Method and device for detecting passive joint brake, electronic equipment and storage medium

Abstract

Embodiments of the present application disclose a kind of detection method, device, electronic equipment and storage medium of passive joint brake.The method comprises: when the brake to be detected is in the brake state to be detected, determine the passive joint to be detected corresponding to the brake to be detected, and the adjacent active joint connected with the passive joint to be detected, control adjacent active joint to move;Determine the working current value of the brake to be detected, and the corresponding movement change value of the passive joint to be detected when adjacent active joint moves;The working state of the brake to be detected in the brake state to be detected is detected based on working current value and movement change value, and first detection result is obtained.The technical scheme of the embodiment of the present application can improve detection efficiency and accuracy, and ensure the safety in detection process.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of robot control, and in particular to a detection method and device for passive joint brakes, electronic equipment and a storage medium. BACKGROUND

[0002] With the development of the medical robot industry, surgical robots play an increasingly important role in modern medicine. Surgical robots are composed of multiple joints and connecting rods. Among them, the joints without motors in the structure are called passive joints, which can be moved by the operator or driven by the inertia generated by the movement of the active joints containing motors in the structure. To prevent accidents during the movement of passive joints, each passive joint of the surgical robot is equipped with a brake to lock it when it does not participate in the movement.

[0003] To avoid accidental opening of the brake at the passive joint, which may cause harm to the doctor and the user, the working state of the brake at each passive joint needs to be detected to ensure that the brake can work normally. In the prior art, manual intervention is usually used to detect the state of the brake at each passive joint of the surgical robot. However, in the process of implementing the present application, it is found that the prior art at least has the following technical problems: the number of passive joints of the surgical robot is large, and manual detection of the brake is time-consuming and labor-intensive; manual detection is prone to errors and has low safety. SUMMARY

[0004] Embodiments of the present application provide a detection method and device for passive joint brakes, electronic equipment and a storage medium to improve detection efficiency and accuracy and ensure safety during detection.

[0005] According to an aspect of the present application, a detection method for a passive joint brake is provided, comprising:

[0006] When the brake to be detected is in a detection brake state, determining a passive joint to be detected corresponding to the brake to be detected, and an adjacent active joint connected to the passive joint to be detected, and controlling the adjacent active joint to move;

[0007] determining a working current value of the brake to be detected and a movement change value of the passive joint to be detected when the adjacent active joint moves;

[0008] detecting the working state of the brake to be detected in the detection brake state based on the working current value and the movement change value, and obtaining a first detection result.

[0009] According to another aspect of the present invention, a detection device for a passive joint brake is provided, the device comprising:

[0010] The adjacent active joint determination module is used to determine the passive joint to be tested corresponding to the brake to be tested and the adjacent active joint connected to the passive joint to be tested when the brake to be tested is in the braking state to be tested, and to control the adjacent active joint to move.

[0011] The motion change value determination module is used to determine the operating current value of the brake to be tested, and the motion change value of the passive joint to be tested when the adjacent active joint moves.

[0012] The working state detection module is used to detect the working state of the brake under test in the braking state under test based on the working current value and the motion change value, and obtain a first detection result.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor; and

[0015] A memory communicatively connected to the at least one processor; wherein,

[0016] The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the detection method of the passive joint brake according to any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the detection method of the passive joint brake according to any embodiment of the present invention.

[0018] The technical solution of this invention, when the brake under test is in the braking state under test, determines the passive joint to be tested corresponding to the brake under test, and the adjacent active joint connected to the passive joint to be tested, and controls the adjacent active joint to move to detect the working state of the brake under test in the braking state under test; determines the working current value of the brake under test, and the motion change value of the passive joint to be tested corresponding to the movement of the adjacent active joint; and detects the working state of the brake under test in the braking state under test based on the working current value and the motion change value to obtain a first detection result. The detection process does not require manual intervention, solving the problems of time-consuming, labor-intensive, and error-prone nature in the prior art, and achieving the effect of improving detection efficiency and accuracy, and ensuring safety in the detection process.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a detection method for a passive joint brake according to an embodiment of the present invention;

[0022] Figure 2 This is a flowchart of another method for detecting a passive joint brake according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of the structure of a detection device for a passive joint brake according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the structure of an electronic device that implements the detection method of the passive joint brake in the embodiments of the present invention. Detailed Implementation

[0025] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0026] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention 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 embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "etc.", and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, 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.

[0027] Figure 1 This is a flowchart of a method for detecting a passive joint brake according to an embodiment of the present invention. This embodiment is applicable to detecting the working status of brakes at the passive joints of a robot. The method can be executed by a detection device for the passive joint brake, which can be implemented in hardware and / or software.

[0028] like Figure 1 As shown, the method in this embodiment may specifically include:

[0029] S110. When the brake to be tested is in the braking state to be tested, determine the passive joint to be tested corresponding to the brake to be tested, and the adjacent active joint connected to the passive joint to be tested, and control the adjacent active joint to move.

[0030] The passive joint to be tested is a joint whose movement is generated by being dragged by the operator, or by the inertia driven by the movement of an active joint containing a motor. The brake to be tested is installed at the passive joint to brake it during movement. For example, the surgical robot can be an laparoscopic surgical robot. Adjacent active joints are connected to the passive joint to generate inertia to drive its movement.

[0031] In this embodiment, the braking state to be detected can be either a brake-on state or a brake-off state. By controlling the movement of adjacent active joints, a movement tendency is generated in the passive joint to be detected, and the working state of the brake corresponding to the passive joint to be detected is detected. For example, adjacent active joints can be controlled to perform reciprocating sinusoidal motion to generate an inertial force driving the passive joint to be detected.

[0032] Optionally, before controlling the adjacent active joint to move, the passive joint to be tested can be controlled to move to a preset initial safe position.

[0033] It should be noted that when the passive joint under test is in its initial safe position, the distance between the passive joint under test and the other joints in the surgical robot is greater than a preset distance. Those skilled in the art can set the preset distance according to the actual application to determine the initial safe position of the passive joint under test. By controlling the passive joint under test to move to its initial safe position, it is possible to avoid the passive joint under test moving after the motor starts operating, which could lead to a collision with other joints on the surgical robot and cause danger.

[0034] S120. Determine the operating current value of the brake to be tested, and the motion change value of the passive joint to be tested when the adjacent active joint moves.

[0035] Specifically, the operating current value of the brake under test can be determined using an ammeter; and the passive joint under test can be connected to an encoder, with the encoder value reflecting the motion of the passive joint. For example, the current encoder value corresponding to the passive joint under test can be read at the current moment, and compared with a pre-stored initial encoder value to determine the motion change value.

[0036] S130. Based on the working current value and motion change value, the working state of the brake to be tested is detected in the braking state to be tested, and the first detection result is obtained.

[0037] Specifically, the operating current value can be used to reflect the working condition of the brake under test, while the motion change value can reflect the motion of the passive joint under test. By using the operating current value and motion change value, the normal working condition of the brake under test under different braking states can be detected.

[0038] In this embodiment, the braking state to be detected includes the brake open state; the working state of the brake under test in the braking state to be detected is detected based on the working current value and the motion change value to obtain a first detection result, including: if the motion change value is equal to a preset motion threshold and the working current value is greater than a preset current value, then it is determined that the working state of the brake under test is normal when it is in the brake open state; if the motion change value is greater than the preset motion threshold and the working current value is equal to the preset current value, then it is determined that the brake under test has been damaged.

[0039] The preset motion threshold reflects the degree of motion allowed in the passive joint of the brake under test when it can brake normally. The preset current value reflects the operating current of the brake under test when it is not braking.

[0040] For example, the preset motion threshold and preset current value can be set to 0. When the motion change value is equal to 0 and the working current value is greater than 0, it indicates that the passive joint under test does not move under the action of the brake under test, and it can be determined that the brake under test is working normally when it is in the brake-on state. When the motion change value is greater than 0 and the working current value is equal to 0, it indicates that the brake under test is not working, and the passive joint under test still moves when the brake under test is in the brake-on state, and it can be determined that the brake under test is damaged and cannot perform braking work normally.

[0041] In this embodiment, the braking state to be detected includes the braking off state; the working state of the brake under test is detected based on the working current value and the motion change value to obtain a first detection result, including: if the motion change value is greater than a preset motion threshold and the working current value is equal to a preset current value, then it is determined that the working state of the brake under test is normal when it is in the braking off state; if the motion change value is equal to the preset motion threshold and the working current value is greater than the preset current value, then it is determined that the brake under test has been damaged.

[0042] Specifically, when the motion change value is greater than the preset motion threshold and the operating current value is equal to the preset current value, it indicates that the passive joint under test has moved, and the brake under test has not performed a braking operation. This matches the actual motion of the passive joint under test when the brake under test is in the brake-closed state, thus confirming that the brake under test is functioning normally when in the brake-closed state. Conversely, when the motion change value is equal to the preset motion threshold and the operating current value is greater than the preset current value, it indicates that the brake under test has initiated a braking operation, and the passive joint under test is affected by the braking operation. This does not match the actual motion of the passive joint under test when the brake under test is in the brake-closed state, thus confirming that the brake under test is damaged.

[0043] Optionally, this embodiment also includes: when the motion change value is greater than the preset maximum motion value, controlling the adjacent active joint to stop moving and activating the braking function of the brake to be tested.

[0044] The preset maximum motion value can be the motion threshold when the passive joint to be tested collides with the surgical robot; those skilled in the art can determine the preset maximum motion value according to the actual structure and size of the surgical robot.

[0045] Specifically, the system can detect the first change in motion of the passive joint under test. When the first change in motion is greater than the preset maximum motion value, it indicates that the passive joint under test has collided with other joints. To avoid danger, the adjacent active joints are controlled to stop moving. When the first change in motion is less than or equal to the preset maximum motion value, it indicates that the passive joint under test has not collided with other joints at the current moment and can continue to move.

[0046] This embodiment determines whether the passive joint to be tested collides with other joints by preset a maximum motion value, thereby avoiding danger during the testing process and improving testing safety.

[0047] Figure 2 This is a flowchart of another method for detecting a passive joint brake according to an embodiment of the present invention. Optionally, after controlling the adjacent active joint to move, the method further includes: if the passive joint to be detected contains a target sensor, acquiring the detection data corresponding to the target sensor; based on the detection data, determining a second detection result that the brake to be detected is in a braking state to be detected; if the first detection result is inconsistent with the second detection result, generating detection anomaly information and sending it to the operation terminal. The explanations of terms that are the same as or corresponding to those in the above embodiments are not repeated here. Figure 2 As shown, the method includes:

[0048] S210. When the brake to be tested is in the brake to be tested state, determine the passive joint to be tested corresponding to the brake to be tested, and the adjacent active joint connected to the passive joint to be tested, and control the adjacent active joint to move.

[0049] S220. Determine the operating current value of the brake to be tested, and the motion change value of the passive joint to be tested when the adjacent active joint moves.

[0050] S230. Based on the working current value and motion change value, the working state of the brake under test is detected in the braking state to be tested, and the first detection result is obtained.

[0051] Optionally, after detecting the working state of the brake under test in the braking state under test based on the working current value and motion change value, and obtaining the first detection result, the method further includes: displaying the first detection result to the operation terminal according to a preset display method; wherein, the preset display method includes at least one of the following: graphic method, table method, indicator light method, voice method and text method.

[0052] This solution displays the first test result on the operating terminal, allowing the operator to view the result intuitively. If any abnormality or damage is found in the brake under test, the problem can be resolved or a retest can be performed in a timely manner, thus avoiding affecting the normal operation of the surgical robot.

[0053] Furthermore, when the first test result reflects that the working state of the brake under test is abnormal or has been damaged, an abnormal information record can be generated to facilitate the operator to trace the abnormal problem.

[0054] S240. If the passive joint to be detected contains a target sensor, then acquire the detection data corresponding to the target sensor.

[0055] The target sensor includes a torque sensor and / or a pressure sensor. When the target sensor is a torque sensor, the detected data is the joint torque value of the passive joint to be detected; when the target sensor is a pressure sensor, the detected data is the pressure value experienced by the passive joint to be detected.

[0056] S250. Based on the detection data, determine the second detection result that the brake to be tested is in the braking state to be tested.

[0057] When the target sensor is a torque sensor, the process for determining the second detection result that the brake under test is in the braking state to be tested is as follows:

[0058] 1. When the brake under test is in the brake-on state, if the torque value detected by the torque sensor is greater than or equal to the first preset torque threshold, the brake under test is determined to be operating normally in the brake-on state; if the torque value detected by the torque sensor is less than the first preset torque threshold but greater than or equal to the second preset torque threshold, the brake under test is determined to be operating abnormally in the brake-on state; if the torque value detected by the torque sensor is less than or equal to the second preset torque threshold, the brake under test is determined to be damaged. It should be noted that the first preset torque threshold can be the minimum theoretical torque value detected by the torque sensor when the brake under test is operating normally; the second preset torque threshold can be the maximum theoretical torque value detected by the torque sensor when the brake under test is damaged.

[0059] 2. When the brake under test is in the brake-off state, if the torque value detected by the torque sensor is equal to 0, it is determined that the brake under test is in normal working condition when the brake is in the brake-off state; if the torque value detected by the torque sensor is greater than 0 and less than or equal to the first preset torque threshold, it is determined that the brake under test is in abnormal working condition when the brake is in the brake-off state; if the torque value detected by the torque sensor is greater than the first preset torque threshold, it is determined that the brake under test has been damaged.

[0060] When the target sensor is a pressure sensor, the process for determining the second detection result that the brake under test is in the braking state to be tested is as follows:

[0061] 1. When the brake under test is in the brake-on state, if the pressure value detected by the pressure sensor is greater than or equal to the first preset pressure threshold, the brake under test is determined to be operating normally in the brake-on state; if the pressure value detected by the pressure sensor is less than the first preset pressure threshold but greater than or equal to the second preset pressure threshold, the brake under test is determined to be operating abnormally in the brake-on state; if the pressure value detected by the pressure sensor is less than or equal to the second preset pressure threshold, the brake under test is determined to be damaged. It should be noted that the first preset pressure threshold can be the theoretical minimum pressure value detected by the pressure sensor when the brake under test is operating normally; the second preset pressure threshold can be the theoretical maximum pressure value detected by the pressure sensor when the brake under test is damaged.

[0062] 2. When the brake under test is in the brake-off state, if the pressure value detected by the pressure sensor is equal to 0, it is determined that the working state of the brake under test is normal when it is in the brake-off state; if the pressure value detected by the pressure sensor is greater than 0 and less than or equal to the first preset pressure threshold, it is determined that the working state of the brake under test is abnormal when it is in the brake-off state; if the pressure value detected by the pressure sensor is greater than the first preset pressure threshold, it is determined that the brake under test has been damaged.

[0063] S260. If the first detection result is inconsistent with the second detection result, an abnormal detection message is generated and sent to the operation terminal.

[0064] Specifically, the second test result can be compared with the first test result. If they are consistent, the test result is correct; if they are inconsistent, the first or second test result is incorrect. An abnormal test result can be generated and sent to the operation terminal to prompt the operator to perform a retest, thereby helping to improve the accuracy of the test result.

[0065] Optionally, after controlling the adjacent active joints to move, the method further includes: if the passive joint to be detected contains a light guide column, then obtaining the light guide coefficient corresponding to the light guide column; based on the light guide coefficient, determining a third detection result that the brake to be detected is in a braking state to be detected; if the first detection result is inconsistent with the third detection result, then generating detection abnormality information and sending it to the operation terminal.

[0066] For example, the light guide column can be an infrared light guide column. The light guide column's light transmittance decreases as pressure increases, and the light transmittance is used to detect whether the brake under test is functioning properly.

[0067] Specifically, the process for determining the third test result is as follows:

[0068] 1. When the brake under test is in the brake-on state, if the light guide column detects a light guide ratio less than or equal to the first preset light guide ratio, the brake under test is considered to be operating normally in the brake-on state. If the light guide ratio detected by the light guide column is greater than the first preset light guide ratio and less than or equal to the second preset light guide ratio, the brake under test is considered to be operating abnormally in the brake-on state. If the light guide ratio detected by the light guide column is greater than the second preset light guide ratio, the brake under test is considered to be damaged. It should be noted that the first preset light guide ratio can be the theoretical maximum light guide ratio detected by the light guide column when the brake under test is operating normally, and the second preset light guide ratio can be the theoretical minimum light guide ratio detected by the light guide column when the brake under test is damaged.

[0069] 2. When the brake under test is in the brake-off state, if the light guide column detects a light guide rate greater than or equal to the third preset light guide rate, the brake under test is considered to be operating normally in the brake-off state. If the light guide column detects a light guide rate greater than the fourth preset light guide rate but less than the third preset light guide rate, the brake under test is considered to be operating abnormally in the brake-off state. If the light guide column detects a light guide rate less than or equal to the fourth preset light guide rate, the brake under test is considered to be damaged. It should be noted that the third preset light guide rate is the minimum light guide rate that the light guide column can detect when the passive joint under test is not under the braking control of the brake under test; the fourth preset light guide rate is the maximum light guide rate that the light guide column can detect after the brake under test is damaged. Those skilled in the art can set the values ​​of the third and fourth preset light guide rates according to the actual application.

[0070] Furthermore, once the third test result is determined, it can be compared with the first test result. If they match, the test result is correct; if they do not match, either the first or third test result is incorrect. An abnormal test result can be generated and sent to the operation terminal to prompt the operator to perform a retest, thereby helping to improve the accuracy of the test results.

[0071] Figure 3 This is a schematic diagram of a detection device for a passive joint brake according to an embodiment of the present invention. This device is used to perform the detection method for a passive joint brake provided in any of the above embodiments. This device and the detection method for a passive joint brake in the above embodiments belong to the same inventive concept. Details not described in detail in the embodiments of the detection device for a passive joint brake can be referred to the embodiments of the detection method for a passive joint brake described above. Figure 3 As shown, the device includes:

[0072] The adjacent active joint determination module 10 is used to determine the passive joint to be tested corresponding to the brake to be tested and the adjacent active joint connected to the passive joint to be tested when the brake to be tested is in the braking state to be tested, and to control the adjacent active joint to move.

[0073] The motion change value determination module 11 is used to determine the working current value of the brake to be tested, and the motion change value of the passive joint to be tested when the adjacent active joint moves.

[0074] The working status detection module 12 is used to detect the working status of the brake under test in the braking state under test based on the working current value and motion change value, and obtain the first detection result.

[0075] Based on any optional technical solution in the embodiments of the present invention, optionally, the braking state to be detected includes the braking open state; the working state detection module 12 includes:

[0076] The first determining unit is used to determine that the working state of the brake under test is normal when the motion change value is equal to the preset motion threshold and the working current value is greater than the preset current value.

[0077] The second determining unit is used to determine that the brake to be tested has been damaged if the motion change value is greater than the preset motion threshold and the working current value is equal to the preset current value.

[0078] Based on any optional technical solution in the embodiments of the present invention, the braking state to be detected may optionally include the braking closed state;

[0079] The working status detection module 12 includes:

[0080] The third determining module is used to determine that the working state of the brake under test is normal when the motion change value is greater than the preset motion threshold and the working current value is equal to the preset current value.

[0081] The fourth determination module is used to determine that the brake to be tested has been damaged if the motion change value is equal to the preset motion threshold and the working current value is greater than the preset current value.

[0082] In addition to any of the optional technical solutions in the embodiments of the present invention, the invention may also include:

[0083] The braking function activation module is used to control the adjacent active joints to stop moving and activate the braking function of the brake under test when the change value of motion exceeds the preset maximum motion value.

[0084] In addition to any of the optional technical solutions in the embodiments of the present invention, the invention may also include:

[0085] The detection data acquisition module is used to acquire the detection data corresponding to the target sensor if the passive joint to be detected contains a target sensor after controlling the adjacent active joint to move.

[0086] The second detection result determination module is used to determine the second detection result that the brake under test is in the braking state under test based on the detection data;

[0087] The first detection anomaly information sending module is used to generate detection anomaly information and send it to the operation terminal if the first detection result is inconsistent with the second detection result.

[0088] The target sensors include torque sensors and / or pressure sensors.

[0089] In addition to any of the optional technical solutions in the embodiments of the present invention, the invention may also include:

[0090] The light guide rate acquisition module is used to acquire the light guide rate of the light guide column if the passive joint to be detected contains a light guide column after controlling the adjacent active joint to move.

[0091] The third detection result determination module is used to determine the third detection result of the brake under test being in the braking state under test based on the light guide.

[0092] The second detection anomaly information sending module is used to generate detection anomaly information and send it to the operation terminal if the first detection result is inconsistent with the third detection result.

[0093] In addition to any of the optional technical solutions in the embodiments of the present invention, the invention may also include:

[0094] The display module is used to detect the brake under test in the working state of the brake under test based on the working current value and motion change value. After obtaining the first detection result, the first detection result is displayed to the operation terminal according to the preset display method.

[0095] The preset display methods include at least one of the following: graphic method, table method, indicator light method, voice method, and text method.

[0096] The technical solution of this invention, when the brake under test is in the braking state under test, determines the passive joint to be tested corresponding to the brake under test, and the adjacent active joint connected to the passive joint to be tested, and controls the adjacent active joint to move to detect the working state of the brake under test in the braking state under test; determines the working current value of the brake under test, and the motion change value of the passive joint to be tested corresponding to the movement of the adjacent active joint; and detects the working state of the brake under test in the braking state under test based on the working current value and the motion change value to obtain a first detection result. The detection process does not require manual intervention, solving the problems of time-consuming, labor-intensive, and error-prone nature in the prior art, and achieving the effect of improving detection efficiency and accuracy, and ensuring safety in the detection process.

[0097] It is worth noting that in the above embodiments of the detection device for the passive joint brake, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0098] Figure 4 This is a schematic diagram of an electronic device that implements the detection method for a passive joint brake according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0099] like Figure 4 As shown, the electronic device 20 includes at least one processor 21 and a memory, such as a read-only memory (ROM) 22 or a random access memory (RAM) 23, communicatively connected to the at least one processor 21. The memory stores computer programs executable by the at least one processor. The processor 21 can perform various appropriate actions and processes based on the computer program stored in the ROM 22 or loaded from storage unit 28 into the RAM 23. The RAM 23 can also store various programs and data required for the operation of the electronic device 20. The processor 21, ROM 22, and RAM 23 are interconnected via a bus 24. An input / output (I / O) interface 25 is also connected to the bus 24.

[0100] Multiple components in electronic device 20 are connected to I / O interface 25, including: input unit 26, such as keyboard, mouse, etc.; output unit 27, such as various types of monitors, speakers, etc.; storage unit 28, such as disk, optical disk, etc.; and communication unit 29, such as network card, modem, wireless transceiver, etc. Communication unit 29 allows electronic device 20 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0101] Processor 21 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 21 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 21 performs the various methods and processes described above, such as the detection of a passive joint brake.

[0102] In some embodiments, the detection of the passive joint brake can be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 28. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 20 via ROM 22 and / or communication unit 29. When the computer program is loaded into RAM 23 and executed by processor 21, one or more steps of the passive joint brake detection described above can be performed. Alternatively, in other embodiments, processor 21 can be configured to perform the passive joint brake detection by any other suitable means (e.g., by means of firmware).

[0103] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0104] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0105] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0106] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0107] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0108] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0109] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0110] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of detecting a passive joint brake, characterized by, The method comprises the following steps: When the to-be-detected brake is in a to-be-detected braking state, a to-be-detected passive joint corresponding to the to-be-detected brake and an adjacent active joint connected with the to-be-detected passive joint are determined, and the adjacent active joint is controlled to move; A working current value of the to-be-detected brake and a movement change value corresponding to the to-be-detected passive joint when the adjacent active joint moves are determined; The working state of the to-be-detected brake in the to-be-detected braking state is detected based on the working current value and the movement change value, and a first detection result is obtained; After the control of the movement of the adjacent active joint, the method further comprises the following steps: If the to-be-detected passive joint contains a light guide column, a light guide rate corresponding to the light guide column is obtained; Based on the light guide rate, a third detection result of the to-be-detected brake in the to-be-detected braking state is determined; If the first detection result is inconsistent with the third detection result, detection abnormal information is generated and sent to an operation terminal; The determination of the third detection result of the to-be-detected brake in the to-be-detected braking state based on the light guide rate comprises the following steps: If the light guide rate is less than or equal to a first preset light guide rate when the to-be-detected brake is in a brake-on state, it is determined that the working state of the to-be-detected brake in the brake-on state is normal, if the light guide rate is greater than the first preset light guide rate and less than or equal to a second preset light guide rate, it is determined that the working state of the to-be-detected brake in the brake-on state is abnormal, and if the light guide rate is greater than the second preset light guide rate, it is determined that the to-be-detected brake is damaged, wherein the first preset light guide rate is a maximum light guide rate theoretical value detected by the light guide column when the working state of the to-be-detected brake is normal, and the second preset light guide rate is a minimum light guide rate theoretical value detected by the light guide column when the to-be-detected brake is damaged; If the light guide rate is greater than or equal to a third preset light guide rate when the to-be-detected brake is in a brake-off state, it is determined that the working state of the to-be-detected brake in the brake-off state is normal, if the light guide rate is greater than a fourth preset light guide rate and less than the third preset light guide rate, it is determined that the working state of the to-be-detected brake in the brake-off state is abnormal, and if the light guide rate is less than or equal to the fourth preset light guide rate, it is determined that the to-be-detected brake is damaged, wherein the third preset light guide rate is a minimum light guide rate detected by the light guide column when the to-be-detected passive joint is not subjected to the brake control of the to-be-detected brake, and the fourth preset light guide rate is a maximum light guide rate detected by the light guide column when the to-be-detected brake is damaged.

2. The method of claim 1, wherein, The to-be-detected braking state comprises a brake-on state; The detection of the working state of the to-be-detected brake in the to-be-detected braking state based on the working current value and the movement change value to obtain the first detection result comprises the following steps: If the motion change value is equal to the preset motion threshold value and the working current value is greater than the preset current value, it is determined that the working state of the to-be-detected brake in the brake-on state is normal. If the motion change value is greater than the preset motion threshold value and the working current value is equal to the preset current value, it is determined that the to-be-detected brake has been damaged.

3. The method of claim 1, wherein, The to-be-detected brake state includes a brake-off state. The detection of the working state of the to-be-detected brake in the to-be-detected brake state based on the working current value and the motion change value to obtain a first detection result includes: If the motion change value is greater than the preset motion threshold value and the working current value is equal to the preset current value, it is determined that the working state of the to-be-detected brake in the brake-off state is normal. If the motion change value is equal to the preset motion threshold value and the working current value is greater than the preset current value, it is determined that the to-be-detected brake has been damaged.

4. The method of claim 3, wherein, Further comprising: When the motion change value is greater than a preset maximum motion value, the adjacent active joint is controlled to stop moving, and the brake function of the to-be-detected brake is started.

5. The method of claim 1, wherein, After the control of the motion of the adjacent active joint, further comprising: If the to-be-detected passive joint contains a target sensor, detection data corresponding to the target sensor is obtained; Based on the detection data, a second detection result of the to-be-detected brake in the to-be-detected brake state is determined; If the first detection result and the second detection result are inconsistent, detection abnormal information is generated and sent to an operation terminal; The target sensor includes a torque sensor and / or a pressure sensor.

6. The method of claim 1, wherein, After the detection of the working state of the to-be-detected brake in the to-be-detected brake state based on the working current value and the motion change value to obtain a first detection result, further comprising: The first detection result is displayed to the operation terminal in a preset display mode; The preset display mode includes at least one of a graphical mode, a table mode, an indicator light mode, a voice mode, and a text mode.

7. A detection device for a passive joint brake, characterized in that Comprising: An adjacent active joint determination module is configured to determine a to-be-detected passive joint corresponding to a to-be-detected brake in a to-be-detected brake state and an adjacent active joint connected to the to-be-detected passive joint, and control the adjacent active joint to move; A motion change value determination module is configured to determine a working current value of the to-be-detected brake and a motion change value corresponding to the to-be-detected passive joint when the adjacent active joint moves; A working state detection module is configured to detect a working state of the to-be-detected brake in the to-be-detected brake state based on the working current value and the motion change value to obtain a first detection result. The device further comprises: A light guide rate acquisition module is configured to obtain a light guide rate corresponding to a light guide column if the to-be-detected passive joint contains the light guide column; A third detection result determination module is configured to determine a third detection result of the to-be-detected brake in the to-be-detected brake state based on the light guide rate; The second detection exception information sending module is configured to generate detection exception information and send the detection exception information to the operation terminal if the first detection result is inconsistent with the third detection result. The third detection result determination module is specifically configured to: In the case that the to-be-detected brake is in a brake-on state, if the light guide rate is less than or equal to a first preset light guide rate, it is determined that the working state of the to-be-detected brake in the brake-on state is normal, if the light guide rate is greater than the first preset light guide rate and less than or equal to a second preset light guide rate, it is determined that the working state of the to-be-detected brake in the brake-on state is abnormal, and if the light guide rate is greater than the second preset light guide rate, it is determined that the to-be-detected brake is damaged, wherein the first preset light guide rate is a maximum light guide rate theoretical value detected by the light guide column when the working state of the to-be-detected brake is normal, and the second preset light guide rate is a minimum light guide rate theoretical value detected by the light guide column when the to-be-detected brake is damaged. In the case that the to-be-detected brake is in a brake-off state, if the light guide rate is greater than or equal to a third preset light guide rate, it is determined that the working state of the to-be-detected brake in the brake-off state is normal, if the light guide rate is greater than a fourth preset light guide rate and less than the third preset light guide rate, it is determined that the working state of the to-be-detected brake in the brake-off state is abnormal, and if the light guide rate is less than or equal to the fourth preset light guide rate, it is determined that the to-be-detected brake is damaged, wherein the third preset light guide rate is a minimum light guide rate detected by the light guide column when the to-be-detected passive joint is not controlled by the to-be-detected brake, and the fourth preset light guide rate is a maximum light guide rate detected by the light guide column after the to-be-detected brake is damaged.

8. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the detection method of the passive joint brake according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the detection method of the passive joint brake according to any one of claims 1-6 when executed.

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