Method and device for testing dynamic accuracy of robot, electronic equipment and storage medium

Abstract

The application discloses a kind of robot dynamic precision test method, device, electronic equipment and storage medium, belong to robot technical field.Therein, the method includes: obtaining the theoretical displacement value of robot moving to multiple test points;Control the robot moves to the multiple test points according to preset running track, and adopts displacement sensor to collect the test displacement value set of each test point under multiple running periods and multiple pause time, wherein, each test point is installed a group of displacement sensors, and the pause time is the stabilization time of the robot at the specified test point;According to the theoretical displacement value and the test displacement value set, the dynamic precision of the robot is calculated.By the application, the technical problem that the test precision of robot is poor in the case where the pause time is short in the related art is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a robot dynamic precision testing method and device, electronic equipment and storage medium. BACKGROUND

[0002] At present, the precision testing method of industrial robots basically adopts a laser tracker to operate according to the method and steps mentioned in the GBT 12642-2013 Industrial Robot Performance Specification and Test Method, and the result is the precision of the robot in an ideal state.

[0003] However, the laser tracker is expensive, many robot manufacturers may not be able to equip it, or may not be able to equip multiple units, and when using the laser tracker to test the precision, if simply using the laser tracker delay to record data, a relatively long pause time (delay 1 second or more) is required, and it is not possible to classify and test according to millisecond level.

[0004] In view of the above problems in the related art, there is currently no effective solution. SUMMARY

[0005] The present application provides a robot dynamic precision testing method, device, electronic equipment and storage medium to solve the technical problem of poor test precision of the robot in the case of short pause time in the related art.

[0006] According to an aspect of an embodiment of the present application, a robot dynamic precision testing method is provided, comprising: obtaining a theoretical displacement value of a robot moving to a plurality of test points; controlling the robot to move to the plurality of test points according to a preset running track, and collecting a test displacement value set of each test point using a displacement sensor under a plurality of running periods and a plurality of pause times, wherein each test point is installed with a set of displacement sensors, and the pause time is the stable time of the robot at a specified test point; and calculating the dynamic precision of the robot according to the theoretical displacement value and the test displacement value set.

[0007] Further, the dynamic precision includes a repeat positioning precision, and calculating the dynamic precision of the robot according to the theoretical displacement value and the test displacement value set comprises: obtaining an instruction pose corresponding to the theoretical displacement value, and a real-to-pose set corresponding to the test displacement value set; and calculating the repeat positioning precision of the robot using the following first formula, wherein the repeat positioning precision is the consistency degree of the real-to-pose obtained after the same instruction pose is repeatedly responded n times from the same direction. RP = 1 - 1 n å i = 1 n ( xi - x ) 2 l RP = 1 - 1 n å i = 1 n ( xi - x ) 2 S is a distance between the real pose and a cluster center of n real poses. l S is a standard deviation of n real poses, and n is a natural number.

[0008] Further, the dynamic accuracy of the robot is calculated according to the theoretical displacement value and the set of test displacement values, including: obtaining a first subset of test displacement values of the robot approaching a target test point from multiple spatial directions from the set of test displacement values; and calculating the dynamic accuracy of the robot in different spatial directions of the target test point according to the theoretical displacement value of the target test point and the first subset of test displacement values.

[0009] Further, the dynamic accuracy includes position accuracy, and the dynamic accuracy of the robot is calculated according to the theoretical displacement value and the set of test displacement values, including: obtaining an instruction pose corresponding to the theoretical displacement value and a real pose corresponding to the test displacement value; and calculating the position accuracy of the robot by using the following second formula, wherein the position accuracy is a difference between a position coordinate of the instruction pose and a cluster center of position coordinates of the real pose. AP = (x - x p is the position accuracy, is a coordinate of a cluster center of n points obtained after responding to the same pose for n times, x c , y c , and z c is a position coordinate of the instruction pose, and n is a natural number.

[0010] Further, the robot is controlled to move to the plurality of test points according to the preset running track, and the set of test displacement values of each test point is collected by using the displacement sensor under a plurality of running periods and a plurality of pause times, including: controlling the robot to move to the plurality of test points according to the preset running track, and collecting the test displacement values of each test point by using the displacement sensor under the plurality of pause times of each running period; and collecting the test displacement values collected under the plurality of pause times corresponding to all running periods as the set of test displacement values.

[0011] Further, the robot is controlled to move to the plurality of test points according to the preset running track, including: positioning a material taking position and a material placing position; generating the preset running track between the material taking position and the material placing position; and controlling the robot to move to the plurality of test points according to the preset running track.

[0012] Further, the calculating the dynamic accuracy of the robot according to the theoretical displacement value and the test displacement value set comprises: obtaining, from the test displacement value set, a second test displacement value subset of the robot at a plurality of pause times of a target running period; and calculating the dynamic accuracy of the robot at the plurality of pause times of the target running period according to the theoretical displacement value of the target test point and the second test displacement value subset.

[0013] According to another aspect of the embodiments of the present application, a testing device for dynamic accuracy of a robot is also provided, which comprises: an obtaining module configured to obtain a theoretical displacement value of a robot moving to a plurality of test points; a testing module configured to control the robot to move to the plurality of test points according to a preset running track, and to collect a test displacement value set of each test point by using displacement sensors at a plurality of running periods and a plurality of pause times, wherein each test point is installed with a set of displacement sensors, and the pause time is a stable time of the robot at a specified test point; and a calculating module configured to calculate the dynamic accuracy of the robot according to the theoretical displacement value and the test displacement value set.

[0014] Further, the calculating module comprises a first calculating unit configured to obtain an instruction pose corresponding to the theoretical displacement value, and a real-to-pose set corresponding to the test displacement value set; and to calculate a repeat positioning accuracy of the robot by using a first formula as follows, wherein the repeat positioning accuracy is a consistency degree of a real-to-pose obtained after the same instruction pose is repeatedly responded n times from the same direction. RP = 1 n å i=1 n (Pi - P) l RP = 1 n å i=1 n (Pi - P) Pi is a distance between the real-to-pose and a cluster center of n real-to-poses, S l n is a natural number.

[0015] Further, the calculating module comprises a second calculating unit configured to obtain, from the test displacement value set, a first test displacement value subset of the robot approaching a target test point from a plurality of spatial directions; and to calculate the dynamic accuracy of the robot at the target test point from different spatial directions according to the theoretical displacement value of the target test point and the first test displacement value subset.

[0016] Further, the calculating module comprises a third calculating unit configured to obtain an instruction pose corresponding to the theoretical displacement value, and a real-to-pose corresponding to the test displacement value; and to calculate a position accuracy of the robot by using a second formula as follows, wherein the position accuracy is a difference value between a position coordinate of the instruction pose and a cluster center of a position coordinate set of the real-to-pose. AP = 1 n å i=1 n (Pi - P) p AP = 1 n å i=1 n (Pi - P) The coordinates of the cluster center of each point set obtained after the same pose is responded n times are x c , y c , and z c , the position coordinates of the instruction pose, and n is a natural number.

[0017] Further, the test module includes a first test unit configured to control the robot to move to the plurality of test points according to a preset running track and collect test displacement values of each test point at a plurality of pause times in each running period by using a displacement sensor; and collect the test displacement values collected at the plurality of pause times in all running periods as a test displacement value set.

[0018] Further, the test module includes a second test unit configured to locate a material taking position and a material placing position of the station; generate a preset running track between the material taking position and the material placing position; and control the robot to move to the plurality of test points according to the preset running track.

[0019] Further, the calculation module includes a fourth calculation unit configured to obtain a second test displacement value subset of the plurality of pause times in a target running period of the robot from the test displacement value set; and calculate a dynamic accuracy of the robot at the plurality of pause times in the target running period according to a theoretical displacement value of a target test point and the second test displacement value subset.

[0020] According to another aspect of the embodiments of the present application, a storage medium is also provided, which includes a stored program, and the program performs the above steps when running.

[0021] According to another aspect of the embodiments of the present application, an electronic device is also provided, which includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory is used to store a computer program; and the processor is used to execute the steps in the above method by running the program stored in the memory.

[0022] The embodiments of the present application also provide a computer program product including instructions, which, when running on a computer, cause the computer to execute the steps in the above method.

[0023] Theoretical displacement values of robot movement to multiple test points are acquired; the robot is controlled to move to the multiple test points according to a preset running track, and a set of test displacement values of each test point is collected by displacement sensors under multiple running periods and multiple pause times, wherein, each test point is installed with a set of displacement sensors, and the pause time is the stable time of the robot at the specified test point; and the dynamic precision of the robot is calculated according to the theoretical displacement values and the set of test displacement values. The dynamic precision of the robot is determined by the multi-point sensor dynamic measurement method and the displacement values collected under different periods and multiple pause times by using the mobile sensor with relatively short response time, so as to improve the test precision of the robot under the condition of short pause time. BRIEF DESCRIPTION OF DRAWINGS

[0024] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0025] Figure 1 is a hardware structure block diagram of a computer according to an embodiment of the application;

[0026] Figure 2 is a flow chart of a robot dynamic precision test method according to an embodiment of the application;

[0027] Figure 3 is a structure schematic diagram of a sensor corresponding to a test point according to an embodiment of the application;

[0028] Figure 4 is a parallel robot dynamic precision test flow schematic diagram according to an embodiment of the application;

[0029] Figure 5 is a structure block diagram of a robot dynamic precision test device according to an embodiment of the application. DETAILED DESCRIPTION

[0030] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the protection scope of the present application. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0031] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0032] Example 1

[0033] The method embodiment provided in Embodiment 1 of this application can be executed on a mobile phone, computer, tablet, or similar computing device. Taking running on a computer as an example, Figure 1 This is a hardware structure block diagram of a computer according to an embodiment of the present invention. For example... Figure 1 As shown, a computer may include one or more ( Figure 1 Only one is shown in the diagram. A processor 102 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 104 for storing data are also shown. Optionally, the computer may further include a transmission device 106 for communication functions and an input / output device 108. Those skilled in the art will understand that... Figure 1 The structure shown is for illustrative purposes only and does not limit the structure of the computer described above. For example, the computer may also include components that are larger than... Figure 1 The more or fewer components shown, or having the same Figure 1 The different configurations shown.

[0034] The memory 104 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to a video motion rate recognition method in this embodiment of the invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, thereby implementing the aforementioned method. The memory 104 may include high-speed random access memory and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include memory remotely located relative to the processor 102, and these remote memories can be connected to the computer via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0035] The transmission device 106 is configured to receive or send data via a network. The network can include a wireless network provided by a communication provider of a computer. In one embodiment, the transmission device 106 includes a network interface controller (NIC) that is configured to connect to other network devices through a base station to communicate with the Internet. In one embodiment, the transmission device 106 can be a radio frequency (RF) module that is configured to communicate with the Internet through a wireless manner.

[0036] A method for testing dynamic accuracy of a robot is provided in the embodiment, Figure 2 is a flow chart of a method for testing dynamic accuracy of a robot according to the embodiment of the present application, as shown in Figure 2 The flow chart includes the following steps:

[0037] In step S10, a theoretical displacement value of the robot moving to a plurality of test points is obtained.

[0038] The robot in the embodiment is a parallel robot, and specifically can be an industrial robot (such as a warehouse, a production line, etc.). A plurality of test points are first selected, and 5 point positions on a diagonal face of a cube in a moving space of the robot can be selected. In the embodiment, the center point position is not tested considering the installation condition of the testing device, and therefore 4 vertexes on the diagonal face of the cube are selected as the test points. A set of displacement sensors is installed in different spatial directions of each test point, such as Figure 4A set of displacement sensors is shown as an example, a set of displacement sensors is installed in the mutually perpendicular xyz three-dimensional direction respectively, including sensor 1-x, sensor 1-y, sensor 1-z, wherein sensor 1-x represents the position data of x direction measured by test point 1, sensor 1-y represents the position data of y direction measured by test point 1, sensor 1-z represents the position data of z direction measured by test point 1, and the corresponding displacement sensors of test points 2, 3 and 4 are sequentially extended. The selection of measurement points can also be adjusted according to different project requirements and different stroke ranges of the robot to achieve the desired purpose. The displacement sensor in the embodiment adopts a laser displacement sensor, the controllers of the laser displacement sensor robot are connected with each other, the delay time of the laser tracker is required to be more than 1 second, and the actual parallel robot has a relatively fast grabbing speed and a relatively short pause time. In this case, the laser tracker cannot collect test data in time, the response time of the laser displacement sensor is shorter than that of the laser tracker, and the displacement information can be collected in millisecond level. The theoretical displacement value of the robot moving to a plurality of test points includes: installing a rated load at the end of the parallel robot, receiving the instruction position sent by the upper computer, the instruction position includes the instruction position and the instruction attitude, only the instruction position is considered in the embodiment, the instruction position is the coordinate information corresponding to the test point, and the parallel robot is controlled to slowly move to a plurality of test points according to the instruction position. The displacement between the actual position of the robot collected by the current sensor and the instruction position is taken as the theoretical displacement value, and the instruction position is taken as the theoretical value of the Cartesian coordinate value of the robot.

[0039] Step S20, controlling the robot to move to the plurality of test points according to the preset running track, and collecting a set of test displacement values of each test point by using the displacement sensor in a plurality of running periods and a plurality of pause times, wherein a set of displacement sensors is installed at each test point, and the pause time is the stable time of the robot at the specified test point.

[0040] Step S30, calculating the dynamic accuracy of the robot according to the theoretical displacement value and the set of test displacement values.

[0041] The specified test point in the embodiment can be the material placing position of the robot, that is, the robot needs to stop for a certain time to stabilize after reaching the material placing position and then perform the material placing action. The dynamic accuracy of the robot includes the repeat positioning accuracy and the absolute positioning accuracy. The repeat positioning accuracy, that is, the pose repeatability, indicates the consistency degree of the real-to-pose obtained after the same instruction pose is repeatedly responded n times from the same direction, that is, given a certain point, a spatial distribution of the robot approaching the point multiple times, and the spatial distribution is usually represented by a spherical (or circular) radius. The absolute positioning accuracy indicates the deviation between the instruction pose and the average value of the real-to-pose when approaching the instruction pose from the same direction, that is, given the coordinates of a certain point, the deviation value between the real-to-pose obtained by the robot according to the motion instruction of the controller and the actual point (instruction pose). The absolute positioning accuracy includes the position accuracy and the attitude accuracy, wherein the position accuracy is the difference between the position of the instruction pose and the center of the real-to-position cluster, and the attitude accuracy is not considered in the parallel robot such as the delta robot in the embodiment.

[0042] Through the above steps, the theoretical displacement value of the robot moving to the multiple test points is obtained; the robot is controlled to move to the multiple test points according to the preset running track, and a set of test displacement values of each test point is collected by using the displacement sensor under multiple running periods and multiple stop times, wherein a group of displacement sensors are installed at each test point, and the stop time is the stabilization time of the robot at the specified test point; and the dynamic accuracy of the robot is calculated according to the theoretical displacement value and the set of test displacement values. Through the multi-point sensor dynamic measurement mode and the use of the displacement sensor with relatively short response time, the displacement values under different periods and multiple stop times are collected, so as to determine the dynamic accuracy of the robot, improve the test accuracy of the robot in the case of short stop time, provide a basis for subsequent project evaluation and on-site project planning of the robot application, improve the project efficiency, and shorten the project cycle.

[0043] In an embodiment of the embodiment, the dynamic accuracy includes the repeat positioning accuracy, and the dynamic accuracy of the robot is calculated according to the theoretical displacement value and the set of test displacement values, including:

[0044] In step S301, the instruction pose corresponding to the theoretical displacement value and the set of real-to-pose corresponding to the set of test displacement values are obtained;

[0045] In step S302, the repeat positioning accuracy of the robot is calculated by using the following first formula, wherein the repeat positioning accuracy is the consistency degree of the real-to-pose obtained after the same instruction pose is repeatedly responded n times from the same direction. RP l is the repeat positioning accuracy, is the distance between the real-to-pose and the center of the n real-to-pose cluster, and S lis the standard deviation of n real poses, n is a natural number.

[0046] The instruction pose corresponding to the theoretical displacement value is obtained, and the real pose set corresponding to the test displacement value set is obtained, and a first formula is used: The repeatability of the robot is calculated, wherein, RP l is the repeatability, is the distance between the real pose and the cluster center of n real poses, S l is the standard deviation of n real poses, n is a natural number. In this embodiment, multiple movements to the test point will form a spherical range, the center of the spherical range is the cluster center, and the repeatability is the spherical radius with the cluster center as the center l n is the number of measurements at the same test point, and j is the jth measurement. wherein, is the coordinate of the cluster center of n responses to the same pose, x j , y j , z j is the coordinate of the jth real pose, that is, the test value recorded by the three groups of sensors.

[0047] In another embodiment of the present embodiment, the dynamic accuracy of the robot is calculated according to the theoretical displacement value and the test displacement value set, and the dynamic accuracy of the robot includes:

[0048] Step A, obtaining a first test displacement value subset of the robot approaching the target test point from multiple spatial directions from the test displacement value set;

[0049] Step B, calculating the dynamic accuracy of the robot in different spatial directions of the target test point according to the theoretical displacement value of the target test point and the first test displacement value subset.

[0050] The robot approaches the test point from different spatial directions multiple times, and the multiple spatial directions include three mutually perpendicular directions xyz. The displacement values in three directions are collected for each test point, the first test displacement value set of the robot approaching the target test point from three spatial directions is obtained from the test displacement value set, and the dynamic accuracy of the robot in different spatial directions of the target test point is calculated according to the theoretical displacement value of the target test point and the first test displacement value subset. In this embodiment, the multi-sensor fusion technology is used to systematically analyze the three-dimensional direction data, which is more accurate than the single direction and single coordinate accuracy confirmation.

[0051] In another embodiment of the present embodiment, the dynamic accuracy includes position accuracy, and the dynamic accuracy of the robot is calculated according to the theoretical displacement value and the test displacement value set, and the dynamic accuracy of the robot includes:

[0052] Step S313, obtaining the instruction pose corresponding to the theoretical displacement value and the real-to-pose corresponding to the test displacement value set;

[0053] Step S312, calculating the position accuracy of the robot by using the following second formula, wherein the position accuracy is the difference between the position coordinates of the instruction pose and the cluster center of the position coordinates of the real-to-pose; In the formula, AP p is the position accuracy, is the coordinate of the cluster center of each point obtained after responding to the same pose n times, x c , y c , z c is the position coordinate of the instruction pose, and n is a natural number.

[0054] Obtaining the instruction pose corresponding to the theoretical displacement value and the real-to-pose set corresponding to the test displacement value set, and using the first formula: Calculating the position accuracy of the robot. The absolute positioning accuracy represents the deviation between the instruction pose and the average value of the real-to-pose when approaching the instruction pose from the same direction, that is, the deviation value between the position point (real-to-pose) and the actual point (instruction pose) when the robot performs the motion instruction according to the controller instruction, and the absolute positioning accuracy includes the position accuracy and the attitude accuracy, wherein the position accuracy is the difference between the position of the instruction pose and the cluster center of the real-to-pose. The parallel robot in the embodiment, such as the delta robot, does not consider the attitude accuracy.

[0055] In another embodiment of the present embodiment, the robot is controlled to move to the plurality of test points according to the preset running track, and the test displacement value set of each test point is collected by using the displacement sensor under a plurality of running periods and a plurality of pause times, including:

[0056] Step S21, controlling the robot to move to the plurality of test points according to the preset running track, and collecting the test displacement value of each test point by using the displacement sensor under a plurality of pause times in each running period;

[0057] Step S22, collecting the test displacement values collected under the plurality of pause times corresponding to all running periods as the test displacement value set.

[0058] The robot is controlled to move to a plurality of test points according to a preset running track, and a displacement sensor is used to collect a test displacement value of each test point at a plurality of pause times in each running period, and the test displacement values collected at the plurality of pause times in all running periods are taken as a test displacement value set. Exemplarily, under the condition of the rated load of the same robot, a standard lifting stroke (25 mm) is used, that is, the height of lifting the door-shaped material taking upward and lowering the material placing downward, and a relatively large test range is selected as much as possible in the space range, wherein each test point approaches from x, y and z directions, a plurality of sensors are used to collect data of four test points, that is, 12 groups of displacement data sets, different running periods are selected, for example, three groups of running periods (1000 ms, 800 ms and 600 ms) are selected in the test, wherein 600 ms is close to the rated speed and the rated rotating speed of the robot, so it is more representative, and finally the measured data is analyzed and arranged to obtain the test result data in Table 1 as follows:

[0059]

[0060] In this embodiment, the precision of the robot is affected under different running periods and different pause times, the required running period of the robot is different according to different applications of the robot, and the parallel robot itself has the advantage of fast beat, so it is necessary to understand more information under the condition of fast beat, that is, short running period. Through multiple measurements, the precision of the robot under different conditions can also be obtained, for example, the stroke of the robot at the material taking point and the material placing point is known, and it is necessary to know whether the selected robot can meet the precision requirement, so the test result data can be analyzed, under the premise of meeting the beat (round trip time + pause time), whether the precision of the robot is within the required precision range, thereby providing a basis for program design and beat consideration when the robot is applied. The running speed of the parallel robot is very fast, and the beat of a small parallel robot is usually controlled within 1000 ms, so under the condition of a certain stroke, it is particularly important to collect information of the two indicators of pause time and precision.

[0061] In another embodiment of the present embodiment, controlling the robot to move to the plurality of test points according to the preset running track comprises:

[0062] Step C, positioning the material taking position and the material placing position of the station;

[0063] Step D, generating a preset running track between the material taking position and the material placing position;

[0064] Step E, controlling the robot to move to the plurality of test points according to the preset running track.

[0065] The pickup position and the placement position of the positioning station (such as a flow line station) can be provided with a preset running track, which can include a door-shaped running track and a straight line running track. In this embodiment, a door-shaped running track is generated between the pickup position and the placement position. After the robot picks up materials from the pickup position, the robot is lifted to a preset height in the vertical direction, then is translated to a preset distance in the horizontal direction, and finally is lowered to the placement position. The robot is controlled to move to the multiple test points according to the door-shaped running track. In this embodiment, the door-shaped running track simulates the actual pickup and placement action, rather than a simple point-to-point straight line movement, and is more suitable for actual applications.

[0066] In another implementation of the embodiment, calculating the dynamic accuracy of the robot according to the theoretical displacement value and the set of test displacement values includes:

[0067] Step F, obtaining a second set of test displacement values of the multiple pause times of the target running period of the robot from the set of test displacement values;

[0068] Step G, calculating the dynamic accuracy of the multiple pause times of the target running period of the robot according to the theoretical displacement value of the target test point and the second set of test displacement values.

[0069] The second set of test displacement values of the multiple pause times of the target running period of the robot is obtained from the set of test displacement values, and the dynamic accuracy of the multiple pause times of the target running period of the robot is calculated according to the theoretical displacement value of the target test point and the second set of test displacement values. As shown in Table 1, the second set of test displacement values of the multiple different pause times (such as 0ms, 50ms, 100ms, 150ms, and 200ms) of the robot in the same running period (such as 1000ms) is obtained, and the dynamic accuracy of the multiple pause times of the target running period of the robot is calculated according to the theoretical displacement value of the target test point and the second set of test displacement values. Generally, the robot accuracy test is to measure the static accuracy (i.e., the pause time is longer), and this method can give different pause times according to the needs, so as to obtain different accuracy ranges.

[0070] The overall implementation process of this embodiment is as follows: Figure 3, first robot dynamic platform load installation, and multi-sensor position confirmation and installation, selected running track robot automatic operation, operation end, touch screen operation calculation, finally the calculation and test data export, analysis and generate curve. The specific test process: S01, design different quality load: load can be regular shaped objects such as iron, and iron block center and robot dynamic platform concentric, use the connection between different iron block, composed of a variety of load conditions, wherein, load different, robot inertia different, in other conditions consistent, load greater, robot stability worse, precision also worse, this embodiment adopts the rated load required by the national standard for verification, of course, the precision range obtained by selecting different loads can be used as the basis for non-standard project design fixture, according to the precision range required by different projects, the overall load at the end is designed and controlled. S02, install multiple laser displacement sensors at test points: sensors and controllers are connected, and different test points are respectively installed with sensors. S03, install rated load at the robot end dynamic platform, and parallelly move the robot to four test points, collect the coordinate information of the four test points, record the current sensor value and the theoretical value of the robot cartesian coordinate value respectively (the two sets of theoretical values are used as the basis for multiple measurements, and the purpose of collecting five points before using laser tracker test is the same), and store them in the robot controller. S04, select the running track of parallel robot, run the program according to the pre-set process, record the current sensor test value under different running period and different stop time under rated load, and store them in the controller. S05, after the test, the robot ends the program, compares and calculates the test value in S04 with the theoretical value in S03, calculates the test results of the robot under different approaching modes on the touch screen, and finally obtains the average value of multiple approaching results; wherein, the approaching mode includes xyz three directions. S06, export data and calculation results from the controller and analyze, list the accuracy of the robot under different approaching modes and the accuracy performance of different points under the same beat. S07, install different load, repeat the test process: according to the steps in S03-S06 above, test the dynamic accuracy of parallel robot under different load conditions. This embodiment can measure the accuracy of the robot according to the definition of the stop time, and use multiple sensor combination mode to read the robot position in real time and store it in the controller memory, which can test the accuracy under different stroke range, different running period, different stop time and different load.

[0071] Those skilled in the art can clearly understand, through the description of the above embodiments, that the method according to the above embodiments can be realized by means of software on a general hardware platform as necessary, and of course can also be realized by hardware, but in many cases the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, or an optical disc) and includes a plurality of instructions for causing a terminal device (which can be a mobile phone, a computer, a server, or a network device) to perform the method described in each embodiment of the present application.

[0072] Embodiment 2

[0073] In this embodiment, a robot dynamic precision testing device is also provided for implementing the above embodiments and preferred embodiments, which have been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, hardware, or a combination of software and hardware is also possible and contemplated.

[0074] Figure 5 is a structural block diagram of a robot dynamic precision testing device according to an embodiment of the present application, as shown in Figure 5 The device includes an acquisition module 60, a testing module 62, and a calculation module 64, wherein,

[0075] The acquisition module 60 is configured to acquire theoretical displacement values of a robot moving to a plurality of test points.

[0076] The testing module 62 is configured to control the robot to move to the plurality of test points according to a preset running track, and to collect a set of test displacement values of each test point using displacement sensors under a plurality of running periods and a plurality of pause times, wherein a set of displacement sensors is installed at each test point, and the pause time is a stable time of the robot at a specified test point.

[0077] The calculation module 64 is configured to calculate a dynamic precision of the robot according to the theoretical displacement values and the set of test displacement values.

[0078] Optionally, the calculation module includes a first calculation unit configured to acquire an instruction pose corresponding to the theoretical displacement values and a set of actual-to-pose corresponding to the set of test displacement values, and to calculate a repeat positioning precision of the robot using the following first formula, wherein the repeat positioning precision is a degree of consistency of an actual-to-pose obtained after the same instruction pose is repeatedly responded n times from the same direction. In the formula, RP l is the repeat positioning precision, S is a distance between the real pose and a cluster center of n real poses. l S is a standard deviation of n real poses, and n is a natural number.

[0079] Optionally, the calculation module comprises a second calculation unit, configured to acquire a first test displacement value subset of the robot approaching the target test point from multiple spatial directions from the test displacement value set; and calculate dynamic accuracy of the robot in different spatial directions of the target test point according to the theoretical displacement value of the target test point and the first test displacement value subset.

[0080] Optionally, the calculation module comprises a third calculation unit, configured to acquire an instruction pose corresponding to the theoretical displacement value and a real pose corresponding to the test displacement value; and calculate position accuracy of the robot by using the following second formula, wherein the position accuracy is a difference between a position coordinate of the instruction pose and a cluster center of position coordinates of the real pose. In the formula, AP p is the position accuracy, is a coordinate of a cluster center of each point obtained after responding to the same pose for n times, x c , y c , and z c is a position coordinate of the instruction pose, and n is a natural number.

[0081] Optionally, the test module comprises a first test unit, configured to control the robot to move to the multiple test points according to a preset running track, and acquire test displacement values of each test point by using a displacement sensor at multiple pause times of each running period; and acquire the test displacement values acquired at the multiple pause times of each running period as the test displacement value set.

[0082] Optionally, the test module comprises a second test unit, configured to position a material taking position and a material placing position; generate a preset running track between the material taking position and the material placing position; and control the robot to move to the multiple test points according to the preset running track.

[0083] Optionally, the calculation module comprises a fourth calculation unit, configured to acquire a second test displacement value subset of the robot at multiple pause times of a target running period from the test displacement value set; and calculate dynamic accuracy of the robot at the multiple pause times of the target running period according to the theoretical displacement value of the target test point and the second test displacement value subset.

[0084] It should be noted that the above various modules can be implemented by software or hardware, and for the latter, the following implementation manners can be used, but are not limited thereto: the above modules are located in the same processor; or the above various modules are located in different processors in any combination.

[0085] Embodiment 3

[0086] The embodiment of the application further provides a storage medium, which stores a computer program, and the computer program is configured to execute the steps in any method embodiment.

[0087] Optionally, in the embodiment, the storage medium can be configured to store a computer program for executing the following steps:

[0088] S1, acquiring a theoretical displacement value of a robot moving to a plurality of test points;

[0089] S2, controlling the robot to move to the plurality of test points according to a preset running track, and collecting a test displacement value set of each test point by using a displacement sensor in a plurality of running periods and a plurality of pause times, wherein each test point is installed with a set of displacement sensors, and the pause time is a stable time of the robot at a specified test point;

[0090] S3, calculating a dynamic accuracy of the robot according to the theoretical displacement value and the test displacement value set.

[0091] Optionally, in the embodiment, the storage medium can include but is not limited to a U disk, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk and various storage media that can store a computer program.

[0092] The embodiment of the application further provides an electronic device, which comprises a memory and a processor, the memory stores a computer program, and the processor is configured to execute the computer program to execute the steps in any method embodiment.

[0093] Optionally, the electronic device can further comprise a transmission device and an input and output device, wherein the transmission device is connected with the processor, and the input and output device is connected with the processor.

[0094] Optionally, in the embodiment, the processor can be configured to execute the following steps by using the computer program:

[0095] S1, acquiring a theoretical displacement value of a robot moving to a plurality of test points;

[0096] S2, controlling the robot to move to the plurality of test points according to a preset running track, and collecting a set of test displacement values of each test point by displacement sensors under a plurality of running periods and a plurality of pause times, wherein each test point is installed with a set of displacement sensors, and the pause time is a stable time of the robot at a specified test point;

[0097] S3, calculating the dynamic accuracy of the robot according to the theoretical displacement value and the set of test displacement values.

[0098] Optionally, specific examples in the embodiment can refer to the examples described in the above embodiments and optional implementation manners, and the embodiment will not be described here.

[0099] The serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0100] In the above embodiments of the present application, the description of each embodiment has its own focus, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0101] In the several embodiments of the present application, it should be understood that the disclosed technology can be implemented in other ways. Of course, the unit embodiment described above is only schematic. For example, the division of the units is only a logical function division. There can be another division manner for actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection between the units can be indirect coupling or communication connection through some interface, electrical or other form.

[0102] The units described as separate components can or can not be physically separate, and the components shown as units can or can not be physical units, that is, they can be located in one place, or can be distributed on a plurality of network units. According to actual needs, part or all of the units can be selected to achieve the purpose of the embodiment.

[0103] In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of software functional unit.

[0104] The integrated unit, if implemented in the form of a software function unit and sold or used as an independent product, can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or say the part that contributes to the prior art or the whole or part 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 the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a mobile hard disk, a magnetic disk or an optical disk, and various media that can store program codes.

[0105] The above is only the preferred embodiment of the present application, and it should be pointed out that for those skilled in the art, without departing from the principles of the present application, a number of improvements and refinements can be made, which should be considered as the protection scope of the present application.

Claims

1. A method of testing the dynamic accuracy of a robot, characterized in that The method comprises: acquiring theoretical displacement values of a robot moving to a plurality of test points; controlling the robot to move to the plurality of test points according to a preset running track, and collecting a test displacement value set of each test point by using displacement sensors under a plurality of running periods and a plurality of pause times, wherein a set of displacement sensors is installed at each test point, and the pause time is a stable time of the robot at a specified test point; acquiring a second test displacement value subset of the robot at a plurality of pause times of a target running period from the test displacement value set; calculating a dynamic accuracy of the robot at the plurality of pause times of the target running period according to the theoretical displacement value of a target test point and the second test displacement value subset.

2. The method of claim 1, wherein, The dynamic accuracy comprises a repeat positioning accuracy, and calculating the dynamic accuracy of the robot according to the theoretical displacement value and the test displacement value set comprises: acquiring an instruction pose corresponding to the theoretical displacement value and a real-to-pose set corresponding to the test displacement value set; calculating the repeat positioning accuracy of the robot by using the following first formula, wherein the repeat positioning accuracy is a consistency degree of a real-to-pose obtained after the same instruction pose is repeatedly responded n times from the same direction; wherein RP l is the repeat positioning accuracy, is the distance between the real-time pose and the cluster center of n real-time poses, S l is the standard deviation of n real-time poses, and n is a natural number.

3. The method of claim 1, wherein, calculating the dynamic accuracy of the robot according to the theoretical displacement value and the test displacement value set comprises: acquiring a first test displacement value subset of the robot approaching the target test point from a plurality of spatial directions from the test displacement value set; calculating the dynamic accuracy of the robot at different spatial directions of the target test point according to the theoretical displacement value of the target test point and the first test displacement value subset.

4. The method of claim 1, wherein, The dynamic accuracy comprises a position accuracy, and calculating the dynamic accuracy of the robot according to the theoretical displacement value and the test displacement value set comprises: acquiring an instruction pose corresponding to the theoretical displacement value and a real-to-pose corresponding to the test displacement value; calculating the position accuracy of the robot by using the following second formula, wherein the position accuracy is a difference value between a position coordinate of the instruction pose and a cluster center of position coordinates of the real-to-pose; wherein AP p is the position accuracy, is the coordinate of the cluster center of each point set after responding n times to the same pose, x c , y c , z c is the position coordinate of the instruction pose, and n is a natural number.

5. The method of claim 1, wherein, controlling the robot to move to the plurality of test points according to a preset running track, and collecting a test displacement value set of each test point by using displacement sensors under a plurality of running periods and a plurality of pause times comprises: controlling the robot to move to the plurality of test points according to a preset running track, and collecting a test displacement value of each test point by using displacement sensors under a plurality of pause times of each running period; collecting the test displacement values under the plurality of pause times corresponding to all running periods as the test displacement value set.

6. The method of claim 1, wherein, controlling the robot to move to the plurality of test points according to a preset running track comprises: positioning a material taking position and a material placing position of a station; generating the preset running track between the material taking position and the material placing position; controlling the robot to move to the plurality of test points according to the preset running track.

7. A robot dynamic accuracy testing device, characterized by, comprises: an acquiring module, configured to acquire theoretical displacement values of a robot moving to a plurality of test points; A test module is configured to control the robot to move to the test points according to a preset running track, and collect a set of test displacement values of each test point by displacement sensors in a plurality of running periods and a plurality of pause times, wherein each test point is provided with a set of displacement sensors, and the pause time is a stable time of the robot at a specified test point. A calculation module is configured to obtain a second test displacement value subset of the plurality of pause times of the robot in a target running period from the set of test displacement values, and calculate a dynamic accuracy of the robot in the plurality of pause times of the target running period according to a theoretical displacement value of a target test point and the second test displacement value subset.

8. An electronic device, comprising: The device comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; wherein: The memory is used to store a computer program. The processor is used to execute the method steps of any one of claims 1 to 6 by running the program stored in the memory.

9. A storage medium, characterized by The storage medium comprises a stored program, wherein the program executes the method steps of any one of claims 1 to 6 when running. The storage medium comprises a stored program, wherein the program executes the method steps of any one of claims 1 to 6 when running.

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