Debugging method and device of servo driving system

Abstract

The invention provides a debugging method of a servo driving system, the servo driving system comprises a driver, a servo motor and a transmission mechanism, the transmission mechanism comprises a base, a load is arranged on the transmission mechanism, a first identification code is arranged on the base, a second identification code is arranged on the load, and the first identification code is connected with the second identification code. The debugging method comprises the following steps: acquiring real-time videos of the transmission mechanism and the load at the mobile terminal, and identifying the first identification code and the second identification code from the real-time videos; calculating a relative position of the load in a base coordinate system of the base according to the identified first identification code and the second identification code; and receiving a movement operation of a user on the transmission mechanism at the mobile terminal, calculating a pulse equivalent according to the position of the load in the base coordinate system of the base and the encoder pulse when the transmission mechanism moves in response to the operation, and writing the pulse equivalent into the driver.

Description

Technical Field

[0001] The invention mainly relates to the electrical field, and in particular to a debugging method and device for a servo drive system. Background Art

[0002] Servo drive systems are widely used in the field of automation. They use transmission mechanisms (such as ball screws, gears, and synchronous belts) to accurately move and rotate loads. During the installation and commissioning of servo drive systems, it is necessary to set mechanical parameters (such as transmission ratios, etc.) and debug control parameters (such as PID parameters of current / speed / position circuits, etc.), which requires engineers to have professional knowledge and consumes a lot of time.

[0003] Some manufacturers provide debugging tools to speed up the debugging process. In addition, some servo drive systems also have automatic debugging functions. However, these servo drive systems only obtain information such as position and current from the encoder and motor, and do not have relevant information about the transmission system and load. Engineers are still required to manually debug the servo drive system. Furthermore, some manufacturers use a variety of analysis methods to debug the transmission system and load based on data, such as using reinforcement learning algorithms to optimize PID parameters, or debugging servo drive systems based on frequency domain analysis. However, such methods require relevant information about the transmission system and load, and require additional sensors to obtain this information, which will increase the cost of system debugging. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a debugging method and device for a servo drive system to achieve low-cost, intuitive and more convenient debugging of the system.

[0005] To achieve the above purpose, the present invention proposes a debugging method for a servo drive system, wherein the servo drive system includes a driver, a servo motor, and a transmission mechanism, wherein the transmission mechanism includes a base and a load is provided on the transmission mechanism, wherein the base is provided with a first identification code, and the load is provided with a second identification code, wherein the debugging method includes: obtaining a real-time video of the transmission mechanism and the load on a mobile terminal, and identifying the first identification code and the second identification code from the real-time video; calculating the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code; accepting a user's moving operation on the transmission mechanism on the mobile terminal, and when the transmission mechanism moves in response to the operation, calculating a pulse equivalent according to the position of the load in the base coordinate system of the base and the encoder pulse, and writing the pulse equivalent into the driver. To this end, by using a mobile terminal to obtain a real-time video of the transmission mechanism and the load in the servo drive system, the real-time position of the transmission mechanism and the load can be detected according to the real-time video of the transmission mechanism and the load, without setting up additional sensors, saving hardware costs, and the debugging process is controlled by a mobile phone, making the debugging process more intuitive and easier to operate.

[0006] Optionally, the method further comprises: using an optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, calculating the resonant frequency of the mechanical resonance, and writing the resonant frequency into the driver as a resonant filter parameter. To this end, by using the optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, the calibration of the resonance parameters in the driver is achieved.

[0007] Optionally, the method further includes: accepting a safe working area of ​​the transmission mechanism set by a user in the mobile terminal, and limiting the moving range of the transmission mechanism to the safe working area. To this end, the user can complete the setting of the safe working area of ​​the transmission mechanism through the mobile terminal, making the debugging process more intuitive and the operation easier.

[0008] Optionally, calculating the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code includes: calculating the first conversion relationship between the camera coordinate system of the mobile terminal and the base coordinate system according to the position of the first identification code in the video, calculating the second conversion relationship between the camera coordinate system of the mobile terminal and the load coordinate system according to the position of the second identification code in the video, and calculating the relative position of the load in the base coordinate system of the base according to the first conversion relationship and the second conversion relationship. To this end, the calculation of the relative position of the load in the base coordinate system is achieved.

[0009] Optionally, the driver and the mobile terminal are connected to an edge device, and the method further comprises: the mobile terminal sends the control instructions and configuration parameters to the driver through the edge device. To this end, the mobile terminal sends the control instructions and configuration parameters to the driver through the edge device, thereby realizing communication between the mobile terminal and the driver, and improving the communication efficiency between the mobile terminal and the driver through the edge connection.

[0010] The present invention also proposes a debugging device for a servo drive system, wherein the servo drive system includes a driver, a servo motor, and a transmission mechanism, wherein the transmission mechanism includes a base and a load is provided on the transmission mechanism, wherein the base is provided with a first identification code, and the load is provided with a second identification code, and the debugging device includes: an acquisition module, which acquires real-time video of the transmission mechanism and the load on a mobile terminal, and identifies the first identification code and the second identification code from the real-time video; an identification module, which calculates the relative position of the load in a base coordinate system of the base according to the identified first identification code and the second identification code; and a calculation module, which accepts a user's movement operation on the transmission mechanism on the mobile terminal, and when the transmission mechanism moves in response to the operation, calculates a pulse equivalent according to the position of the load in the base coordinate system of the base and an encoder pulse, and writes the pulse equivalent into the driver.

[0011] Optionally, the device further comprises: using an optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, calculating the resonant frequency of the mechanical resonance, and writing the resonant frequency into the driver as a resonant filter parameter.

[0012] Optionally, the device further comprises: accepting a safe working area of ​​the transmission mechanism set by a user in the mobile terminal, and limiting the moving range of the transmission mechanism to the safe working area.

[0013] Optionally, the recognition module calculates the relative position of the load in the base coordinate system of the base according to the recognized first recognition code and the second recognition code, including: calculating a first conversion relationship between the camera coordinate system of the mobile terminal and the base coordinate system according to the position of the first recognition code in the video, calculating a second conversion relationship between the camera coordinate system of the mobile terminal and the load coordinate system according to the position of the second recognition code in the video, and calculating the relative position of the load in the base coordinate system of the base according to the first conversion relationship and the second conversion relationship.

[0014] Optionally, the driver and the mobile terminal are connected to an edge device, and the apparatus further comprises: the mobile terminal sends control instructions and configuration parameters to the driver through the edge device.

[0015] The present invention also proposes a debugging device for a servo drive system, wherein the servo drive system includes a driver, a servo motor, and a transmission mechanism, and is characterized in that the transmission mechanism includes a base and a load is provided on the transmission mechanism, the base is provided with a first identification code, and the load is provided with a second identification code, and the debugging device includes: a mobile terminal, wherein a real-time video of the transmission mechanism and the load is obtained at the mobile terminal, and the first identification code and the second identification code are identified from the real-time video; the relative position of the load in the base coordinate system of the base is calculated according to the identified first identification code and the second identification code; and a user's movement operation on the transmission mechanism at the mobile terminal is accepted, and when the transmission mechanism moves in response to the operation, a pulse equivalent is calculated according to the position of the load in the base coordinate system of the base and the encoder pulse, and the pulse equivalent is written into the driver.

[0016] The present invention also proposes an electronic device, comprising a processor, a memory and instructions stored in the memory, wherein the instructions implement the above method when executed by the processor.

[0017] The present invention also provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, the method described above is executed.

[0018] The present invention also provides a computer program product, characterized in that it comprises a computer program, and when the computer program is executed by a processor, the method described above is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following drawings are intended only to illustrate and explain the present invention, and do not limit the scope of the present invention.

[0020] Figure 1 is a flow chart of a debugging method of a servo drive system according to an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of a debugging method for a servo drive system according to an embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of a debugging device for a servo drive system according to an embodiment of the present invention;

[0023] Figure 4 is a schematic diagram of an electronic device according to an embodiment of the present invention.

[0024] Description of Reference Numerals

[0025] 100 Servo drive system debugging method

[0026] Steps 110-140

[0027] 21 Drive

[0028] 22 Servo motor

[0029] 221 Encoder

[0030] 23 Transmission mechanism

[0031] 231 base

[0032] 24 Load

[0033] 25 Mobile Terminal

[0034] 26Edge Devices

[0035] AFirst identification code

[0036] B Second identification code

[0037] 300 servo drive system debugging device

[0038] 400 Electronic equipment

[0039] 410 processor

[0040] 420 Memory DETAILED DESCRIPTION

[0041] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0042] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0043] As shown in this application and claims, unless the context clearly indicates an exception, the words "a", "an", "an" and / or "the" do not refer to the singular and may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0044] Figure 2 is a schematic diagram of a debugging method for a servo drive system according to an embodiment of the present invention. Figure 2As shown, the servo drive system includes a driver 21, a servo motor 22 and a transmission mechanism 23. A motor encoder 221 is installed on the motor 22 to measure the magnetic pole position and the motor rotation angle speed. The transmission mechanism 23 can also be called a transmission chain, which can be a roller screw, a gear, a synchronous belt, etc. The transmission mechanism 23 includes a base 231 and a load 24 is provided on the transmission mechanism 23. The coordinate system where the base 231 is located is the base coordinate system. The driver 21 can drive the servo motor 22 to rotate, and the rotation of the servo motor 22 can move the load 24 provided on the transmission mechanism 23 through the transmission mechanism 23. A first identification code A is provided on the base 231, and a second identification code B is provided on the load. The first identification code A is used to identify the base 231 of the transmission mechanism 23, and the second identification code B is used to identify the load 24 on the transmission mechanism 23. In an embodiment of the present invention, the first identification code A and the second identification code B can be two-dimensional codes.

[0045] The present invention proposes a debugging method for a servo drive system. Figure 1 FIG. 1 is a flow chart of a debugging method 100 of a servo drive system according to an embodiment of the present invention. Figure 1 As shown, the debugging method 100 includes:

[0046] Step 110: acquiring a real-time video of the transmission mechanism and the load on the mobile terminal, and identifying a first identification code and a second identification code from the real-time video.

[0047] The mobile terminal 25 can be a hardware device such as a mobile phone or a tablet. The mobile terminal 25 has a camera and a display. By adjusting the position and posture of the mobile terminal 25, the transmission mechanism 23 and the load 24 are located within the field of view of the mobile terminal camera. Then, the camera of the mobile terminal 25 collects real-time video of the transmission mechanism 23 and the load 24. The real-time video includes a first identification code A provided on the base 231 of the transmission mechanism 23 and a second identification code B provided on the load 24. The first identification code A and the second identification code B are identified from the real-time video.

[0048] Step 120: Calculate the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code.

[0049] The first identification code A corresponds to the position of the base 231 of the transmission mechanism 23, and the second identification code B corresponds to the position of the load 24. By converting and calculating the first identification code A and the second identification code B identified in the real-time video, the relative position of the load 24 in the base coordinate system of the base 231 can be obtained.

[0050] In some embodiments, calculating the relative position of the load 24 in the base coordinate system of the base 231 according to the identified first identification code A and the second identification code B may include: calculating the first conversion relationship between the camera coordinate system of the mobile terminal 25 and the base coordinate system according to the position of the first identification code A in the video, calculating the second conversion relationship between the camera coordinate system of the mobile terminal and the load coordinate system according to the position of the second identification code B in the video, and calculating the relative position of the load 24 in the base coordinate system of the base 231 according to the first conversion relationship and the second conversion relationship. Specifically, the relative position of the load 24 in the base coordinate system of the base 231 can be calculated according to the first conversion relationship and the second conversion relationship using a direction cosine matrix or a quaternion method. To this end, the calculation of the relative position of the load in the base coordinate system of the base is achieved.

[0051] Step 130, accepting the user's movement operation on the transmission mechanism at the mobile terminal, when the transmission mechanism moves in response to the operation, calculating the pulse equivalent according to the position of the load in the base coordinate system of the base and the number of encoder pulses, and writing the pulse equivalent into the driver.

[0052] The user can drag the load 24 displayed on the display of the mobile terminal 25. The instruction can be sent to the driver 21 through the edge device 26. The driver 21 drives the motor 22 to rotate according to the instruction. The motor 22 outputs torque to the transmission mechanism 23. The transmission mechanism 23 drives the load 24 to move. The user can also input a speed instruction in the mobile terminal 25, and the load 24 can move according to the speed input by the user in the mobile terminal 25. During the movement of the load 24, the linear movement distance LU of the load can be calculated according to the position of the load in the base coordinate system obtained in step 120, and the corresponding number of pulses can be obtained from the motor encoder 221. The pulse equivalent is obtained by dividing the number of pulses by the linear movement distance. The calculated pulse equivalent is written into the driver, thereby completing the calibration of the pulse equivalent of the driver.

[0053] In some embodiments, the method 100 further includes: using an optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, calculating the resonant frequency of the mechanical resonance, and writing the resonant frequency into the driver as a resonant filter parameter. Specifically, in the implementation video, the optical flow method is used to detect the mechanical resonance of the transmission mechanism 23, and the resonant frequency of the mechanical resonance is calculated, and the resonant frequency is written into the driver 21 as a resonant filter parameter. To this end, by using the optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, the calibration of the resonant parameters in the driver is achieved.

[0054] In some embodiments, the method 100 further includes: accepting the safe working area of ​​the transmission mechanism set by the user in the mobile terminal, and limiting the moving range of the transmission mechanism to the safe working area. Specifically, the user can operate in the mobile terminal 25 to define the moving range of the transmission mechanism 23, that is, the boundary of the movement of the transmission mechanism 23. The safe working area is sent by the mobile terminal 25 to the driver 21, and the driver 21 configures the driving parameters according to the safe working area to limit the moving range of the transmission mechanism 23 to the safe working area.

[0055] In some embodiments, the driver and the mobile terminal are connected to an edge device, and the method 100 further includes: the mobile terminal sends the control instructions and configuration parameters to the driver through the edge device. Specifically, the mobile terminal 25 can be connected to the edge device 26 via Wi-Fi, and the edge device 26 can be connected to the driver 21 via the Profinet protocol. The control instructions and configuration parameters of the mobile terminal 25 are sent to the edge device 26 via Wi-Fi, and the edge device 26 sends the control instructions and configuration parameters to the driver 21 according to the Profinet protocol. The driver 21 configures the drive parameters according to the control instructions and configuration parameters. To this end, the mobile terminal sends the control instructions and configuration parameters to the driver through the edge device, thereby realizing the communication between the mobile terminal and the driver, and improving the communication efficiency between the mobile terminal and the driver through the edge connection.

[0056] An embodiment of the present invention provides a debugging method for a servo drive system. Real-time videos of a transmission mechanism and a load in the servo drive system are obtained by using a mobile terminal. The real-time positions of the transmission mechanism and the load can be detected based on the real-time videos of the transmission mechanism and the load. There is no need to set up additional sensors, which saves hardware costs. The debugging process is controlled by a mobile phone, making the debugging process more intuitive and easier to operate.

[0057] The present invention also proposes a debugging device for a servo drive system. Figure 3 3 is a schematic diagram of a debugging device 300 of a servo drive system according to an embodiment of the present invention. The servo drive system includes a driver, a servo motor, and a transmission mechanism. The transmission mechanism includes a base and a load is provided on the transmission mechanism. The base is provided with a first identification code, and the load is provided with a second identification code. The debugging device 300 includes:

[0058] An acquisition module 310 acquires a real-time video of the transmission mechanism and the load at a mobile terminal, and identifies a first identification code and a second identification code from the real-time video;

[0059] An identification module 320 calculates the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code;

[0060] The calculation module 330 receives the user's movement operation on the transmission mechanism in the mobile terminal. When the transmission mechanism moves in response to the operation, the pulse equivalent is calculated according to the position of the load in the base coordinate system of the base and the encoder pulse, and the pulse equivalent is written into the driver.

[0061] In some embodiments, the device further comprises: using an optical flow method to detect the mechanical resonance of the transmission mechanism in real-time video, calculating the resonant frequency of the mechanical resonance, and writing the resonant frequency into the driver as a resonant filter parameter.

[0062] In some embodiments, the device further includes: accepting a safe operating area of ​​the transmission mechanism set by a user in the mobile terminal, and limiting the moving range of the transmission mechanism to the safe operating area.

[0063] In some embodiments, the recognition module calculates the relative position of the load in the base coordinate system of the base according to the recognized first identification code and the second identification code, including: calculating the first transformation relationship between the camera coordinate system of the mobile terminal and the base coordinate system according to the position of the first identification code in the video, calculating the first transformation relationship between the camera coordinate system of the mobile terminal and the load coordinate system according to the position of the second identification code in the video, and calculating the relative position of the load in the base coordinate system of the base according to the first transformation relationship and the second transformation relationship using the direction cosine matrix.

[0064] In some embodiments, the driver and the mobile terminal are connected to an edge device, and the apparatus further includes: the mobile terminal sends the control instructions and configuration parameters to the driver through the edge device.

[0065] The present invention also proposes a debugging device for a servo drive system, the servo drive system includes a driver, a servo motor, and a transmission mechanism, the transmission mechanism includes a base and a load is arranged on the transmission mechanism, the base is provided with a first identification code, and the load is provided with a second identification code, the debugging device includes:

[0066] A mobile terminal is provided, wherein a real-time video of a transmission mechanism and a load is obtained at the mobile terminal, and a first identification code and a second identification code are identified from the real-time video; a relative position of the load in a base coordinate system of a base is calculated according to the identified first identification code and second identification code; a moving operation of the transmission mechanism by a user at the mobile terminal is accepted, and when the transmission mechanism moves in response to the operation, a pulse equivalent is calculated according to the position of the load in the base coordinate system of the base and the encoder pulse, and the pulse equivalent is written into a driver.

[0067] The present invention also provides an electronic device 400 . Figure 4 FIG. 4 is a schematic diagram of an electronic device 400 according to an embodiment of the present invention. Figure 4As shown, the electronic device 400 includes a processor 410 and a memory 420 , wherein the memory 420 stores instructions, wherein when the instructions are executed by the processor 410 , the method 100 described above is implemented.

[0068] The present invention further provides a computer-readable storage medium on which computer instructions are stored. When the computer instructions are executed, the method 100 described above is executed.

[0069] The present invention further provides a computer program product, comprising a computer program, and when the computer program is executed by a processor, the method 100 described above is implemented.

[0070] Some aspects of the methods and apparatus of the present invention may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". The processor may be one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DAPDs), programmable logic devices (PLCs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors or combinations thereof. In addition, various aspects of the present invention may be expressed as computer products located in one or more computer-readable media, which include computer-readable program codes. For example, computer-readable media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, tapes, etc.), optical disks (e.g., compact disks (CDs), digital versatile disks (DVDs) ...), smart cards, and flash memory devices (e.g., cards, sticks, key drives ...).

[0071] Flowchart is used here to illustrate the operations performed according to the method of the embodiment of the present application. It should be understood that the above operations are not necessarily performed accurately in order. On the contrary, various steps can be processed in reverse order or simultaneously. At the same time, other operations may be added to these processes, or a certain step or several steps of operations may be removed from these processes.

[0072] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0073] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes, modifications and combinations made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A debugging method (100) for a servo drive system, the servo drive system comprising a driver, a servo motor, and a transmission mechanism, the transmission mechanism comprising a base and a load disposed on the transmission mechanism, the base being provided with a first identification code, the load being provided with a second identification code, characterized in that: The debugging method (100) comprises: Acquiring a real-time video of the transmission mechanism and the load on a mobile terminal, and identifying the first identification code and the second identification code from the real-time video (110); Calculating the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code (120); Accepting a user's movement operation on the transmission mechanism at the mobile terminal, when the transmission mechanism moves in response to the operation, calculating a pulse equivalent according to the position of the load in the base coordinate system of the base and the encoder pulse, and writing the pulse equivalent into the driver (130).

2. The debugging method (100) according to claim 1, characterized in that: The method (100) further comprises: using an optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, calculating the resonant frequency of the mechanical resonance, and writing the resonant frequency into the driver as a resonant filter parameter.

3. The debugging method (100) according to claim 1, characterized in that: The method (100) further comprises: accepting a safe working area of ​​the transmission mechanism set by a user in the mobile terminal, and limiting the moving range of the transmission mechanism to the safe working area.

4. The debugging method (100) according to claim 1, characterized in that: Calculating the relative position of the load in the base coordinate system of the base based on the identified first identification code and the second identification code includes: calculating a first conversion relationship between the camera coordinate system of the mobile terminal and the base coordinate system based on the position of the first identification code in the video, calculating a second conversion relationship between the camera coordinate system of the mobile terminal and the load coordinate system based on the position of the second identification code in the video, and calculating the relative position of the load in the base coordinate system of the base based on the first conversion relationship and the second conversion relationship.

5. The debugging method (100) according to claim 1, characterized in that: The driver and the mobile terminal are connected to an edge device, and the method (100) further comprises: the mobile terminal sending control instructions and configuration parameters to the driver via the edge device.

6. A debugging device (300) for a servo drive system, the servo drive system comprising a driver, a servo motor, and a transmission mechanism, the transmission mechanism comprising a base and a load disposed on the transmission mechanism, the base being provided with a first identification code, the load being provided with a second identification code, characterized in that: The debugging device (300) comprises: An acquisition module (310) acquires real-time video of the transmission mechanism and the load on a mobile terminal, and identifies the first identification code and the second identification code from the real-time video; An identification module (320) calculates the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code; A calculation module (330) receives a user's movement operation on the transmission mechanism at the mobile terminal, and when the transmission mechanism moves in response to the operation, calculates a pulse equivalent based on the position of the load in the base coordinate system of the base and the encoder pulse, and writes the pulse equivalent into the driver.

7. The debugging device (300) according to claim 1, characterized in that: The device (300) also includes: using an optical flow method to detect the mechanical resonance of the transmission mechanism in the real-time video, calculating the resonant frequency of the mechanical resonance, and writing the resonant frequency into the driver as a resonant filter parameter.

8. The debugging device (300) according to claim 1, characterized in that: The device (300) also includes: accepting a safe working area of ​​the transmission mechanism set by a user in the mobile terminal, and limiting the moving range of the transmission mechanism to the safe working area.

9. The debugging device (300) according to claim 1, characterized in that: The identification module (320) calculates the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code, including: calculating a first conversion relationship between the camera coordinate system of the mobile terminal and the base coordinate system according to the position of the first identification code in the video, calculating a second conversion relationship between the camera coordinate system of the mobile terminal and the load coordinate system according to the position of the second identification code in the video, and calculating the relative position of the load in the base coordinate system of the base according to the first conversion relationship and the second conversion relationship.

10. The debugging device (300) according to claim 1, characterized in that: The driver and the mobile terminal are connected to an edge device, and the apparatus (300) further comprises: the mobile terminal sends control instructions and configuration parameters to the driver through the edge device.

11. A debugging device for a servo drive system, the servo drive system comprising a driver, a servo motor, and a transmission mechanism, characterized in that: The transmission mechanism comprises a base and a load is arranged on the transmission mechanism, a first identification code is arranged on the base, a second identification code is arranged on the load, and the debugging device comprises: A mobile terminal is provided, wherein the mobile terminal obtains real-time video of the transmission mechanism and the load, and identifies the first identification code and the second identification code from the real-time video; calculates the relative position of the load in the base coordinate system of the base according to the identified first identification code and the second identification code; accepts the user's movement operation on the transmission mechanism at the mobile terminal, and when the transmission mechanism moves in response to the operation, calculates the pulse equivalent according to the position of the load in the base coordinate system of the base and the encoder pulse, and writes the pulse equivalent into the driver.

12. An electronic device (400), comprising a processor (410), a memory (420), and instructions stored in the memory (420), wherein the instructions, when executed by the processor (410), implement the method according to any one of claims 1 to 5.

13. A computer-readable storage medium having computer instructions stored thereon, wherein the computer instructions, when executed, execute the method according to any one of claims 1 to 5.

14. A computer program product, characterized in that The invention comprises a computer program, which implements the method according to any one of claims 1 to 5 when being executed by a processor.

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