Collaborative robot braking test method, device, system and equipment and storage medium

Abstract

The invention relates to a collaborative robot braking test method, device and system, computer equipment, a computer readable storage medium and a computer program product. The method comprises the steps that under the condition that it is determined that the collaborative robot is in a braking state, a laser measuring device is controlled to collect multiple pieces of position information of the tail end of a mechanical arm of the collaborative robot in the braking period and the collection moments of the position information; and the braking time and the braking distance of the mechanical arm are determined based on the position information and the collection time of the position information. By adopting the method, the braking test precision of the collaborative robot can be improved.

Description

Technical Field

[0001] The present application relates to the field of robot testing technology, and in particular to a collaborative robot braking testing method, apparatus, system, computer equipment, computer-readable storage medium, and computer program product. Background Art

[0002] With the rapid development of industrial automation, robots have gradually become the main force in the field of modern manufacturing. In order to ensure the efficient, accurate and safe operation of robots, the braking test of robots is particularly critical.

[0003] At present, the braking test methods for robots include braking test based on limit switches and braking test using software simulation. The braking test method based on limit switches for collaborative robots lacks flexibility and accuracy. Due to the limitations of the algorithm, the real-time and accuracy of the braking test method based on software simulation often cannot meet actual needs. It can be seen that the testing accuracy of the existing braking test methods for collaborative robots is not high. Summary of the invention

[0004] Based on this, it is necessary to provide a braking test method, device, system, computer equipment, computer-readable storage medium and computer program product that can improve the accuracy of braking test results in response to the above technical problems.

[0005] In a first aspect, the present application provides a collaborative robot braking test method, comprising:

[0006] When it is determined that the collaborative robot is in a braking state, controlling the laser measuring device to collect multiple position information of the end of the mechanical arm of the collaborative robot during the braking period, as well as the collection time of each position information;

[0007] Based on each position information and the time when the position information is collected, the braking time and braking distance of the robot arm are determined.

[0008] In one embodiment, determining the braking time and braking distance of the robot arm based on each position information and the time when the position information is collected includes:

[0009] Based on each position information and the time when the position information is collected, determine the braking start time and the braking end time;

[0010] Determine the braking time based on the braking start time and the braking end time;

[0011] The braking distance is determined based on the position information corresponding to the braking start time and the position information corresponding to the braking end time.

[0012] In one embodiment, determining the braking start time based on the position information and the acquisition time includes:

[0013] Determine the braking speed of the robot arm between two adjacent acquisition moments, and obtain the braking speed in multiple time periods;

[0014] Analyze the speed change trends of multiple braking speeds and determine the braking start time.

[0015] In one embodiment, determining the braking start time based on the position information and the acquisition time includes:

[0016] Determine the moving distance of the robot arm between two adjacent acquisition moments, and compare the moving distance with a preset moving distance threshold;

[0017] When a target moving distance less than a preset moving distance threshold is detected, the braking end time is determined based on the collection time corresponding to the target moving distance.

[0018] In one of the embodiments, the braking state includes an emergency stop state, a power off state, and a driving abnormality state.

[0019] In one embodiment, after determining the braking time and braking distance of the robot arm, the method includes:

[0020] Evaluate the braking performance of the robot arm based on braking time and braking distance;

[0021] When the braking performance of the robot arm does not meet the preset performance requirements, adjust the control parameters of the robot arm.

[0022] In a second aspect, the present application also provides a collaborative robot brake testing device, comprising:

[0023] A data acquisition module, for controlling the laser measuring device to acquire multiple position information of the end of the mechanical arm of the collaborative robot during the braking period and the acquisition time of each position information when it is determined that the collaborative robot is in a braking state;

[0024] The data determination module is used to determine the braking time and braking distance of the robot arm based on each position information and the collection time of the position information.

[0025] In a third aspect, the present application also provides a collaborative robot brake test system, including a target ball, a laser measuring device and a controller, wherein the target ball is arranged at the end of the mechanical arm of the collaborative robot, and the laser measuring device and the collaborative robot are respectively connected to the controller:

[0026] The laser measuring device is used to respond to the data collection instruction sent by the controller, emit a laser beam to the target ball, receive the laser beam reflected by the target ball, and determine multiple position information of the end of the robot arm during braking of the collaborative robot, record the collection time of each position information, and send each position information and the collection time of each position information to the controller;

[0027] The controller is used to send a data acquisition instruction to the laser measuring device when it is determined that the collaborative robot is in a braking state, and based on the received position information and the acquisition time of each position information, execute the steps in any of the above-mentioned collaborative robot braking test method embodiments to perform a braking test on the collaborative robot.

[0028] In a fourth aspect, the present application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned collaborative robot braking test method when executing the computer program.

[0029] In a fifth aspect, the present application also provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned collaborative robot braking test method is implemented.

[0030] In a sixth aspect, the present application also provides a computer program product, including a computer program, which implements the above-mentioned collaborative robot braking test method when executed by a processor.

[0031] The above-mentioned collaborative robot braking test method, device, system, computer equipment, computer-readable storage medium and computer program product introduce a laser measurement method. When the collaborative robot is detected to be in a braking state, the laser measurement device is immediately controlled to collect multiple position information of the end of the mechanical arm of the collaborative robot during braking, as well as the collection time of each position information. Since the laser measurement device has a precise mechanical design and can perform high-precision measurement at the millisecond level based on the optical measurement principle, the position information of the end of the mechanical arm can be accurately and real-time collected through the laser measurement device. Then, based on the precise position information and the collection time of the position information, the braking time and braking distance of the mechanical arm are determined, and the millisecond-level braking response is achieved, thereby realizing a high-precision braking test of the collaborative robot and reducing the complexity and cost of the braking test. Further, the efficiency and safety of the braking test are improved, the trial and error cost is reduced, and it is conducive to evaluating the braking performance of the collaborative robot, thereby improving the stability, reliability and safety of the braking system of the collaborative robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1 A diagram showing an application environment of a collaborative robot braking test method in one embodiment;

[0034] Figure 2 A schematic diagram of a process of a collaborative robot braking test method in one embodiment;

[0035] Figure 3 A schematic diagram of a process flow of a collaborative robot braking test method in another embodiment;

[0036] Figure 4 A schematic diagram of a process of a collaborative robot braking test method in yet another embodiment;

[0037] Figure 5 A schematic diagram of a process of a collaborative robot braking test method in yet another embodiment;

[0038] Figure 6 A schematic diagram of a process flow of a collaborative robot braking test method in a detailed embodiment;

[0039] Figure 7 is a structural block diagram of a collaborative robot braking test device in one embodiment;

[0040] Figure 8 is a structural block diagram of a collaborative robot brake testing system in one embodiment;

[0041] Fig. 9 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0043] The collaborative robot braking test method provided in the embodiment of the present application can be applied to Figure 1In the control module of the collaborative robot braking test system shown, the collaborative robot braking test system includes a laser measuring device 140 and a control module 160. The laser measuring device 140 and the collaborative robot (not shown in the figure, only the robotic arm of the collaborative robot is shown) are respectively connected to the control module 160. When the control module 160 determines that the collaborative robot is in a braking state, it sends a data acquisition instruction to the laser measuring device 140. In response to the data acquisition instruction, the laser measuring device 140 emits a laser beam to the end of the robotic arm, receives the reflected laser beam, and determines multiple position information of the end of the robotic arm of the collaborative robot during braking, records the acquisition time of each position information, and sends each position information and the acquisition time of each position information to the control module 160. The control module 160 determines the braking time and braking distance of the robotic arm based on the received position information and the acquisition time of each position information. In this way, the collaborative robot is braked in the above manner.

[0044] The control module can be integrated in a device terminal, which is not limited to a personal computer, a laptop computer, an IoT device, etc. It can also be integrated in a control platform of a collaborative robot or an electrical control box or other electrical equipment that controls the collaborative robot.

[0045] In an exemplary embodiment, Figure 2 As shown, a collaborative robot braking test method is provided, and the method is applied to Figure 1 The control module of the collaborative robot brake test system in the embodiment is taken as an example to illustrate, including the following S100 to S200. Among them:

[0046] S100, when it is determined that the collaborative robot is in a braking state, controlling the laser measurement device to collect multiple position information of the end of the robotic arm of the collaborative robot during braking, as well as the collection time of each position information.

[0047] Among them, the collaborative robot includes but is not limited to a six-degree-of-freedom collaborative robot or an industrial robot with a robotic arm. The braking state of the robot may refer to the state in which the collaborative robot decelerates until it stops moving when encountering specific conditions or receiving instructions. Specifically, the braking state of the collaborative robot may include a state in which the collaborative robot is passively braked after receiving an emergency stop command, or a state in which the collaborative robot's collision detection function automatically brakes when it detects a collision, etc. Detecting whether the collaborative robot is in a braking state may be determined by a control platform or an electric control box used to control the operation of the collaborative robot, or by a sensor configured with the collaborative robot. Exemplarily, a collaborative robot braking state reading command may be sent to the electric control box, and the electric control box detects whether the collaborative robot is in a braking state, and feeds back the detection result of whether it is in a braking state to the control module, so that the control module determines whether the collaborative robot is in a braking state.

[0048] The position information of the end of the robot arm is a three-dimensional coordinate. The laser measurement device can be a laser tracker or other device that uses light reflection, An instrument that measures the three-dimensional position of a target based on principles such as laser measurement and photoelectric signal conversion. Taking a laser measuring device such as a laser tracker as an example, when using a laser tracker to measure the three-dimensional coordinates of the end of the robotic arm of a collaborative robot, a reflector for reflecting the laser beam can be set at the end of the robotic arm. The laser tracker emits the laser beam to the reflector at the end of the robotic arm, which is reflected back to the laser tracker by the reflector. The sensor inside the laser tracker can record the time difference between the emission of the laser beam and the reception of the reflected laser beam, and the horizontal angle, vertical angle and distance of the reflector relative to the laser tracker are calculated using triangulation to obtain the three-dimensional coordinates of the reflector.

[0049] In practical applications, the time interval for the laser tracker to collect position information can be set according to a preset time interval. Exemplarily, the laser tracker is set to collect the position information of the end of the robotic arm every 10 milliseconds. When the operating platform for controlling the collaborative robot detects that the collaborative robot is in a braking state, the laser measuring device is controlled to interact with the reflector at the end of the robotic arm to collect multiple position information of the end of the robotic arm during braking at a time interval of 10 milliseconds, as well as the collection time corresponding to each position information. It can be understood that the data sampling period, in addition to 10 milliseconds, can also be 5 milliseconds, 20 milliseconds, 100 milliseconds or 500 milliseconds in other embodiments, and is not limited here.

[0050] S200, determining the braking time and braking distance of the robot arm based on each position information and the time when the position information is collected.

[0051] After collecting multiple position information of the robotic arm during braking and the corresponding collection time, the braking speed of the robotic arm in different time periods can be calculated based on the multiple position information and the corresponding collection time, and the response time of the robotic arm before starting braking and the deceleration time from the start of braking to the end of braking can be determined based on the braking speed. The braking time of the robotic arm can be determined based on the response time and the deceleration time, and the braking distance can be determined based on the position information corresponding to the braking time.

[0052] In the above-mentioned collaborative robot braking test method, a laser measurement method is introduced. When the collaborative robot is detected to be in a braking state, the laser measurement device is immediately controlled to collect multiple position information of the end of the mechanical arm of the collaborative robot during braking, as well as the collection time of each position information. Since the laser measurement device has a precision mechanical design and can perform high-precision measurement at the millisecond level based on the optical measurement principle, the position information of the end of the mechanical arm can be accurately and real-time collected through the laser measurement device. Then, based on the precise position information and the collection time of the position information, the braking time and braking distance of the mechanical arm are determined, and the millisecond-level braking response is achieved, thereby realizing a high-precision braking test of the collaborative robot and reducing the complexity and cost of the braking test. Further, the efficiency and safety of the braking test are improved, the trial and error cost is reduced, which is conducive to evaluating the braking performance of the collaborative robot, thereby improving the stability, reliability and safety of the braking system of the collaborative robot.

[0053] In order to accurately obtain the braking test results of the collaborative robot, in an exemplary embodiment, as Figure 3 As shown, S200 includes S220 to S260. Among them:

[0054] S220, determining a braking start time and a braking end time based on each piece of position information and the time when the position information is collected.

[0055] The braking start time is the time when the robot arm starts to decelerate, and the braking end time is the time when the robot arm speed decreases to near zero. The braking speed of the robot arm in multiple collection time intervals can be calculated through each position information and the collection time of the position information, and the braking start time when the robot arm starts to decelerate and the braking end time when the robot arm deceleration is near zero can be determined based on the multiple braking speeds.

[0056] S240, determining the braking time based on the braking start time and the braking end time.

[0057] The braking time is the time difference between the braking start time and the braking end time. For example, the braking start time is The braking end time is , then the braking time .

[0058] S260, determining a braking distance based on the position information corresponding to the braking start time and the position information corresponding to the braking end time.

[0059] The braking distance is the distance moved by the end of the robot arm between the start time of braking and the end time of braking. For example, the position information of the end of the robot arm at the start time of braking is , the position information of the end of the robot arm at the end of braking is , the braking distance is .

[0060] In some embodiments, the response speed of the robot arm to the braking command is also crucial. A quick response can effectively prevent collisions and accidents. Therefore, when determining the braking time of the robot arm, the response time of the robot arm to braking can also be considered. Specifically, the time difference between the collection moment corresponding to the first position information collected and the start moment of braking can be determined as the response time of the robot arm. The braking time of the robot arm must also be added with the response time. In this way, the braking performance can be comprehensively evaluated based on the response time of the robot arm and the time to execute braking.

[0061] In this embodiment, based on the position information of the end of the robot arm collected by the laser measuring device and the time when the position information is collected, the braking start time and the braking end time of the robot performing the braking operation are determined, which is beneficial to improving the precision and accuracy of the braking test results. The braking time is determined based on the braking start time and the braking end time, and the braking distance is determined based on the position information corresponding to the braking start time and the position information corresponding to the braking end time, thereby improving the precision and accuracy of the braking test results.

[0062] In order to accurately obtain the braking test results of the collaborative robot, the braking start time is determined by observing the braking speed change of the robot arm. In an exemplary embodiment, Figure 4 As shown, S220 also includes S222 to S224. Among them:

[0063] S222, determining the braking speed of the robot arm between two adjacent collection moments, and obtaining the braking speed in multiple time periods.

[0064] S224, analyzing the speed change trends of multiple braking speeds to determine the braking start time.

[0065] After obtaining multiple position information of the end of the robotic arm of the collaborative robot in the braking state collected by the laser measuring device and the collection time of each position information, for different collection times Location information , two adjacent collection times and The time interval is , the moving distance is , then the braking speed of the robot arm in two adjacent moments It can be approximately calculated as: , and obtain the braking speed of the robot in multiple time periods.

[0066] After obtaining the braking speeds in multiple time periods, the differential method can be used to analyze the speed change trends of multiple braking speeds according to the collection time, and the first collection time when deceleration occurs can be determined as the braking start time.

[0067] In this embodiment, by determining the braking speed of the robotic arm within two adjacent acquisition moments, the braking speed within multiple time periods is obtained, and by analyzing the speed change trends of multiple braking speeds, the braking start time when the collaborative robot performs the braking operation is determined, which is beneficial to improving the accuracy of determining the braking time and braking distance of the collaborative robot based on the braking start time.

[0068] The braking end time is determined by the change in the moving distance of the robot arm. In an exemplary embodiment, Figure 5 As shown, S220 also includes S226 to S228. Among them:

[0069] S226, determining the moving distance of the robot arm between two adjacent collection moments, and comparing the moving distance with a preset moving distance threshold.

[0070] S228, when a target moving distance less than a preset moving distance threshold is detected, a braking end time is determined based on a collection time corresponding to the target moving distance.

[0071] Following the above embodiment, for different collection times Location information , at two adjacent collection times and Between two adjacent collection moments and The moving distance of the robot arm is The preset moving distance threshold can be determined according to the motion accuracy of the collaborative robot and the measurement accuracy of the laser measuring device. For example, the moving distance threshold can be set to 0.11 mm. Starting from the first time interval in the order of the acquisition moments, the moving distance of the robot arm is compared with the preset moving distance threshold. It is understandable that the moving distance threshold can be 0.05 mm, 0.2 mm or 0.3 mm in other embodiments in addition to 0.11 mm, which is not limited here.

[0072] When it is detected that the moving distance of the robot arm is less than the preset moving distance threshold, the collection time corresponding to the moving distance less than the preset moving distance threshold is determined, and the larger collection time among the collection times is determined as the braking end time.

[0073] In this embodiment, by setting a moving distance threshold and comparing the moving distance of the robot arm between two adjacent acquisition moments with the moving distance threshold, the braking end moment can be determined quickly and efficiently, thereby improving the efficiency of the braking test.

[0074] In an exemplary embodiment, the braking state of the collaborative robot includes an emergency stop state, a power-off state, and a drive abnormal state. When the collaborative robot is detected to be in any of the braking states of the emergency stop state, the power-off state, or the drive abnormal state, the laser measurement device is controlled to collect multiple position information of the end of the mechanical arm of the collaborative robot during the braking period, as well as the collection time of each position information. Among them:

[0075] The emergency stop state can include the state where the robot arm actively performs an emergency stop, and the state where the robot arm is passively stopped by human control. Specifically, active emergency stop can be: the robot arm will actively perform an emergency stop when the collision detection system detects a collision, when the load of the robot arm exceeds the threshold, or when the safety area is detected to be invaded; passive emergency stop can be when the robot arm is controlled to perform an emergency stop by manually pressing the emergency stop button.

[0076] The power-off state may refer to the state in which the motor of the robot arm loses power and brakes due to power failure or other reasons. The drive abnormal state may refer to the supply voltage of the robot arm's driver being undervoltage or overvoltage, driver failure, etc. When the robot arm is in the drive abnormal state, the robot arm will brake due to the safety mechanism of the braking system.

[0077] The collaborative robot's electronic control box can control the collaborative robot's movement, obtain the robot's sensor data, monitor the collaborative robot's working status and braking status, and also provide feedback on the collaborative robot's relevant information.

[0078] In practical applications, to detect whether the collaborative robot is in a braking state, a command for reading the braking state of the collaborative robot can be constructed and sent to the electric control box. According to the result returned by the electric control box for the command, it is determined whether the collaborative robot is in any braking state, such as an emergency stop state, a power-off state, or an abnormal drive state. When it is detected that the collaborative robot is in any of the aforementioned braking states, the laser measurement device is controlled to collect the position information of the end of the robotic arm and the collection time of each position.

[0079] In this embodiment, by dividing the collaborative robot into different braking states, it is beneficial to perform braking tests on the collaborative robot according to different braking states, and obtain braking test results under different braking states, which is beneficial to conduct multi-faceted evaluation of the braking performance of the collaborative robot and improve the safety and reliability of the collaborative robot operation.

[0080] In an exemplary embodiment, after S260, S270 to S280 are included. Among them:

[0081] S270, evaluating the braking performance of the robot arm based on the braking time and the braking distance.

[0082] S280: When the braking performance of the robot arm does not meet the preset performance requirements, adjust the control parameters of the robot arm.

[0083] The braking performance of the robot arm can be evaluated by comparing the braking time and braking distance with the preset braking performance standard of the robot arm. The preset braking performance standard can be determined according to international standards or the braking performance standard of the collaborative robot manufacturer.

[0084] If the braking performance of the robot arm does not meet the preset braking performance standard, it indicates that the braking performance of the robot arm does not meet the performance requirements. The execution performance can be improved by adjusting the control parameters of the robot arm, such as acceleration and deceleration rates, maximum movement speed, maximum torque, maximum load, etc.

[0085] In other embodiments, the adjustment operation of the robot arm may also include checking whether the robot's braking system is faulty, and if so, repairing the braking system; checking whether the robot's control software is the latest version, and upgrading the robot's control software to the latest version; calibrating the position data measured by the laser measuring device, etc. After the adjustment operation of the robot arm, the collaborative robot may be retested for braking to evaluate whether the braking performance of the robot arm meets the preset performance requirements.

[0086] In another embodiment, following the above embodiment, the specific braking state of the collaborative robot can be determined by the electrical control box of the collaborative robot, and the braking performance of the robot arm can be evaluated according to the specific braking state and the corresponding braking time and braking distance. It can be understood that the braking time and braking distance of the collaborative robot in the emergency stop state, power-off state and drive error state may be different, and different braking performance standards can be set according to different braking states, so as to evaluate the braking performance of the robot arm in different braking states according to different braking performance standards. On this basis, the braking performance of the robot arm can also be evaluated in combination with the load of the robot arm in different braking states, which is conducive to improving the accuracy of the braking test.

[0087] In this embodiment, after determining the braking time and braking distance of the collaborative robot, the braking performance of the robotic arm is evaluated based on the braking time and braking distance. Therefore, if the braking performance of the robotic arm does not meet the preset performance requirements, the control parameters of the robotic arm are adjusted, thereby improving the safety and reliability of the collaborative robot's operation.

[0088] In order to make a clearer description of the collaborative robot braking test method provided by the present application, the following is a specific embodiment and the attached Figure 6 To illustrate, this specific embodiment includes the following steps:

[0089] S1, when it is determined that the collaborative robot is in a braking state, control the laser measuring device to collect multiple position information of the end of the robotic arm of the collaborative robot during braking, as well as the collection time of each position information. The braking state includes an emergency stop state, a power-off state, and a drive abnormality state.

[0090] S2, determining the braking speed of the robot arm between two adjacent acquisition moments, obtaining the braking speed in multiple time periods, analyzing the speed change trends of the multiple braking speeds, and determining the braking start time.

[0091] S3, determining the moving distance of the robot arm between two adjacent acquisition moments, and comparing the moving distance with a preset moving distance threshold.

[0092] S4, when a target moving distance less than a preset moving distance threshold is detected, a braking end time is determined based on a collection time corresponding to the target moving distance.

[0093] S5, determining the braking time based on the braking start time and the braking end time, and determining the braking distance based on the position information corresponding to the braking start time and the position information corresponding to the braking end time.

[0094] S6, evaluating the braking performance of the robot arm based on the braking time and the braking distance, and adjusting the control parameters of the robot arm when the braking performance of the robot arm does not meet the preset performance requirements.

[0095] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0096] In an exemplary embodiment, Figure 7As shown, a collaborative robot brake test device 600 is provided, which is applied to a control module of a collaborative robot brake test system. The collaborative robot brake test system includes a controller, and a collaborative robot and a laser measuring device that are communicatively connected to the controller. The collaborative robot brake test device 600 includes: a data acquisition module 610 and a data determination module 620, wherein:

[0097] The data acquisition module 610 is used to control the laser measurement device to collect multiple position information of the end of the mechanical arm of the collaborative robot during braking, as well as the collection time of each position information, when it is determined that the collaborative robot is in a braking state.

[0098] The data determination module 620 is used to determine the braking time and braking distance of the robot arm based on each position information and the collection time of the position information.

[0099] In an exemplary embodiment, the data determination module 620 is also used to determine the braking start time and the braking end time based on each position information and the time when the position information is collected, determine the braking time based on the braking start time and the braking end time, and determine the braking distance based on the position information corresponding to the braking start time and the position information corresponding to the braking end time.

[0100] In an exemplary embodiment, the data determination module 620 is also used to determine the braking speed of the robot arm between two adjacent acquisition moments, obtain the braking speed in multiple time periods, analyze the speed change trends of multiple braking speeds, and determine the braking start time.

[0101] In an exemplary embodiment, the data determination module 620 is also used to determine the moving distance of the robot arm between two adjacent collection moments, and compare the moving distance with a preset moving distance threshold. When a target moving distance less than the preset moving distance threshold is detected, the braking end time is determined based on the collection moment corresponding to the target moving distance.

[0102] In an exemplary embodiment, the data acquisition module 610 is also used to control the laser measurement device to collect multiple position information of the end of the robotic arm of the collaborative robot during braking, as well as the collection time of each position information, when it is determined that the collaborative robot is in a braking state. The braking state includes an emergency stop state, a power off state, and a drive abnormality state.

[0103] In an exemplary embodiment, the data determination module 620 is also used to evaluate the braking performance of the robotic arm based on the braking time and braking distance after determining the braking time and braking distance of the robotic arm, and adjust the control parameters of the robotic arm if the braking performance of the robotic arm does not meet preset performance requirements.

[0104] Each module in the collaborative robot brake testing device 600 can be implemented in whole or in part by software, hardware, or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0105] In an exemplary embodiment, Figure 8 As shown, a collaborative robot brake test system is provided, including a target ball 120, a laser measuring device 140 and a controller 160, wherein the target ball 120 is arranged at the end of the mechanical arm of the collaborative robot, and the laser measuring device 140 and the collaborative robot are respectively connected to the controller 160;

[0106] The laser measuring device 140 is used to respond to the data collection instruction sent by the controller 160, emit a laser beam to the target ball 120, receive the laser beam reflected back by the target ball, and determine multiple position information of the end of the robot arm during braking of the collaborative robot, record the collection time of each position information, and send each position information and the collection time of each position information to the controller.

[0107] The controller 160 is used to send a data acquisition instruction to the laser measuring device 140 when it is determined that the collaborative robot is in a braking state, and based on the received position information and the acquisition time of each position information, execute the steps in any of the above-mentioned collaborative robot braking test method embodiments to perform a braking test on the collaborative robot.

[0108] The laser measuring device 140 may include, but is not limited to, a laser tracker or a laser interferometer.

[0109] Exemplarily, the laser measuring device 140 is a laser tracker. In practical applications, the controller 160 may construct a collaborative robot braking state reading command, and send the collaborative robot braking state reading command to the electric control box. The electric control box receives the command and obtains the state information of the robotic arm through the robotic arm control interface in the robotic arm software development kit. The state information can directly represent whether the robotic arm is in an emergency stop state, a power-off state, or a drive abnormal state. Subsequently, the electric control box feeds back the state information to the controller 160. The controller 160 determines whether the collaborative robot is in any of the braking states including the emergency stop state, the power-off state, or the drive abnormal state according to the state information returned by the electric control box. When it is determined that the collaborative robot is in any of the braking states, the data acquisition instruction is sent to the laser tracker.

[0110] The laser tracker responds to the data acquisition instruction sent by the controller 160, emits a laser beam to the target ball 120 at the end of the robotic arm, and receives the laser beam reflected back by the target ball 120. The sensor inside the laser tracker 140 can record the time difference between the emission of the laser beam and the reception of the reflected laser beam, and use the triangulation method to calculate the horizontal angle, vertical angle and distance of the reflector relative to the laser tracker to obtain the three-dimensional coordinates of the target ball, that is, the position information of the end of the robotic arm, thereby determining multiple position information of the end of the robotic arm of the collaborative robot during braking, recording the collection time of each position information, and sending each position information and the collection time of each position information to the controller 160.

[0111] The controller 160 executes the above-mentioned braking test method of the collaborative robot based on the received position information and the collection time of each position information, and performs a braking test on the collaborative robot.

[0112] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig. 9 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. Among them, the processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a collaborative robot braking test method is implemented.

[0113] Those skilled in the art will understand that Fig. 9 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0114] In an exemplary embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, the steps in any one of the above-mentioned collaborative robot braking test method embodiments are implemented.

[0115] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in any one of the above-mentioned collaborative robot braking test method embodiments are implemented.

[0116] In one embodiment, a computer program product is provided, including a computer program, which, when executed by a processor, implements the steps in any one of the above-mentioned collaborative robot braking test method embodiments.

[0117] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0118] A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0119] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0120] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A collaborative robot braking test method, characterized in that: The method comprises: When it is determined that the collaborative robot is in a braking state, controlling the laser measuring device to collect a plurality of position information of the end of the mechanical arm of the collaborative robot during the braking period, as well as the collection time of each piece of the position information; Based on each piece of position information and the time at which the position information is collected, the braking time and braking distance of the robotic arm are determined.

2. The method according to claim 1, characterized in that The determining of the braking time and braking distance of the robot arm based on each of the position information and the acquisition time of the position information includes: Determine a braking start time and a braking end time based on each of the position information and the time at which the position information is collected; Determining the braking time based on the braking start time and the braking end time; The braking distance is determined based on the position information corresponding to the braking start time and the position information corresponding to the braking end time.

3. The method according to claim 2, characterized in that Determining the braking start time based on the position information and the acquisition time includes: Determine the braking speed of the mechanical arm at two adjacent acquisition moments, and obtain the braking speed in multiple time periods; Analyze the speed change trends of the multiple braking speeds to determine the braking start time.

4. The method according to claim 2, characterized in that: Determining the braking start time based on the position information and the acquisition time includes: Determine the movement distance of the robot arm between two adjacent acquisition moments, and compare the movement distance with a preset movement distance threshold; When a target moving distance less than a preset moving distance threshold is detected, the braking end time is determined based on the collection time corresponding to the target moving distance.

5. The method according to any one of claims 1 to 4, characterized in that: The braking state includes an emergency stop state, a power-off state and a driving abnormality state.

6. The method according to claim 1, characterized in that After determining the braking time and braking distance of the mechanical arm, the method further comprises: Based on the braking time and the braking distance, evaluating the braking performance of the robotic arm; When the braking performance of the robotic arm does not meet the preset performance requirements, the control parameters of the robotic arm are adjusted.

7. A collaborative robot brake testing device, characterized in that: The device comprises: A data acquisition module, for controlling the laser measurement device to acquire a plurality of position information of the end of the mechanical arm of the collaborative robot during the braking period and the acquisition time of each position information when it is determined that the collaborative robot is in a braking state; The data determination module is used to determine the braking time and braking distance of the robot arm based on each of the position information and the collection time of the position information.

8. A collaborative robot brake test system, characterized in that: The system includes a target ball, a laser measuring device and a controller, wherein the target ball is arranged at the end of the mechanical arm of the collaborative robot, and the laser measuring device and the collaborative robot are respectively connected to the controller: The laser measuring device is used to respond to the data collection instruction sent by the controller, emit a laser beam to the target ball, receive the laser beam reflected by the target ball, and determine multiple position information of the end of the mechanical arm of the collaborative robot during braking, record the collection time of each piece of the position information, and send each piece of the position information and the collection time of each piece of the position information to the controller; The controller is used to send a data acquisition instruction to the laser measuring device when it is determined that the collaborative robot is in a braking state, and, based on the received multiple position information of the end of the robotic arm of the collaborative robot during braking and the acquisition time of each position information, execute the method according to any one of claims 1 to 6 to perform a braking test on the collaborative robot.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, 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 6 are implemented.

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