A robot cable electrical performance testing method, device and system

Abstract

The present invention relates to the technical field of cable electrical performance testing, and specifically to a robot cable electrical performance testing method, device and system. The method includes: based on each time period and a preset fixed value, confirming the data change stability coefficient of each sampling time point; based on the data change stability coefficient of each sampling time point and the total number of sampling time points in each electrical performance factor, the total number of sampling time points and the preset response sensitivity threshold of each electrical performance factor, obtaining the influence degree coefficient; based on the monitoring data, time difference and influence degree coefficient of each sampling time point, obtaining the efficiency influence trend coefficient of signal transmission of each electrical performance factor; based on the efficiency influence trend coefficient of signal transmission of each electrical performance factor, testing the electrical performance of the robot cable and obtaining the test results. The purpose of the present invention is to solve the problem of low detection accuracy of the existing testing method when detecting the electrical performance of the cable.

Description

Technical Field

[0001] The present invention relates to the technical field of cable electrical performance testing, and in particular to a robot cable electrical performance testing method, device and system. Background Art

[0002] Robots need to move and rotate frequently during operation, so the cables must have good flexibility and be able to withstand tens of thousands of bends without damage. At the same time, the cables should have the ability to resist torsion to ensure that the robot does not wear or break prematurely during movement. Therefore, the design and material selection of robot cables (i.e. cables specifically used in robot systems) need to consider the special needs and environmental conditions of robot operation.

[0003] The actual electrical performance of the cable needs to be tested in the initial production stage to ensure the stability of the robot operation. Usually, several parameters related to electrical performance are monitored to analyze the actual electrical performance of the cable; because each electrical performance factor has different degrees of influence on the overall electrical performance of the cable. At present, when the existing technology uses the PCA dimensionality reduction algorithm to perform dimensionality reduction analysis on the data of each electrical performance factor, when the PCA dimensionality reduction algorithm analyzes the data of each parameter and obtains the contribution of each dimension, the higher the dimensionality reduction order, the greater its contribution rate, and the selected parameters have less actual impact, but the contribution rate obtained based on the algorithm is large, which is misjudged as a factor that has a greater impact on the electrical performance of the cable, thereby reducing the accuracy of the judgment of the electrical performance of the cable. Summary of the invention

[0004] In order to solve the technical problem that the existing test method has low detection accuracy when testing the electrical properties of cables, the purpose of the present invention is to provide a robot cable electrical properties test method, and the technical solution adopted is as follows:

[0005] A method for testing electrical performance of a robot cable, the method comprising:

[0006] Obtain monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the execution of the command input to the robot begins and the time when the robot outputs the result;

[0007] Based on each time period and preset fixed value of the collected monitoring data of each electrical performance factor, confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period;

[0008] Based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the total number of sampling time points in each electrical performance factor, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor, the influence degree coefficient of each electrical performance factor on the overall electrical performance is obtained;

[0009] Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained;

[0010] Based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission, the electrical performance of the robot cable is tested to obtain test results.

[0011] Preferably, based on each time period and a preset fixed value for collecting monitoring data of each electrical performance factor, the specific steps of confirming the data change stability coefficient of each electrical performance factor at each sampling time point in each time period include:

[0012] Based on each time period of each electrical performance factor acquisition monitoring data, each sampling time point in each time period of each electrical performance factor acquisition monitoring data is obtained;

[0013] Based on each sampling time point in each time period of the monitoring data collected for each electrical performance factor, a straight line corresponding to each time period is obtained;

[0014] According to the straight line corresponding to each time period and each sampling time point, confirm the slope of the straight line, the intercept of the straight line and the total distance projected to the straight line by each sampling time point;

[0015] According to the slope of the straight line, the intercept of the straight line, the total distance and the preset fixed value, the data change stability coefficient of each electrical performance factor at each sampling time point in each time period is confirmed.

[0016] Preferably, based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the total number of sampling time points in each electrical performance factor, the total number of sampling time points in each electrical performance factor and a preset response sensitivity threshold of each electrical performance factor, the specific steps of obtaining the influence degree coefficient of each electrical performance factor on the overall electrical performance include:

[0017] Based on the data change stability coefficient of each sampling time point of each electrical performance factor in each time period and the total number of sampling time points in each electrical performance factor, determining the mean value of all data change stability coefficients;

[0018] Based on the average of all data change stability coefficients and the response sensitivity of each electrical performance factor, the influence coefficient of each electrical performance factor on the overall electrical performance is obtained.

[0019] Preferably, based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence coefficient of each electrical performance factor on the overall electrical performance, the specific steps of obtaining the efficiency influence trend coefficient of each electrical performance factor for signal transmission include:

[0020] Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, determine the mean of the optimal projection variance value of the monitoring data of each electrical performance factor;

[0021] Based on the time difference and the monitoring data of each electrical performance factor at each sampling time point in each time period, obtaining a response intensity coefficient of each time difference in each electrical performance factor;

[0022] According to the mean of the optimal projection variance value, the response intensity coefficient of each time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained.

[0023] Preferably, the specific steps of testing the electrical performance of the robot cable based on the efficiency influence trend coefficient of signal transmission of each electrical performance factor and obtaining the test results include:

[0024] Based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission, confirm each main component characteristic of the electrical performance;

[0025] Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested to obtain a test result.

[0026] Preferably, based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested, and the specific steps of obtaining the test results include:

[0027] Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested using a neural network algorithm to obtain a test result.

[0028] Preferably, the specific steps of constructing the preset response sensitivity threshold of each electrical performance factor include:

[0029] Obtain the maximum and minimum values ​​of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor;

[0030] Based on the maximum value and the minimum value of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor, a preset response sensitivity threshold of each electrical performance factor is confirmed.

[0031] Preferably, based on the maximum value and the minimum value of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor, the specific step of confirming the response sensitivity of each electrical performance factor includes:

[0032] Based on the maximum value and the minimum value of each electrical performance factor in the operating range, determining a difference between the maximum value and the minimum value;

[0033] Based on the difference between the maximum value and the minimum value and the precise coefficient of each electrical performance factor, the response sensitivity of each electrical performance factor is confirmed.

[0034] The present invention also provides a robot cable electrical performance testing device, comprising:

[0035] A data acquisition module, used to acquire monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the robot starts to execute the command input to the robot and the time when the robot outputs the result;

[0036] A first confirmation module is used to confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period based on each time period and a preset fixed value for collecting monitoring data of each electrical performance factor;

[0037] A first acquisition module is used to obtain the influence degree coefficient of each electrical performance factor on the overall electrical performance based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the total number of sampling time points in each electrical performance factor, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor;

[0038] A second acquisition module is used to obtain the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance;

[0039] The test module is used to test the electrical performance of the robot cable based on the efficiency influence trend coefficient of signal transmission of each electrical performance factor to obtain the test result.

[0040] The present invention also provides a robot cable electrical performance testing system, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the robot cable electrical performance testing method as described in any one of the above items when executing the program.

[0041] The present invention has the following beneficial effects:

[0042] The present invention obtains the monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the execution of the instruction input into the robot starts and the time when the robot outputs the result, and then confirms the data change stability coefficient of each electrical performance factor at each sampling time point in each time period based on each time period for collecting monitoring data and a preset fixed value; obtains the influence degree coefficient of each electrical performance factor on the overall electrical performance based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the preset response sensitivity threshold of each electrical performance factor; obtains the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance; tests the electrical performance of the robot cable based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission to obtain test results. The present invention obtains the influence coefficient of each electrical performance factor on the overall electrical performance, analyzes the efficiency influence trend coefficient of each electrical performance factor on signal transmission, and obtains the actual dimensionality reduction order of each electrical performance factor through the efficiency influence trend coefficient of each electrical performance factor, thereby optimizing the existing sorting method with low authenticity, so that the present invention improves the accuracy of electrical performance testing of robot cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0044] Figure 1 A flowchart of a robot cable electrical performance testing method provided by one embodiment of the present invention;

[0045] Figure 2 A schematic structural diagram of a robot cable electrical performance testing device provided by one embodiment of the present invention;

[0046] Figure 3 A schematic structural diagram of a robot cable electrical performance testing system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0047] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of a robot cable electrical performance test method, device and system proposed by the present invention, its specific implementation, structure, features and effects in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0048] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0049] The electrical performance requirements of robot cables include resistance, capacitance, withstand voltage, EMI / RFI suppression capability, and temperature. Each electrical performance factor determines the transmission characteristics of the robot cable; that is, each electrical performance factor can be used to evaluate the signal transmission loss and phase delay of the cable at different frequencies, and determine the accuracy and response speed of its frequency response.

[0050] The specific scheme of a robot cable electrical performance testing method, device and system provided by the present invention is described in detail below with reference to the accompanying drawings.

[0051] See also Figure 1 , which shows a flow chart of a robot cable electrical performance testing method provided by an embodiment of the present invention. The robot cable electrical performance testing method disclosed in the present invention comprises the following steps:

[0052] S100, obtaining monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the robot starts to execute the command input to the robot and the time when the robot outputs the result. In this embodiment, the monitoring data of each electrical performance factor at each sampling time point in each time period is monitored by a monitoring sensor.

[0053] S200, based on each time period of collecting monitoring data of each electrical performance factor and a preset fixed value, confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period.

[0054] S300. Based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the total number of sampling time points in each electrical performance factor, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor, obtain the influence degree coefficient of each electrical performance factor on the overall electrical performance.

[0055] S400. Obtaining the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference, and the influence coefficient of each electrical performance factor on the overall electrical performance.

[0056] S500: Based on the efficiency influence trend coefficient of each electrical performance factor on signal transmission, the electrical performance of the robot cable is tested to obtain a test result.

[0057] The present invention obtains the monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the execution of the instruction input into the robot starts and the time when the robot outputs the result, and then confirms the data change stability coefficient of each electrical performance factor at each sampling time point in each time period based on each time period for collecting monitoring data and a preset fixed value; obtains the influence degree coefficient of each electrical performance factor on the overall electrical performance based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the preset response sensitivity threshold of each electrical performance factor; obtains the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance; tests the electrical performance of the robot cable based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission to obtain test results. The present invention obtains the influence coefficient of each electrical performance factor on the overall electrical performance, analyzes the efficiency influence trend coefficient of each electrical performance factor on signal transmission, and obtains the actual dimensionality reduction order of each electrical performance factor through the efficiency influence trend coefficient of each electrical performance factor, thereby optimizing the existing sorting method with low authenticity, so that the present invention improves the accuracy of electrical performance testing of robot cables.

[0058] The overall electrical performance of the cable is affected by each electrical performance factor; for example, when the robot is working and issuing instructions, the temperature of the robot rises, the resistance increases, the transmission characteristics are reduced and delays occur. For another example, there is a lot of RFI interference and noise in the working environment of the robot, which causes the robot's signal distortion, thereby affecting the robot's response rate during the operation process. Because the rated parameter adjustment range and precise units of each electrical performance factor are different, such as the capacitance and resistance ranges are different. Specifically, the specific construction steps of the preset response sensitivity threshold of each electrical performance factor include:

[0059] The maximum value and the minimum value of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor are obtained. In this embodiment, the precise coefficient of each electrical performance factor is the spacing of the adjustment range of each electrical performance factor.

[0060] Based on the maximum and minimum values ​​of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor, the preset response sensitivity threshold of each electrical performance factor is determined. The preset response sensitivity threshold of each electrical performance factor is calculated by the following response sensitivity threshold formula:

[0061]

[0062] In the formula, Indicates The response sensitivity threshold of each electrical performance factor is preset. Indicates The exact coefficients of the electrical performance factors, Indicates The maximum value of an electrical performance factor in the operating range, Indicates The minimum value of an electrical performance factor in the operating range. The smaller the The higher the adjustment accuracy of the electrical performance factor, the The greater the possibility that an electrical performance factor will be affected by external factors during the adjustment process. The smaller the value of The greater the possibility that the value of an electrical performance factor will change. The larger the The larger the response sensitivity threshold preset for each electrical performance factor.

[0063] For each electrical performance factor, such as capacitance or resistance, a certain range of changes will occur with the influence of the robot's running time and the change of instructions. For the stability of the robot's running process, it is necessary to ensure that each electrical performance factor is in a relatively balanced state. In this embodiment, the specific steps of S200 include:

[0064] Based on each time period of collecting monitoring data for each electrical performance factor, each sampling time point in each time period of collecting monitoring data for each electrical performance factor is obtained. Specifically, 10 sampling time points are considered as one time period.

[0065] Based on each sampling time point in each time period of each electrical performance factor to collect monitoring data, a straight line corresponding to each time period is obtained. Based on the initial straight line, the slope and intercept of the initial straight line are adjusted at each sampling time point in each time period so that the sum of the projection distances from each sampling time point to the straight line is minimized, thereby obtaining a straight line corresponding to each time period.

[0066] According to the straight line corresponding to each time period and each sampling time point, the slope of the straight line, the intercept of the straight line and the total distance projected to the straight line of each sampling time point are confirmed.

[0067] According to the slope of the straight line, the intercept of the straight line, the total distance and the preset fixed value, the data change stability coefficient of each electrical performance factor at each sampling time point in each time period is determined. In this embodiment, the preset fixed value is 0.1. Among them, the data change stability coefficient at each sampling time point is obtained by the following data change stability coefficient formula:

[0068] ;

[0069] In the formula, Indicates The electrical performance factor The data change stability coefficient of the sampling time point; c represents the preset fixed value, ; Indicates The slope of the straight line corresponding to the time period of the sampling time point, Indicates The intercept of the straight line corresponding to the time period of the sampling time point, Indicates The total distance of each sampling time point in the time period where the sampling time point is projected onto the straight line. The smaller the slope of the straight line, the more stable the electrical performance factor.

[0070] At the same time, the specific steps of S300 include:

[0071] Based on the data change stability coefficient of each sampling time point of each electrical performance factor in each time period and the total number of sampling time points in each electrical performance factor, the average value of all data change stability coefficients is confirmed.

[0072] Based on the mean of all data change stability coefficients and the response sensitivity of each electrical performance factor, the influence coefficient of each electrical performance factor on the overall electrical performance is obtained. Specifically, the calculation formula for obtaining the influence coefficient of each electrical performance factor on the overall electrical performance is as follows:

[0073] ;

[0074] In the formula, Indicates The influence coefficient of each electrical performance factor on the overall electrical performance is Indicates The total number of sampling time points in each electrical performance factor; Indicates The mean value of the data change stability coefficient at all sampling time points in an electrical performance factor. The larger the The greater the possibility of a change in a performance factor; The larger the The greater the impact of each electrical performance factor on the overall electrical performance.

[0075] The specific steps of S400 include:

[0076] Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the mean of the optimal projection variance value of the monitoring data of each electrical performance factor is confirmed. Specifically, the monitoring data of each electrical performance factor at each sampling time point in each time period is projected on a straight line constructed by the monitoring data of each sampling time point in each time period in each other electrical performance factor to obtain all the maximum projection variances of each electrical performance factor; based on all the maximum projection variances of each electrical performance factor, the mean of the optimal projection variance value of the monitoring data of each electrical performance factor is confirmed.

[0077] Based on the time difference and the monitoring data of each electrical performance factor at each sampling time point in each time period, the response intensity coefficient of each time difference in each electrical performance factor is obtained. Specifically, based on the time difference and the monitoring data of each electrical performance factor at each sampling time point in each time period, the mean value of the data change stability in each time period and the length of the time difference in each time period are obtained. The time difference length of each time period is arranged from small to large; at the same time, the mean value of the data change stability in each time period is arranged from small to large to obtain the time difference length of each time period after arrangement and the mean value of the data change stability in each time period; according to the time difference length of each time period after arrangement and the mean value of the data change stability in each time period, the Pearson correlation calculation method is used to obtain the Pearson correlation coefficient of the sequence composed of the time difference length and the sequence composed of the data change stability mean as the response intensity coefficient of each time difference in each electrical performance factor.

[0078] According to the mean of the optimal projection variance value, the response intensity coefficient of each time difference and the influence coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained. The calculation formula of the efficiency influence trend coefficient of each electrical performance factor for signal transmission is as follows:

[0079] ;

[0080] In the formula, It represents the efficiency influence trend coefficient of the i-th electrical performance factor for signal transmission, represents the mean of the optimal projection variance values ​​of the monitoring data of the i-th electrical performance factor, represents the response intensity coefficient of each time difference in the i-th electrical performance factor. Determines the performance of the electrical performance factor of the ith electrical performance factor. The larger it is, the higher the electrical performance will be. The value range of is between [-1,1]. The larger the value of is, the higher the response intensity of each time difference in the i-th electrical performance factor is; The larger the value of is, the higher the efficiency influence on signal transmission of the i-th electrical performance factor is.

[0081] The efficiency influence trend coefficient of signal transmission of each electrical performance factor is sorted from large to small to obtain the actual dimensionality reduction order of each electrical performance factor. The PCA dimensionality reduction algorithm is used to reduce the dimensionality of each electrical performance factor, and the contribution rates of the corresponding two factors in the dimensionality reduction process are added in sequence. In this embodiment, when the cumulative adjustment variance is greater than 80%, the dimension involved in the accumulation is selected and retained as the principal component feature.

[0082] In this embodiment, the specific steps of S500 include:

[0083] Based on the efficiency influence trend coefficient of each electrical performance factor on signal transmission, each main component feature of the electrical performance is confirmed.

[0084] Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested to obtain a test result. Specifically, based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested using a neural network algorithm to obtain a test result. The specific operation is: first, each principal component feature of the electrical performance is selected as the index data input to the neural network algorithm; the electrical performance value of the robot cable is output using the neural network algorithm, and then the test result of the electrical performance of the robot cable is obtained. In this embodiment, when the neural network algorithm is trained, each principal component feature is scored in combination with relevant international or industry standards, such as UL standards or IEC standards. The higher the score, the more reasonable the data performance of the electrical performance factor corresponding to each principal component feature. Among them, the classification network structure of the neural network algorithm is a five-layer fully connected neural network model, and the loss function is a cross entropy function. At the same time, during the training process of the neural network algorithm, the training ratio set for the historical data is 7:3, and the classification network is trained by selecting the link data. The input of the classification network is: principal component features; the output is: the electrical performance value of the robot cable; during the training process, the classification network is trained by the gradient descent method until the loss function converges and the classification network training is completed. The score is 0-100. The higher the score, the better the electrical performance of the robot cable.

[0085] A robot cable electrical performance testing device provided by the present invention is described below. The robot cable electrical performance testing device described below and the robot cable electrical performance testing method described above can refer to each other.

[0086] See also Figure 2 , which shows a structural schematic diagram of a robot cable electrical performance testing device. The present invention provides a robot cable electrical performance testing device, including a data acquisition module 210, a first confirmation module 220, a first acquisition module 230, a second acquisition module 240 and a testing module 250.

[0087] The data acquisition module 210 is used to obtain the monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the execution of the instruction input into the robot starts to the time when the robot outputs the result.

[0088] The first confirmation module 220 is used to confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period based on each time period in which the monitoring data of each electrical performance factor is collected and a preset fixed value.

[0089] The first acquisition module 230 is used to obtain the influence coefficient of each electrical performance factor on the overall electrical performance based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the total number of sampling time points in each electrical performance factor, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor.

[0090] The second acquisition module 240 is used to obtain the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance.

[0091] The test module 250 is used to test the electrical performance of the robot cable based on the efficiency influence trend coefficient of signal transmission of each electrical performance factor to obtain a test result.

[0092] The first confirmation module 220 is specifically used to obtain each sampling time point in each time period for collecting monitoring data of each electrical performance factor based on each time period for collecting monitoring data of each electrical performance factor.

[0093] Based on each sampling time point in each time period of collecting monitoring data for each electrical performance factor, a straight line corresponding to each time period is obtained.

[0094] According to the straight line corresponding to each time period and each sampling time point, the slope of the straight line, the intercept of the straight line and the total distance projected to the straight line of each sampling time point are confirmed.

[0095] According to the slope of the straight line, the intercept of the straight line, the total distance and the preset fixed value, the data change stability coefficient of each electrical performance factor at each sampling time point in each time period is confirmed.

[0096] The first acquisition module 230 is specifically used to confirm the mean value of all data change stability coefficients based on the data change stability coefficient of each sampling time point of each electrical performance factor in each time period and the total number of sampling time points in each electrical performance factor.

[0097] Based on the average of all data change stability coefficients and the response sensitivity of each electrical performance factor, the influence coefficient of each electrical performance factor on the overall electrical performance is obtained.

[0098] The second acquisition module 240 is specifically used to confirm the mean value of the optimal projection variance value of the monitoring data of each electrical performance factor based on the monitoring data of each electrical performance factor at each sampling time point in each time period.

[0099] Based on the time difference and the monitoring data of each electrical performance factor at each sampling time point in each time period, a response intensity coefficient of each time difference in each electrical performance factor is obtained.

[0100] According to the mean of the optimal projection variance value, the response intensity coefficient of each time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained.

[0101] The test module 250 is specifically used to: confirm each main component feature of the electrical performance based on the efficiency influence trend coefficient of signal transmission of each electrical performance factor.

[0102] Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested to obtain a test result. This step is specifically used to: based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested using a neural network algorithm to obtain a test result.

[0103] See also Figure 3 , which shows a schematic diagram of the structure of a robot cable electrical performance test system, a robot cable electrical performance test system provided by the present invention, the robot cable electrical performance test system may include: a processor (processor) 310, a communication interface (Communications Interface) 320, a memory (memory) 330 and a communication bus 340, wherein the processor 310, the communication interface 320, and the memory 330 communicate with each other through the communication bus 340. The processor 310 can call the logic instructions in the memory 330 to execute the robot cable electrical performance test method, the method comprising:

[0104] S100, obtaining monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the robot starts to execute the command input to the robot and the time when the robot outputs the result. In this embodiment, the monitoring data of each electrical performance factor at each sampling time point in each time period is monitored by a monitoring sensor.

[0105] S200, based on each time period of collecting monitoring data of each electrical performance factor and a preset fixed value, confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period.

[0106] S300. Based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period and the total number of sampling time points in each electrical performance factor, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor, obtain the influence degree coefficient of each electrical performance factor on the overall electrical performance.

[0107] S400. Obtaining the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference, and the influence coefficient of each electrical performance factor on the overall electrical performance.

[0108] S500: Based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission, the electrical performance of the robot cable is tested to obtain a test result.

[0109] The specific steps of S200 include:

[0110] Based on each time period of each electrical performance factor monitoring data collection, each sampling time point in each time period of each electrical performance factor monitoring data collection is obtained.

[0111] Based on each sampling time point in each time period of collecting monitoring data for each electrical performance factor, a straight line corresponding to each time period is obtained.

[0112] According to the straight line corresponding to each time period and each sampling time point, the slope of the straight line, the intercept of the straight line and the total distance projected to the straight line of each sampling time point are confirmed.

[0113] According to the slope of the straight line, the intercept of the straight line, the total distance and the preset fixed value, the data change stability coefficient of each electrical performance factor at each sampling time point in each time period is confirmed.

[0114] The specific steps of S300 include:

[0115] Based on the data change stability coefficient of each sampling time point in each time period of each electrical performance factor and the total number of sampling time points in each electrical performance factor, the average value of all data change stability coefficients is confirmed.

[0116] Based on the average of all data change stability coefficients and the response sensitivity of each electrical performance factor, the influence coefficient of each electrical performance factor on the overall electrical performance is obtained.

[0117] The specific steps of S400 include:

[0118] Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the mean of the optimal projection variance value of the monitoring data of each electrical performance factor is confirmed.

[0119] Based on the time difference and the monitoring data of each electrical performance factor at each sampling time point in each time period, a response intensity coefficient of each time difference in each electrical performance factor is obtained.

[0120] According to the mean of the optimal projection variance value, the response intensity coefficient of each time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained.

[0121] The specific steps of S500 include:

[0122] Based on the efficiency influence trend coefficient of each electrical performance factor on signal transmission, each main component feature of the electrical performance is confirmed.

[0123] Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested to obtain a test result. This step specifically includes: based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested using a neural network algorithm to obtain a test result.

[0124] In addition, the logic instructions in the above-mentioned memory 330 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0125] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0126] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A robot cable electrical performance testing method, characterized in that: The method comprises: Obtain monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the execution of the command input to the robot begins and the time when the robot outputs the result; Based on each time period and preset fixed value of each electrical performance factor for collecting monitoring data, confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period; Based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor, obtaining the influence degree coefficient of each electrical performance factor on the overall electrical performance; Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained; Based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission, the electrical performance of the robot cable is tested to obtain test results.

2. The robot cable electrical performance testing method according to claim 1, characterized in that: Based on each time period and preset fixed value of each electrical performance factor for collecting monitoring data, the specific steps of confirming the data change stability coefficient of each electrical performance factor at each sampling time point in each time period include: Based on each time period of each electrical performance factor acquisition monitoring data, each sampling time point in each time period of each electrical performance factor acquisition monitoring data is obtained; Based on each sampling time point in each time period of the monitoring data collected for each electrical performance factor, a straight line corresponding to each time period is obtained; According to the straight line corresponding to each time period and each sampling time point, confirm the slope of the straight line, the intercept of the straight line and the total distance projected to the straight line by each sampling time point; According to the slope of the straight line, the intercept of the straight line, the total distance and the preset fixed value, the data change stability coefficient of each electrical performance factor at each sampling time point in each time period is confirmed.

3. The robot cable electrical performance testing method according to claim 1, characterized in that: Based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period, the total number of sampling time points in each electrical performance factor, and the preset response sensitivity threshold of each electrical performance factor, the specific steps of obtaining the influence degree coefficient of each electrical performance factor on the overall electrical performance include: Based on the data change stability coefficient of each sampling time point of each electrical performance factor in each time period and the total number of sampling time points in each electrical performance factor, determining the mean value of all data change stability coefficients; Based on the average of all data change stability coefficients and the response sensitivity of each electrical performance factor, the influence coefficient of each electrical performance factor on the overall electrical performance is obtained.

4. The robot cable electrical performance testing method according to claim 1, characterized in that: Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence coefficient of each electrical performance factor on the overall electrical performance, the specific steps of obtaining the efficiency influence trend coefficient of each electrical performance factor for signal transmission include: Based on the monitoring data of each electrical performance factor at each sampling time point in each time period, determine the mean of the optimal projection variance value of the monitoring data of each electrical performance factor; Based on the time difference and the monitoring data of each electrical performance factor at each sampling time point in each time period, obtaining a response intensity coefficient of each time difference in each electrical performance factor; According to the mean of the optimal projection variance value, the response intensity coefficient of each time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance, the efficiency influence trend coefficient of each electrical performance factor for signal transmission is obtained.

5. The robot cable electrical performance testing method according to claim 1, characterized in that: Based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission, the electrical performance of the robot cable is tested, and the specific steps of obtaining the test results include: Based on the efficiency influence trend coefficient of each electrical performance factor for signal transmission, confirm each main component characteristic of the electrical performance; Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested to obtain a test result.

6. The robot cable electrical performance testing method according to claim 5, characterized in that: Based on each principal component characteristic of the electrical performance, the electrical performance of the robot cable is tested, and the specific steps of obtaining the test results include: Based on each principal component feature of the electrical performance, the electrical performance of the robot cable is tested using a neural network algorithm to obtain a test result.

7. The robot cable electrical performance testing method according to any one of claims 1 to 6, characterized in that: The specific steps of constructing the preset response sensitivity threshold of each electrical performance factor include: Obtain the maximum and minimum values ​​of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor; Based on the maximum value and the minimum value of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor, a preset response sensitivity threshold of each electrical performance factor is confirmed.

8. The robot cable electrical performance testing method according to claim 7, characterized in that: Based on the maximum and minimum values ​​of each electrical performance factor in the operating range and the precise coefficient of each electrical performance factor, the specific steps of confirming the response sensitivity of each electrical performance factor include: Based on the maximum value and the minimum value of each electrical performance factor in the operating range, determining a difference between the maximum value and the minimum value; Based on the difference between the maximum value and the minimum value and the precise coefficient of each electrical performance factor, the response sensitivity of each electrical performance factor is confirmed.

9. A robot cable electrical performance test device, characterized in that: include: A data acquisition module, used to acquire monitoring data of each electrical performance factor of the robot cable at each sampling time point in each time period, each time period for collecting monitoring data of each electrical performance factor, and the time difference between the time when the robot starts to execute the command input to the robot and the time when the robot outputs the result; A first confirmation module is used to confirm the data change stability coefficient of each electrical performance factor at each sampling time point in each time period based on each time period and a preset fixed value for collecting monitoring data of each electrical performance factor; A first acquisition module is used to obtain the influence degree coefficient of each electrical performance factor on the overall electrical performance based on the data change stability coefficient of each electrical performance factor at each sampling time point in each time period, the total number of sampling time points in each electrical performance factor and the preset response sensitivity threshold of each electrical performance factor; A second acquisition module is used to obtain the efficiency influence trend coefficient of each electrical performance factor for signal transmission based on the monitoring data of each electrical performance factor at each sampling time point in each time period, the time difference and the influence degree coefficient of each electrical performance factor on the overall electrical performance; The test module is used to test the electrical performance of the robot cable based on the efficiency influence trend coefficient of signal transmission of each electrical performance factor to obtain the test result.

10. A robot cable electrical performance test system, characterized in that: The invention comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the robot cable electrical performance testing method as claimed in any one of claims 1 to 8 when executing the program.

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