Fault analysis method, system, terminal equipment and medium based on transfer robot arm

Abstract

The present application is applicable to the technical field of industrial robotic arms, and provides a fault analysis method, system, terminal device and medium based on a transfer robotic arm, wherein the method includes first responding to the information of determining the unqualified battery stack, quickly obtaining the full-process three-dimensional measured coordinate set corresponding to each robotic arm joint, and then performing the processing for each robotic arm joint of the multi-joint robotic arm: effectively generating the full-process joint motion trajectory information according to the full-process three-dimensional measured coordinate set, then obtaining the reference joint motion trajectory information, and finally accurately generating the robotic arm joint fault discrimination information according to the full-process joint motion trajectory information and the reference joint motion trajectory information. The present application can accurately locate the specific fault location in a transfer robotic arm with a complex structure, which not only helps to quickly and accurately repair the transfer robotic arm, but also can significantly improve the stacking quality of the hydrogen fuel cell stack, and facilitates iterative optimization of the transfer robotic arm.

Description

Technical Field

[0001] The present application relates to the technical field of industrial robotic arms, and more specifically, to a fault analysis method, system, terminal device, and medium based on a transfer robotic arm. Background Art

[0002] Since the robotic arm can perform heavy physical labor or highly repetitive work and reduce the labor intensity of the operator, during the assembly process of the hydrogen fuel cell stack, a transfer robotic arm is usually used to stack multiple stack modules in a cycle until the required number of hydrogen fuel cell stacks is reached.

[0003] At present, the transfer robot arm may have deviations between the input parameters and the actual parameters in actual operation due to physical errors of sensors, excessive wear of mechanical parts or vibrations from the external environment, causing the fuel cell module to deviate from the preset position. The current transfer robot arm lacks a fault analysis mechanism, making it difficult to accurately determine the specific fault location, which needs further improvement. Summary of the invention

[0004] Based on this, the embodiments of the present application provide a fault analysis method, system, terminal device and medium based on a transfer robot arm to solve the problem in the prior art that it is difficult to accurately determine the specific fault location.

[0005] In a first aspect, an embodiment of the present application provides a fault analysis method based on a transfer robot arm, which is applied to a multi-joint robot arm, wherein the multi-joint robot arm includes a plurality of robot arm joints, and the multi-joint robot arm is used to transfer a battery stack module on a first workbench to a stacking workbench, and the method includes:

[0006] In response to the unqualified fuel cell stack determination information, a full-process three-dimensional measured coordinate set corresponding to each of the robotic arm joints is obtained, wherein the unqualified fuel cell stack determination information is used to describe a hydrogen fuel cell stack determined to have unqualified stacking quality on the stacking workbench, and the full-process three-dimensional measured coordinate set includes a plurality of full-process three-dimensional measured coordinate information, and the full-process three-dimensional measured coordinate information is used to describe the actual measured coordinates corresponding to a specified instantaneous posture of the multi-joint robotic arm in the full process of stacking the hydrogen fuel cell stack by the multi-joint robotic arm, and the specified instantaneous posture is used to describe the posture corresponding to the moment when the multi-joint robotic arm stacks the fuel cell stack module on the stacking workbench;

[0007] For each of the robotic arm joints: generating full-process joint motion trajectory information according to the full-process three-dimensional measured coordinate set, wherein the full-process joint motion trajectory information is used to describe a trajectory that is sequentially connected by multiple full-process three-dimensional measured coordinate information in order of acquisition time from earliest to latest;

[0008] Acquire preset reference joint motion trajectory information, wherein the reference joint motion trajectory information is used to describe a reference trajectory of the robot arm joint, and the reference trajectory is associated with a hydrogen fuel cell stack with qualified stacking quality;

[0009] According to the full-process joint motion trajectory information and the reference joint motion trajectory information, mechanical arm joint fault discrimination information is generated, wherein the mechanical arm joint fault discrimination information is used to determine the mechanical arm joint with a fault.

[0010] Compared with the prior art, the beneficial effect is: in the fault analysis method based on the transfer robot arm provided in the embodiment of the present application, the terminal device can first respond to the information of the unqualified battery stack determination, quickly obtain the full-process three-dimensional measured coordinate set corresponding to each robot arm joint, and then perform the processing for each robot arm joint of the multi-joint robot arm: according to the full-process three-dimensional measured coordinate set, effectively generate the full-process joint motion trajectory information, and then obtain the reference joint motion trajectory information, and finally, according to the full-process joint motion trajectory information and the reference joint motion trajectory information, accurately generate the robot arm joint fault judgment information, so as to accurately judge the specific fault location of the multi-joint robot arm through the robot arm joint fault judgment information, which solves the current problem that it is difficult to accurately judge the specific fault location to a certain extent.

[0011] In a second aspect, an embodiment of the present application provides a fault analysis system based on a transfer robot arm, which is applied to a multi-joint robot arm, wherein the multi-joint robot arm includes a plurality of robot arm joints, and the multi-joint robot arm is used to transfer a battery stack module on a first workbench to a stacking workbench, and the system includes:

[0012] A full-process three-dimensional measured coordinate set acquisition module: used to respond to the unqualified battery stack determination information to acquire the full-process three-dimensional measured coordinate set corresponding to each of the robotic arm joints, wherein the unqualified battery stack determination information is used to describe the hydrogen fuel cell stack determined to have unqualified stacking quality on the stacking workbench, and the full-process three-dimensional measured coordinate set includes a plurality of full-process three-dimensional measured coordinate information, and the full-process three-dimensional measured coordinate information is used to describe the actual measured coordinates corresponding to the specified instantaneous posture of the multi-joint robotic arm in the full process of stacking the hydrogen fuel cell stack by the multi-joint robotic arm, and the specified instantaneous posture is used to describe the posture corresponding to the moment when the multi-joint robotic arm stacks the battery stack module on the stacking workbench;

[0013] A full-process joint motion trajectory information generation module: for each of the robotic arm joints: generating full-process joint motion trajectory information according to the full-process three-dimensional measured coordinate set, wherein the full-process joint motion trajectory information is used to describe a trajectory that is sequentially connected by multiple full-process three-dimensional measured coordinate information in the order of acquisition time from the earliest to the latest;

[0014] A reference joint motion trajectory information acquisition module: used to acquire preset reference joint motion trajectory information, wherein the reference joint motion trajectory information is used to describe the reference trajectory of the robot arm joint, and the reference trajectory is associated with a hydrogen fuel cell stack with qualified stacking quality;

[0015] A robot arm joint fault discrimination information generation module is used to generate robot arm joint fault discrimination information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the robot arm joint fault discrimination information is used to determine the robot arm joint with a fault.

[0016] In a third aspect, an embodiment of the present application provides a terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect described above when executing the computer program.

[0017] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method of the first aspect described above are implemented.

[0018] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art are briefly introduced below.

[0020] Figure 1 It is a flowchart of a fault analysis method provided by an embodiment of the present application;

[0021] Figure 2 It is a schematic diagram of the process before step S300 in the fault analysis method provided in one embodiment of the present application;

[0022] Figure 3 is a flowchart of step S300 in the fault analysis method provided in one embodiment of the present application;

[0023] Figure 4is a flowchart of step S400 in the fault analysis method provided in one embodiment of the present application;

[0024] Figure 5 It is a first flow chart after step S400 in the fault analysis method provided in one embodiment of the present application;

[0025] Figure 6 It is a second flow chart after step S400 in the fault analysis method provided in one embodiment of the present application;

[0026] Figure 7 It is a module block diagram of a fault analysis system provided by an embodiment of the present application;

[0027] Figure 8 It is a schematic diagram of a terminal device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0028] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0029] In the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0030] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0031] In order to illustrate the technical solution described in this application, a specific embodiment is provided below for illustration.

[0032] See also Figure 1 , Figure 1: is a schematic diagram of a fault analysis process based on a transfer robot arm provided in an embodiment of the present application. In this embodiment, the execution subject of the fault analysis method is a terminal device. It is understandable that the types of terminal devices include but are not limited to mobile phones, tablet computers, laptop computers, ultra-mobile personal computers (Ultra-Mobile Personal Computer, UMPC), netbooks, personal digital assistants (Personal Digital Assistant, PDA), etc., and the embodiments of the present application do not impose any restrictions on the specific types of terminal devices.

[0033] See also Figure 1 The fault analysis method provided in the embodiment of the present application includes but is not limited to the following steps:

[0034] In S100, in response to the unqualified battery stack determination information, a full-process three-dimensional measured coordinate set corresponding to each robot arm joint is obtained.

[0035] Without loss of generality, the fault analysis method can be applied to a multi-joint robotic arm, wherein the multi-joint robotic arm includes multiple robotic arm joints. Exemplarily, the multi-joint robotic arm can be a standard three-axis articulated robotic arm with three joint axes and consisting of a base arm, a forearm and an end arm. The multi-joint robotic arm can also be a six-axis articulated robotic arm with six joint axes and consisting of a base arm, a forearm and an end arm. The robotic arm joints are used to describe the joint points between different arms. Exemplarily, when the multi-joint robotic arm is a six-axis articulated robotic arm consisting of a base arm, a forearm and an end arm, the multi-joint robotic arm can include two robotic arm joints.

[0036] Specifically, the multi-joint robotic arm is used to continuously transfer the multiple stack modules on the first workbench to the stacking workbench, so as to realize cyclic stacking of the multiple stack modules on the stacking workbench in sequence until the required number of hydrogen fuel cell stacks is reached.

[0037] Specifically, the terminal device can first respond to the unqualified battery stack determination information to obtain the full-process three-dimensional measured coordinate set corresponding to each robotic arm joint, wherein the unqualified battery stack determination information is used to describe the existence of a hydrogen fuel cell stack with unqualified stacking quality on the stacking workbench. Exemplarily, the terminal device can use image recognition technology to determine whether there is a battery stack module that deviates from a preset position in the hydrogen fuel cell stack on the stacking workbench, so as to determine whether there is a hydrogen fuel cell stack with unqualified stacking quality. It should be noted that the use of image recognition technology to determine the battery stack module that deviates from the preset position is an existing technology, so it will not be repeated.

[0038] Specifically, the full-process three-dimensional measured coordinate set includes multiple full-process three-dimensional measured coordinate information, and the full-process three-dimensional measured coordinate information is used to describe the actual measurement coordinates corresponding to the specified instantaneous posture of the multi-joint robotic arm in the full process of the multi-joint robotic arm stacking hydrogen fuel cell stacks; illustratively, the terminal device can determine the actual measurement coordinates of the multi-joint robotic arm in three-dimensional space based on a three-dimensional scanner or photogrammetry. Without loss of generality, the specified instantaneous posture is used to describe the posture corresponding to the moment when the multi-joint robotic arm stacks the stack module onto the stacking workbench.

[0039] In S200, for each robot arm joint: generate full-process joint motion trajectory information based on the full-process three-dimensional measured coordinate set.

[0040] Specifically, after the terminal device obtains the full-process three-dimensional measured coordinate set, the terminal device can perform this processing for each robotic arm joint: based on the full-process three-dimensional measured coordinate set, the full-process joint motion trajectory information is effectively generated, wherein the full-process joint motion trajectory information is used to describe the trajectory composed of multiple full-process three-dimensional measured coordinate information connected in sequence from the earliest to the latest in acquisition time.

[0041] In S300, preset reference joint motion trajectory information is obtained.

[0042] Specifically, after the terminal device generates the full-process joint motion trajectory information, the terminal device can quickly obtain the preset baseline joint motion trajectory information, wherein the baseline joint motion trajectory information is used to describe the baseline trajectory of the robot arm joint, and the baseline trajectory is associated with a hydrogen fuel cell stack with qualified stacking quality. The baseline joint motion trajectory information is used to evaluate the standard trajectory that can achieve stacking of a hydrogen fuel cell stack with qualified stacking quality.

[0043] In some possible implementations, in order to obtain the reference joint motion trajectory information, please refer to Figure 2 Before step S300, the method further includes but is not limited to the following steps:

[0044] In S301, a preset stack number set is obtained, and first number information of a first battery stack is obtained.

[0045] Specifically, the terminal device can first obtain a preset stacking number set, and at the same time obtain the first number information of the first battery stack, wherein the stacking number set includes multiple stacking number information arranged from first to last according to the stacking time, and the first battery stack is used to describe a hydrogen fuel cell stack with unqualified stacking quality, and the first number information is used to describe the stacking number information of the first battery stack.

[0046] In S302 , second numbering information of a second battery stack is determined based on the stack number set and the first numbering information.

[0047] Specifically, after the terminal device obtains the first numbering information, the terminal device can quickly determine the second numbering information of the second battery stack based on the stacking number set and the first numbering information, wherein the second battery stack is used to describe a hydrogen fuel cell stack with qualified stacking quality and an earlier stacking time than the first battery stack, and the second numbering information is adjacent to the first numbering information.

[0048] Illustratively, the multi-joint robotic arm can first stack a hydrogen fuel cell stack with specific stacking number information of "00035" on a stacking workbench. After determining that the stacking quality of the hydrogen fuel cell stack is qualified, the operator transfers the hydrogen fuel cell stack to the next processing step, and then stacks a hydrogen fuel cell stack with specific stacking number information of "00036" on the stacking workbench. Therefore, when the stacking number set includes stacking number information specifically "00035" and stacking number information specifically "00036" in sequence, and the first number information is "00036", the second number information can be "00035".

[0049] Accordingly, see Figure 3 Step S300 includes but is not limited to the following steps:

[0050] In S310, historical joint motion trajectory information of the robot arm joint is obtained based on the second number information.

[0051] Specifically, after the terminal device determines the second numbering information, the terminal device can effectively obtain historical joint motion trajectory information of the robotic arm joint based on the second numbering information, wherein the historical joint motion trajectory information is used to describe the motion trajectory of the robotic arm joint in the entire process of stacking the second battery stack of the multi-joint robotic arm.

[0052] In S320 , the historical joint motion trajectory information is determined as the reference joint motion trajectory information.

[0053] Specifically, after the terminal device acquires the historical joint motion trajectory information, the terminal device may determine the historical joint motion trajectory information as the reference joint motion trajectory information.

[0054] In S400, robot arm joint fault identification information is generated according to the full-process joint motion trajectory information and the reference joint motion trajectory information.

[0055] Specifically, after the terminal device obtains the baseline joint motion trajectory information, the terminal device can accurately generate the robot arm joint fault judgment information based on the full-process joint motion trajectory information and the baseline joint motion trajectory information, thereby accurately judging the specific fault location of the multi-joint robot arm through the robot arm joint fault judgment information, thereby facilitating the rapid and accurate correction of the multi-joint robot arm and improving the stacking quality of the hydrogen fuel cell stack, wherein the robot arm joint fault judgment information is used to determine the faulty robot arm joint.

[0056] In some possible implementations, in order to accurately generate robot arm joint fault identification information, please refer to Figure 4 Step S400 includes but is not limited to the following steps:

[0057] In S410 , three-dimensional space overlap trajectory information is generated according to the full-process joint motion trajectory information and the reference joint motion trajectory information.

[0058] Specifically, the terminal device can first effectively generate three-dimensional space coincidence trajectory information based on the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the three-dimensional space coincidence trajectory information is used to describe the trajectory segments that coincide with the full-process joint motion trajectory information and the reference joint motion trajectory information. Exemplarily, the terminal device can effectively generate three-dimensional space coincidence trajectory information through all the coordinates that coincide with the full-process joint motion trajectory information and the reference joint motion trajectory information.

[0059] In S420, based on a preset Euclidean distance calculation function, first total distance information of the three-dimensional space coincidence trajectory information and second total distance information of the whole-process joint motion trajectory information are obtained.

[0060] Specifically, after the terminal device generates the three-dimensional space overlap trajectory information, the terminal device can obtain the first total distance information of the three-dimensional space overlap trajectory information and the second total distance information of the full-process joint motion trajectory information based on the preset Euclidean distance calculation function, wherein the first total distance information is used to describe the total length of the three-dimensional space overlap trajectory information, and the second total distance information is used to describe the total length of the three-dimensional space overlap trajectory information.

[0061] For example, when the coordinates of the starting and ending points of the three-dimensional space coincident trajectory information are The coordinates of the end point are When , the Euclidean distance calculation function can be:

[0062] ,

[0063] In the formula, The first total distance information representing the coincidence trajectory information in three-dimensional space.

[0064] In S430 , trajectory coincidence information is generated according to a ratio of the first total distance information divided by the second total distance information.

[0065] Specifically, after the terminal device obtains the first total distance information and the second total distance information, the terminal device can quickly generate trajectory coincidence information based on the ratio of the first total distance information divided by the second total distance information, wherein the trajectory coincidence information is used to describe the degree of coincidence between the full-process joint motion trajectory information and the baseline joint motion trajectory information.

[0066] In S440 , the trajectory coincidence information is compared with preset reference coincidence information.

[0067] Specifically, after the terminal device generates the trajectory coincidence information, the terminal device can compare the trajectory coincidence information with the preset benchmark coincidence information, wherein the benchmark coincidence information can be a preset fixed value. Exemplarily, the benchmark coincidence information can be any positive number between 96% and 99%. The specific value of the benchmark coincidence information can be selected according to the actual requirements of the hydrogen fuel cell stack.

[0068] In S450, if the trajectory overlap information is less than or equal to the reference overlap information, robot arm joint fault determination information is generated.

[0069] Specifically, if the trajectory overlap information is less than or equal to the reference overlap information, the terminal device can accurately generate robot arm joint fault identification information, thereby quickly and accurately determining the specific fault location of the robot arm joint as a multi-joint robot arm.

[0070] In some possible implementations, in order to facilitate the correction of abnormal joints of the multi-joint robot after the specific fault location of the multi-joint robot is determined, please refer to Figure 5 After step S400, the method further includes but is not limited to the following steps:

[0071] In S500 , joint motion deviation trajectory information is generated according to the whole-process joint motion trajectory information and the three-dimensional space coincidence trajectory information.

[0072] Specifically, the terminal device can effectively generate joint motion deviation trajectory information based on the full-process joint motion trajectory information and the three-dimensional space overlap trajectory information, wherein the joint motion deviation trajectory information is used to describe the trajectory segments in the full-process joint motion trajectory information except the three-dimensional space overlap trajectory information, that is, the trajectory segments that do not overlap between the full-process joint motion trajectory information and the baseline joint motion trajectory information.

[0073] In S510, initial offset coordinate information is determined according to the starting endpoint of the joint motion deviation trajectory information.

[0074] Specifically, after the terminal device generates the joint motion deviation trajectory information, the terminal device can quickly determine the initial offset coordinate information based on the starting endpoint of the joint motion deviation trajectory information, where the starting endpoint is used to describe the endpoint with the earliest collection time in the joint motion deviation trajectory information, and the initial offset coordinate information is used to describe the full-process three-dimensional measured coordinate information corresponding to the starting endpoint.

[0075] In S520, theoretical parameter coordinate information of the starting endpoint is obtained.

[0076] Specifically, after the terminal device determines the initial offset coordinate information, the terminal device can obtain the theoretical parameter coordinate information of the starting endpoint, where the theoretical parameter coordinate information is used to describe the theoretical parameters executed by the multi-joint robotic arm when the robotic arm joints are located at the full-process three-dimensional measured coordinate information corresponding to the starting endpoint, that is, the input parameters executed by the multi-joint robotic arm.

[0077] In S530, offset direction vector information is generated according to the initial offset coordinate information and the theoretical parameter coordinate information.

[0078] Specifically, after the terminal device obtains the theoretical parameter coordinate information, the terminal device can generate offset direction vector information based on the initial offset coordinate information and the theoretical parameter coordinate information, wherein the offset direction vector information is used to describe the three-dimensional vector from the theoretical parameter coordinate information to the initial offset coordinate information.

[0079] In S540, a corrected reference data set is generated according to the initial offset coordinate information, the theoretical parameter coordinate information and the offset direction vector information.

[0080] Specifically, after the terminal device generates the offset direction vector information, the terminal device can generate a corrected reference data set based on the initial offset coordinate information, theoretical parameter coordinate information and offset direction vector information, wherein the corrected reference data set is used to describe a data packet containing the initial offset coordinate information, theoretical parameter coordinate information and offset direction vector information.

[0081] In some possible implementations, to improve the reliability of the transfer robot, please refer to Figure 6 After step S400, the method further includes but is not limited to the following steps:

[0082] In S600 , a plurality of deviation coordinate information is determined based on the joint motion deviation trajectory information.

[0083] Specifically, the terminal device can first effectively determine multiple deviation coordinate information based on the joint motion deviation trajectory information and the full-process three-dimensional measured coordinate information that constitutes the joint motion deviation trajectory information, wherein the deviation coordinate information is used to describe the full-process three-dimensional measured coordinate information corresponding to the joint motion deviation trajectory information.

[0084] In S610, when the full-process three-dimensional measured coordinate information of the robot arm joint coincides with the deviation coordinate information again, the generation of sampling recommendation information is triggered.

[0085] Specifically, after the operator corrects the multi-joint robotic arm, the multi-joint robotic arm can continue to participate in the subsequent stacking production of other hydrogen fuel cell stacks. When the full-process three-dimensional measured coordinate information of the robotic arm joints coincides with the deviated coordinate information again, the terminal device can trigger the generation of sampling recommendation information, thereby facilitating the operator to efficiently determine whether the correction is successful.

[0086] The implementation principle of the fault analysis of the transfer robot arm in the embodiment of the present application is: the terminal device can first respond to the information determined by the unqualified fuel cell stack, quickly obtain the full-process three-dimensional measured coordinate set corresponding to each robot arm joint, and then perform the processing for each robot arm joint of the multi-joint robot arm: according to the full-process three-dimensional measured coordinate set, effectively generate the full-process joint motion trajectory information, and then obtain the reference joint motion trajectory information; finally, according to the full-process joint motion trajectory information and the reference joint motion trajectory information, accurately generate the robot arm joint fault judgment information, so as to accurately determine the specific fault position of the multi-joint robot arm through the robot arm joint fault judgment information, so as to facilitate the rapid and accurate correction of the multi-joint robot arm and improve the stacking quality of the hydrogen fuel cell stack.

[0087] It should be noted that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0088] The embodiment of the present application also provides a fault analysis system based on a transfer robot arm, which is applied to a multi-joint robot arm. The multi-joint robot arm includes multiple robot arm joints. The multi-joint robot arm is used to transfer the battery stack module on the first workbench to the stacking workbench. For ease of description, only the parts related to the present application are shown, such as Figure 7 As shown, the system 70 includes:

[0089] The full-process three-dimensional measured coordinate set acquisition module 71 is used to respond to the unqualified stack determination information to obtain the full-process three-dimensional measured coordinate set corresponding to each robot arm joint, wherein the unqualified stack determination information is used to describe the hydrogen fuel cell stack determined to have unqualified stacking quality on the stacking workbench, and the full-process three-dimensional measured coordinate set includes a plurality of full-process three-dimensional measured coordinate information, and the full-process three-dimensional measured coordinate information is used to describe the actual measurement coordinates corresponding to the specified instantaneous posture of the multi-joint robot arm in the full process of stacking the hydrogen fuel cell stack by the multi-joint robot arm, and the specified instantaneous posture is used to describe the posture corresponding to the moment when the multi-joint robot arm stacks the stack module onto the stacking workbench;

[0090] The full-process joint motion trajectory information generating module 72 is used for generating full-process joint motion trajectory information for each robot arm joint according to the full-process three-dimensional measured coordinate set, wherein the full-process joint motion trajectory information is used to describe a trajectory formed by connecting a plurality of full-process three-dimensional measured coordinate information in sequence according to the order of acquisition time from the earliest to the latest;

[0091] A reference joint motion trajectory information acquisition module 73 is used to acquire preset reference joint motion trajectory information, wherein the reference joint motion trajectory information is used to describe the reference trajectory of the robot arm joint, and the reference trajectory is associated with a hydrogen fuel cell stack with qualified stacking quality;

[0092] The robot arm joint fault discrimination information generating module 74 is used to generate the robot arm joint fault discrimination information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the robot arm joint fault discrimination information is used to determine the robot arm joint with fault.

[0093] Optionally, the system 70 further includes:

[0094] A stacking number set acquisition module: used to acquire a preset stacking number set and acquire first number information of a first battery stack, wherein the stacking number set includes a plurality of stacking number information arranged from first to last according to stacking time, the first battery stack is used to describe a hydrogen fuel cell stack with unqualified stacking quality, and the first number information is used to describe the stacking number information of the first battery stack;

[0095] A second numbering information determination module is used to determine the second numbering information of a second battery stack based on the stacking number set and the first numbering information, wherein the second battery stack is used to describe a hydrogen fuel cell stack with qualified stacking quality and an earlier stacking time than the first battery stack, and the second numbering information is adjacent to the first numbering information.

[0096] Accordingly, the reference joint motion trajectory information acquisition module 73 includes:

[0097] A historical joint motion trajectory information acquisition submodule: used to acquire historical joint motion trajectory information of the robot arm joint based on the second number information, wherein the historical joint motion trajectory information is used to describe the motion trajectory of the robot arm joint in the whole process of stacking the second battery stack of the multi-joint robot arm;

[0098] The reference joint motion trajectory information determination submodule is used to determine the historical joint motion trajectory information as the reference joint motion trajectory information.

[0099] Optionally, the above-mentioned robot arm joint fault identification information generating module 74 includes:

[0100] A three-dimensional space coincidence trajectory information generation submodule: used to generate three-dimensional space coincidence trajectory information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the three-dimensional space coincidence trajectory information is used to describe the trajectory segment that coincides between the full-process joint motion trajectory information and the reference joint motion trajectory information;

[0101] Total distance information acquisition submodule: used for acquiring first total distance information of three-dimensional space coincidence trajectory information and second total distance information of whole-process joint motion trajectory information based on a preset Euclidean distance calculation function;

[0102] Track coincidence information generating submodule: used to generate track coincidence information according to the ratio of the first total distance information divided by the second total distance information;

[0103] Track coincidence information comparison submodule: used to compare track coincidence information with preset reference coincidence information;

[0104] Robot arm joint fault discrimination information generation submodule: used to generate robot arm joint fault discrimination information if the trajectory coincidence information is less than or equal to the reference coincidence information.

[0105] Optionally, the system 70 further includes:

[0106] Joint motion deviation trajectory information generation module: used to generate joint motion deviation trajectory information according to the whole process joint motion trajectory information and the three-dimensional space coincidence trajectory information, wherein the joint motion deviation trajectory information is used to describe the trajectory segment in the whole process joint motion trajectory information except the three-dimensional space coincidence trajectory information;

[0107] The initial offset coordinate information determination module is used to determine the initial offset coordinate information according to the starting endpoint of the joint motion deviation trajectory information, wherein the starting endpoint is used to describe the endpoint with the earliest acquisition time in the joint motion deviation trajectory information, and the initial offset coordinate information is used to describe the full-process three-dimensional measured coordinate information corresponding to the starting endpoint;

[0108] Theoretical parameter coordinate information acquisition module: used to obtain the theoretical parameter coordinate information of the starting endpoint;

[0109] Offset direction vector information generation module: used to generate offset direction vector information according to initial offset coordinate information and theoretical parameter coordinate information;

[0110] Corrected reference data set generation module: used to generate a corrected reference data set based on initial offset coordinate information, theoretical parameter coordinate information and offset direction vector information.

[0111] Optionally, the system 70 further includes:

[0112] A deviation coordinate information determination module: used to determine a plurality of deviation coordinate information based on the joint motion deviation trajectory information, wherein the deviation coordinate information is used to describe a plurality of full-process three-dimensional measured coordinate information corresponding to the joint motion deviation trajectory information;

[0113] Sampling recommendation information generation module: used to trigger the generation of sampling recommendation information when the full-process three-dimensional measured coordinate information of the robot arm joint coincides with the deviation coordinate information again.

[0114] It should be noted that the information interaction, execution process and other contents between the above-mentioned modules are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0115] The present application also provides a terminal device, such as Figure 8 As shown, the terminal device 80 of this embodiment includes: a processor 81, a memory 82, and a computer program 83 stored in the memory 82 and executable on the processor 81. When the processor 81 executes the computer program 83, the steps in the above-mentioned fault analysis method embodiment are implemented, for example Figure 1 Steps S100 to S400 shown; or, when the processor 81 executes the computer program 83, the functions of each module in the above device are realized, for example Figure 7 The functions of the modules 71 to 74 are shown.

[0116] The terminal device 80 may be a computing device such as a desktop computer, a notebook, a PDA, or a cloud server, and the terminal device 80 includes but is not limited to a processor 81 and a memory 82. Those skilled in the art will appreciate that Figure 8 It is only an example of the terminal device 80 and does not constitute a limitation of the terminal device 80. It may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, the terminal device 80 may also include input and output devices, network access devices, buses, etc.

[0117] Among them, the processor 81 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.; the general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0118] The memory 82 may be an internal storage unit of the terminal device 80, such as a hard disk or memory of the terminal device 80, or an external storage device of the terminal device 80, such as a plug-in hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. equipped on the terminal device 80; further, the memory 82 may include both an internal storage unit and an external storage device of the terminal device 80, and the memory 82 may also store a computer program 83 and other programs and data required by the terminal device 80, and the memory 82 may also be used to temporarily store data that has been output or is to be output.

[0119] An embodiment of the present application also provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the steps of each of the above method embodiments can be implemented. Among them, the computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form, etc.; the computer-readable medium may include: any entity or device that can carry computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0120] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, all equivalent changes made according to the methods, principles, and structures of the present application should be included in the protection scope of the present application.

Claims

1. A fault analysis method based on a transfer robot arm, applied to a multi-joint robot arm, the multi-joint robot arm comprising a plurality of robot arm joints, the multi-joint robot arm being used to transfer a battery stack module on a first workbench to a stacking workbench, characterized in that: The method comprises: In response to the unqualified fuel cell stack determination information, a full-process three-dimensional measured coordinate set corresponding to each of the robotic arm joints is obtained, wherein the unqualified fuel cell stack determination information is used to describe a hydrogen fuel cell stack determined to have unqualified stacking quality on the stacking workbench, and the full-process three-dimensional measured coordinate set includes a plurality of full-process three-dimensional measured coordinate information, and the full-process three-dimensional measured coordinate information is used to describe the actual measured coordinates corresponding to a specified instantaneous posture of the multi-joint robotic arm in the full process of stacking the hydrogen fuel cell stack by the multi-joint robotic arm, and the specified instantaneous posture is used to describe the posture corresponding to the moment when the multi-joint robotic arm stacks the fuel cell stack module on the stacking workbench; For each of the robotic arm joints: generating full-process joint motion trajectory information according to the full-process three-dimensional measured coordinate set, wherein the full-process joint motion trajectory information is used to describe a trajectory that is sequentially connected by multiple full-process three-dimensional measured coordinate information in order of acquisition time from earliest to latest; Acquire preset reference joint motion trajectory information, wherein the reference joint motion trajectory information is used to describe a reference trajectory of the robot arm joint, and the reference trajectory is associated with a hydrogen fuel cell stack with qualified stacking quality; Generate mechanical arm joint fault discrimination information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the mechanical arm joint fault discrimination information is used to determine the mechanical arm joint with fault; Wherein, generating the mechanical arm joint fault identification information according to the full-process joint motion trajectory information and the reference joint motion trajectory information includes: Generate three-dimensional space overlap trajectory information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the three-dimensional space overlap trajectory information is used to describe the trajectory segment that overlaps between the full-process joint motion trajectory information and the reference joint motion trajectory information; Based on a preset Euclidean distance calculation function, obtaining first total distance information of the three-dimensional space overlap trajectory information and second total distance information of the full-process joint motion trajectory information; generating track overlap information according to a ratio of the first total distance information divided by the second total distance information; Comparing the trajectory coincidence information with preset reference coincidence information; If the trajectory overlap information is less than or equal to the reference overlap information, robot arm joint fault determination information is generated.

2. The method according to claim 1, characterized in that Before obtaining the preset reference joint motion trajectory information, the method further includes: Obtaining a preset stacking number set, and obtaining first number information of a first battery stack, wherein the stacking number set includes a plurality of stacking number information arranged from earliest to latest according to stacking time, the first battery stack is used to describe the hydrogen fuel cell stack with unqualified stacking quality, and the first number information is used to describe the stacking number information of the first battery stack; Determine second numbering information of a second battery stack based on the stacking number set and the first numbering information, wherein the second battery stack is used to describe a hydrogen fuel cell stack with qualified stacking quality and the stacking time is earlier than that of the first battery stack, and the second numbering information is adjacent to the first numbering information; Accordingly, the step of obtaining preset reference joint motion trajectory information includes: Based on the second numbering information, historical joint motion trajectory information of the robotic arm joint is obtained, wherein the historical joint motion trajectory information is used to describe the motion trajectory of the robotic arm joint in the whole process of stacking the second battery stack by the multi-joint robotic arm; The historical joint motion trajectory information is determined as the reference joint motion trajectory information.

3. The method according to claim 1, characterized in that After generating the robot arm joint fault identification information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, the method further includes: Generate joint motion deviation trajectory information according to the full-process joint motion trajectory information and the three-dimensional space coincidence trajectory information, wherein the joint motion deviation trajectory information is used to describe the trajectory segment of the full-process joint motion trajectory information except the three-dimensional space coincidence trajectory information; Determine the initial offset coordinate information according to the starting endpoint of the joint motion deviation trajectory information, wherein the starting endpoint is used to describe an endpoint with the earliest acquisition time in the joint motion deviation trajectory information, and the initial offset coordinate information is used to describe the full-process three-dimensional measured coordinate information corresponding to the starting endpoint; Obtaining theoretical parameter coordinate information of the starting endpoint; Generate offset direction vector information according to the initial offset coordinate information and the theoretical parameter coordinate information; A corrected reference data set is generated according to the initial offset coordinate information, the theoretical parameter coordinate information and the offset direction vector information.

4. The method according to claim 3, characterized in that After generating the robot arm joint fault identification information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, the method further includes: Based on the joint motion deviation trajectory information, a plurality of deviation coordinate information is determined, wherein the deviation coordinate information is used to describe the full-process three-dimensional measured coordinate information corresponding to the joint motion deviation trajectory information; When the full-process three-dimensional measured coordinate information of the robot arm joint coincides with the deviation coordinate information again, it triggers the generation of sampling recommendation information.

5. A fault analysis system based on a transfer robot arm, applied to a multi-joint robot arm, the multi-joint robot arm comprising a plurality of robot arm joints, the multi-joint robot arm being used to transfer a battery stack module on a first workbench to a stacking workbench, characterized in that: The system comprises: A full-process three-dimensional measured coordinate set acquisition module: used to respond to the unqualified battery stack determination information to acquire the full-process three-dimensional measured coordinate set corresponding to each of the robotic arm joints, wherein the unqualified battery stack determination information is used to describe the hydrogen fuel cell stack determined to have unqualified stacking quality on the stacking workbench, and the full-process three-dimensional measured coordinate set includes a plurality of full-process three-dimensional measured coordinate information, and the full-process three-dimensional measured coordinate information is used to describe the actual measured coordinates corresponding to the specified instantaneous posture of the multi-joint robotic arm in the full process of stacking the hydrogen fuel cell stack by the multi-joint robotic arm, and the specified instantaneous posture is used to describe the posture corresponding to the moment when the multi-joint robotic arm stacks the battery stack module on the stacking workbench; A full-process joint motion trajectory information generation module: for each of the robotic arm joints: generating full-process joint motion trajectory information according to the full-process three-dimensional measured coordinate set, wherein the full-process joint motion trajectory information is used to describe a trajectory that is sequentially connected by multiple full-process three-dimensional measured coordinate information in the order of acquisition time from the earliest to the latest; A reference joint motion trajectory information acquisition module: used to acquire preset reference joint motion trajectory information, wherein the reference joint motion trajectory information is used to describe the reference trajectory of the robot arm joint, and the reference trajectory is associated with a hydrogen fuel cell stack with qualified stacking quality; A mechanical arm joint fault discrimination information generation module: used to generate mechanical arm joint fault discrimination information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the mechanical arm joint fault discrimination information is used to determine the mechanical arm joint with fault; Wherein, the robot arm joint fault discrimination information generation module includes: A three-dimensional space coincidence trajectory information generation submodule: used to generate three-dimensional space coincidence trajectory information according to the full-process joint motion trajectory information and the reference joint motion trajectory information, wherein the three-dimensional space coincidence trajectory information is used to describe the trajectory segment that coincides between the full-process joint motion trajectory information and the reference joint motion trajectory information; Total distance information acquisition submodule: used for acquiring the first total distance information of the three-dimensional space coincidence trajectory information and the second total distance information of the whole-process joint motion trajectory information based on a preset Euclidean distance calculation function; A track coincidence information generating submodule: used to generate track coincidence information according to a ratio of the first total distance information divided by the second total distance information; Track coincidence information comparison submodule: used to compare the track coincidence information with preset reference coincidence information; A robot arm joint fault discrimination information generating submodule is used to generate the robot arm joint fault discrimination information if the trajectory overlap information is less than or equal to the reference overlap information.

6. The system according to claim 5, characterized in that The system further comprises: A stacking number set acquisition module: used to acquire a preset stacking number set and acquire first number information of a first battery stack, wherein the stacking number set includes a plurality of stacking number information arranged from earliest to latest according to stacking time, the first battery stack is used to describe the hydrogen fuel cell stack with unqualified stacking quality, and the first number information is used to describe the stacking number information of the first battery stack; A second numbering information determination module: used to determine the second numbering information of a second battery stack based on the stacking number set and the first numbering information, wherein the second battery stack is used to describe a hydrogen fuel cell stack with qualified stacking quality and the stacking time is earlier than that of the first battery stack, and the second numbering information is adjacent to the first numbering information.

7. A terminal device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 4 are implemented.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 4 are implemented.

Images