Mechanical structure autonomous detection method, system, device and storage medium

Abstract

The present invention provides a method, system, device and storage medium for autonomous detection of mechanical structures. Through the technical solution provided by the present invention, the mechanical structure can obtain, identify and compare its own dynamic parameters with factory preset parameters during the self-test process after power-on, thereby obtaining the dynamic parameter drift of the mechanical structure during long-term use. The technical solution provided by the present invention can effectively avoid the risk of reduced control accuracy due to structural changes in the mechanical structure during long-term use, making it possible to implement pre-correction before the formal use of the mechanical structure. It is particularly suitable for application fields with high requirements for mechanical structure control accuracy, ensures the control accuracy and operational safety of the mechanical structure, and has promotional value.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical structure self-detection, and in particular to a mechanical structure autonomous detection method, system, device and storage medium. Background Art

[0002] For operational safety reasons, a self-check of the mechanical structure containing movable parts is usually performed in advance during the power-on startup phase of the mechanical equipment to ensure that the mechanical structure can be controlled precisely and accurately during actual operation.

[0003] In the prior art, the self-test of mechanical structures generally includes static self-test and dynamic self-test. Among them, static self-test refers to the detection of the status of each component through a detection mechanism designed by software after the mechanical structure is powered on, which may include, for example, the network connection status of the driver. In the event of an abnormality in the network connection status, a warning message will be issued through means such as a safety error report, indicating that the mechanical mechanism cannot perform subsequent operation actions, and normal control can only be restored after the warning message is cleared. Dynamic self-test refers to the self-test achieved through the movement of each movable component in the machine structure. The corresponding warning message is only triggered when a fault occurs in each movable component during the movement process: for example, during the movement of a certain movable component (such as a robotic arm joint axis, etc.), if the encoder data at both ends of the reducer is not the expected reduction ratio relationship, a safety error report will be issued and the mechanical structure will be controlled to stop moving immediately to prevent operational safety hazards caused by hardware failures, etc. Summary of the Invention

[0004] The present invention provides a method, system, device, and storage medium for autonomous detection of a mechanical structure. Specifically, a first aspect of the present invention provides a method for autonomous detection of a mechanical structure, wherein the mechanical structure includes a plurality of movable parts, and the method comprises the following steps:

[0005] When the mechanical structure is in the startup phase, an autonomous detection trajectory of the mechanical structure is formulated according to a preset algorithm;

[0006] Control the movable parts in the mechanical structure to move according to the autonomous detection trajectory;

[0007] During the movement of the movable parts, the joint torque parameters and joint position parameters corresponding to the connection of each movable part are obtained;

[0008] Obtaining dynamic parameters corresponding to the mechanical structure according to the joint torque parameters and the joint position parameters, and comparing the dynamic parameters with the factory preset values ​​of the mechanical structure;

[0009] When the difference between the dynamic parameter and the factory preset value is within the preset range, the controller controls the mechanical structure to perform normal operation.

[0010] In a possible implementation of the first aspect above, the method for autonomous detection of a mechanical structure further includes the following steps:

[0011] Determine whether the reducer status and encoder status corresponding to the movable parts are abnormal;

[0012] When the reducer state and the encoder state are both in normal state, and the difference between the dynamic parameter and the factory preset value is within the preset range, the controller controls the mechanical structure to perform normal operation.

[0013] In a possible implementation of the first aspect, when either the reducer state or the encoder state is in an abnormal state, the mechanical structure is determined to be in an abnormal state and stops running; and

[0014] When the difference between the dynamic parameter and the factory preset value does not fall within the preset range, it is determined that the mechanical structure is in an abnormal state and stops running.

[0015] In a possible implementation of the first aspect, formulating an autonomous detection trajectory of the mechanical structure according to a preset algorithm includes the following steps:

[0016] Obtaining the environmental information of the mechanical structure;

[0017] Obtaining mechanical limit information and motion speed limit information of each movable part of the mechanical structure;

[0018] Formulate autonomous detection trajectories based on environmental information, mechanical limit information, and motion speed limit information;

[0019] In the process of each movable component of the mechanical structure moving along the autonomous detection trajectory, no collision occurs with the environment, and the movement of each movable component meets the corresponding mechanical limit and movement speed limit.

[0020] In a possible implementation of the first aspect, the autonomous detection trajectory is determined according to the following formula:

[0021]

[0022] in: is the fundamental frequency, is the series of Fourier series harmonics, is the initial position of the movable part, is the real-time motion position of the movable part, as well as is the system parameter;

[0023] as well as The choice of satisfies the following constraints:

[0024]

[0025] in, , For the pre-set running time, is the sampling time, The minimum mechanical limit of the movable parts. The maximum mechanical limit of the movable parts. is the minimum movement speed of the movable parts, is the maximum speed of the movable part, For forward kinematics, Ensure a collision-free working space for the mechanical structure.

[0026] In a possible implementation of the first aspect, the dynamic parameters include an inertia matrix, a Coriolis force matrix, a gravity matrix, and a friction matrix of each movable component.

[0027] A second aspect of the present invention provides a mechanical structure autonomous detection system, which is applied to the mechanical structure autonomous detection method provided in the first aspect. The autonomous detection system includes:

[0028] A design module for formulating an autonomous detection trajectory of the mechanical structure according to a preset algorithm when the mechanical structure is in the startup phase;

[0029] A control module for controlling the movable parts in the mechanical structure to move according to the autonomous detection trajectory;

[0030] An acquisition module is used to obtain joint torque parameters and joint position parameters corresponding to the connection of each movable part during the movement of the movable part;

[0031] a comparison module, for obtaining dynamic parameters corresponding to the mechanical structure according to the joint torque parameters and the joint position parameters, and comparing the dynamic parameters with the factory preset values ​​of the mechanical structure to generate a comparison result;

[0032] The control module is further configured to control the mechanical structure to perform normal operation when the comparison result shows that the difference between the dynamic parameter and the factory preset value is within a preset range.

[0033] In a possible implementation of the second aspect, the mechanical structure autonomous detection system further includes a judgment module for judging whether a reducer state and an encoder state corresponding to the movable component are abnormal to generate a judgment result;

[0034] When the judgment result is that the reducer state and the encoder state are both in normal state, and the comparison result is that the difference between the dynamic parameter and the factory preset value is within the preset range, the control module controls the mechanical structure to perform normal operation.

[0035] A third aspect of the present invention provides a mechanical structure autonomous detection device, comprising:

[0036] memory for storing computer programs;

[0037] The processor is used to implement the mechanical structure autonomous detection method provided by the first aspect when executing the computer program.

[0038] A fourth aspect of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the method for autonomous detection of mechanical structures provided in the first aspect is implemented.

[0039] Compared with the prior art, the present invention has the following beneficial effects:

[0040] The technical solution provided by the present invention enables the mechanical structure to acquire and identify its own dynamic parameters during the self-test process after power-on and startup, and compare them with factory preset parameters, thereby determining the dynamic parameter drift of the mechanical structure during long-term use. The technical solution provided by the present invention can effectively avoid the risk of reduced control accuracy caused by structural changes in the mechanical structure during long-term use, enabling pre-correction of the mechanical structure before formal use. It is particularly suitable for applications requiring high control accuracy of the mechanical structure, ensuring the control accuracy and operational safety of the mechanical structure, and has widespread value. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0042] Figure 1 According to an embodiment of the present invention, a schematic diagram of a process for dynamic detection of a mechanical structure is shown;

[0043] Figure 2 According to an embodiment of the present invention, a schematic flow chart of a method for autonomous detection of a mechanical structure is shown;

[0044] Figure 3 According to an embodiment of the present invention, a schematic flow chart of another method for autonomous detection of a mechanical structure is shown;

[0045] Figure 4According to an embodiment of the present invention, a schematic diagram of a process for formulating an autonomous detection trajectory of a mechanical structure according to a preset algorithm is shown;

[0046] Figure 5 According to an embodiment of the present invention, a schematic structural diagram of a mechanical structure autonomous detection system is shown;

[0047] Figure 6 According to an embodiment of the present invention, a schematic structural diagram of an electronic device is shown;

[0048] Figure 7 According to an embodiment of the present invention, a schematic structural diagram of a computer-readable storage medium is shown. DETAILED DESCRIPTION

[0049] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0050] As used herein, the term "including" and its variations represent open inclusion, i.e., "including but not limited to." Unless otherwise stated, the term "or" means "and / or." The term "based on" means "based at least in part on." The terms "an example embodiment" and "an embodiment" mean "at least one example embodiment." The term "another embodiment" means "at least one additional embodiment." The terms "first," "second," etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0051] Based on existing technology, Figure 1 A schematic diagram of the process of dynamic detection of mechanical structure is provided. Figure 1 As shown, the point-to-point trajectory planning for a single movable component in step 101 is often pre-configured based on the mechanical structure's configuration. For example, if the mechanical structure is a robotic arm, the movable component is a joint axis, and the joint axis's motion direction and speed can be planned. Furthermore, in step 102, the encoder and reducer status are determined to determine whether to control the mechanical structure to continue operation or to issue an error status alarm.

[0052] However, those skilled in the art will understand that mechanical structures often experience structural changes or deformations after prolonged operation. For example, a slight drift in the mounting position of a movable rod can cause a shift in the center of gravity of the rod. Using pre-set dynamic parameters in this situation can lead to dynamic compensation errors, thus affecting the robot's control accuracy. These potential operational hazards cannot be detected through static and dynamic self-tests in existing technologies.

[0053] In view of the above problems existing in the prior art, in some embodiments provided by the present invention, Figure 2 A schematic diagram of a process for autonomous detection of mechanical structures is shown in FIG. Figure 2 As shown, the above-mentioned mechanical structure autonomous detection method may include the following steps:

[0054] Step 201: When the mechanical structure is in the startup phase, an autonomous detection trajectory of the mechanical structure is formulated according to a preset algorithm. The formulation of the autonomous detection trajectory will be described in detail later.

[0055] Step 202: Control the movable parts in the mechanical structure to move according to the autonomous detection trajectory.

[0056] Step 203: During the movement of the movable parts, obtain the joint torque parameters and joint position parameters corresponding to the connection points of each movable part.

[0057] Step 204: Based on the joint torque parameters and joint position parameters, obtain the corresponding dynamic parameters of the mechanical structure and compare them with the factory preset values ​​of the mechanical structure. Specifically, the dynamic parameters may include the inertia matrix, Coriolis force matrix, gravity matrix, and friction matrix of each movable component. These dynamic parameters are all reflected in the factory preset values.

[0058] Step 205: If the difference between the dynamic parameters and the factory preset values ​​is within a preset range, the controller controls the mechanical structure to perform normal operation. It will be appreciated that the real-time dynamic parameters can be compared with the factory preset values ​​to determine whether the mechanical structure has experienced structural deformation. If the deviation is excessive, it indicates a serious mechanical failure, making subsequent high-precision control impossible. If the deviation is within a reasonable range, it can be assumed that the mechanical structure has not experienced structural deformation, and the controller can achieve high-precision mechanical control.

[0059] In some embodiments of the present invention, the method for autonomous detection of mechanical structures further includes the following steps:

[0060] Determine whether there are any abnormalities in the reducer status and encoder status corresponding to the movable parts: when the reducer status and the encoder status are both normal, and the difference between the dynamic parameters and the factory preset values ​​is within the preset range, the controller controls the mechanical structure to perform normal operation.

[0061] Furthermore, when any one of the reducer state and the encoder state is in an abnormal state, the mechanical structure is judged to be in an abnormal state and stops running; and when the difference between the dynamic parameter and the factory preset value does not fall within the preset range, the mechanical structure is judged to be in an abnormal state and stops running.

[0062] Specifically, Figure 3 FIG. 1 shows a flow chart of another method for autonomous detection of mechanical structures. Figure 3 In the mechanical structure autonomous detection method shown in Figure 2 Compared with the flow chart provided, the detection of the reducer status and encoder status provided in the prior art is additionally introduced, further optimizing the inspection scope of the mechanical structure self-inspection. Figure 3 As shown, considering that the judgment of the reducer state and the encoder state needs to refer to the joint position parameters, and when the reducer state and the encoder state are abnormal, the mechanical structure needs to be controlled to shut down, and there is no need to perform subsequent dynamic parameter comparison. The judgment of the reducer state and the encoder state can be placed between step 302 and step 304.

[0063] In some embodiments of the present invention, Figure 4 A schematic diagram of a process for formulating an autonomous detection trajectory of a mechanical structure according to a preset algorithm is shown. Figure 4 As shown, the following steps may be included:

[0064] Step 401: Obtain the environmental information of the mechanical structure (such as an OBB bounding box, etc.).

[0065] Step 402: Acquire mechanical limit information and movement speed limit information of each movable component of the mechanical structure. The execution order of the above steps 401 and 402 is not limited here.

[0066] Step 403: Develop an autonomous detection trajectory based on environmental information, mechanical limit information, and motion speed limit information. Each movable component of the mechanical structure must not collide with the environment while moving along the autonomous detection trajectory, and the movement of each movable component must meet the corresponding mechanical limit and motion speed limits. Specifically, the autonomous detection trajectory is determined according to the following formula:

[0067]

[0068] in: is the fundamental frequency, is the series of Fourier series harmonics, is the initial position of the movable part, is the real-time motion position of the movable part, as well as is the system parameter.

[0069] Specifically, as well as The choice needs to ensure The following constraints are met:

[0070]

[0071] in, , For the pre-set running time, is the sampling time, The minimum mechanical limit of the movable parts. The maximum mechanical limit of the movable parts. is the minimum movement speed of the movable parts, is the maximum speed of the movable part, For forward kinematics, Ensure a collision-free working space for the mechanical structure.

[0072] In some embodiments of the present invention, Figure 5 A schematic structural diagram of a mechanical structure autonomous detection system is provided, which is applied to the mechanical structure autonomous detection method provided in the aforementioned embodiment. The autonomous detection system includes:

[0073] Design module 001, for formulating an autonomous detection trajectory of the mechanical structure according to a preset algorithm when the mechanical structure is in the startup phase;

[0074] Control module 002, used to control the movable parts in the mechanical structure to move according to the autonomous detection trajectory;

[0075] Acquisition module 003, used to obtain joint torque parameters and joint position parameters corresponding to the connection of each movable part during the movement of the movable part;

[0076] Comparison module 004, used to obtain dynamic parameters corresponding to the mechanical structure according to the joint torque parameters and the joint position parameters, and compare the dynamic parameters with the factory preset values ​​of the mechanical structure to generate a comparison result;

[0077] The control module 002 is further configured to control the mechanical structure to perform normal operation when the comparison result shows that the difference between the dynamic parameter and the factory preset value is within a preset range.

[0078] In the above embodiment, further Figure 5 As shown, the mechanical structure autonomous detection system also includes a judgment module 005, which is used to judge whether there are abnormalities in the reducer state and the encoder state corresponding to the movable parts to generate a judgment result; when the judgment result is that the reducer state and the encoder state are both in normal state, and the comparison result is that the difference between the dynamic parameter and the factory preset value is in the preset range, the control module 002 controls the mechanical structure to perform normal operation.

[0079] It can be understood that the functions implemented by the design module 001 to the judgment module 005 in the above functional modules are consistent with the steps implemented in the aforementioned embodiment and are not described in detail here.

[0080] It is understood that various aspects of the technical solution of the present invention may be implemented as a system, method, or program product. Therefore, various aspects of the technical solution of the present invention may be specifically implemented in the following forms: a complete hardware implementation method, a complete software implementation method (including firmware, microcode, etc.), or an implementation method that combines hardware and software aspects, which may be collectively referred to herein as a "circuit," "module," or "platform."

[0081] Those skilled in the art should understand that the above-mentioned units, modules or steps of the present invention can be implemented using a general-purpose computing device. They can be concentrated on a single computing device or distributed on a network composed of multiple computing devices. Optionally, they can be implemented using program codes executable by the computing device, so that they can be stored in a storage medium and executed by a computing device. In some cases, the steps shown or described can be performed in an order different from that shown here, or they can be made into individual integrated circuit modules separately, or multiple modules or steps can be made into a single integrated circuit module for implementation.

[0082] Figure 6 According to some embodiments of the present invention, a schematic diagram of the structure of an electronic device is shown, which is used to implement the aforementioned embodiment of the method for autonomous detection of mechanical structures. Figure 6 The electronic device 600 implemented according to the implementation method in this embodiment is described in detail. Figure 6 The electronic device 600 shown is merely an example and should not limit the functions and scope of use of any embodiment of the technical solution of the present invention.

[0083] like Figure 6As shown, electronic device 600 is implemented as a general-purpose computing device. The components of electronic device 600 may include, but are not limited to, at least one processing unit 610, at least one storage unit 620, a bus 630 connecting various platform components (including storage unit 620 and processing unit 610), and a display unit 640.

[0084] The storage unit 620 stores program codes, which can be executed by the processing unit 610 , so that the processing unit 610 implements the various functional modules in the above-mentioned mechanical structure autonomous detection system in this embodiment.

[0085] The storage unit 620 may include a readable medium in the form of a volatile memory unit, such as a random access unit (RAM) 6201 and / or a cache memory unit 6202 , and may further include a read-only memory unit (ROM) 6203 .

[0086] The storage unit 620 may also include a program / utility 6204 having a set (at least one) of program modules 6205. Such program modules 6205 include, but are not limited to, an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment.

[0087] Bus 630 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0088] The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), and may also communicate with one or more devices that allow a user to interact with the electronic device 600, and / or any device that enables the electronic device to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 650. Furthermore, the electronic device 600 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 through the bus 630. It should be understood that although Figure 6 Not shown, other hardware and / or software modules may be used in conjunction with electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage platforms.

[0089] In some embodiments of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by a processor, the various functional modules in the above-disclosed autonomous detection system for mechanical structures can be implemented.

[0090] Although this embodiment does not list other specific implementation methods in detail, in some possible implementation methods, the various aspects described in the technical solution of the present invention can also be implemented in the form of a program product, which includes program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps of the implementation methods in various embodiments of the technical solution of the present invention described in the method for autonomous detection of mechanical structures in the technical solution of the present invention.

[0091] Figure 7 According to some embodiments of the present invention, a schematic diagram of the structure of a computer-readable storage medium is shown. Figure 7 , which depicts a program product 800 for implementing the above-described method according to an embodiment of the present invention. This program product can be implemented in a portable compact disc read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. Of course, the program product produced according to this embodiment is not limited thereto. In the present invention, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0092] The program product may utilize any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or component, or any combination thereof. More specific examples (a non-exhaustive list) of readable storage media include: an electrical connection having one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination thereof.

[0093] Computer-readable storage media may include a data signal propagated in baseband or as a carrier wave region, wherein readable program code is carried. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. The readable storage medium may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0094] The program code used to perform the operations of the technical solutions of the present invention can be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java and C++, as well as conventional procedural programming languages ​​such as C or similar programming languages. The program code can be executed entirely on the user computing device, locally on the user device, as a standalone software package, locally on the user computing device or locally on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0095] In summary, through the technical solution provided by the present invention, the componentization technology for applications, especially the mini-programs involved in the background technology of the present invention, is realized through the page library module, the component library module, the state management module and the request management module. It can be understood that since all business logics can be processed by both the state management module and the request management module, the decoupling between components and pages is achieved, so that components can be freely assembled between pages. Especially in the scenario of facing some new mini-program development needs, the technical solution provided by the present invention only needs to complete some simple mini-program configurations, and the required pages and components can be selected from the page library and the component library for combination to realize the required mini-program, which can greatly improve the development efficiency of mini-programs with the same business logic and has promotional value.

[0096] The above description is only a description of the preferred embodiment of the technical solution of the present invention, and is not intended to limit the scope of the technical solution of the present invention. Any changes and modifications made by ordinary technicians in the field of the technical solution of the present invention based on the above disclosure shall fall within the scope of protection of the claims.

Claims

1. A method for autonomous detection of a mechanical structure, wherein the mechanical structure comprises a plurality of movable parts, characterized in that: The steps include: When the mechanical structure is in a startup phase, obtaining information about the environment in which the mechanical structure is located; Acquiring mechanical limit information and movement speed limit information of each movable component of the mechanical structure; Formulate an autonomous detection trajectory according to the environmental information, the mechanical limit information, and the motion speed limit information; wherein, during the movement of each movable component of the mechanical structure along the autonomous detection trajectory, no collision occurs with the environment, and the movement of each movable component satisfies corresponding mechanical limit and movement speed limit; controlling the movable component in the mechanical structure to move according to the autonomous detection trajectory; During the movement of the movable component, obtaining joint torque parameters and joint position parameters corresponding to the connection of each movable component; Obtaining dynamic parameters corresponding to the mechanical structure according to the joint torque parameters and the joint position parameters, and comparing the dynamic parameters with factory preset values ​​of the mechanical structure; When the difference between the dynamic parameter and the factory preset value is within a preset range, controlling the mechanical structure to perform normal operation through the controller; The autonomous detection trajectory is determined according to the following formula: in: is the fundamental frequency, is the series of Fourier series harmonics, is the initialization position of the movable part, is the real-time motion position of the movable component, as well as is the system parameter; described and the The choice of satisfies the following constraints: in, , For the pre-set running time, is the sampling time, is the minimum mechanical limit of the movable part, is the maximum mechanical limit of the movable part, is the minimum movement speed of the movable part, is the maximum movement speed of the movable part, is forward kinematics, A collision-free working space is ensured for the mechanical structure.

2. The method for autonomous detection of mechanical structures according to claim 1, characterized in that: The mechanical structure autonomous detection method further comprises the following steps: Determine whether there are any abnormalities in the reducer state and the encoder state corresponding to the movable component; When the reducer state and the encoder state are both in normal state, and the difference between the dynamic parameter and the factory preset value is within a preset range, the controller controls the mechanical structure to perform normal operation.

3. The method for autonomous detection of mechanical structures according to claim 2, characterized in that: When either the reducer state or the encoder state is in an abnormal state, determining that the mechanical structure is in an abnormal state and stopping operation; and When the difference between the dynamic parameter and the factory preset value does not fall within the preset range, it is determined that the mechanical structure is in an abnormal state and stops running.

4. The method for autonomous detection of mechanical structures according to claim 1, characterized in that: The dynamic parameters include the inertia matrix, the Coriolis force matrix, the gravity matrix and the friction matrix of each movable component.

5. A mechanical structure autonomous detection system, characterized in that: The method for autonomous detection of a mechanical structure as claimed in any one of claims 1 to 4 comprises: a design module, configured to formulate an autonomous detection trajectory of the mechanical structure according to a preset algorithm when the mechanical structure is in a startup phase; a control module, configured to control the movable component in the mechanical structure to move according to the autonomous detection trajectory; an acquisition module, configured to acquire joint torque parameters and joint position parameters corresponding to the connection of each movable part during the movement of the movable part; a comparison module, configured to obtain dynamic parameters corresponding to the mechanical structure according to the joint torque parameters and the joint position parameters, and compare the dynamic parameters with factory preset values ​​of the mechanical structure to generate a comparison result; The control module is further configured to control the mechanical structure to perform normal operation if the comparison result shows that the difference between the dynamic parameter and the factory preset value is within a preset range.

6. The mechanical structure autonomous detection system according to claim 5, characterized in that: The mechanical structure autonomous detection system further includes a judgment module for judging whether the reducer state and the encoder state corresponding to the movable component are abnormal to generate a judgment result; When the judgment result is that the reducer state and the encoder state are both in normal state, and the comparison result is that the difference between the dynamic parameter and the factory preset value is within a preset range, the control module controls the mechanical structure to perform normal operation.

7. A mechanical structure autonomous detection device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the mechanical structure autonomous detection method according to any one of claims 1 to 4 when executing the computer program.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method for autonomous detection of a mechanical structure according to any one of claims 1 to 4 is implemented.

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