopted by the embodiments of the present application are as follows:

[0007] In a first aspect, the embodiments of the present application provide a robot joint detection method, which comprises:

[0008] During the operation of the robot, the rotation angles of each joint of the robot and the operating parameters at the rotation angles are obtained in real time;

[0009] According to the operating parameters of each joint at the rotation angles and the reference curve of each joint established in advance, it is determined whether each joint has an operating abnormality, wherein the reference curve is used to represent the change information of the operating parameters of the joint with the rotation angle when the joint operates normally;

[0010] If any joint of the robot has an operating abnormality, the robot is controlled to perform an abnormality handling operation.

[0011] As a possible implementation manner, the operating parameters include angular velocity and angular acceleration.

[0012] The determining whether each joint has an operational abnormality based on the operational parameters of each joint at the rotation angle and the pre-established reference curves of each joint includes:

[0013] For each joint of the robot, perform the following steps respectively:

[0014] determining angular velocity difference information based on the angular velocity of the joint at the rotation angle and a first reference curve of the joint, wherein the first reference curve is used to represent information on changes in the angular velocity of the joint as a function of the rotation angle when the joint is operating normally;

[0015] determining angular acceleration difference information based on the angular acceleration of the joint at the rotation angle and a second reference curve of the joint, wherein the second reference curve is used to represent information on changes in angular acceleration of the joint with the rotation angle when the joint is operating normally;

[0016] It is determined whether the joint has an operational abnormality according to the angular velocity difference information and the angular acceleration difference information.

[0017] As a possible implementation manner, determining the angular velocity difference information according to the angular velocity of the joint at the rotation angle and the first reference curve of the joint includes:

[0018] Reading a reference angular velocity corresponding to the rotation angle from the first reference curve;

[0019] comparing the angular velocity of the joint at the rotation angle with the reference angular velocity to obtain the angular velocity difference information;

[0020] The determining of angular acceleration difference information according to the angular acceleration of the joint at the rotation angle and the second reference curve of the joint includes:

[0021] Reading a reference angular acceleration corresponding to the rotation angle from the second reference curve;

[0022] comparing the angular acceleration of the joint at the rotation angle with the reference angular acceleration to obtain angular acceleration difference information;

[0023] As a possible implementation manner, determining whether the joint has an operational abnormality according to the angular velocity difference information and the angular acceleration difference information includes:

[0024] If the angular velocity difference information indicates that the difference value between the angular velocity at the rotation angle and the reference angular velocity is greater than or equal to a first preset threshold, and the angular acceleration difference information indicates that the difference value between the angular acceleration at the rotation angle and the reference angular acceleration is greater than or equal to a second preset threshold, it is determined that the joint has an operation abnormality.

[0025] As a possible implementation, the determining whether the joint has an operation abnormality according to the angular velocity difference information and the angular acceleration difference information comprises:

[0026] If the angular velocity difference information indicates that the difference value between the angular velocity at the rotation angle and the reference angular velocity is less than the first preset threshold, or the angular acceleration difference information indicates that the difference value between the angular acceleration at the rotation angle and the reference angular acceleration is less than the second preset threshold, it is determined whether the joint has an operation abnormality according to the operation parameters at at least one rotation angle after the rotation angle and the reference curve of the joint.

[0027] As a possible implementation, the method further comprises:

[0028] For each joint of the robot, the following steps are performed respectively:

[0029] If it is not determined that the joint has an operation abnormality at each rotation angle in a rotation cycle of the joint, the reference curve of the joint is corrected according to the operation parameters of the joint at each rotation angle.

[0030] As a possible implementation, the determining whether each joint has an operation abnormality according to the operation parameters of each joint at the rotation angle and the reference curve of each joint established in advance comprises:

[0031] Obtaining wear information of each joint, the wear information being used to indicate a wear degree of the joint;

[0032] Determining whether each joint has an operation abnormality according to the operation parameters of each joint at the rotation angle and the reference curve of each joint at the wear degree indicated by the wear information, wherein the reference curve of each joint comprises reference curves of each joint at different wear degrees.

[0033] In a second aspect, an embodiment of the present application provides a robot joint detection device, comprising:

[0034] An obtaining module, configured to obtain, in real time during operation of a robot, rotation angles of each joint of the robot and operation parameters at the rotation angles;

[0035] determining whether the joint is abnormal according to the operation parameter of the joint at the rotation angle and a reference curve of the joint, wherein the reference curve is used to represent the change information of the operation parameter of the joint with the rotation angle when the joint is normal;

[0036] controlling the robot to perform an abnormality handling operation when any joint of the robot is abnormal.

[0037] As a possible implementation, the operation parameter includes an angular velocity and an angular acceleration.

[0038] The determining module is specifically configured to:

[0039] For each joint of the robot, the following steps are performed respectively:

[0040] determining angular velocity difference information according to the angular velocity of the joint at the rotation angle and a first reference curve of the joint, wherein the first reference curve is used to represent the change information of the angular velocity of the joint with the rotation angle when the joint is normal;

[0041] determining angular acceleration difference information according to the angular acceleration of the joint at the rotation angle and a second reference curve of the joint, wherein the second reference curve is used to represent the change information of the angular acceleration of the joint with the rotation angle when the joint is normal;

[0042] determining whether the joint is abnormal according to the angular velocity difference information and the angular acceleration difference information.

[0043] As a possible implementation, the determining module is specifically configured to:

[0044] reading a reference angular velocity corresponding to the rotation angle from the first reference curve;

[0045] comparing the angular velocity of the joint at the rotation angle with the reference angular velocity to obtain the angular velocity difference information;

[0046] and reading a reference angular acceleration corresponding to the rotation angle from the second reference curve;

[0047] comparing the angular acceleration of the joint at the rotation angle with the reference angular acceleration to obtain the angular acceleration difference information;

[0048] As a possible implementation, the determining module is specifically configured to:

[0049] If the angular velocity difference information indicates that the difference value between the angular velocity at the rotation angle and the reference angular velocity is greater than or equal to a first preset threshold, and the angular acceleration difference information indicates that the difference value between the angular acceleration at the rotation angle and the reference angular acceleration is greater than or equal to a second preset threshold, it is determined that the joint has an operation abnormality.

[0050] As a possible implementation manner, the determining module is specifically configured to:

[0051] If the angular velocity difference information indicates that the difference value between the angular velocity at the rotation angle and the reference angular velocity is less than the first preset threshold, or the angular acceleration difference information indicates that the difference value between the angular acceleration at the rotation angle and the reference angular acceleration is less than the second preset threshold, the operation abnormality of the joint is determined according to the operation parameters at at least one rotation angle after the rotation angle and the reference curve of the joint.

[0052] As a possible implementation manner, the apparatus further includes:

[0053] The correcting module is configured to correct the reference curve of the joint according to the operation parameters of the joint at each rotation angle, when the operation abnormality of the joint is not determined at each rotation angle of a rotation cycle of the joint.

[0054] As a possible implementation manner, the determining module is specifically configured to:

[0055] Obtain the wear information of each joint, the wear information being used to indicate the wear degree of the joint;

[0056] Determine whether the operation abnormality of each joint occurs according to the operation parameters of each joint at the rotation angle and the reference curve of each joint at the wear degree indicated by the wear information, wherein the reference curve of each joint includes reference curves of each joint at different wear degrees.

[0057] In a third aspect, an embodiment of the present application provides a computer device, including a processor and a memory, the memory storing machine readable instructions executable by the processor, when the electronic device is running, the processor executes the machine readable instructions to perform the steps of the robot joint detection method in the first aspect.

[0058] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, the computer readable storage medium storing a computer program, when the computer program is run by a processor, the steps of the robot joint detection method in the first aspect are performed.

[0059] The robot joint detection method, device, computer equipment and readable storage medium provided in the embodiments of the present application can accurately identify whether the robot joints have operational abnormalities based on the rotation angles of the robot joints and the operational parameters under the rotation angles obtained in real time and the reference curves of the joints established in advance during the operation of the robot, and can then promptly control the robot to perform abnormal response operations when any joint has operational abnormalities. This makes it possible to accurately implement collision detection and joint motor gear damage detection, etc. without relying on sensors related to collision detection. This solves the problems of the prior art in terms of complex structure, high cost and limitations in collision detection. In addition, since the present application constructs reference curves for each joint of the robot and identifies whether each joint has operational abnormalities, it can accurately identify the specific location where the collision or gear damage occurs, thereby making subsequent abnormal response operations more accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without creative work.

[0061] Figure 1 A schematic diagram of a flow chart of a robot joint detection method provided in an embodiment of the present application;

[0062] Figure 2 This is a schematic diagram of the reference curve of a joint of the robot;

[0063] Figure 3 Another schematic flow chart of the robot joint detection method provided in an embodiment of the present application;

[0064] Figure 4 A module structure diagram of a robot joint detection device provided in an embodiment of the present application;

[0065] Figure 5 A schematic structural diagram of an electronic device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0066] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. It should be understood that the drawings in the present application only serve the purpose of description and illustration, and are not used to limit the scope of protection of the present application. In addition, it should be understood that the schematic drawings are not drawn according to the actual proportions. The flowchart shows the operations implemented according to some embodiments of the present application. It should be understood that the operations of the flowchart can not be implemented in sequence, and the steps without logical context relationship can be reversed in sequence or implemented simultaneously. In addition, one or more other operations can be added to the flowchart or one or more operations can be removed from the flowchart under the guidance of the content of the present application.

[0067] In addition, the described embodiments are only some of the embodiments of the present application, not all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0068] In order to enable those skilled in the art to use the content of the present application, the following implementation is given in combination with a specific application scenario "robot collision detection". For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of the present application. Although the present application is mainly described in relation to robot collision detection, it should be understood that this is only an exemplary embodiment.

[0069] It should be noted that the term "comprising" will be used in the embodiments of the present application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0070] In the existing scheme, if a wrist force sensor is added at the end of the hand grip of the robot to detect the collision force of the end of the hand grip, only the collision force of the end of the hand grip can be detected, and the collision of other parts of the robot cannot be detected, so the detection range has limitations, and at the same time, it also leads to complex structure of the robot and high hardware cost. If the robot is covered with a sensing skin to detect the collision of each part, although the collision of each part of the robot can be detected, since the robot is covered with a sensing skin, the structural complexity and hardware cost of the robot are significantly increased. Therefore, the existing collision detection method by setting sensors has the problems of high detection range limitation, complex structure and high hardware cost.

[0071] The embodiment of the present application is based on the above problems, and proposes a robot joint detection method. Based on the running parameters of each joint in the running process of the robot and the reference curve in the normal running process, it can quickly and accurately determine whether each joint is abnormal, thereby realizing the quick and accurate detection of the collision and other abnormal conditions of each joint of the robot in different working states without relying on any sensor, and solving the problems of high detection range limitation, complex structure and high hardware cost in the prior art.

[0072] The present application can be applied to the collision detection, motor normality detection and other scenes of the robot. The execution subject can be the robot or a server in communication connection with the robot. When the execution subject is the robot, the robot can execute the method steps of the present application locally to complete the joint detection and the processing steps after detection. When the execution subject is the server, the server can obtain the running condition of the robot in real time through the communication connection with the robot, and complete the joint detection based on the method steps of the present application and the control processing process after detection through the communication connection with the robot. For the convenience of description, the execution subject is taken as the robot in the following embodiments. It should be understood that this is not a limitation of the present application.

[0073] Figure 1 The flowchart of the robot joint detection method provided by the embodiment of the present application is shown in Figure 1 The method comprises the following steps.

[0074] S101, in the running process of the robot, the rotation angle of each joint of the robot and the running parameter under the rotation angle are obtained in real time.

[0075] Optionally, the running process of the robot mentioned above can refer to the working process after the robot is started. The robot can perform various actions in the running process, such as walking, grabbing objects, going up and down stairs, etc. Correspondingly, the robot can be in different working states, such as walking state when walking. For any working state in the running process of the robot, the rotation angle of each joint of the robot and the running parameter under the rotation angle can be obtained in real time. For example, the robot can monitor the rotation angle and the running parameter of each joint in real time with a period of 1 second. If the robot is walking in the current period, the rotation angle and the running parameter of each joint in the walking process of the robot can be monitored in real time, and the detection of whether the joint is abnormal can be performed based on the subsequent process.

[0076] Optionally, the robot comprises a plurality of joints, such as shoulder joint, elbow joint, knee joint, etc. Each joint can rotate to complete the corresponding action. Each joint can have a corresponding maximum rotation angle. For example, some joints can rotate to 360 degrees at most.

[0077] During the running of the robot, the rotation angles of the joints can be monitored in real time to obtain the rotation angles of the joints in real time. Generally, a position sensor is arranged on each joint of the robot, and by analyzing the real-time acquisition parameters of the position sensor, the rotation angles of the joints can be obtained in real time.

[0078] Optionally, the running parameters can include the angular velocity, angular acceleration, current, etc. of the joint. Taking the angular velocity and angular acceleration as examples, an angular velocity sensor is also arranged on each joint of the robot to acquire the angular velocity of the joint. The angular velocity sensor and the position sensor work simultaneously in real time, and when the rotation angle of the joint is obtained at a certain time, the angular velocity value acquired by the angular velocity sensor at the time can be obtained simultaneously, so as to obtain the angular velocity at the above rotation angle. Further, by differentiating the angular velocity, the angular acceleration at the above rotation angle can be obtained. In addition, if the running parameter includes the current, the current value at the above rotation angle can be obtained by monitoring the input or output current in the hardware circuit of the joint in real time.

[0079] S102, according to the running parameters of each joint at the above rotation angle and the reference curve of each joint established in advance, it is determined whether each joint appears running abnormity, wherein the reference curve is used to represent the change information of the running parameter of the joint with the rotation angle when the joint runs normally.

[0080] Optionally, for each joint of the robot, the reference curve of each joint can be established in advance. For example, the robot includes a left shoulder joint, a right shoulder joint, a left elbow joint and a right elbow joint, and the reference curve of the left shoulder joint, the reference curve of the right shoulder joint, the reference curve of the left elbow joint and the reference curve of the right elbow joint are established in advance. Taking the left shoulder joint as an example, the reference curve of the left shoulder joint represents the change information of the running parameter of the left shoulder joint with the rotation angle when the left shoulder joint runs normally. Wherein, running normally can mean that the robot does not collide, and the motor gear of the robot does not fail, etc. The reference curve of each joint can be obtained by controlling the normal running of the real robot or the simulation robot in advance, and drawing during normal running. Before drawing, the original running parameters of the real robot or the simulation robot during normal running can be first filtered, such as low-pass filtering, to eliminate noise, and then the reference curve is drawn based on the filtered data. Figure 2 A reference curve for a joint of the robot is shown in FIG. 1, Figure 2 The horizontal coordinate of the coordinate axis of the reference curve is the rotation angle of the joint, and the vertical coordinate is the running parameter, such as angular velocity, etc. Through the reference curve, the normal running parameter of the joint at any rotation angle during normal running can be obtained. For example, Figure 2 In FIG. 1, the vertical coordinate corresponding to the rotation angle 5 is 10, which means that the normal running parameter value of the joint is 10 when the rotation angle is 5.

[0081] Optionally, the reference curve represents the information of the running parameter of the joint varying with the rotation angle when the joint is running normally, and based on the reference curve and the current rotation angle and the running parameter at the current rotation angle obtained in real time during the current running of the robot, it can be known whether the joint is currently running abnormally. It should be understood that since each joint has its own reference curve, by performing this step on each joint of the robot, it can be known whether each joint is running abnormally.

[0082] S103, if any joint of the robot appears running abnormally, controlling the robot to perform an abnormality coping operation.

[0083] Through the steps S101-S102, it can be identified whether each joint of the robot appears running abnormally, wherein the running abnormity described in the present application can include collision, damage of the motor gear of the joint, etc. Therefore, through the present application, it can not only detect whether the robot collides in real time, but also detect the abnormality of the motor gear of the joint, etc.

[0084] When it is identified that any joint of the robot appears running abnormally, the robot can be controlled to perform an abnormality coping operation. Exemplarily, the abnormality coping operation can include controlling the robot to stop moving, controlling the robot to adjust the moving direction, and outputting prompt information. The prompt information can be used to indicate the identification of the target joint appearing running abnormally, and indicate that the target joint appears running abnormally.

[0085] In the present embodiment, during the running of the robot, based on the rotation angle and the running parameter at the rotation angle of each joint of the robot obtained in real time and the reference curve of each joint established in advance, it can be accurately identified whether each joint of the robot appears running abnormally, and then the robot can be controlled to perform an abnormality coping operation when any joint appears running abnormally. Therefore, without relying on the sensors related to collision detection, collision detection and joint motor gear damage detection can be accurately realized. The problem of complex structure, high cost and limitation in collision detection of the prior art is solved. In addition, since the reference curve is constructed for each joint of the robot and whether each joint appears running abnormally is identified respectively, the specific position where the collision or the gear damage occurs can be accurately identified, and then the subsequent abnormality coping operation can be more accurate.

[0086] As described above, the running parameter of each joint at the rotation angle can include the angular velocity and the angular acceleration. The process of identifying the abnormality by using the two running parameters is described below.

[0087] As an optional implementation, for each joint of the robot, the following steps can be performed respectively Figure 3 to determine whether the joint has a running abnormality.

[0088] Figure 3 Another flowchart of the robot joint detection method provided by the embodiments is shown in FIG. 6. Figure 3 As shown in FIG. 6, the step S102 includes:

[0089] S301, determining angular velocity difference information according to the angular velocity of the joint at the rotation angle and a first reference curve of the joint, the first reference curve being used to represent the change information of the angular velocity of the joint with the rotation angle when the joint is running normally.

[0090] S302, determining angular acceleration difference information according to the angular acceleration of the joint at the rotation angle and a second reference curve of the joint, the second reference curve being used to represent the change information of the angular acceleration of the joint with the rotation angle when the joint is running normally.

[0091] Optionally, when the running parameters include the angular velocity and the angular acceleration, the reference curves can include the first reference curve and the second reference curve, wherein the first reference curve is the reference curve corresponding to the angular velocity, and is used to represent the change information of the angular velocity of the joint with the rotation angle when the joint is running normally. The second reference curve is the reference curve corresponding to the angular acceleration, and is used to represent the change information of the angular acceleration of the joint with the rotation angle when the joint is running normally. The first reference curve and the second reference curve both follow the format shown in FIG. 7. Specifically, in the coordinate axis of the first reference curve, the horizontal coordinate is the rotation angle, and the vertical coordinate is the angular velocity. In the coordinate axis of the second reference curve, the horizontal coordinate is the rotation angle, and the vertical coordinate is the angular acceleration. Figure 2

[0092] Optionally, when the step S301 is performed, the following manner can be used:

[0093] reading the reference angular velocity corresponding to the rotation angle from the first reference curve, and then comparing the angular velocity of the joint at the rotation angle with the reference angular velocity to obtain the angular velocity difference information.

[0094] ​The first reference curve records the change information of the angular velocity with the rotation angle, and thus the angular velocity corresponding to the current rotation angle can be read from the first reference curve, which is referred to as the reference angular velocity. The reference angular velocity represents the angular velocity that the joint normally has when the joint rotates to the current rotation angle. Furthermore, the angular velocity difference information can be obtained by comparing the real-time acquired angular velocity at the current rotation angle with the reference angular velocity. The comparison between the real-time acquired angular velocity at the current rotation angle and the reference angular velocity can be subtraction, division, or the like, and the obtained angular velocity difference information can be a difference value, a ratio, or the like.

[0095] Optionally, when step S302 is performed, the following manner can be used for the performance:

[0096] The reference angular acceleration corresponding to the rotation angle is read from the second reference curve, and then the angular acceleration difference information is obtained by comparing the angular acceleration of the joint at the rotation angle with the reference angular acceleration.

[0097] The second reference curve records the change information of the angular acceleration with the rotation angle, and thus the angular acceleration corresponding to the current rotation angle can be read from the second reference curve, which is referred to as the reference angular acceleration. The reference angular acceleration represents the angular acceleration that the joint normally has when the joint rotates to the current rotation angle. Furthermore, the angular acceleration difference information can be obtained by comparing the real-time acquired angular acceleration at the current rotation angle with the reference angular acceleration. The comparison between the real-time acquired angular acceleration at the current rotation angle and the reference angular acceleration can be subtraction, division, or the like, and the obtained angular acceleration difference information can be a difference value, a ratio, or the like.

[0098] S303, according to the angular velocity difference information and the angular acceleration difference information, it is determined whether the joint appears abnormal operation.

[0099] In this embodiment, the first reference curve corresponding to the angular velocity and the second reference curve corresponding to the angular acceleration are respectively constructed for each joint, and the angular velocity difference information and the angular acceleration difference information are determined according to the angular velocity of each joint at the current rotation angle in the robot operation process and the first reference curve, and the angular acceleration at each current rotation angle and the second reference curve, and then it can be determined whether the joint appears abnormal operation. Since the angular velocity and the angular acceleration have their own reference curves, the abnormal changes in the angular velocity and the angular acceleration can be more accurately identified, and thus the joint abnormality can be more accurately determined.

[0100] Optionally, whether the joint has an operation abnormality can be determined by any of the following manners.

[0101] In an optional manner, if the angular velocity difference information indicates that the difference between the angular velocity at the rotation angle and the reference angular velocity is greater than or equal to a first preset threshold, or the angular acceleration difference information indicates that the difference between the angular acceleration at the rotation angle and the reference angular acceleration is greater than or equal to a second preset threshold, it is determined that the joint has an operation abnormality.

[0102] It should be noted that the first preset threshold and the second threshold can be different for different comparison manners. For example, when the comparison manner is subtraction, the angular velocity difference information and the angular acceleration difference information respectively represent a difference value, and the first preset threshold and the second preset threshold represent the threshold of the difference value. When the comparison manner is division, the angular velocity difference information and the angular acceleration difference information respectively represent a ratio, and the first preset threshold and the second preset threshold represent the threshold of the ratio.

[0103] In addition, different joints can also have their respective first preset thresholds and second preset thresholds, which can be determined by simulation, experiment, etc. during the construction of the reference curve.

[0104] In another optional manner, the angular velocity difference information and the angular acceleration difference information can be combined to determine whether the joint has an operation abnormality.

[0105] In one case, if the angular velocity difference information indicates that the difference between the angular velocity at the rotation angle and the reference angular velocity is greater than or equal to the first preset threshold, and the angular acceleration difference information indicates that the difference between the angular acceleration at the rotation angle and the reference angular acceleration is greater than or equal to the second preset threshold, it is determined that the joint has an operation abnormality.

[0106] In this case, it indicates that the joint has an abnormality in both the angular velocity and the angular acceleration, and the probability of the joint actually having an operation abnormality is high, so the joint can be directly determined to have an operation abnormality.

[0107] In another case, if the angular velocity difference information indicates that the difference between the angular velocity at the rotation angle and the reference angular velocity is less than the first preset threshold, or the angular acceleration difference information indicates that the difference between the angular acceleration at the rotation angle and the reference angular acceleration is less than the second preset threshold, the running parameters at at least one rotation angle after the rotation angle and the reference curve of the joint are used to determine whether the joint has an operation abnormality.

[0108] In this case, it is indicated that at least one of the indicators of angular velocity and angular acceleration is not abnormal, and thus, in combination with the operation parameters of at least one subsequent rotation and the reference curve, it can be determined whether the joint is abnormal.

[0109] For example, starting from the current rotation angle, if the angular velocity is abnormal or the angular acceleration is abnormal in three consecutive rotation angles, it can be determined that the joint is abnormal. It should be understood that the abnormal angular velocity in the embodiment refers to the difference between the angular velocity at the rotation angle and the reference angular velocity being greater than or equal to the first preset threshold, and the abnormal angular acceleration refers to the difference between the angular acceleration at the rotation angle and the reference angular acceleration being greater than or equal to the second preset threshold.

[0110] When at least one of the angular velocity and the angular acceleration is not abnormal, the determination of whether the joint is abnormal is made in combination with the results of the subsequent rotation angles, which can ensure the accuracy of the determination result.

[0111] As an optional implementation, while determining whether the joint is abnormal by using the reference curve, the reference curve can also be corrected according to the actual rotation of the joint, so as to make the reference curve more accurate. The following will be specifically explained.

[0112] Optionally, the method further comprises:

[0113] For each joint of the robot, the following steps are performed respectively:

[0114] If it is determined that the joint is not abnormal at each rotation angle of a rotation period of the joint, the reference curve of the joint is corrected according to the operation parameters of the joint at each rotation angle.

[0115] The rotation period refers to the process in which the joint rotates from the initial angle to the maximum rotation angle. It should be understood that each joint of the robot can have its own rotation period.

[0116] Optionally, if it is determined that the joint is not abnormal at each rotation angle of a rotation period of the joint, it is indicated that the joint is normal in the rotation period. Correspondingly, the operation parameters of the joint at each rotation angle in the rotation period represent the operation parameters when the joint is normal. Therefore, the reference curve of the joint can be corrected by using these operation parameters.

[0117] For example, for the first reference curve corresponding to the angular velocity, the angular velocities of the joint at each rotation angle in a rotation period are respectively averaged with the angular velocities corresponding to the rotation angles in the reference curve to obtain a new angular velocity, the new angular velocity is taken as the new angular velocity corresponding to the rotation angle in the first reference curve, and the line direction of the first reference curve is adjusted according to the new angular velocity, so as to ensure that the adjusted first reference curve can reflect the actual change of the angular velocity with the rotation angle.

[0118] As an optional implementation, since the normal angular velocity change and angular acceleration change of the joint at different wear degrees are not the same, for the same joint, a plurality of reference curves can be respectively constructed under each index, and each reference curve can correspond to a wear degree. The wear degree can be determined according to the use time of the robot. For example, the wear degree is increased by one every year of use. In the stage of constructing the reference curve, the change information of the angular velocity of the robot with the rotation angle and the change information of the angular acceleration of the robot with the rotation angle under various wear degrees can be obtained by simulating or controlling the robot with different wear degrees to run. Then, the angular velocity reference curve and the angular acceleration reference curve of each joint under various wear degrees can be constructed.

[0119] Correspondingly, when the step S102 is executed, the following process can be performed:

[0120] Obtain the wear information of each joint, the wear information being used to indicate the wear degree of the joint.

[0121] Determine whether each joint appears abnormal operation according to the running parameters of each joint at the rotation angle and the reference curves of each joint at the wear degrees indicated by the wear information, wherein the reference curves of each joint include the reference curves of each joint at different wear degrees.

[0122] As known from the foregoing, for example, the angular velocity, the angular velocity reference curves of the joint at various wear degrees can be constructed in advance. On this basis, in the embodiment, the wear information indicating the wear degree of the joint is first obtained, and then the angular velocity reference curve at the wear degree indicated by the wear information is selected, so that whether the joint appears abnormal operation can be determined according to the running parameters of each joint at the rotation angle and the reference curves of each joint at the wear degrees indicated by the wear information.

[0123] In the embodiment, in combination with the actual wear degree of the joint, when the reference curve is used, the reference curve matched with the actual wear degree is selected to determine whether the joint appears abnormal operation, so as to further ensure the accuracy of the determined result.

[0124] Based on the same inventive concept, the application also provides a robot joint detection device corresponding to the robot joint detection method. Since the device solves the problem in the same principle as the robot joint detection method described above, the implementation of the device can be referred to the implementation of the method, and the repeated parts will not be described here.

[0125] Figure 4 The robot joint detection device provided in the application has a module structure diagram as shown in Figure 4 The device comprises:

[0126] The acquisition module 401 is configured to acquire the rotation angle of each joint of the robot and the running parameter at the rotation angle in real time during the running of the robot.

[0127] The determination module 402 is configured to determine whether each joint has a running abnormality according to the running parameter of each joint at the rotation angle and the reference curve of each joint established in advance, wherein the reference curve is used to represent the change information of the running parameter of the joint with the rotation angle when the joint runs normally.

[0128] The control module 403 is configured to control the robot to perform an abnormality handling operation when any joint of the robot has a running abnormality.

[0129] As an optional implementation, the running parameter comprises an angular velocity and an angular acceleration.

[0130] The determination module 402 is specifically configured to:

[0131] For each joint of the robot, the following steps are performed respectively:

[0132] According to the angular velocity of the joint at the rotation angle and the first reference curve of the joint, angular velocity difference information is determined, and the first reference curve is used to represent the change information of the angular velocity of the joint with the rotation angle when the joint runs normally.

[0133] According to the angular acceleration of the joint at the rotation angle and the second reference curve of the joint, angular acceleration difference information is determined, and the second reference curve is used to represent the change information of the angular acceleration of the joint with the rotation angle when the joint runs normally.

[0134] According to the angular velocity difference information and the angular acceleration difference information, it is determined whether the joint has a running abnormality.

[0135] As an optional implementation, the determination module 402 is specifically configured to:

[0136] The reference angular velocity corresponding to the rotation angle is read from the first reference curve.

[0137] comparing the angular velocity of the joint at the rotation angle with the reference angular velocity to obtain angular velocity difference information.

[0138] and reading a reference angular acceleration corresponding to the rotation angle from the second reference curve;

[0139] comparing the angular acceleration of the joint at the rotation angle with the reference angular acceleration to obtain angular acceleration difference information.

[0140] As an optional implementation, the determining module 402 is specifically configured to:

[0141] If the angular velocity difference information indicates that a difference value of the angular velocity at the rotation angle and the reference angular velocity is greater than or equal to a first preset threshold, and the angular acceleration difference information indicates that a difference value of the angular acceleration at the rotation angle and the reference angular acceleration is greater than or equal to a second preset threshold, it is determined that the joint has an operation abnormality.

[0142] As an optional implementation, the determining module 402 is specifically configured to:

[0143] If the angular velocity difference information indicates that the difference value of the angular velocity at the rotation angle and the reference angular velocity is less than the first preset threshold, or the angular acceleration difference information indicates that the difference value of the angular acceleration at the rotation angle and the reference angular acceleration is less than the second preset threshold, whether the joint has an operation abnormality is determined according to operation parameters at at least one rotation angle after the rotation angle and the reference curve of the joint.

[0144] As an optional implementation, continuing to refer to Figure 4 , the apparatus further includes:

[0145] a correcting module 404 configured to correct the reference curve of each joint of the robot according to operation parameters of the joint at each rotation angle when it is determined that the joint does not have an operation abnormality at each rotation angle of a rotation period of the joint.

[0146] As an optional implementation, the determining module 402 is specifically configured to:

[0147] obtain wear information of each joint, the wear information being used to indicate a wear degree of the joint.

[0148] Based on the operating parameters of each joint at the rotation angle and the reference curve of each joint at the wear degree indicated by the wear information, it is determined whether each joint has an operating abnormality, wherein the reference curve of each joint includes the reference curve of each joint at different wear degrees.

[0149] For descriptions of the processing flow of each module in the device and the interaction flow between each module, reference can be made to the relevant descriptions in the above method embodiment, which will not be described in detail here.

[0150] The embodiment of the present application also provides a computer device 50, such as Figure 5 As shown in FIG, a schematic diagram of the structure of a computer device 50 provided in an embodiment of the present application includes: a processor 51, a memory 52, and optionally, a bus 53. The memory 52 stores machine-readable instructions executable by the processor 51 (for example, Figure 4 When the computer device 50 is running, the processor 51 communicates with the memory 52 via the bus 53, and when the machine-readable instructions are executed by the processor 61, the method steps in the above method embodiment are executed.

[0151] An embodiment of the present application further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned robot joint detection method are executed.

[0152] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the method embodiment, and will not be repeated in this application. In the several embodiments provided in this application, it should be understood that the disclosed system, device and method can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0153] In addition, each function unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. When the functions are realized in the form of software function units and sold or used as an independent product, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application or the parts that essentially contribute to the prior art or the parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0154] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application.

Claims

1. A robot joint detection method characterized by, The method comprises: acquiring the rotation angle of each joint of the robot and the operation parameter at the rotation angle in real time during the operation of the robot; determining whether each joint appears operation abnormality according to the operation parameter of each joint at the rotation angle and the reference curve of each joint, wherein the reference curve is used to represent the change information of the operation parameter of the joint with the rotation angle when the joint operates normally; if any joint of the robot appears operation abnormality, controlling the robot to perform abnormality coping operation; the operation parameter comprises angular velocity and angular acceleration; the determination of whether each joint appears operation abnormality according to the operation parameter of each joint at the rotation angle and the reference curve of each joint comprises the following steps for each joint of the robot: determining angular velocity difference information according to the angular velocity of the joint at the rotation angle and the first reference curve of the joint, wherein the first reference curve is used to represent the change information of the angular velocity of the joint with the rotation angle when the joint operates normally; determining angular acceleration difference information according to the angular acceleration of the joint at the rotation angle and the second reference curve of the joint, wherein the second reference curve is used to represent the change information of the angular acceleration of the joint with the rotation angle when the joint operates normally; determining whether the joint appears operation abnormality according to the angular velocity difference information and the angular acceleration difference information.

2. The method of claim 1, wherein, the determination of the angular velocity difference information according to the angular velocity of the joint at the rotation angle and the first reference curve of the joint comprises: reading the reference angular velocity corresponding to the rotation angle from the first reference curve; comparing the angular velocity of the joint at the rotation angle with the reference angular velocity to obtain the angular velocity difference information; the determination of the angular acceleration difference information according to the angular acceleration of the joint at the rotation angle and the second reference curve of the joint comprises: reading the reference angular acceleration corresponding to the rotation angle from the second reference curve; comparing the angular acceleration of the joint at the rotation angle with the reference angular acceleration to obtain the angular acceleration difference information.

3. The method of claim 2, wherein, the determination of whether the joint appears operation abnormality according to the angular velocity difference information and the angular acceleration difference information comprises: if the difference value of the angular velocity at the rotation angle and the reference angular velocity indicated by the angular velocity difference information is greater than or equal to a first preset threshold value, and the difference value of the angular acceleration at the rotation angle and the reference angular acceleration indicated by the angular acceleration difference information is greater than or equal to a second preset threshold value, it is determined that the joint appears operation abnormality.

4. The method of claim 3, wherein, the determination of whether the joint appears operation abnormality according to the angular velocity difference information and the angular acceleration difference information comprises: If the angular velocity difference information indicates that the difference value between the angular velocity at the rotation angle and the reference angular velocity is less than the first preset threshold, or the angular acceleration difference information indicates that the difference value between the angular acceleration at the rotation angle and the reference angular acceleration is less than the second preset threshold, then the running parameters at at least one rotation angle after the rotation angle and the reference curve of the joint are used to determine whether the joint has a running abnormality.

5. The method according to any one of claims 1 to 4, characterized in that, The method further comprises: The following steps are performed for each joint of the robot respectively: If it is determined that the joint does not have a running abnormality at each rotation angle in a rotation cycle of the joint, then the reference curve of the joint is corrected according to the running parameters of the joint at each rotation angle.

6. The method according to any one of claims 1 to 4, characterized in that, The determination of whether each joint has a running abnormality according to the running parameters of each joint at the rotation angle and the reference curve of each joint established in advance comprises: Obtaining wear information of each joint, the wear information being used to indicate the wear degree of the joint; Determining whether each joint has a running abnormality according to the running parameters of each joint at the rotation angle and the reference curve of each joint at the wear degree indicated by the wear information, wherein the reference curve of each joint comprises reference curves of each joint at different wear degrees.

7. A robot joint detection apparatus characterized by comprising: Comprise: An obtaining module, configured to obtain, in real time during the running of the robot, the rotation angle of each joint of the robot and the running parameter at the rotation angle; A determining module, configured to determine whether each joint has a running abnormality according to the running parameter of each joint at the rotation angle and the reference curve of each joint established in advance, wherein the reference curve is used to represent the change information of the running parameter of the joint with the rotation angle when the joint is running normally; A control module, configured to control the robot to perform an abnormality coping operation when any joint of the robot has a running abnormality. The running parameter comprises: angular velocity and angular acceleration. The determining module is specifically configured to: The following steps are performed for each joint of the robot respectively: Determine angular velocity difference information according to the angular velocity of the joint at the rotation angle and the first reference curve of the joint, the first reference curve being used to represent the change information of the angular velocity of the joint with the rotation angle when the joint is running normally; Determine angular acceleration difference information according to the angular acceleration of the joint at the rotation angle and the second reference curve of the joint, the second reference curve being used to represent the change information of the angular acceleration of the joint with the rotation angle when the joint is running normally; Determine whether the joint has a running abnormality according to the angular velocity difference information and the angular acceleration difference information.

8. A computer device, comprising: Comprise: A processor and a memory, the memory storing machine readable instructions executable by the processor, when the electronic device is running, the processor executes the machine readable instructions to perform the steps of the robot joint detection method as claimed in any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores a computer program, and the computer program is run by the processor to perform the steps of the robot joint detection according to any one of claims 1 to 6.

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