Equipment abnormality detection method, device and robot

Abstract

The present application relates to the technical field of equipment abnormality detection, and discloses a method for detecting equipment abnormality. The method for detecting equipment abnormality includes: obtaining the current actual output force of the equipment and the current motion state of the end of the equipment; inputting the current motion state into the body dynamics model of the equipment, and obtaining the current calculated output force corresponding to the current motion state output by the body dynamics model; obtaining the first output force difference between the current calculated output force and the current actual output force; if the first output force difference does not meet the constraint conditions of the preset range, it is determined that the equipment is abnormal. The use of the method for detecting equipment abnormality can improve the accuracy of the detection results. The present application also discloses a device and a robot for detecting equipment abnormality.

Description

Technical Field

[0001] The present application relates to the technical field of equipment anomaly detection, for example, to a method, device and robot for detecting equipment anomaly. Background Art

[0002] At present, some devices usually use motors as power sources, such as industrial robot equipment, rehabilitation robot equipment or assistive robot equipment. In order to ensure the safety and normal operation of the equipment, an abnormal self-checking program is usually set, such as: detecting the actual voltage, actual current, actual output torque, and actual speed of the motor in the equipment, comparing the voltage with the voltage threshold, if the voltage is lower than the lower voltage threshold or higher than the upper voltage threshold, it is determined that the equipment is abnormal; comparing the current with the current threshold, if the current is lower than the lower current threshold or higher than the upper current threshold, it is determined that the equipment is abnormal; if the actual output torque is higher than the upper torque threshold, it is determined that the equipment is abnormal; if the actual speed is higher than the upper speed threshold, it is determined that the equipment is abnormal.

[0003] In the process of implementing the embodiments of the present application, it is found that there are at least the following problems in the related technology:

[0004] The accuracy of anomaly detection results is low.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present application, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] In order to provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not an extensive review, nor is it intended to identify key / critical components or delineate the scope of protection of these embodiments, but rather serves as a prelude to the detailed description that follows.

[0007] The embodiment of the present application provides a method for detecting device anomalies to improve the accuracy of anomaly detection results.

[0008] In some embodiments, a method for detecting device abnormality includes: obtaining a current actual output force of the device and a current motion state of the end of the device; inputting the current motion state into the body dynamics model of the device to obtain a current calculated output force output by the body dynamics model corresponding to the current motion state; obtaining a first output force difference between the current calculated output force and the current actual output force; if the first output force difference does not meet the constraints of a preset range, determining that the device has an abnormality.

[0009] Optionally, determining that the first output force difference does not satisfy the constraint condition of a preset range includes: obtaining one or more historical actual output forces within a set time period before the current moment; determining the actual output force change rate based on the one or more historical actual output forces and the current actual output force; adjusting the initial preset range based on the actual output force change rate to obtain an adjusted preset range; if the output force difference does not fall within the adjusted preset range, determining that the first output force difference does not satisfy the constraint condition of the preset range.

[0010] Optionally, the actual output force change rate is determined based on one or more historical actual output forces and the current actual output force, including: when the number of historical actual output forces is one, calculating the second output force difference between the current actual output force and one historical actual output force, and taking the quotient of the second output force difference and the one historical actual output force as the actual output force change rate.

[0011] Optionally, the actual output force change rate is determined based on one or more historical actual output forces and the current actual output force, including: when there are multiple historical actual output forces, arranging the multiple historical actual output forces and the current actual output force into a sequence in order from early to late output time; calculating a first average value of a set number of actual output forces at the end of the sequence; calculating a second average value of a set number of actual output forces at the head of the sequence; subtracting the second average value from the first average value to obtain a third output force difference, and taking the quotient of the third output force difference and the second average value as the actual output force change rate; wherein the set number is less than or equal to the number of historical actual output forces, and the set number is positively correlated with the absolute value of the average change rate of the actual output force of the device.

[0012] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, then all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range.

[0013] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, then all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range.

[0014] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, then all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range.

[0015] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, then all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range.

[0016] Optionally, increasing all values ​​in the initial preset range includes: obtaining a first offset value that is positively correlated with the absolute value of the actual output force change rate, and increasing all values ​​in the initial preset range according to the first offset value;

[0017] Optionally, all values ​​within the initial preset range are reduced, including: obtaining a second offset value that is positively correlated with the absolute value of the actual output force change rate, and reducing all values ​​within the initial preset range according to the second offset value.

[0018] Optionally, all values ​​in the initial preset range are increased according to the first offset value, including: calculating the sum of each value in the preset range and the first offset, and taking the value range consisting of several sums as the adjusted preset range.

[0019] Optionally, all values ​​in the initial preset range are reduced according to the second offset value, including: calculating the difference between each value in the preset range and the second offset, and taking a value range consisting of several differences as the adjusted preset range.

[0020] Optionally, if the actual output force change rate is a positive number, it indicates that the actual output force is increasing.

[0021] Optionally, if the actual output force change rate is a negative number, it indicates that the actual output force is decreasing.

[0022] Optionally, determining the preset range includes: obtaining noise interference of the equipment; determining a deviation threshold corresponding to the noise interference; determining the preset range according to the deviation threshold, so that the upper limit value of the preset range is greater than or equal to the deviation threshold, and the lower limit value of the preset range is less than or equal to the opposite of the deviation threshold.

[0023] In some embodiments, the device for detecting equipment abnormality includes a first obtaining module, a second obtaining module, a third obtaining module and a determining module.

[0024] The first acquisition module is used to obtain the current actual output force of the device and the current motion state of the end of the device.

[0025] The second obtaining module is used to input the current motion state into the body dynamics model of the device, and obtain the current calculated output force output by the body dynamics model corresponding to the current motion state.

[0026] The third obtaining module is used to obtain a first output force difference between the current calculated output force and the current actual output force.

[0027] The determination module is used to determine that an abnormality occurs in the device if the first output force difference does not satisfy a constraint condition within a preset range.

[0028] In some embodiments, the device for detecting anomalies of equipment includes a processor and a memory storing program instructions, and the processor is configured to execute the method for detecting anomalies of equipment of the aforementioned embodiments when executing the program instructions.

[0029] In some embodiments, the robot includes the device for detecting equipment abnormalities provided in the aforementioned embodiments.

[0030] The device anomaly detection method, apparatus, and robot provided in the embodiments of the present application can achieve the following technical effects:

[0031] In the embodiment of the present application, the dynamics of the device body can represent the correspondence between the motion state of the device and the calculated output force of the device. Even if the intensity of the motion state of the device is moderate (not too intense nor too gentle), if an abnormality occurs in the device, it will cause a large output force difference between the calculated output force and the actual output force, causing the first output force difference to fail to meet the constraints of the preset range, thereby determining that the device is abnormal, thereby improving the accuracy of the device abnormality detection results.

[0032] The above general description and the following description are exemplary and explanatory only and are not intended to limit the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] One or more embodiments are exemplarily described by corresponding drawings, and these exemplary descriptions and drawings do not limit the embodiments. Elements with the same reference numerals in the drawings are regarded as similar elements, and wherein:

[0034] Figure 1 It is a flowchart of a method for detecting device abnormality provided in an embodiment of the present application;

[0035] Figure 2 It is a schematic diagram of a process for determining that a first output force difference does not satisfy a constraint condition within a preset range provided by an embodiment of the present application;

[0036] Figure 3 This is a schematic diagram of a process for determining a preset range provided by an embodiment of the present application;

[0037] Figure 4 is a schematic diagram of a device for detecting an abnormality of equipment provided in an embodiment of the present application;

[0038] Figure 5 It is a schematic diagram of a device for detecting an abnormality of an equipment provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to be able to understand the features and technical contents of the embodiments of the present application in more detail, the implementation of the embodiments of the present application is described in detail below in conjunction with the accompanying drawings. The attached drawings are for reference only and are not used to limit the embodiments of the present application. In the following technical description, for the convenience of explanation, a full understanding of the disclosed embodiments is provided through multiple details. However, in the absence of these details, one or more embodiments can still be implemented. In other cases, to simplify the drawings, well-known structures and devices can be simplified for display.

[0040] The terms "first", "second", etc. in the specification and claims of the embodiments of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of the present application described here. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions.

[0041] Unless otherwise stated, the term "plurality" means more than two.

[0042] In the embodiment of the present application, the character " / " indicates that the preceding and following objects are in an "or" relationship. For example, A / B means: A or B.

[0043] The term "and / or" is a description of the association relationship between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or, A and B.

[0044] In the embodiments of the present application, the term "device" refers to a device including a power source and a terminal, wherein the terminal can move under the drive of the power source.

[0045] According to the movement space of the terminal, the equipment can include two-dimensional robots and three-dimensional robots. A two-dimensional robot refers to a robot whose terminal can only move in two-dimensional space, and a three-dimensional robot refers to a robot whose terminal can move in three-dimensional space.

[0046] According to the classification of application scenarios, the equipment includes but is not limited to rehabilitation robots, industrial robots and household robots.

[0047] In the embodiments of the present application, the term "force" is a generalized force, which is a force corresponding to a generalized coordinate. If the generalized coordinate is a linear displacement, the dimension of the generalized force is N; if the generalized coordinate is an angular displacement, the dimension of the generalized force is N·m.

[0048] In the embodiment of the present application, the term "motion state" includes position / angle, speed / angular velocity, acceleration / angular acceleration.

[0049] Figure 1 It is a flow chart of a method for detecting device abnormality provided in an embodiment of the present application.

[0050] Combination Figure 1 As shown, the device abnormality detection method includes:

[0051] S101, obtaining the current actual output force of the device and the current motion state of the end of the device.

[0052] The current actual output force of the device refers to the force output by the power source of the device and is used to drive the end of the device to move.

[0053] For an articulated robot, when the research object is a joint, the current actual output force may be the force output by the power source driving the joint at the current moment; when the research object is the entire device, the current actual output force may include the force output by the power source of each joint at the current moment, which can be expressed in the form of a matrix.

[0054] The power source of the device may be an electric motor.

[0055] The actual output force of the motor can be obtained through the data fed back by the motor to its driving module, thereby determining the current actual output force of the device; alternatively, the current actual output force of the device can be obtained through a force sensor.

[0056] Current motion state: current position / angle parameters, current speed / angular velocity parameters, and current acceleration / angular acceleration parameters.

[0057] The current position / angle parameters and historical position / angle parameters can be obtained through the position sensor, the current speed / angular velocity parameters and historical speed / angular velocity parameters can be calculated through the current position / angle parameters and historical position / angle parameters, and the current acceleration / angular acceleration parameters can be calculated through the current speed / angular velocity parameters and historical speed / angular velocity parameters; or, the current speed / angular velocity parameters and historical speed / angular velocity parameters can be obtained through the velocity sensor, the current position / angle parameters can be calculated through the current speed / angular velocity parameters and historical speed / angular velocity parameters, and the current acceleration / angular acceleration parameters can be calculated through the current speed / angular velocity parameters and historical speed / angular velocity parameters; or, the current position / angle parameters can be obtained through the position sensor, the current speed / angular velocity parameters and historical speed / angular velocity parameters can be obtained through the velocity sensor, and the current acceleration / angular acceleration parameters can be calculated through the current speed / angular velocity parameters and historical speed / angular velocity parameters.

[0058] S102, inputting the current motion state into the body dynamics model of the device, and obtaining the current calculated output force output by the body dynamics model corresponding to the current motion state.

[0059] The body dynamics model usually includes the position equation, velocity equation, acceleration equation, torque equation and moment of inertia equation. The position equation is used to describe the change of position over time, the velocity equation is used to describe the change of velocity over time, the acceleration equation is used to describe the change of acceleration over time, the torque equation is used to describe the change of torque over time, and the moment of inertia is used to describe the change of moment of inertia over time.

[0060] The ontological dynamics model includes but is not limited to the following establishment methods: Newton-Euler equation method, Lagrange equation method, Kane equation method, etc.

[0061] The ontological dynamics model can solve forward dynamics problems and inverse dynamics problems. The forward dynamics problem is based on the ontological dynamics model and calculates the motion state of the device according to the forces acting on the device; the inverse dynamics problem is based on the ontological dynamics model and calculates the force required to achieve the motion state according to the motion state of the device.

[0062] The embodiment of the present application is an inverse dynamics problem: based on the body dynamics model, the current calculated output force required for the device to be in the current motion state is calculated according to the current detected motion state.

[0063] S103: Obtain a first output force difference between the current calculated output force and the current actual output force.

[0064] For example, the first output force difference value is obtained by subtracting the current actual output force from the current calculated output force; or the first output force difference value is obtained by subtracting the current calculated output force from the current actual output force.

[0065] S104: If the first output force difference does not satisfy the constraint condition of the preset range, it is determined that the device is abnormal.

[0066] If the first output force difference satisfies the constraint condition of the preset range, it is determined that there is no abnormality in the equipment.

[0067] The preset range is related to the normal operating state of the device. Different devices have different operating precisions. The higher the requirement for the operating precision of the device, the smaller the upper limit of the absolute value of the preset range; the lower the requirement for the operating precision of the device, the larger the upper limit of the absolute value of the device. Those skilled in the art determine the appropriate preset range based on the requirements for the operating precision of the device in the actual application scenario.

[0068] The upper limit value of the preset range is usually greater than zero, and the lower limit value of the preset range is usually less than zero.

[0069] The above preset range is an initial preset range, so as to be distinguished from the adjusted preset range in subsequent embodiments.

[0070] In the embodiment of the present application, the dynamics of the device body can represent the correspondence between the motion state of the device and the calculated output force of the device. Even if the intensity of the motion state of the device is moderate (not too intense nor too gentle), if an abnormality occurs in the device, it will cause a large output force difference between the calculated output force and the actual output force, causing the first output force difference to fail to meet the constraints of the preset range, thereby determining that the device is abnormal, thereby improving the accuracy of the device abnormality detection results.

[0071] Figure 2 It is a schematic diagram of a process for determining that a first output force difference does not satisfy a constraint condition within a preset range provided in an embodiment of the present application.

[0072] Combination Figure 2 As shown, the determination of the constraint condition that the first output force difference value does not satisfy the preset range includes:

[0073] S201. Obtain one or more historical actual output forces within a set time period before the current moment.

[0074] The set duration is greater than a control cycle of the device. The control cycle of the device is the cycle in which the device controller sends control instructions to the device.

[0075] Specifically, the set duration may be greater than or equal to the product of the control cycle and the number of historical actual output forces. For example, when the number of historical actual output forces is one, the set duration is greater than or equal to one control cycle and less than two control cycles; when the number of historical actual output forces is two, the set duration is greater than or equal to two control cycles and less than three control cycles; when the number of historical actual output forces is three, the set duration is greater than or equal to three control cycles and less than four cycles; and so on.

[0076] S202: Determine the actual output force change rate according to one or more historical actual output forces and the current actual output force.

[0077] Specifically, when the number of historical actual output forces is one, the second output force difference between the current actual output force and one historical actual output force is calculated, and the quotient of the second output force difference and the one historical actual output force is taken as the actual output force change rate.

[0078] In the case where there are multiple historical actual output forces, the multiple historical actual output forces and the current actual output force are arranged into a sequence in order of output time from early to late; a first average value of a set number of actual output forces at the end of the sequence is calculated; a second average value of a set number of actual output forces at the head of the sequence is calculated; a third output force difference is obtained by subtracting the second average value from the first average value, and the quotient of the third output force difference and the second average value is used as the actual output force change rate.

[0079] The earlier the output time of an actual output force is, the longer the time interval between the output time and the current time is; the later the output time of an actual output force is, the shorter the time interval between the output time and the current time is. The current actual output force is at the end of the sequence.

[0080] The set number of actual output forces at the end of the sequence refers to the set number of actual output forces obtained by counting from the end of the sequence to the head of the sequence; the set number of actual output forces at the head of the sequence refers to the set number of actual output forces obtained by counting from the head of the sequence to the end of the sequence.

[0081] The set quantity is less than or equal to the quantity of the historical actual output force.

[0082] The set quantity is positively correlated with the absolute value of the average rate of change of the actual output force of the device. The larger the absolute value of the average rate of change of the actual output force of the device, the larger the specific value of the set quantity; the smaller the absolute value of the average rate of change of the actual output force of the device, the smaller the specific value of the set quantity.

[0083] Those skilled in the art can obtain the absolute value of the average rate of change of the actual output force of the device through experiments, or can obtain it through estimation of the rated motion parameters of the device, which will not be elaborated here.

[0084] The absolute value of the average rate of change of the device output force is relative to the numerical span of the preset range; if the absolute value of the average rate of change of the device output force is much larger than the numerical span of the preset range, for example, the absolute value of the average rate of change of the device output force is more than 5 times the numerical span of the preset range, then the absolute value of the average rate of change of the device output force is too large; if the absolute value of the average rate of change of the device output force is much smaller than the numerical span of the preset range, for example, the numerical span of the preset range is more than 5 times the absolute value of the average rate of change of the device output force.

[0085] In the case where there are multiple historical actual output forces, the above-mentioned technical solution is used to obtain the actual output force change rate, which will not increase the difficulty of adjustment in the subsequent adjustment step of the initial preset range due to excessive or small changes in the actual output force. For example, if the absolute value of the average change rate of the actual output force of the device is too large, the larger the setting number is, the less likely the value of the actual output force change rate will be; if the absolute value of the average change rate of the actual output force of the device is too small, the smaller the setting number is, the less likely the value of the actual output force change rate will be.

[0086] Then, in subsequent steps, the initial preset range can be adjusted relatively easily according to the actual output force change rate.

[0087] S203, adjusting the initial preset range according to the actual output force change rate to obtain an adjusted preset range.

[0088] The initial preset range may be adjusted in the following manner: all values ​​in the initial preset range are increased, or all values ​​in the initial preset range are decreased.

[0089] S204: If the output force difference does not belong to the adjusted preset range, determine that the first output force difference does not satisfy the constraint condition of the preset range.

[0090] If the output force difference value belongs to the adjusted preset range, it is determined that the output force difference value satisfies the constraint condition of the preset range.

[0091] The term "belongs to" here is used to indicate the relationship between an element and a set, the element being the output force difference and the set being the adjusted preset range.

[0092] In the process of equipment acceleration changing, the equipment abnormality detection method provided by the above embodiment can still obtain a relatively accurate judgment result.

[0093] From the perspective of the overall movement process of the device, the device needs to transition from a static state to a moving state, from one moving state to another, and from a moving state to a static state. During this process, the acceleration of the device usually changes.

[0094] From the perspective of the real-time control process of the device, the motion control process of the device is usually position control or speed control, and no control algorithm can achieve zero deviation control: in the position control process, the actual position of the device fluctuates above and below the set position, which causes the acceleration of the device to change; in the speed control process, the actual speed of the device fluctuates above and below the set speed, which also causes the acceleration of the device to change.

[0095] The current motion state is input into the body dynamics model of the device, and the current calculated output force corresponding to the current motion state output by the body dynamics model can be regarded as a passive monitoring data.

[0096] The device itself moves under the control of the default control algorithm. The current actual output force of the device can be regarded as the force actively output by the device. The current actual output force actively output by the device will cause the device to gradually change from the current motion state to the motion state at the next moment.

[0097] On the other hand, the motion control process of the equipment is usually position control or speed control. In position control, the position sensor is needed to directly detect the position of the equipment; in speed control, the speed sensor is needed to directly detect the speed of the equipment. In the control process of the equipment, the acceleration of the equipment is rarely detected directly.

[0098] That is, the position / angle, speed / angular velocity of the device can usually be directly detected. In the calculation of the device's body dynamics model, acceleration / angular acceleration is usually required. In this case, the acceleration / angular acceleration of the device can be calculated by the device's position / angle, or speed / angular velocity.

[0099] There is a certain delay from the change of the actual output force of the device to the change of the calculated acceleration / angular acceleration, which leads to a certain deviation between the active motion process of the device and the passive monitoring process of the device's body dynamics model.

[0100] During the active movement of the equipment, the actual output force change rate corresponds to the change process of the equipment's acceleration. After the equipment's acceleration changes, the initial preset range is adjusted according to the actual output force change rate, so that the adjusted preset range corresponds to the actual output force change rate and the change process of the equipment's acceleration. In this way, the adjusted preset range can adapt to the deviation between the active movement process caused by the change in equipment acceleration and the passive monitoring process of the body dynamics model, making the judgment result of equipment abnormality more accurate.

[0101] The following is an exemplary description of the process of adjusting the initial preset range according to the actual output force change rate.

[0102] The preset range is a constraint condition for the output force difference. Different ways of obtaining the output force difference will result in different ways of adjusting the corresponding preset range.

[0103] The output force difference may be obtained in the following manner: by subtracting the current calculated output force from the current actual output force to obtain the output force difference; or by subtracting the current actual output force from the current calculated output force to obtain the output force difference.

[0104] Correspondingly, adjusting the initial preset range according to the actual output force change rate to obtain the adjusted preset range may include:

[0105] If the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range;

[0106] If the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range.

[0107] If the actual output force change rate is a positive number, it means that the actual output force is increasing; if the actual output force change rate is a negative number, it means that the actual output force is decreasing. Of course, if the actual output force is zero, the initial preset range is not adjusted.

[0108] Further, increasing all values ​​in the initial preset range includes: obtaining a first offset value that is positively correlated with the absolute value of the actual output force change rate, and increasing all values ​​in the initial preset range according to the first offset value;

[0109] All values ​​in the initial preset range are reduced, including: obtaining a second offset value that is positively correlated with the absolute value of the actual output force change rate, and reducing all values ​​in the initial preset range according to the second offset value.

[0110] Those skilled in the art can obtain the positive correlation between the absolute value of the actual output force change rate and the first offset value, and the positive correlation between the absolute value of the actual output force change rate and the second offset value through experiments. For example, while maintaining the actual output force change rate unchanged, multiple experiments are performed using different offset values ​​until the accuracy of the device abnormality detection method meets expectations.

[0111] The positive correlation between the absolute value of the actual output force change rate and the first offset value can be pre-stored in a database. After obtaining the absolute value of the actual output force change rate, the first offset value positively correlated with the absolute value of the actual output force change rate can be obtained by querying the database.

[0112] The positive correlation between the absolute value of the actual output force change rate and the second offset value can be pre-stored in the database. After obtaining the absolute value of the actual output force change rate, the second offset value positively correlated with the absolute value of the actual output force change rate can be obtained by querying the database.

[0113] The adjusted preset range can be obtained by adopting the above method.

[0114] Specifically, all values ​​in the initial preset range are increased according to the first offset value, including: calculating the sum of each value in the preset range and the first offset, and taking the value range composed of several sums as the adjusted preset range.

[0115] All values ​​in the initial preset range are reduced according to the second offset value, including: calculating the difference between each value in the preset range and the second offset, and using a value range consisting of several differences as the adjusted preset range.

[0116] Alternatively, adjusting the initial preset range according to the actual output force change rate to obtain the adjusted preset range may include:

[0117] If the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range;

[0118] If the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range.

[0119] If the actual output force change rate is a positive number, it means that the actual output force is increasing; if the actual output force change rate is a negative number, it means that the actual output force is decreasing. Of course, if the actual output force is zero, the initial preset range is not adjusted.

[0120] Further, increasing all values ​​in the initial preset range includes: obtaining a first offset value that is positively correlated with the absolute value of the actual output force change rate, and increasing all values ​​in the initial preset range according to the first offset value;

[0121] All values ​​in the initial preset range are reduced, including: obtaining a second offset value that is positively correlated with the absolute value of the actual output force change rate, and reducing all values ​​in the initial preset range according to the second offset value.

[0122] Those skilled in the art can obtain the positive correlation between the absolute value of the actual output force change rate and the first offset value, and the positive correlation between the absolute value of the actual output force change rate and the second offset value through experiments. For example, while maintaining the actual output force change rate unchanged, multiple experiments are performed using different offset values ​​until the accuracy of the device abnormality detection method meets expectations.

[0123] The positive correlation between the absolute value of the actual output force change rate and the first offset value can be pre-stored in a database. After obtaining the absolute value of the actual output force change rate, the first offset value positively correlated with the absolute value of the actual output force change rate can be obtained by querying the database.

[0124] The positive correlation between the absolute value of the actual output force change rate and the second offset value can be pre-stored in the database. After obtaining the absolute value of the actual output force change rate, the second offset value positively correlated with the absolute value of the actual output force change rate can be obtained by querying the database.

[0125] The adjusted preset range can be obtained by adopting the above method.

[0126] Specifically, all values ​​in the initial preset range are increased according to the first offset value, including: calculating the sum of each value in the preset range and the first offset, and taking the value range composed of several sums as the adjusted preset range.

[0127] All values ​​in the initial preset range are reduced according to the second offset value, including: calculating the difference between each value in the preset range and the second offset, and using a value range consisting of several differences as the adjusted preset range.

[0128] Figure 3 This is a schematic diagram of a process for determining a preset range provided in an embodiment of the present application.

[0129] Combination Figure 3 As shown, the preset range is determined as follows:

[0130] S301. Obtain noise interference of equipment.

[0131] Noise interference includes electronic interference with random changes in frequency, amplitude and phase. Such electronic interference will cause the parameters detected by the sensor to be inaccurate.

[0132] The unit of noise interference can be electric field strength V / m, magnetic field strength A / m or power flux density W / m 2 Or, it can also be decibel db, the specific value of decibel db is obtained by electric field strength V / m, magnetic field strength A / m or power flux density W / m 2 The specific value of is obtained through mapping according to the preset mapping relationship.

[0133] S302: Determine a deviation threshold corresponding to noise interference.

[0134] The deviation threshold is positively correlated with the severity of noise interference. The greater the severity of noise interference, the greater the deviation threshold; the smaller the severity of noise interference, the smaller the deviation threshold. Generally speaking, the greater the specific value of noise interference, the greater the severity of noise interference; the smaller the severity of noise interference, the smaller the severity of noise interference.

[0135] The deviation threshold is used to quantify the adverse effect of noise interference on a sensor in a device (eg, a sensor for detecting motion state). Those skilled in the art can determine the specific corresponding relationship between noise interference and the deviation threshold based on experience or experiments.

[0136] The corresponding relationship between the noise interference and the deviation threshold may be pre-stored in a database. After the noise interference is obtained, the deviation threshold corresponding to the noise interference may be obtained by querying the database.

[0137] S303 . Determine a preset range according to the deviation threshold, so that an upper limit of the preset range is greater than or equal to the deviation threshold, and a lower limit of the preset range is less than or equal to the inverse of the deviation threshold.

[0138] The deviation threshold in the above technical solution can indicate the adverse effect of noise interference on the sensor of the device, and then determine the preset range based on the deviation threshold. When there is noise interference in the device application scenario, it is not easy to misjudge the noise interference as a sensor abnormality, thereby improving the accuracy of the results obtained by the device abnormality detection method.

[0139] Figure 4 1 is a schematic diagram of a device abnormality detection device provided in an embodiment of the present application. The device abnormality detection device can be implemented in the form of software, hardware or a combination of the two.

[0140] Combination Figure 4 As shown, the device for detecting equipment abnormality includes a first obtaining module 41 , a second obtaining module 42 , a third obtaining module 43 and a determining module 44 .

[0141] The first obtaining module 41 is used to obtain the current actual output force of the device and the current motion state of the end of the device;

[0142] The second obtaining module 42 is used to input the current motion state into the body dynamics model of the device, and obtain the current calculated output force output by the body dynamics model corresponding to the current motion state;

[0143] The third obtaining module 43 is used to obtain a first output force difference between the current calculated output force and the current actual output force;

[0144] The determination module 44 is configured to determine that an abnormality occurs in the device if the first output force difference value does not satisfy a constraint condition within a preset range.

[0145] Optionally, determining that the first output force difference does not satisfy the constraint condition of a preset range includes: obtaining one or more historical actual output forces within a set time period before the current moment; determining the actual output force change rate based on the one or more historical actual output forces and the current actual output force; adjusting the initial preset range based on the actual output force change rate to obtain an adjusted preset range; if the output force difference does not fall within the adjusted preset range, determining that the first output force difference does not satisfy the constraint condition of the preset range.

[0146] Optionally, the actual output force change rate is determined based on one or more historical actual output forces and the current actual output force, including: when the number of historical actual output forces is one, calculating the second output force difference between the current actual output force and a historical actual output force, and taking the quotient of the second output force difference and a historical actual output force as the actual output force change rate.

[0147] Optionally, the actual output force change rate is determined based on one or more historical actual output forces and the current actual output force, including: when there are multiple historical actual output forces, arranging the multiple historical actual output forces and the current actual output force into a sequence in order of output time from early to late; calculating a first average value of a set number of actual output forces at the end of the sequence; calculating a second average value of a set number of actual output forces at the head of the sequence; subtracting the second average value from the first average value to obtain a third output force difference, and taking the quotient of the third output force difference and the second average value as the actual output force change rate.

[0148] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, then all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range.

[0149] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, then all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range.

[0150] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, then all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range.

[0151] Optionally, the initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: if the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, then all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range.

[0152] Optionally, all values ​​within the initial preset range are increased, including: obtaining a first offset value that is positively correlated with the absolute value of the actual output force change rate, and increasing all values ​​within the initial preset range according to the first offset value.

[0153] Optionally, all values ​​within the initial preset range are reduced, including: obtaining a second offset value that is positively correlated with the absolute value of the actual output force change rate, and reducing all values ​​within the initial preset range according to the second offset value.

[0154] Optionally, all values ​​in the initial preset range are increased according to the first offset value, including: calculating the sum of each value in the preset range and the first offset, and taking the value range consisting of several sums as the adjusted preset range.

[0155] Optionally, all values ​​in the initial preset range are reduced according to the second offset value, including: calculating the difference between each value in the preset range and the second offset, and taking a value range consisting of several differences as the adjusted preset range.

[0156] Optionally, if the actual output force change rate is a positive number, it indicates that the actual output force is increasing.

[0157] Alternatively, if the actual output force change rate is a negative number, it indicates that the actual output force is decreasing.

[0158] In some embodiments, the device for detecting anomalies of equipment includes a processor and a memory storing program instructions, and the processor is configured to execute the method for detecting anomalies of equipment provided in the above embodiments when executing the program instructions.

[0159] Figure 5 Schematic diagram of a device for detecting abnormality of equipment provided in an embodiment of the present application. Figure 5 As shown, the device for detecting equipment abnormality includes:

[0160] The processor 51 and the memory 52 may also include a communication interface 53 and a bus 54. The processor 51, the communication interface 53, and the memory 52 may communicate with each other through the bus 54. The communication interface 53 may be used for information transmission. The processor 51 may call the logic instructions in the memory 52 to execute the device abnormality detection method provided in the aforementioned embodiment.

[0161] In addition, the logic instructions in the memory 52 described above can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product.

[0162] The memory 52 is a computer-readable storage medium that can be used to store software programs and computer executable programs, such as program instructions / modules corresponding to the methods in the embodiments of the present application. The processor 51 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 52, that is, implementing the methods in the above method embodiments.

[0163] The memory 52 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and an application required for at least one function; the data storage area may store data created according to the use of the terminal device, etc. In addition, the memory 52 may include a high-speed random access memory and may also include a non-volatile memory.

[0164] An embodiment of the present application provides a robot, comprising the device for detecting anomalies of equipment provided by the aforementioned embodiment.

[0165] An embodiment of the present application provides a computer-readable storage medium storing computer-executable instructions, wherein the computer-executable instructions are configured to execute the device anomaly detection method provided in the aforementioned embodiment.

[0166] An embodiment of the present application provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions. When the program instructions are executed by a computer, the computer executes the device anomaly detection method provided by the aforementioned embodiment.

[0167] The computer-readable storage medium mentioned above may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0168] The technical solution of the embodiment of the present application can be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method in the embodiment of the present application. The aforementioned storage medium may be a non-transient storage medium, including: a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a disk or an optical disk, and other media that can store program codes, or a transient storage medium.

[0169] The above description and the accompanying drawings fully illustrate the embodiments of the present application so that those skilled in the art can practice them. Other embodiments may include structural, logical, electrical, process and other changes. The embodiments represent only possible changes. Unless explicitly required, individual components and functions are optional, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the words used in this application are only used to describe the embodiments and are not used to limit the claims. As used in the description of the embodiments and the claims, unless the context clearly indicates otherwise, the singular forms of "a", "an" and "the" are intended to include plural forms as well. In addition, when used in this application, the term "comprise" and its variants "comprises" and / or including (comprising) refer to the existence of stated features, wholes, steps, operations, elements, and / or components, but do not exclude the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or these groups. In the absence of further restrictions, the elements defined by the sentence "comprising a ..." do not exclude the existence of other identical elements in the process, method or device comprising the elements. In this article, each embodiment may focus on the differences from other embodiments, and the same or similar parts between the embodiments may refer to each other. For the methods, products, etc. disclosed in the embodiments, if they correspond to the method part disclosed in the embodiments, then the relevant parts can refer to the description of the method part.

[0170] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented with electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software may depend on the specific application and design constraints of the technical solution. Technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of the present application. Technicians can clearly understand that for the convenience and simplicity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0171] In the embodiments disclosed herein, the disclosed methods and products (including but not limited to devices, equipment, etc.) can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units can be only a logical function division, and there can be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between each other shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms. The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units can be selected according to actual needs to implement this embodiment. In addition, each functional unit in the embodiment of the present application can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0172] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to the embodiment of the present application. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or code, and a part of a module, program segment or code includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can also be executed in the opposite order sometimes, which can depend on the functions involved. Each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a dedicated hardware-based system that performs the function or action of the specification, or can be realized by a combination of special-purpose hardware and computer instructions.

Claims

1. A method for detecting device abnormality, characterized in that: include: Obtain the current actual output force of the device and the current motion state of the end of the device; Inputting the current motion state into the body dynamics model of the device to obtain a current calculated output force output by the body dynamics model corresponding to the current motion state; the body dynamics model includes a position equation, a velocity equation, an acceleration equation, a torque equation and an inertia moment equation; Obtaining a first output force difference between the current calculated output force and the current actual output force; If the first output force difference value does not satisfy the constraint condition of the preset range, it is determined that the device is abnormal; The determination that the first output force difference value does not satisfy the constraint condition of a preset range includes: Obtain one or more historical actual output forces within a set time period before the current moment; determining an actual output force change rate based on one or more historical actual output forces and the current actual output force; Adjusting the initial preset range according to the actual output force change rate to obtain an adjusted preset range; If the output force difference value does not belong to the adjusted preset range, it is determined that the first output force difference value does not satisfy the constraint condition of the preset range.

2. The detection method according to claim 1, characterized in that: Determine the actual output force change rate according to one or more historical actual output forces and the current actual output force, including: When the number of historical actual output forces is one, calculating a second output force difference between the current actual output force and one historical actual output force, and taking the quotient of the second output force difference and the one historical actual output force as the actual output force change rate; In the case where there are multiple historical actual output forces, the multiple historical actual output forces and the current actual output force are arranged into a sequence in order from early to late output time; a first average value of a set number of actual output forces at the end of the sequence is calculated; a second average value of a set number of actual output forces at the head of the sequence is calculated; a third output force difference is obtained by subtracting the second average value from the first average value, and the quotient of the third output force difference and the second average value is used as the actual output force change rate; wherein the set number is less than or equal to the number of historical actual output forces, and the set number is positively correlated with the absolute value of the average change rate of the actual output force of the device.

3. The detection method according to claim 1, characterized in that: The initial preset range is adjusted according to the actual output force change rate to obtain an adjusted preset range, including: If the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range; If the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current calculated output force from the current actual output force, all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range; If the actual output force change rate indicates that the actual output force is increasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, all values ​​in the initial preset range are reduced, and the processed preset range is used as the adjusted preset range; If the actual output force change rate indicates that the actual output force is decreasing, and the first output force difference is obtained by subtracting the current actual output force from the current calculated output force, all values ​​in the initial preset range are increased, and the processed preset range is used as the adjusted preset range.

4. The detection method according to claim 3, characterized in that: Increase all values ​​within the initial preset range, including: Obtaining a first offset value that is positively correlated with the absolute value of the actual output force change rate, and increasing all values ​​within an initial preset range according to the first offset value; All values ​​within the initial preset range are reduced, including: A second offset value positively correlated with the absolute value of the actual output force change rate is obtained, and all values ​​in the initial preset range are reduced according to the second offset value.

5. The detection method according to claim 4, characterized in that: Increasing all values ​​in the initial preset range according to the first offset value, including: calculating the sum of each value in the preset range and the first offset value, and using the value range formed by the sums as the adjusted preset range; All values ​​in the initial preset range are reduced according to the second offset value, including: calculating the difference between each value in the preset range and the second offset value, and using a value range consisting of several differences as the adjusted preset range.

6. The detection method according to any one of claims 1 to 5, characterized in that: Determination of the preset scope includes: Obtain the noise interference of the equipment; determining a deviation threshold corresponding to the noise interference; The preset range is determined according to the deviation threshold, so that the upper limit value of the preset range is greater than or equal to the deviation threshold, and the lower limit value of the preset range is less than or equal to the inverse of the deviation threshold.

7. A device for detecting abnormality of equipment, characterized in that: include: A first obtaining module is used to obtain the current actual output force of the device and the current motion state of the end of the device; A second obtaining module is used to input the current motion state into a body dynamics model of the device to obtain a current calculated output force output by the body dynamics model corresponding to the current motion state; the body dynamics model includes a position equation, a velocity equation, an acceleration equation, a torque equation and an inertia moment equation; A third obtaining module, used for obtaining a first output force difference between the current calculated output force and the current actual output force; A determination module, configured to determine that an abnormality occurs in the device if the first output force difference value does not satisfy a constraint condition within a preset range; The determination that the first output force difference value does not satisfy the constraint condition of a preset range includes: Obtain one or more historical actual output forces within a set time period before the current moment; determining an actual output force change rate based on one or more historical actual output forces and the current actual output force; Adjusting the initial preset range according to the actual output force change rate to obtain an adjusted preset range; If the output force difference value does not belong to the adjusted preset range, it is determined that the first output force difference value does not satisfy the constraint condition of the preset range.

8. A device for detecting an abnormality of an equipment, comprising a processor and a memory storing program instructions, characterized in that: The processor is configured to perform the device abnormality detection method according to any one of claims 1 to 6 when executing the program instructions.

9. A robot, characterized in that: Comprising a device for detecting an abnormality of equipment as claimed in claim 7 or 8.

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