Robot operation endurance test monitoring method, device, equipment and storage medium

Abstract

A robot operation durability test monitoring method, device, equipment and storage medium, the robot operation durability test monitoring method comprises: collecting force value data in a cycle of robot operation in real time; the force value data is subjected to fast Fourier transform, and the average value of the amplitude of the maximum wave amplitude in the cycle after transformation is taken as the stress characteristic value; the absolute value of the difference between the stress characteristic value and the stress reference value of the normal stable operation of the robot is calculated, and whether the absolute value of the difference exceeds the set threshold range is judged; if yes, it is determined that the durability test process in the cycle of operation is abnormal. Realize with test operation cycle as the basic unit of monitoring and not real-time force value as the basic unit of monitoring, effective monitoring of the whole process of operation durability test, monitoring whether the test is normal, whether the automobile parts are invalid.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automobile test, in particular to a robot operation durability test monitoring method, device, equipment and storage medium. BACKGROUND

[0002] In automobile research and development, the durability and reliability test of parts is an important link to ensure the quality and safety of automobiles. The vehicle is composed of many parts, and the fatigue failure of any part may affect the performance of the vehicle, and even threaten the safety of users. Therefore, automobile enterprises need to use various technical means, including fatigue strength CAE calculation, load measurement and analysis, real vehicle road test and laboratory bench test, to solve the fatigue reliability problem in new product development. Among them, the robot performs automobile part operation durability test, such as step durability test, if the operation is abnormal, safety accidents are easy to occur.

[0003] In related technologies, since the automobile part operation durability test currently mainly sets a force value protection threshold, the force value of the robot hand clamp is collected in real time, and when the force value is greater than the force value protection threshold, the robot is stopped, the automobile part operation durability test is a continuous process, and it is impossible to determine whether the continuous process is normal, such as part loosening and misplacement, so that the robot is invalid. SUMMARY

[0004] The present application provides a robot operation durability test monitoring method, device, equipment and storage medium, which can solve the problem that in related technologies, the whole process of durability test cannot be effectively monitored during the process of automobile part operation durability test.

[0005] In a first aspect, the present application provides a robot operation durability test monitoring method, which comprises:

[0006] real-time collection of force value data in a cycle of robot operation;

[0007] performing fast Fourier transform on the force value data, and taking the average of the amplitudes of the maximum wave amplitudes in the cycle after transformation as the stress characteristic value;

[0008] calculating the absolute value of the difference between the stress characteristic value and the stress reference value of the normal and stable operation of the robot, and determining whether the absolute value of the difference exceeds the set threshold range;

[0009] if yes, it is determined that the durability test process in the cycle of operation is abnormal.

[0010] In combination with the first aspect, in an implementation, the fast Fourier transform is performed on the force value data, and the average of the amplitudes of the multiple wave amplitudes in the transformed period is taken as the force characteristic value.

[0011] The force value data in a period of robot operation is expanded.

[0012] The expanded force value data in the period is subjected to fast Fourier transform, and the average of the amplitudes of the multiple wave amplitudes in the transformed period is taken as the force characteristic value.

[0013] In combination with the first aspect, in an implementation, the force value data in a period of robot operation is expanded, including:

[0014] The effective data amount of the force value data in a period of robot operation is determined.

[0015] A plurality of supplementary force value data is inserted between every two effective force value data.

[0016] In combination with the first aspect, in an implementation, the force value data in a period of robot operation is collected in real time, including:

[0017] The collection frequency of the data collection card is determined to collect the force value data of the force sensor in a period of robot operation.

[0018] In combination with the first aspect, in an implementation, before the force value data in a period of robot operation is collected in real time, including:

[0019] The force value data in a period of normal and stable robot operation is collected in real time.

[0020] The force value data in the period of normal and stable robot operation is expanded.

[0021] The expanded force value data in the period is subjected to fast Fourier transform, the average of the amplitudes of the multiple wave amplitudes in the transformed period is taken as the force characteristic value, and the force characteristic value is taken as the force reference value.

[0022] The second aspect provides a robot operation endurance test monitoring device, including:

[0023] A force value data collection module is configured to collect force value data in a period of robot operation in real time.

[0024] A fast Fourier transform module is configured to perform fast Fourier transform on the force value data, and take the average of the amplitudes of the multiple wave amplitudes in the transformed period as the force characteristic value.

[0025] The durability test process processing module is configured to calculate an absolute value of a difference between the force characteristic value and a force reference value of normal and stable operation of the robot, and determine whether the absolute value of the difference exceeds a set threshold range, and if so, determine that the durability test process in one cycle of the operation is abnormal.

[0026] In combination with the second aspect, in an implementation, the fast Fourier transform module is further configured to expand the force value data in one cycle of the operation of the robot, and perform fast Fourier transform on the expanded force value data in the cycle, and take an average of amplitudes of a plurality of maximum wave amplitudes in the transformed cycle as the force characteristic value.

[0027] In combination with the second aspect, in an implementation, the force value data acquisition module is further configured to determine a collection frequency of the data collection card to collect the force value data of the force sensor in one cycle of the operation of the robot.

[0028] In a third aspect, an embodiment of the present application provides a robot operation durability test monitoring device, which comprises a processor, a memory, and a robot operation durability test monitoring program stored in the memory and executable by the processor, wherein the robot operation durability test monitoring program, when executed by the processor, implements the steps of the robot operation durability test monitoring method as described in some embodiments above.

[0029] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium, which stores a robot operation durability test monitoring program, wherein the robot operation durability test monitoring program, when executed by a processor, implements the steps of the robot operation durability test monitoring method as described in some embodiments above.

[0030] The technical scheme provided by the embodiments of the present application has the following beneficial effects:

[0031] The force value data in one cycle of the operation of the robot is collected in real time, the force value data is subjected to fast Fourier transform, an average of amplitudes of a plurality of maximum wave amplitudes in the transformed cycle is taken as the force characteristic value, an absolute value of a difference between the force characteristic value and a force reference value of normal and stable operation of the robot is calculated, and it is determined whether the absolute value of the difference exceeds a set threshold range, and if so, it is determined that the durability test process in one cycle of the operation is abnormal. In this way, the test operation cycle is taken as the basic unit of monitoring, and the real-time point force value is taken as the basic unit of monitoring, so that the effective monitoring of the whole operation durability test process is realized, and it is monitored whether the test is normally performed and whether the automobile parts are failed. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1Flow chart of an embodiment of the robot operation durability test monitoring method of the present application;

[0033] Figure 2 Schematic diagram of the original data waveform of five operation cycles of the robot operation durability test monitoring method of the present application;

[0034] Figure 3 Schematic diagram of the enhanced waveform of the original data of five operation cycles of the robot operation durability test monitoring method of the present application;

[0035] Figure 4 Schematic diagram of the data processing result of the first operation cycle of the robot operation durability test monitoring method of the present application;

[0036] Figure 5 Schematic diagram of the data processing result of the second operation cycle of the robot operation durability test monitoring method of the present application;

[0037] Figure 6 Schematic diagram of the data processing result of the third operation cycle of the robot operation durability test monitoring method of the present application;

[0038] Figure 7 Schematic diagram of the data processing result of the fourth operation cycle of the robot operation durability test monitoring method of the present application;

[0039] Figure 8 Schematic diagram of the data processing result of the fifth operation cycle of the robot operation durability test monitoring method of the present application;

[0040] Figure 9 Schematic diagram of the hardware structure of the robot operation durability test monitoring device of the present application. DETAILED DESCRIPTION

[0041] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor fall within the scope of protection of the present application.

[0042] It needs to be understood that in the development of automobiles, the durability and reliability test of parts is an important link to ensure the quality and safety of automobiles. The vehicle is composed of many parts, and the fatigue failure of any part may affect the performance of the whole vehicle, and even threaten the safety of users. Therefore, automobile enterprises need to use a variety of technical means, including fatigue strength CAE calculation, load measurement and analysis, real vehicle road test and laboratory bench test, to solve the fatigue reliability problem in new product development. Among them, the robot performs automobile part operation durability test, such as step durability test, and if the operation is abnormal, safety accidents are prone to occur.

[0043] But since the automobile part operation durability test is a continuous process, at present, a force value protection threshold is mainly set, the force value of the robot hand clamp is collected in real time, and when the force value is greater than the force value protection threshold, the robot is stopped, but the whole process of the durability test cannot be effectively monitored.

[0044] In order to make the purpose, technical scheme and advantages of the present application clearer, the embodiments of the present application will be further described in detail below with reference to the drawings.

[0045] In a first aspect, the embodiments of the present application provide a robot operation durability test monitoring method.

[0046] In an embodiment, with reference to Figure 1 , Figure 1 The flowchart of the first embodiment of the robot operation durability test monitoring method of the present application is shown in FIG. 1. As shown in FIG. 1, the robot operation durability test monitoring method comprises: Figure 1

[0047] S100: collecting force value data in a cycle of robot operation in real time;

[0048] S200: performing fast Fourier transform on the force value data, and taking the average value of the amplitudes of the maximum wave amplitudes in the cycle after transformation as the stress characteristic value;

[0049] S300: calculating the absolute value of the difference between the stress characteristic value and the stress reference value of the normal and stable operation of the robot, and determining whether the absolute value of the difference exceeds the set threshold range;

[0050] S400: if yes, determining that the durability test process in the cycle of operation is abnormal.

[0051] ​In the embodiment, the force value data in a cycle of the robot running is collected in real time; the force value data is subjected to fast Fourier transform, and the average of the amplitudes of the maximum wave amplitudes in the cycle after the transform is taken as the stress characteristic value; the absolute value of the difference between the stress characteristic value and the stress reference value of the normal and stable running of the robot is calculated, and it is judged whether the absolute value of the difference exceeds the set threshold range; if yes, it is determined that the durability test process in the cycle of the running is abnormal. In which, the test running cycle is taken as the basic unit of monitoring instead of the real-time force value as the basic unit of monitoring, the effective monitoring of the whole process of the operation durability test is realized, whether the test is normally carried out and whether the automobile parts are failed are monitored.

[0052] Further, in one embodiment, at S200, the following steps are included:

[0053] S201: The force value data in a cycle of the robot running is expanded;

[0054] S202: The force value data in the expanded cycle is subjected to fast Fourier transform, and the average of the amplitudes of the maximum wave amplitudes in the cycle after the transform is taken as the stress characteristic value.

[0055] In the embodiment, the force value data in a cycle of the robot running is expanded, and the data quantity is enriched, so that the subsequent Fourier transform process is more stable and accurate.

[0056] Further, in one embodiment, at S201, the following steps are included:

[0057] S201-1: The effective data quantity of the force value data in a cycle of the robot running is determined;

[0058] S201-2: A plurality of supplementary force value data are inserted between every two effective force value data.

[0059] In the embodiment, the effective data quantity of the force value data in a cycle of the normal and stable running of the robot is determined, and a plurality of supplementary force value data are inserted between every two effective force value data, so that the increased data can make the subsequent Fourier transform process more stable and accurate.

[0060] Further, in one embodiment, at S100, the following steps are included:

[0061] S101: The collection frequency of the data collection card is determined to collect the force value data of the stress sensor in a cycle of the robot running.

[0062] In the embodiment, the collection frequency of the data collection card is determined to collect the force value data of the stress sensor in a cycle of the robot running, so that the collection work of the force value data of the stress sensor in a cycle of the robot running is realized.

[0063] Further, in one embodiment, before S100, the following steps are further included:

[0064] S001: Collecting force value data in a period of normal and stable operation of the robot in real time;

[0065] S002: Augmenting the force value data in the period of normal and stable operation of the robot;

[0066] S003: Performing fast Fourier transform on the augmented force value data in the period, taking the average of the amplitudes of the largest wave amplitudes in the transformed period as the force characteristic value, and taking the force characteristic value as the force reference value.

[0067] In this embodiment, by collecting force value data in a period of normal and stable operation of the robot, augmenting the force value data in the period of normal and stable operation of the robot, and performing fast Fourier transform on the augmented force value data in the period, the average of the amplitudes of the largest wave amplitudes in the transformed period is taken as the force characteristic value, and the force characteristic value is taken as the force reference value. This facilitates subsequent difference comparison of the force characteristic value in a period of operation of the robot, calculation of the absolute value of the difference between the force characteristic value and the force reference value of the normal and stable operation of the robot, and judgment of whether the absolute value of the difference exceeds a set threshold range. If so, it is determined that the durability test process in the period of operation is abnormal.

[0068] In summary, the complete operation process of a robot operation durability test monitoring method is as follows:

[0069] Step one: Force value data collection

[0070] Use a data acquisition card and a force sensor to set an appropriate acquisition frequency and collect force value data in a first period of normal and stable operation of the robot.

[0071] For example, take the automobile step durability test data, set the acquisition frequency to 50 Hz, and the robot host computer will distinguish each operation period by triggering a signal before each cycle to collect force value data in each cycle. Here, 5 groups of data are taken for illustration, and the waveform is as shown in Figure 2 , with 0.2 as a period of 5 periods, the first 3 periods are normal test periods, and the last two test periods are abnormal periods. The effective value in each period is 28.

[0072] Step two: Force value data preprocessing-data enhancement

[0073] The data in the first period of normal stable operation of the robot is expanded, assuming that the amount of valid data in a period is m, 1, 2, …, m, and now expanded to nearly n. The expansion method is: k = [(n-m) / (m-1)] ([] represents rounding down). Between every two data a i and a i+1 , k data are added, and the formula of each data is:

[0074] a i +i*(a i+1 -a i ) / k(i = 1, 2...k-1)

[0075] Exemplarily, the amount of valid data in each period is 28, which is expanded to nearly 1000 according to the above method, specifically as follows: k = [(1000-28) / (28-1)] = 36, wherein, represents rounding down, that is, 36 supplementary data are inserted between every two valid values, and the formula of the supplementary data value is:

[0076] a i +i*(a i+1 -a i ) / k(i = 1, 2...k-1)

[0077] The waveform after data enhancement is shown in Figure 3 , it can be seen that the waveform after expansion does not change, but the data amount is enriched, which makes the subsequent Fourier transform process more stable and accurate.

[0078] Step three: data analysis—Fourier transform to extract characteristic value

[0079] The force value in the first period of normal stable operation of the robot is expanded and enriched, and the fast Fourier transform (FFT) is performed on the data to obtain the average value of the amplitudes of multiple waves with the largest amplitude in the first period of normal stable operation of the robot as the force characteristic value. The remaining four periods are operated in the same way.

[0080] Exemplarily, in this embodiment, python is used for data processing, and the fft module (fast Fourier transform module) in scipy.fftpack is called to perform fast Fourier transform on the enhanced data in the first stable operation period, and the amplitude of one of the waves with the largest amplitude in the first period is extracted. The result is as shown in Figure 4 , the amplitude of the wave with the largest amplitude is 1285, and the amplitudes of the remaining multiple waves with the largest amplitude in the first period are extracted in the same way. The average value of the amplitudes of the multiple waves with the largest amplitude in the first period is taken as the force characteristic value one.

[0081] Similarly, the amplitude of one of the waves with the largest amplitude in the second period is extracted, and the result is as shown inFigure 5 the maximum amplitude of the wave amplitude is 1335, and the maximum amplitude of the wave amplitude remaining in the second period is extracted. The average of the maximum amplitude of the wave amplitude in the second period is taken as the stress characteristic value two. The maximum amplitude of the wave amplitude in the third period is extracted, and the results are as follows: Figure 6 the maximum amplitude of the wave amplitude is 1319, and the maximum amplitude of the wave amplitude remaining in the third period is extracted. The average of the maximum amplitude of the wave amplitude in the third period is taken as the stress characteristic value three. The maximum amplitude of the wave amplitude in the fourth period is extracted, and the results are as follows: Figure 7 the maximum amplitude of the wave amplitude is 930, and the maximum amplitude of the wave amplitude remaining in the fourth period is extracted. The average of the maximum amplitude of the wave amplitude in the fourth period is taken as the stress characteristic value four. The maximum amplitude of the wave amplitude in the fifth period is extracted, and the results are as follows: Figure 8 the maximum amplitude of the wave amplitude is 1835, and the maximum amplitude of the wave amplitude remaining in the fifth period is extracted. The average of the maximum amplitude of the wave amplitude is taken as the stress characteristic value five.

[0082] Step four: automatic monitoring and recording of the test process

[0083] The absolute value of the difference between the stress characteristic value of each period and the stress reference value is calculated. Once the absolute value of the difference exceeds the set threshold range, it is determined that the test process is abnormal, the system triggers the alarm system and records the test information at this moment in the log, including time and test cycle number, etc.

[0084] For example, as shown in Figure 2 the fourth and fifth periods are abnormal periods, and the traditional real-time point force value can only detect the fifth period as abnormal, but cannot detect the fourth period as abnormal. By taking the average of the maximum amplitude of the wave amplitude in the fourth period as the stress characteristic value four and comparing it with the reference value, it can be determined that the difference between the stress characteristic value four and the reference value will be less than the set threshold range, and the fourth period is effectively monitored throughout the process. Similarly, by taking the average of the maximum amplitude of the wave amplitude in the fifth period as the stress characteristic value five and comparing it with the reference value, it can be determined that the difference between the stress characteristic value five and the reference value will be greater than the set threshold range. When the test periods corresponding to 4 and 5 are completed, a stop signal is sent to the robot host computer to control the robot to stop, and an alarm is triggered and the information such as time and absolute value of the difference is recorded in the log.

[0085] Therefore, a computer control system for monitoring abnormal test is provided, which acquires periodic force values of robot automobile part operation durability test through force sensors, compares and judges differences by taking characteristic values through Fourier algorithm, and monitors abnormalities.

[0086] In a second aspect, the embodiments of the present application further provide a robot operation durability test monitoring device, which comprises: a force value data acquisition module, configured to acquire force value data in one cycle of robot operation in real time; a fast Fourier transform module, configured to perform fast Fourier transform on the force value data, and take an average of maximum amplitudes of multiple wave amplitudes in the transformed cycle as a force characteristic value; and a durability test process processing module, configured to calculate an absolute value of a difference between the force characteristic value and a force reference value of normal and stable robot operation, and determine whether the absolute value of the difference exceeds a set threshold range, and if so, determine that the durability test process in the one cycle of operation is abnormal.

[0087] In the embodiments, the force value data in one cycle of robot operation is acquired in real time, the fast Fourier transform is performed on the force value data, and an average of maximum amplitudes of multiple wave amplitudes in the transformed cycle is taken as a force characteristic value, the absolute value of the difference between the force characteristic value and the force reference value of normal and stable robot operation is calculated, and it is determined whether the absolute value of the difference exceeds a set threshold range, and if so, it is determined that the durability test process in the one cycle of operation is abnormal. The signal can be converted from time domain to frequency domain, so that the features that are difficult to observe in time domain become obvious in frequency domain, the test operation cycle is taken as the basic unit of monitoring instead of real-time force value as the basic unit of monitoring, the effective monitoring of the whole operation durability test process is realized, and it is monitored whether the test is normally performed and whether the automobile part is failed.

[0088] Further, in an embodiment, the fast Fourier transform module is further configured to extend the force value data in one cycle of robot operation, perform fast Fourier transform on the extended force value data in the cycle, and take an average of maximum amplitudes of multiple wave amplitudes in the transformed cycle as a force characteristic value.

[0089] Specifically, the fast Fourier transform module is configured to determine an effective data amount of the force value data in one cycle of robot operation, and insert a plurality of supplementary force value data between every two effective force value data.

[0090] Further, in an embodiment, the force value data collection module is further configured to determine a collection frequency of the data collection card to collect the force value data of the force sensor in a cycle of the robot operation.

[0091] The functions of the modules in the robot operation durability test monitoring device correspond to the steps in the robot operation durability test monitoring method, and the functions and implementation processes are not repeated here.

[0092] In a third aspect, the embodiments of the present application provide a robot operation durability test monitoring device. The robot operation durability test monitoring device can be a personal computer (PC), a notebook computer, a server, or other devices with data processing functions.

[0093] The robot operation durability test monitoring device can collect force value data in a cycle of the robot operation in real time, perform fast Fourier transform on the force value data, take the average of the amplitudes of the maximum wave amplitudes in the cycle after the transform as the force characteristic value, calculate the absolute value of the difference between the force characteristic value and the force reference value of the normal and stable operation of the robot, and determine whether the absolute value of the difference exceeds the set threshold range. If yes, it is determined that the durability test process in the cycle of operation is abnormal. The signal can be converted from time domain to frequency domain, making the features that are difficult to observe in time domain become obvious in frequency domain. The test operation cycle is used as the basic unit of monitoring instead of the real-time force value, which realizes effective monitoring of the whole operation durability test process, monitors whether the test is normally conducted, and whether the automobile parts fail.

[0094] Reference Figure 9 , Figure 9 FIG. 1 is a schematic diagram of the hardware structure of the robot operation durability test monitoring device involved in the embodiments of the present application. In the embodiments of the present application, the robot operation durability test monitoring device can include a processor, a memory, a communication interface, and a communication bus.

[0095] The communication bus can be of any type, used to interconnect the processor, the memory, and the communication interface.

[0096] The communication interface includes an input / output (I / O) interface, a physical interface, and a logical interface, and other interfaces used to interconnect the devices inside the robot operation durability test monitoring device, and interfaces used to interconnect the robot operation durability test monitoring device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, a fiber interface, an ATM interface, etc.; the user device can be a display (Display), a keyboard (Keyboard), etc.

[0097] The memory can be various types of storage media such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0098] The processor can be a general-purpose processor, which can invoke the robot operation durability test monitoring program stored in the memory and execute the robot operation durability test monitoring method provided by the embodiments of the present application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed by the robot operation durability test monitoring program when invoked can refer to various embodiments of the robot operation durability test monitoring method of the present application, which will not be described here.

[0099] Those skilled in the art can understand that the hardware structure shown in the above-mentioned embodiments is not a limitation of the present application, and can include more or fewer components than those shown, or combine certain components, or different component arrangements. Figure 9

[0100] In a fourth aspect, the embodiments of the present application further provide a computer readable storage medium.

[0101] The computer readable storage medium of the present application stores a robot operation durability test monitoring program therein, wherein the robot operation durability test monitoring program is executed by the processor to implement the steps of the robot operation durability test monitoring method as described above.

[0102] The robot operation durability test monitoring program collects force value data in a cycle of robot operation in real time; performs fast Fourier transform on the force value data, and takes the average of the amplitudes of the maximum wave amplitudes in the cycle after transformation as the stress characteristic value; calculates the absolute value of the difference between the stress characteristic value and the stress reference value of the normal and stable operation of the robot, and judges whether the absolute value of the difference exceeds the set threshold range; if yes, it is determined that the durability test process in the cycle of operation is abnormal. Wherein, the signal can be converted from time domain to frequency domain, so that the features that are difficult to observe in time domain become obvious in frequency domain, and the test operation cycle is taken as the basic unit of monitoring instead of the real-time force value, which realizes the effective monitoring of the whole operation durability test process, monitors whether the test is normally conducted, and whether the automobile parts are failed.​

[0103] The method implemented when the robot operation durability test monitoring program is executed can refer to the embodiments of the robot operation durability test monitoring method of the present application, which will not be repeated here.

[0104] It should be noted that the above-mentioned serial numbers of the embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0105] The terms "comprise" and "have" and any variations thereof in the specification and claims of the present application and the above-mentioned drawings are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device including a series of steps or units is not limited to the listed steps or units, but can optionally include steps or units not listed, or can optionally include other steps or units inherent to the process, method, product or device. The terms "first", "second" and "third" and the like descriptions are used to distinguish different objects, and do not represent the order or limit the types of "first", "second" and "third".

[0106] In the description of the embodiments of the present application, "exemplary", "for example" or "for instance" is used to represent as an example, illustration or description. Any embodiment or design scheme described as "exemplary", "for example" or "for instance" in the embodiments of the present application should not be interpreted as more preferred or more advantageous than other embodiments or design schemes. In fact, the words "exemplary", "for example" or "for instance" are intended to present the relevant concept in a specific manner.

[0107] In the description of the embodiments of the present application, unless otherwise specified, " / " represents or, for example, A / B can represent A or B; "and / or" in the text only describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which means that there are three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0108] In some of the processes described in the embodiments of the present application, a plurality of operations or steps are included in a specific order, but it should be understood that these operations or steps can be executed or executed in parallel without the order in which they appear in the embodiments of the present application. The serial number of the operation is only used to distinguish different operations, and the serial number itself does not represent any execution order. In addition, these processes can include more or fewer operations, and these operations or steps can be executed in sequence or in parallel, and these operations or steps can be combined.

[0109] Those skilled in the art can clearly understand the above-mentioned embodiment method can be realized by means of software and the necessary general hardware platform, of course, can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a plurality of instructions for making a terminal device execute the method described in each embodiment of the present application.

[0110] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application, and any equivalent structure or equivalent process transformation using the content of the specification and drawings, or direct or indirect application in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for monitoring robot operation durability testing, characterized in that, The robot operation durability test monitoring method includes: Real-time acquisition of force data within one cycle of robot operation; The force data is subjected to a fast Fourier transform, and the average value of the largest wave amplitude within the transformed period is taken as the force characteristic value. Calculate the absolute value of the difference between the force characteristic value and the force reference value for normal and stable operation of the robot, and determine whether the absolute value of the difference exceeds the set threshold range. If so, the durability test process within one cycle of operation is determined to be abnormal; The step of performing a fast Fourier transform on the force data and taking the average of the largest amplitudes of multiple waves within the transformed period as the force characteristic value includes: Expand the force data within one cycle of robot operation; A fast Fourier transform is performed on the force data within the expanded period, and the average value of the largest wave amplitude within the transformed period is taken as the force characteristic value. The expansion of the force data within one cycle of robot operation includes: Determine the effective amount of force data within one cycle of robot operation; Insert multiple supplementary force values ​​between every two effective force values; Before acquiring the force data for one cycle of robot operation in real time, the following is included: Real-time acquisition of force data during the robot's normal and stable operation cycle; Expand the force value data during the normal and stable operation cycle of the robot; A fast Fourier transform is performed on the force data within the expanded period. The average value of the largest wave amplitude within the transformed period is taken as the force characteristic value, and this force characteristic value is used as the force reference value.

2. The robot operation durability test monitoring method as described in claim 1, characterized in that, The real-time acquisition of force data within one cycle of robot operation includes: Determine the data acquisition frequency of the data acquisition card and collect the force value data of the force sensor during one cycle of robot operation.

3. A robot operation durability test monitoring device, characterized in that, The robot operation durability test monitoring device includes: The force data acquisition module is used to collect force data in real time during one cycle of robot operation. The Fast Fourier Transform module is used to perform a Fast Fourier Transform on the force data and take the average of the largest amplitudes of multiple waves within the transformed period as the force characteristic value. The durability test process processing module is used to calculate the absolute value of the difference between the force characteristic value and the force reference value for normal and stable operation of the robot, and to determine whether the absolute value of the difference exceeds the set threshold range. If so, the durability test process within one cycle of operation is determined to be abnormal. The Fast Fourier Transform module is also used to expand the force data within one cycle of robot operation; perform Fast Fourier Transform on the expanded force data within the cycle, and take the average value of the largest wave amplitude within the transformed cycle as the force characteristic value. The expansion of the force data within one cycle of robot operation includes: Determine the effective amount of force data within one cycle of robot operation; Insert multiple supplementary force values ​​between every two effective force values; Before acquiring the force data for one cycle of robot operation in real time, the following is included: Real-time acquisition of force data during the robot's normal and stable operation cycle; Expand the force value data during the normal and stable operation cycle of the robot; A fast Fourier transform is performed on the force data within the expanded period. The average value of the largest wave amplitude within the transformed period is taken as the force characteristic value, and this force characteristic value is used as the force reference value.

4. The robot operation durability test monitoring device as described in claim 3, characterized in that, The force data acquisition module is also used to determine the acquisition frequency of the data acquisition card in order to acquire the force data of the force sensor within one cycle of robot operation.

5. A robot operation durability test monitoring device, characterized in that, The robot operation durability test monitoring device includes a processor, a memory, and a robot operation durability test monitoring program stored in the memory and executable by the processor, wherein when the robot operation durability test monitoring program is executed by the processor, it implements the steps of the robot operation durability test monitoring method as described in any one of claims 1 to 2.

6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a robot operation durability test monitoring program, wherein when the robot operation durability test monitoring program is executed by a processor, it implements the steps of the robot operation durability test monitoring method as described in any one of claims 1 to 2.

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