Test method and system of release mechanism, electronic equipment and storage medium

Abstract

The invention discloses a test method and system of a release mechanism, electronic equipment and a storage medium, and relates to the technical field of release mechanism test.The method comprises the steps that the motion path of a mechanical arm is configured; the control system drives the mechanical arm to move according to the motion path, so that the test tool drives the release mechanism to reach a posture corresponding to the motion path; when the releasing mechanism is in the posture corresponding to the motion path, releasing operation is executed on the releasing mechanism; and recording whether the release mechanism can be separated from the sink coupling frame when the release mechanism is in the posture into a test log. The control system drives the mechanical arm to drive the test tool to make various postures so as to change the posture of the release mechanism fixed on the test tool, so that the posture of the release mechanism on the seabed is simulated, whether the release mechanism can be successfully released in various postures is tested, and the actual release process of the release mechanism can be simulated. And the posture can be changed again for testing after testing, so that the method is more efficient and lower in cost compared with a real object throwing seabed test.

Description

Technical Field

[0001] The present application relates to the technical field of release mechanism testing, and in particular to a release mechanism testing method, system, electronic device and storage medium. Background Art

[0002] Due to the uncertainty of seawater salinity, the uncertainty of the underwater posture of the seismic receiving device, and the release mechanism being wrapped by silt and other debris, there is uncertainty as to whether the release mechanism can be melted and release the seismic receiving device. Improvement methods include mechanical improvements, such as designing a more reasonable and reliable release mechanism. The improved release mechanism generally needs to be tested to verify its effectiveness. However, it is too costly and inefficient to conduct physical tests on the seabed for each improvement. In addition, the actual seabed environment is complex, making it difficult to monitor the release process of the release mechanism. Summary of the invention

[0003] The main purpose of the embodiments of the present application is to provide a release mechanism testing method, system, electronic device and storage medium to improve the efficiency of testing the release mechanism.

[0004] To achieve the above-mentioned purpose, one aspect of an embodiment of the present application provides a test method for a release mechanism, and the test method is applied to a control system in a test device; wherein the test device comprises the control system, a mechanical arm, and a test fixture connected to the mechanical arm, and a release mechanism and a coupling frame are fixed to the test fixture;

[0005] The test method comprises the following steps:

[0006] configuring a motion path of the robotic arm;

[0007] Using the control system to drive the robot arm to move along the motion path, so that the test fixture drives the release mechanism to reach a posture corresponding to the motion path;

[0008] When the release mechanism is in the posture, performing a release operation on the release mechanism;

[0009] Whether the release mechanism can be separated from the coupling frame when in the posture is recorded in the test log.

[0010] In some embodiments, configuring the motion path of the robotic arm comprises the following steps:

[0011] A plurality of ordered motion steps are configured as the motion path of the robotic arm; wherein the motion steps include the motion axis number of the robotic arm, the rotation angle and / or number of rotations of the axis, and the motion duration.

[0012] In some embodiments, before using the control system to drive the mechanical arm to move according to the motion path, the testing method further includes the following steps:

[0013] Execute the current movement step;

[0014] Determining whether the robotic arm can move according to the motion steps;

[0015] If the robot arm can move according to the motion steps, the next motion step is used as the current motion step, and the current motion step is returned to be executed until all the motion steps of the motion path are executed;

[0016] If the robot arm cannot move according to the motion step, the current motion step is reconfigured and then the current motion step is returned to be executed.

[0017] In some embodiments, the testing method further comprises the following steps:

[0018] Configure the total number of tests;

[0019] After recording in the test log whether the release mechanism can be separated from the coupling frame when in the posture, the current test number is incremented by 1 and recorded in the test log;

[0020] Return to configuring the motion path of the robotic arm until the current number of tests reaches the total number of tests.

[0021] In some embodiments, the testing method further comprises the following steps:

[0022] The test log is displayed visually; wherein the test log includes the motion path, the current test number, whether the release mechanism can be separated from the sinker when in the posture during each test, and the duration of each test.

[0023] In some embodiments, the testing method further comprises the following steps:

[0024] The movement path and / or the total number of tests are stored in the control system so that the release mechanism can be tested according to the movement path and / or the total number of tests by the testing device when power is restored after power failure.

[0025] In some embodiments, the testing method further comprises the following steps:

[0026] In response to a stop instruction, using the control system to control the robot arm to stop moving;

[0027] Display stop response information; wherein, the stop response information includes at least one of whether the robotic arm currently stops moving, the current execution node of the motion path, whether the current test performs a release operation on the release mechanism, or whether the release mechanism can be separated from the sinking coupling frame when in the current posture.

[0028] To achieve the above object, another aspect of the embodiment of the present application provides a release mechanism testing system, the testing system comprising:

[0029] A path configuration module, used to configure the motion path of the robotic arm;

[0030] A mechanical arm driving module, used for driving the mechanical arm to move along the motion path by using the control system, so that the test fixture drives the release mechanism to reach a posture corresponding to the motion path;

[0031] a mechanism release module, used for performing a release operation on the release mechanism when the release mechanism is in the posture;

[0032] The separation recording module is used to record in a test log whether the release mechanism can be separated from the coupling frame when the release mechanism is in the posture.

[0033] In some embodiments, the path configuration module includes:

[0034] A path configuration unit is used to configure a plurality of ordered motion steps as the motion path of the robotic arm; wherein the motion steps include the motion axis number of the robotic arm, the rotation angle and / or number of rotations of the axis, and the motion duration.

[0035] In some embodiments, the test system further includes a path test module, and the path test module includes:

[0036] A step testing unit, used for executing the current motion step;

[0037] A step determination unit, used to determine whether the robot arm can move according to the movement steps;

[0038] A first loop testing unit, configured to, if the robot arm can move according to the motion steps, take the next motion step as the current motion step, and return to executing the current motion step until all the motion steps of the motion path are executed;

[0039] A step modification unit is used to reconfigure the current motion step if the robot arm cannot move according to the motion step, and then return to execute the current motion step.

[0040] In some embodiments, the test system further includes a repeated test module, the repeated test module including:

[0041] The number configuration unit is used to configure the total number of tests;

[0042] A times recording unit, configured to add 1 to the current test times and record it in the test log after recording in the test log whether the release mechanism can be separated from the sinking coupling frame when the release mechanism is in the posture;

[0043] The second loop test unit is used to return to the motion path of the configured robot arm until the current test number reaches the total test number.

[0044] In some embodiments, the testing system further comprises:

[0045] A log visualization module is used to visualize the test log; wherein the test log includes the motion path, the current test number, whether the release mechanism can be separated from the sinker when in the posture during each test, and the duration of each test.

[0046] In some embodiments, the testing system further comprises:

[0047] The movement path and / or the total number of tests are stored in the control system so that the release mechanism can be tested according to the movement path and / or the total number of tests by the testing device when power is restored after power failure.

[0048] In some embodiments, the testing system further comprises:

[0049] A stop test module, used for controlling the mechanical arm to stop moving by using the control system in response to a stop instruction;

[0050] An information display module is used to display stop response information; wherein, the stop response information includes at least one of whether the robotic arm currently stops moving, the current execution node of the motion path, whether the current test performs a release operation on the release mechanism, or whether the release mechanism can be separated from the sinking coupling frame when in the current posture.

[0051] To achieve the above-mentioned purpose, another aspect of an embodiment of the present application provides an electronic device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the above-mentioned testing method of a release mechanism when executing the computer program.

[0052] To achieve the above-mentioned purpose, another aspect of 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 above-mentioned method for testing a release mechanism is implemented.

[0053] The embodiments of the present application include at least the following beneficial effects:

[0054] The present application can configure the motion path of the manipulator; use the control system to drive the manipulator to move along the motion path, so that the test fixture drives the release mechanism to reach the posture corresponding to the motion path; when the release mechanism is in the posture corresponding to the motion path, perform a release operation on the release mechanism; and record in the test log whether the release mechanism can be separated from the sinking coupling frame when in this posture. The control system drives the manipulator to drive the test fixture to make various postures, thereby changing the posture of the release mechanism fixed on the test fixture to simulate the posture of the release mechanism on the seabed, and test whether the release mechanism can be successfully released in various postures. The actual release process of the release mechanism can be simulated, and the posture can be changed again for testing after the test, which is more efficient and less costly than the actual submarine test. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments 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 drawings can be obtained based on these drawings without creative work.

[0056] Figure 1 A schematic flow chart of a method for testing a release mechanism provided in an embodiment of the present application;

[0057] Figure 2 A flowchart of the steps of testing the motion path provided in the embodiment of the present application;

[0058] Figure 3 A schematic flow chart of another method for testing a release mechanism provided in an embodiment of the present application;

[0059] Figure 4 An example overall diagram of a test device provided in an embodiment of the present application;

[0060] Figure 5 An example structural diagram of a test device provided in an embodiment of the present application;

[0061] Figure 6 An example structural diagram of a control panel provided in an embodiment of the present application;

[0062] Figure 7An exemplary flow chart of a method for testing a release mechanism provided in an embodiment of the present application;

[0063] Figure 8 A schematic diagram of the structure of a test system for a release mechanism provided in an embodiment of the present application;

[0064] Fig. 9 A schematic diagram of the structure of a path test module provided in an embodiment of the present application;

[0065] Fig.10 A schematic diagram of the structure of another release mechanism testing system provided in an embodiment of the present application;

[0066] Fig.11 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0067] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of the present application. They are only examples of systems and methods consistent with some aspects of the embodiments of the present application as detailed in the attached claims.

[0068] It is understood that the terms "first", "second", etc. used in this application can be used to describe various concepts in this article, but unless otherwise specified, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another concept. For example, without departing from the scope of the embodiment of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "if" as used herein can be interpreted as "at the time of" or "when" or "in response to determination".

[0069] The terms "at least one", "multiple", "each", "any", etc. used in this application, at least one includes one, two or more, multiple includes two or more, each refers to each of the corresponding multiple, and any refers to any one of the multiple.

[0070] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0071] Before describing the embodiments of the present application in detail, some nouns and terms involved in the embodiments of the present application are first described. The nouns and terms involved in the embodiments of the present application are subject to the following interpretations:

[0072] Release mechanism: The release mechanism is a mechanical device used to connect the sinking coupling frame for counterweighting, so that the seismic receiving device can sink to the seabed to receive seismic signals; after completing the seismic signal acquisition task, the release hook can be fused and separated from the sinking coupling frame, and the seabed seismic receiving device can float to the sea surface by itself by buoyancy.

[0073] Servo drive: A controller used to control a servo motor. Its function is similar to that of a frequency converter on an ordinary AC motor. It is part of a control system and is mainly used in high-precision positioning systems. Generally, the servo motor is controlled by position, speed and torque to achieve high-precision transmission system positioning.

[0074] Due to the uncertainty of seawater salinity, the uncertainty of the underwater posture of the seismic receiving device, and the release mechanism being wrapped by silt and other debris, there is uncertainty as to whether the release mechanism can be melted and release the seismic receiving device. Improvement methods include mechanical improvements, such as designing a more reasonable and reliable release mechanism. The improved release mechanism generally needs to be tested to verify its effectiveness. However, it is too costly and inefficient to conduct physical tests on the seabed for each improvement. In addition, the actual seabed environment is complex, making it difficult to monitor the release process of the release mechanism.

[0075] Therefore, the embodiments of the present application provide a test method, system, electronic device and storage medium for a release mechanism. The scheme of the embodiments of the present application includes: configuring the motion path of the robotic arm; using the control system to drive the robotic arm to move according to the motion path, so that the test fixture drives the release mechanism to reach the posture corresponding to the motion path; when the release mechanism is in the posture corresponding to the motion path, performing a release operation on the release mechanism; and recording in the test log whether the release mechanism can be separated from the sinking coupling frame when in this posture. The control system drives the robotic arm to drive the test fixture to make various postures, thereby changing the posture of the release mechanism fixed on the test fixture to simulate the posture of the release mechanism on the seabed, and testing whether the release mechanism can be successfully released in various postures. The actual release process of the release mechanism can be simulated, and the posture can be changed again for testing after the test, which is more efficient and less costly than the actual seabed test.

[0076] Reference Figure 1, the embodiment of the present application provides a test method for a release mechanism, the test method is applied to a control system in a test device; wherein the test device comprises the control system, a mechanical arm, and a test fixture connected to the mechanical arm, and a release mechanism and a coupling frame are fixed on the test fixture; the test method may include but is not limited to S100 to S130, which are as follows:

[0077] S100: configuring the motion path of the robotic arm.

[0078] Specifically, the robotic arm of this embodiment can move along a motion path. By configuring different motion paths, the robotic arm can be controlled to drive the test fixture to reach different postures, thereby making the release mechanism fixed on the test fixture reach different postures to simulate the various postures that the release mechanism may be in when it is on the seabed.

[0079] Exemplarily, the user may configure the motion path through a control panel of the control system.

[0080] Further, S100 may include the following steps:

[0081] A plurality of ordered motion steps are configured as the motion path of the robotic arm; wherein the motion steps include the motion axis number of the robotic arm, the rotation angle and / or number of rotations of the axis, and the motion duration.

[0082] Specifically, the robot arm of this embodiment may include multiple axes, so the motion steps may be configured for each axis according to the motion axis number of the robot arm: each axis may be configured with a rotation angle, and the yaw angle and the roll angle may be configured with the number of rotations; each motion step may be configured with a motion duration. In addition, this embodiment may also configure a stagnation step in the motion path, and the stagnation step may be configured with a stagnation duration, that is, when the stagnation step in the motion path is executed, the robot arm stops moving, and the duration of the stagnation is the stagnation duration.

[0083] Considering that the robot may have difficulty in executing the configured motion path, the embodiment of the present application may further include a step of testing the motion path before actually driving the robot arm to move. Figure 2 , which may specifically include S201 to S204:

[0084] S201: Execute the current movement step.

[0085] Specifically, this embodiment may execute a single movement step each time, for example, only one axis is rotated each time.

[0086] S202: Determine whether the robot arm can move according to the movement steps.

[0087] Specifically, it can be determined whether the corresponding axis in the robotic arm has rotated the corresponding number of circles or angles after executing the motion step, and whether the duration of the movement is equal to the corresponding motion duration. If so, it can be determined that the robotic arm can move according to the motion step and the motion step passes the test.

[0088] S203: If the robot arm can move according to the motion steps, the next motion step is used as the current motion step, and the process of executing the current motion step is returned until all the motion steps of the motion path are executed.

[0089] It can be understood that the motion path of the present embodiment is composed of multiple ordered motion steps. If the current motion step passes the test, the next motion step can be tested in sequence, that is, the robot arm is controlled to move according to the next motion step in sequence. If the next motion step also passes the test, the next motion step will continue to be tested until all motion steps in the motion path are tested.

[0090] S204: If the robot arm cannot move according to the motion step, reconfigure the current motion step, and then return to executing the current motion step.

[0091] It is understandable that some motion steps may be configured improperly, resulting in the robot arm being unable to respond or malfunctioning, etc. In this case, the present embodiment can reconfigure the current motion step, and then return to execute the current motion step for testing. If the reconfigured motion step passes the test, the next motion step is executed for testing. If the reconfigured motion step fails the test, the motion step can be reconfigured again.

[0092] S110: Using the control system to drive the robot arm to move along the motion path, so that the test fixture drives the release mechanism to reach a posture corresponding to the motion path.

[0093] It can be understood that the control system can drive the robot arm to move according to the configured motion path, and the movement of the robot arm can drive the test fixture connected thereto to move, so that the release mechanism on the test fixture reaches a corresponding posture.

[0094] Exemplarily, the control system of this embodiment may include a servo controller and a servo driver, the servo controller controls the servo driver according to the motion path, and the servo driver drives a servo motor of the robotic arm to move the robotic arm.

[0095] S120: When the release mechanism is in the posture, performing a release operation on the release mechanism.

[0096] Specifically, when the control system completes the motion path, the release mechanism is driven to a corresponding posture, and a release operation is performed on the release mechanism in this posture. For example, a release instruction is sent to the controller of the release mechanism, so that the fuse circuit of the release mechanism generates a fuse current to fuse the metal wire set on the release mechanism. After the metal wire is blown, the release mechanism can be separated from the coupling frame.

[0097] It should be noted that in the actual seabed environment, the seismic receiving device is connected to the submerged coupling frame and the release mechanism. When the release mechanism is fused and released, the seismic receiving device can be disconnected from the submerged coupling frame and float to the sea surface to be salvaged and recovered.

[0098] S130: Whether the release mechanism can be separated from the coupling frame when in the posture is recorded in a test log.

[0099] Specifically, this embodiment can record whether the release mechanism can be separated from the sinker frame in this posture, that is, whether it can be released successfully. If separated, the release is successful, and if not separated, the release fails.

[0100] It is understandable that the data recorded in the test log can be used as a reference for subsequent improvements to the release mechanism. For example, if the release fails in a certain posture, the mechanical structure of the release mechanism can be improved accordingly to adapt to the posture.

[0101] In order to comprehensively test the release status of the release mechanism in various postures, the embodiment of the present application may also include multiple testing steps, referring to Figure 3 This embodiment provides another method for testing the release mechanism. Figure 1 In the test method shown, the newly added steps may specifically include S301 to S303:

[0102] S301: Configure the total number of tests.

[0103] Specifically, a complete execution of S100 to S130 is considered as one test.

[0104] S302: After recording in the test log whether the release mechanism can be separated from the coupling frame when in the posture, the current test number is incremented by 1 and recorded in the test log.

[0105] It is understandable that after S130, ie, a test is completely executed, the current test number plus 1 is recorded in the test log.

[0106] S303: Return to configuring the motion path of the robot arm until the current number of tests reaches the total number of tests.

[0107] It is understandable that a complete execution of a test is to test one posture, and returning to S100 to flush and configure the motion path can configure a new posture, thereby testing whether the release mechanism can be released successfully under the new posture.

[0108] Considering that, in order to facilitate users to understand the test information, the embodiment of the present application may also include the following steps:

[0109] The test log is displayed visually; wherein the test log includes the motion path, the current test number, whether the release mechanism can be separated from the sinker when in the posture during each test, and the duration of each test.

[0110] Exemplarily, this embodiment may display the information contained in the test log on a control panel of the control system.

[0111] Considering the problem of power failure backup, the embodiment of the present application may further include the following steps:

[0112] The movement path and / or the total number of tests are stored in the control system so that the release mechanism can be tested according to the movement path and / or the total number of tests by the testing device when power is restored after power failure.

[0113] Specifically, at least one of the motion path or the total number of tests is stored in the control system. Even if the control system loses power and shuts down, when the control system is powered on again, the release mechanism can still be tested using the test device according to the motion path and / or the total number of tests.

[0114] In addition, considering the need to stop the test during the test, the embodiment of the present application also includes a step of stopping the test, which may specifically include:

[0115] In response to a stop instruction, using the control system to control the robot arm to stop moving;

[0116] Display stop response information; wherein, the stop response information includes at least one of whether the robotic arm currently stops moving, the current execution node of the motion path, whether the current test performs a release operation on the release mechanism, or whether the release mechanism can be separated from the sinking coupling frame when in the current posture.

[0117] Exemplarily, in this embodiment, the stop response information may be displayed through a control panel of the control system.

[0118] Next, the solution of the embodiment of the present application will be introduced and explained in conjunction with specific application examples.

[0119] First, the test device of this embodiment is described.

[0120] Figure 4 An example overall diagram of the test device provided in this embodiment, Figure 5 for Figure 4 Example block diagram of the test setup shown.

[0121] Figure 5 The structure of the test device shown is described as follows:

[0122] 1. Control system;

[0123] 2. Robotic arm;

[0124] 3. Mechanical arm protection fence;

[0125] 4. Test the fence;

[0126] 5. Security door;

[0127] 6. Protect tires;

[0128] 7. Test tooling.

[0129] The control system may include an industrial computer (PC), a servo drive, and a control panel. By controlling the 5-axis robotic arm, it can rotate at all attitude angles, simulate various attitudes of the release mechanism mounting the sinking coupling frame underwater, and complete the test of the release mechanism stability and release success rate.

[0130] This embodiment may use a 5-axis robotic arm, wherein 3 axes complete the rotation of the pitch angle, roll angle and yaw angle, and the other 2 axes are used to adjust the height to facilitate the installation of the test fixture and the release mechanism.

[0131] The robotic arm protection fence is used to prevent the tester from being injured by the robotic arm when entering the protection fence range.

[0132] The test fence is used to prevent testers from falling and causing injuries when testing tooling, release mechanisms, and sinker frames, and also to prevent testers from being injured when the robotic arm moves.

[0133] The safety door facilitates the testers to enter and exit the test fence, and together with the test fence, it protects the testers.

[0134] Protect the tires and prevent damage to the test fence when the test tooling, release mechanism, coupling frame, etc. fall.

[0135] Test fixture: used to fix the release mechanism and sinker frame, etc., to test the stability of the release mechanism and the release success rate.

[0136] In the control system part, the industrial computer (PC) is connected to the servo driver through the network or serial port, and the industrial computer (PC) is installed with the test software of the release mechanism. Execution of the test software can implement a test method for the release mechanism provided in an embodiment of the present application, which can realize functions including completing test configuration, test start and stop, test log and other functions, and can configure parameters such as the number of tests, motion path, and number of rotations.

[0137] For example, Figure 6 This is an example structural diagram of a control panel provided in this embodiment.

[0138] Figure 6 The control panel shown is described below:

[0139] 101. Touch screen;

[0140] 102. Operation status light (green light);

[0141] 103. Standby status light (red light);

[0142] 104. Robotic arm switch;

[0143] 105. Main power switch;

[0144] 106. Emergency stop button.

[0145] Specifically, the control panel may include a touch screen, an emergency stop button, a running status light (green light), a standby status light (red light), a main power switch, and a mechanical arm switch. The touch screen can complete the configuration of the test software, including running and operating the test software, shutting down the industrial computer, etc.

[0146] Next, combine Figure 7 The test release mechanism is described.

[0147] Specifically, this embodiment may include:

[0148] 1. Turn on the main power switch, turn the main switch key to turn on the main power switch, power on the entire test device, and light up the standby status light (red light).

[0149] 2. Turn on the robot arm switch, turn the knob-type robot arm switch, and power on the robot arm.

[0150] 3. After the main power switch is turned on, the industrial computer (PC) automatically turns on.

[0151] 4. The test software will be automatically started after the industrial computer is turned on, and test configuration, test start and stop control, and test log viewing can be performed.

[0152] 5. Configure the motion path for this test, including the rotation angle and / or number of rotations of each axis. The configured robot arm is a 5-axis robot arm, and the rotation angle of each axis can be configured. Among them, only the yaw angle and roll angle can be configured with the number of rotations. The motion path consists of motion steps. For each motion step, you can select the motion axis number, configure the rotation angle or number of rotations, and configure the motion duration. The motion step can also be configured as a stagnation step, and the stagnation step can be configured with the stagnation duration.

[0153] 6. Start the robot arm detection and confirm whether the robot arm operates normally before the test. Move the configured motion path in single motion steps to confirm whether it meets the test requirements. In this process, the industrial computer sends the rotation angle or number of rotations and the motion duration to the servo driver through the serial port or network. The servo driver moves according to the command issued by the industrial computer, and at the same time feeds back the execution results to the industrial computer through the serial port or network, including the rotation angle or number of rotations, the total rotation duration, etc.

[0154] 7. Configure the test parameters, such as the total number of tests, and then select the motion path to be tested. After the configuration is completed, save the configuration data in the form of a file to the local disk of the industrial computer to ensure that the test can still be performed according to the last configured test parameters when the power is turned on again after a power failure.

[0155] 8. Start the test. Click the Start Test button on the software. The test device will perform a motion test according to the motion path. After starting the test, the industrial computer can send the corresponding test step data to the servo driver through the serial port or network, and receive the execution results fed back by the servo driver. When the industrial computer determines that all the motion steps of this test have been completed, it saves the completion status of this motion step. After saving, obtain the motion path for the next test and send it to the servo driver for motion testing.

[0156] 9. The industrial computer determines whether the stop button is detected to be pressed. If it is detected that the stop button is pressed, the industrial computer can send a stop command through the serial port or the network. The servo drive stops moving in response to the stop command and feeds back the stop response information to the industrial computer.

[0157] 10. The industrial computer determines whether the total number of tests has been reached. If so, the test is stopped.

[0158] 11. After stopping the test, the test log can be viewed. For example, the test log may include the motion path, the current test number, whether the release mechanism can be separated from the sinker when in the posture during each test, and the duration of each test.

[0159] This embodiment can utilize the control system to drive the robotic arm to drive the test fixture to make various postures, thereby changing the posture of the release mechanism fixed on the test fixture to simulate the posture of the release mechanism on the seabed, and test whether the release mechanism can be successfully released under various postures. The actual release process of the release mechanism can be simulated, and the posture can be changed again for testing after the test. Compared with the actual seabed test, it is more efficient and has lower cost.

[0160] Reference Figure 8 The embodiment of the present application further provides a release mechanism testing system, which can implement the above-mentioned release mechanism testing method, and the testing system includes:

[0161] A path configuration module, used to configure the motion path of the robotic arm;

[0162] A mechanical arm driving module, used to drive the mechanical arm to move along the motion path using the control system, so that the test fixture drives the release mechanism to reach a posture corresponding to the motion path;

[0163] a mechanism release module, used for performing a release operation on the release mechanism when the release mechanism is in the posture;

[0164] The separation recording module is used to record in a test log whether the release mechanism can be separated from the coupling frame when the release mechanism is in the posture.

[0165] In some embodiments, the path configuration module includes:

[0166] A path configuration unit is used to configure a plurality of ordered motion steps as the motion path of the robotic arm; wherein the motion steps include the motion axis number of the robotic arm, the rotation angle and / or number of rotations of the axis, and the motion duration.

[0167] Reference Fig. 9 In some embodiments, the test system further includes a path test module, and the path test module includes:

[0168] A step testing unit, used for executing the current motion step;

[0169] A step determination unit, used to determine whether the robot arm can move according to the movement steps;

[0170] A first loop testing unit, configured to, if the robot arm can move according to the motion steps, take the next motion step as the current motion step, and return to executing the current motion step until all the motion steps of the motion path are executed;

[0171] A step modification unit is used to reconfigure the current motion step if the robot arm cannot move according to the motion step, and then return to execute the current motion step.

[0172] Reference Fig.10 In some embodiments, the test system further comprises a repeated test module, wherein the repeated test module comprises:

[0173] The number configuration unit is used to configure the total number of tests;

[0174] A times recording unit, configured to add 1 to the current test times and record it in the test log after recording in the test log whether the release mechanism can be separated from the sinking coupling frame when the release mechanism is in the posture;

[0175] The second loop test unit is used to return to the motion path of the configured robot arm until the current test number reaches the total test number.

[0176] In some embodiments, the testing system further comprises:

[0177] A log visualization module is used to visualize the test log; wherein the test log includes the motion path, the current test number, whether the release mechanism can be separated from the sinker when in the posture during each test, and the duration of each test.

[0178] In some embodiments, the testing system further comprises:

[0179] The movement path and / or the total number of tests are stored in the control system so that the release mechanism can be tested according to the movement path and / or the total number of tests by the testing device when power is restored after power failure.

[0180] In some embodiments, the testing system further comprises:

[0181] A stop test module, used for controlling the mechanical arm to stop moving by using the control system in response to a stop instruction;

[0182] An information display module is used to display stop response information; wherein, the stop response information includes at least one of whether the robotic arm currently stops moving, the current execution node of the motion path, whether the current test performs a release operation on the release mechanism, or whether the release mechanism can be separated from the sinking coupling frame when in the current posture.

[0183] It can be understood that the contents of the above method embodiments are all applicable to the present system embodiments, the functions specifically implemented by the present system embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0184] The embodiment of the present application also provides an electronic device, the electronic device includes a memory and a processor, the memory stores a computer program, and the processor implements the above-mentioned test method of a release mechanism when executing the computer program. The electronic device can be any intelligent terminal including a tablet computer, a car computer, etc.

[0185] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0186] See also Fig.11 , Fig.11 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0187] The processor 1101 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0188] The memory 1102 can be implemented in the form of a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1102 can store an operating system and other application programs. When the technical solution provided in the embodiment of this specification is implemented by software or firmware, the relevant program code is stored in the memory 1102, and the processor 1101 calls and executes a test method of a release mechanism in the embodiment of the present application;

[0189] Input / output interface 1103, used to implement information input and output;

[0190] The communication interface 1104 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0191] A bus 1105 that transmits information between various components of the device (e.g., the processor 1101, the memory 1102, the input / output interface 1103, and the communication interface 1104);

[0192] The processor 1101 , the memory 1102 , the input / output interface 1103 and the communication interface 1104 are connected to each other in communication within the device via the bus 1105 .

[0193] An embodiment of the present application further provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the above-mentioned test method of the release mechanism is implemented.

[0194] It can be understood that the contents of the above method embodiments are all applicable to the present storage medium embodiments, the functions specifically implemented by the present storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0195] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0196] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0197] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0198] The system embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the present embodiment.

[0199] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0200] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0201] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0202] In the several embodiments provided in the present application, it should be understood that the disclosed systems and methods can be implemented in other ways. For example, the system embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of systems or units, which can be electrical, mechanical or other forms.

[0203] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0204] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0205] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0206] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for testing a release mechanism, characterized in that: The test method is applied to a control system in a test device; wherein the test device comprises the control system, a mechanical arm, and a test fixture connected to the mechanical arm, and a release mechanism and a coupling frame are fixed to the test fixture; The test method comprises the following steps: configuring a motion path of the robotic arm; Using the control system to drive the robot arm to move along the motion path, so that the test fixture drives the release mechanism to reach a posture corresponding to the motion path; When the release mechanism is in the posture, performing a release operation on the release mechanism; Whether the release mechanism can be separated from the coupling frame when in the posture is recorded in the test log.

2. A method for testing a release mechanism according to claim 1, characterized in that: The step of configuring the motion path of the robotic arm comprises the following steps: A plurality of ordered motion steps are configured as the motion path of the robotic arm; wherein the motion steps include the motion axis number of the robotic arm, the rotation angle and / or number of rotations of the axis, and the motion duration.

3. A method for testing a release mechanism according to claim 2, characterized in that: Before using the control system to drive the mechanical arm to move along the motion path, the testing method further includes the following steps: Execute the current movement step; Determining whether the robotic arm can move according to the motion steps; If the robot arm can move according to the motion steps, the next motion step is used as the current motion step, and the current motion step is returned to be executed until all the motion steps of the motion path are executed; If the robot arm cannot move according to the motion step, the current motion step is reconfigured and then the current motion step is returned to be executed.

4. A method for testing a release mechanism according to claim 1, characterized in that: The test method further comprises the following steps: Configure the total number of tests; After recording in the test log whether the release mechanism can be separated from the coupling frame when in the posture, the current test number is incremented by 1 and recorded in the test log; Return to configuring the motion path of the robotic arm until the current number of tests reaches the total number of tests.

5. A method for testing a release mechanism according to claim 4, characterized in that: The test method further comprises the following steps: The test log is displayed visually; wherein the test log includes the motion path, the current test number, whether the release mechanism can be separated from the sinker when in the posture during each test, and the duration of each test.

6. A method for testing a release mechanism according to claim 4, characterized in that: The test method further comprises the following steps: The movement path and / or the total number of tests are stored in the control system so that the release mechanism can be tested according to the movement path and / or the total number of tests by the testing device when power is restored after power failure.

7. A method for testing a release mechanism according to any one of claims 1 to 6, characterized in that: The test method further comprises the following steps: In response to a stop instruction, using the control system to control the robot arm to stop moving; Display stop response information; wherein, the stop response information includes at least one of whether the robotic arm currently stops moving, the current execution node of the motion path, whether the current test performs a release operation on the release mechanism, or whether the release mechanism can be separated from the sinking coupling frame when in the current posture.

8. A release mechanism testing system, characterized in that: The test system comprises: A path configuration module, used to configure the motion path of the robotic arm; A mechanical arm driving module, used to drive the mechanical arm to move along the motion path using the control system, so that the test fixture drives the release mechanism to reach a posture corresponding to the motion path; a mechanism release module, used for performing a release operation on the release mechanism when the release mechanism is in the posture; The separation recording module is used to record in a test log whether the release mechanism can be separated from the coupling frame when the release mechanism is in the posture.

9. An electronic device, characterized in that: The electronic device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements a method for testing a release mechanism as claimed in any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, a method for testing a release mechanism according to any one of claims 1 to 7 is implemented.

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