Abrasion detection method, device and equipment of motor commutator and storage medium

Abstract

The invention relates to the technical field of detection, and discloses a motor commutator wear detection method and device, equipment and a storage medium. According to the motor commutator wear detection method, a robot is provided with a DC brush motor, and the DC brush motor comprises a commutator; the method comprises the following steps: acquiring resolution information of the DC brush motor, and determining a plurality of detection point locations of the commutator based on the resolution information; for each detection point, acquiring a first position and a second position of the robot, and controlling the direct-current brush motor to operate so as to enable the robot to move from the first position to the second position; and obtaining operation parameters of a set type in the operation process of the direct current brush motor, determining wear detection results corresponding to the detection points based on the operation parameters of the set type, and forming wear detection results of the commutator by the wear detection results corresponding to the plurality of detection points. Abrasion detection of the motor commutator is realized without dismounting the DC brush motor, and commutator abrasion detection efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the field of detection technology, and in particular to a method, device, equipment and storage medium for detecting wear of a motor commutator. Background Art

[0002] In recent years, along with the development of electronic computers and industrial control technology, surgical robots have been rapidly developed and applied. As a medical and engineering product, surgical robots have the characteristics of small trauma area, fast postoperative recovery, and suitable for delicate operations in clinical applications, and are chosen by more and more patients.

[0003] The motor of the surgical robot instrument adopts a brushed DC motor. The main structure of the brushed DC motor is the stator, rotor, brush and commutator. It obtains torque through the rotating magnetic field and outputs kinetic energy. The brush and the commutator are in constant contact and friction, which plays a role in conducting electricity and commutation during rotation. The commutator of the brushed DC motor is affected by friction and wear, excessive current, high temperature, impurities, etc., which will form grooves on the surface of the commutator. These grooves will cause poor contact between the commutator and the brush, resulting in sparks and arcing, which will damage the motor in severe cases.

[0004] In the prior art, the brushed DC motor is disassembled and a multimeter is used to measure the resistance of the brushed DC motor. When the resistance value of the brushed DC motor is abnormal, it means that the motor cannot continue to be used normally. However, this method is not easy to operate and is somewhat destructive to the surgical robot. The efficiency of commutator wear detection is low. Summary of the invention

[0005] The present invention provides a method, device, equipment and storage medium for detecting wear of a motor commutator, so as to solve the problem of low wear detection efficiency of the commutator when disassembling a DC brushed motor to detect the wear state of the commutator in the prior art.

[0006] According to one aspect of the present invention, a method for detecting wear of a motor commutator is provided. A DC brush motor is configured in a robot, and the DC brush motor includes a commutator.

[0007] The method includes:

[0008] Obtain resolution information of the brushed DC motor, and determine multiple detection points of the commutator based on the resolution information;

[0009] For each detection point, the first position and the second position of the robot are obtained, and the DC brush motor of the robot is controlled to operate so that the robot moves from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle;

[0010] The operating parameters of the set type during the operation of the DC brush motor are obtained, and the wear detection results corresponding to the detection points are determined based on the operating parameters of the set type. The wear detection results corresponding to the multiple detection points respectively form the wear detection results of the commutator.

[0011] According to another aspect of the present invention, a wear detection device for a commutator of a DC brush motor is provided. A DC brush motor is configured in a robot, and the DC brush motor includes a commutator.

[0012] The device includes:

[0013] A detection point determination module is used to obtain resolution information of the DC brushed motor and determine multiple detection points of the commutator based on the resolution information;

[0014] A DC brush motor operation control module is used to obtain the first position and the second position of the robot for each detection point, and control the operation of the DC brush motor of the robot to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle;

[0015] The wear detection result forming module is used to obtain the set type of operating parameters during the operation of the DC brush motor, determine the wear detection results corresponding to the detection points based on the set type of operating parameters, and the wear detection results corresponding to multiple detection points respectively form the wear detection results of the commutator.

[0016] According to another aspect of the present invention, there is provided an electronic device, the electronic device comprising:

[0017] at least one processor; and

[0018] a memory communicatively connected to at least one processor; wherein,

[0019] The memory stores a computer program executable by at least one processor, and the computer program is executed by at least one processor so that the at least one processor can execute the wear detection method for the motor commutator according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for implementing the motor commutator wear detection method according to any embodiment of the present invention when executed by a processor.

[0021] The technical solution of the embodiment of the present invention achieves accurate determination of multiple detection points of the commutator by acquiring resolution information of the DC brush motor and determining multiple detection points of the commutator based on the resolution information; for each detection point, the first position and the second position of the robot are acquired, and the operation of the DC brush motor of the robot is controlled to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle, thereby achieving control of the robot; by acquiring the operating parameters of the set type during the operation of the DC brush motor, the wear detection results corresponding to the detection points are determined based on the operating parameters of the set type, and the wear detection results corresponding to the multiple detection points respectively form the wear detection results of the commutator, thereby achieving wear detection of the commutator, and completing the wear detection of the motor commutator without disassembling the DC brush motor, thereby improving the efficiency of wear detection of the motor commutator.

[0022] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 is a control schematic diagram of a brushed DC motor provided by an embodiment of the present invention;

[0025] Figure 2 is a flow chart of a method for detecting wear of a motor commutator provided in Embodiment 1 of the present invention;

[0026] Figure 3 is a top view of a commutator provided by an embodiment of the present invention;

[0027] Figure 4 is a schematic diagram of voltage information obtained during the operation of a brushed DC motor provided by an embodiment of the present invention;

[0028] Figure 5 is a schematic diagram of another method of obtaining voltage information of a brushed DC motor during operation provided by an embodiment of the present invention;

[0029] Figure 6is a flow chart of a method for detecting wear of a motor commutator provided in Embodiment 2 of the present invention;

[0030] Figure 7 is a schematic diagram of a commutator rotation provided by an embodiment of the present invention;

[0031] Figure 8 is a flow chart of a method for detecting wear of a commutator of a brushed DC motor provided by an embodiment of the present invention;

[0032] Fig. 9 1 is a schematic diagram of the structure of a motor commutator wear detection device provided in Embodiment 3 of the present invention;

[0033] Fig.10 It is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0035] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention 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 interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0036] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0037] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0038] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0039] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0040] As an optional but non-limiting implementation, in response to receiving an active request from the user, the prompt information may be sent to the user in the form of a pop-up window, in which the prompt information may be presented in text form. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device.

[0041] It is understandable that the above notification and the process of obtaining user authorization are merely illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet the relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0042] It is understandable that the data involved in this technical solution (including but not limited to the data itself, the acquisition or use of the data) shall comply with the requirements of relevant laws, regulations and relevant provisions.

[0043] The robot is equipped with a brushed DC motor, which includes a commutator, and the brushed DC motor is controlled by a control unit and a signal conversion unit. The control unit sends a control instruction to the signal conversion unit, and the signal conversion unit converts the control instruction and transmits it to the brushed DC motor. The control unit can be set inside the robot or outside the robot, and can be set according to needs, which is not limited here. In the case where the control unit is set inside the robot, the control unit includes but is not limited to a processor and a controller, and the control unit and the signal conversion unit can be connected through a network, or the signal conversion unit and the brushed DC motor can be connected through a circuit. In the case where the control unit is set outside the robot, the control unit includes but is not limited to a computer and a mobile terminal, and the control unit and the signal conversion unit can be connected through communication, for example, through an Ethercat protocol communication connection, or the signal conversion unit and the brushed DC motor can be connected through a circuit. By measuring the voltage information during the operation of the brushed DC motor, the wear detection of the motor commutator can be achieved without disassembling the brushed DC motor.

[0044] For example, see Figure 1 , Figure 1 This is a control schematic diagram of a DC brushed motor provided by an embodiment of the present invention. The motor is a DC brushed motor, the master station is a control unit, the slave station is a signal conversion unit, the slave station includes an encoder, the master station and the slave station communicate via the Ethercat protocol, and the slave station and the motor are connected via a circuit. During factory configuration, the master station can configure the parameters of the motor via a controller area network open protocol based on Ethernet control automation technology. The master station can send control instructions to the slave station via a process data object, and the slave station converts the control instructions and transmits them to the motor to achieve control of the motor.

[0045] Embodiment 1

[0046] Figure 2 This is a flow chart of a method for detecting wear of a motor commutator provided in Embodiment 1 of the present invention. This embodiment is applicable to the case where the efficiency of detecting wear of a motor commutator is improved without disassembling a DC brushed motor. The method can be performed by a wear detection device for a motor commutator. The wear detection device for a motor commutator can be implemented in the form of hardware and / or software. Optionally, it can be implemented by an electronic device, which can be a mobile terminal, a PC, a processor, a controller or a robot, etc.

[0047] In the case of wear on the commutator, the resistance value of the commutator is abnormal. The present invention controls the operation of the brushed DC motor without disassembling the brushed DC motor to obtain the operating parameters of the brushed DC motor during operation. The operating parameters are associated parameters of the resistance of the commutator, which can reflect the resistance value of the commutator during the operation of the brushed DC motor. If the resistance value of the commutator is abnormal, the operating parameters of the brushed DC motor are abnormal accordingly. Wear detection is performed on the detection points of the commutator through the operating parameters of the brushed DC motor during operation, so that wear detection of the commutator can be achieved without disassembly.

[0048] like Figure 2 As shown, the method may specifically include:

[0049] S110, obtaining resolution information of the brushed DC motor, and determining a plurality of detection points of the commutator based on the resolution information.

[0050] In this embodiment, the resolution information can be understood as the number of pulses per revolution fed back by the DC brush motor encoder. The encoder is a device that can convert the rotational position of the DC brush motor into an electrical signal. The resolution of the encoder determines the detection accuracy of the DC brush motor position. For example, the resolution information of the DC brush motor can be that the number of pulses generated by the DC brush motor per revolution is 1000. Different types of DC brush motors can be configured with different resolution information, which can be set according to requirements and are not limited here. The detection point can be understood as the position for wear detection in the commutator, which can be determined according to the resolution information. The detection points are evenly distributed on the circumference of the commutator. For example, the value corresponding to the resolution information has a corresponding relationship with the number of detection points, including but not limited to a proportional relationship. For example, the resolution information of the DC brush motor is that the number of pulses generated by the DC brush motor per revolution is A, and A detection points can be set, and the above A detection points are evenly distributed on the circumference of the commutator. By obtaining the resolution information of the DC brush motor and determining multiple detection points of the commutator based on the resolution information, accurate determination of the detection points is achieved.

[0051] S120. For each detection point, obtain the first position and the second position of the robot, and control the operation of the DC brush motor of the robot to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle.

[0052] In this embodiment, the first position can be understood as the position of the robot when the commutator is located at the detection point. The robot starts from the first position and moves to the second position. The second position can be understood as the position of the robot at the end of the detection of each detection point. The first position can be read by the encoder, and the second position can be calculated based on the first position. For example, the robot is at the first position, the DC brush motor of the robot is controlled to run, the commutator runs for two weeks, the robot starts to run from the first position, and the position reached is the second position. The DC brush motor can receive the first control instruction, and the first control instruction can be understood as a signal to control the robot to move from the first position to the second position. After receiving the first control instruction, the DC brush motor runs according to the first control instruction until the DC brush motor completes the first control instruction, and the robot is at the second position. For each detection point, the first position and the second position of the robot are obtained, and the DC brush motor of the robot is controlled to run so that the robot moves from the first position to the second position, thereby controlling the robot to run from the first position to the second position.

[0053] For example, see Figure 3 , Figure 31 is a top view of a commutator provided by an embodiment of the present invention. The dotted circle represents the commutator, the solid arrow represents the running direction of the commutator, A represents resolution information, the detection movement represents the movement of the commutator during the wear detection process of the commutator, and the detection movement A-2, the detection movement A-1 and the detection movement A represent the movement of the detection point A-2, the detection point A-1 and the detection point A reached during the movement of the commutator, respectively.

[0054] S130, obtaining a set type of operating parameters during the operation of the DC brush motor, and determining a wear detection result corresponding to a detection point based on the set type of operating parameters, and the wear detection results corresponding to a plurality of detection points respectively form a wear detection result of the commutator.

[0055] In this embodiment, the operating parameters can be understood as parameters generated during the operation of the DC brushed motor, including but not limited to voltage and current, which can be used to evaluate the wear of the motor commutator. The operating parameters can be obtained by measurement. For example, when the operating parameter is voltage, it can be obtained by measuring the voltage during the operation of the DC brushed motor. The wear detection result corresponding to the detection point can be understood as a judgment result for characterizing the wear condition corresponding to the detection point, for example, the wear detection result corresponding to the detection point can be that there is no wear at the detection point. The wear detection result of the commutator can be understood as a judgment result for characterizing the wear condition of the commutator, which can be determined according to the wear detection results corresponding to multiple detection points. For example, N detection points are determined by resolution, and the wear detection results corresponding to the N detection points are all that there is no wear, and the wear detection result of the commutator is that there is no wear on the commutator, or, the wear detection result corresponding to at least one detection point is that there is wear, and the wear detection result of the commutator is that there is wear on the commutator.

[0056] By obtaining the operating parameters of a set type during the operation of the DC brush motor, the wear detection results corresponding to the detection points are determined based on the operating parameters of the set type, and the wear detection results of the commutator are formed through the wear detection results corresponding to multiple detection points. This realizes the wear detection of the motor commutator without disassembling the DC brush motor, thereby improving the efficiency of commutator wear detection.

[0057] Optionally, the operating parameters of the set type include voltage information.

[0058] Specifically, the voltage information can be understood as voltage data generated during the operation of the DC brushed motor. In some embodiments, the voltage information can be amplified to determine the voltage information.

[0059] Optionally, when the voltage information is greater than or equal to a set threshold, it is determined that the commutator is worn at the detection point.

[0060] Specifically, during the operation of the brushed DC motor, when the commutator is worn, the resistance of the brushed DC motor becomes abnormal. In order to ensure the normal operation of the brushed DC motor, the voltage applied to the brushed DC motor increases, which causes the voltage information of the brushed DC motor to exceed the safety range. The wear condition of the commutator at the detection point can be determined by measuring the voltage information during the operation of the brushed DC motor. The set threshold value can be understood as a pre-set voltage reference value as a basis for judging the wear condition of the commutator. For example, it can be set based on experience and the model of the brushed DC motor. For example, see Figure 4 , Figure 4 1 is a schematic diagram of voltage information obtained during the operation of a brushed DC motor provided by an embodiment of the present invention. The horizontal straight line represents a set threshold value, and the curve represents the obtained voltage information. During the wear detection process of the commutator, there is a situation where the voltage information is greater than the preset threshold value, so the commutator is worn at the detection point.

[0061] Optionally, when the voltage information is less than a set threshold, it is determined that the commutator is not worn at the detected point.

[0062] Specifically, when the voltage information is less than the set threshold value, during the operation of the DC brush motor, the voltage information of the DC brush motor is within a safe range, that is, the commutator does not wear at the detected point. Figure 5 , Figure 5 1 is another schematic diagram of voltage information obtained during the operation of a brushed DC motor provided by an embodiment of the present invention. The horizontal straight line represents the set threshold value, and the curve represents the obtained voltage information. During the wear detection process of the commutator, the voltage information is less than the preset threshold value, so the commutator does not have wear at the detection point.

[0063] Optionally, the method also includes: determining the total number of detection points; when the detection of any detection point is completed, updating the number of completed detection points, and when the number of completed detection points reaches the total number of detection points, completing the wear detection of the commutator; and when the wear detection result of any detection point is that wear exists, generating wear prompt information for the commutator.

[0064] Specifically, the wear prompt information can be understood as the corresponding prompt information when the wear detection result of any detection point is that wear exists. The wear prompt information includes but is not limited to text information, voice information and sound information. For example, when the wear detection result of any detection point is that wear exists, the wear prompt information of the commutator "The commutator is worn, replacement is recommended" is displayed on the display page. For example, when the wear detection result of any detection point is that wear exists, a voice broadcast "The commutator is worn, replacement is recommended" can be used to prompt the inspection personnel that the commutator is worn, and the inspection personnel can replace the commutator according to the voice prompt.

[0065] The technical solution of this embodiment achieves accurate determination of multiple detection points of the commutator by acquiring resolution information of the DC brush motor and determining multiple detection points of the commutator based on the resolution information; for each detection point, the first position and the second position of the robot are acquired, and the operation of the DC brush motor of the robot is controlled to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor has run for at least one circle, thereby achieving control of the robot; by acquiring the operating parameters of the set type during the operation of the DC brush motor, the wear detection results corresponding to the detection points are determined based on the operating parameters of the set type, and the wear detection results corresponding to the multiple detection points respectively form the wear detection results of the commutator, thereby achieving wear detection of the commutator, and completing the wear detection of the motor commutator without disassembling the DC brush motor, thereby improving the efficiency of wear detection of the motor commutator.

[0066] Embodiment 2

[0067] Figure 6 1 is a flow chart of a method for detecting wear of a motor commutator provided in Embodiment 2 of the present invention. This embodiment is an optimization of the above embodiment. Figure 6 As shown, the method includes:

[0068] S210: Obtain resolution information of the brushed DC motor, and determine multiple detection points of the commutator based on the resolution information.

[0069] S220. For each detection point, obtain the first position and the second position of the robot, the second position is determined based on the first position, the target detection direction corresponding to the DC brush motor and the first rotation amount of the commutator, and control the operation of the DC brush motor of the robot to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle.

[0070] In this embodiment, the target detection direction can be understood as the running direction of the DC brush motor during the wear detection process of the commutator, and can be set as needed. The first rotation amount can be understood as the amount of rotation of the commutator when the robot moves from the first position to the second position, which can be determined by the resolution information. For example, the first rotation amount can be A+1, where A represents the resolution information. The second position can be determined based on the first position, the target detection direction corresponding to the DC brush motor, and the first rotation amount of the commutator. For example, the moving distance of the robot corresponding to the first rotation amount of the commutator is calculated, and the running direction of the robot is determined according to the target detection direction corresponding to the DC brush motor. The moving distance of the robot corresponding to the first rotation amount of the commutator running from the first position along the running direction is calculated, and the position of the robot is the second position.

[0071] Optionally, the first rotation amount of the commutator is the sum of a unit rotation amount and a periodic rotation amount, wherein the unit rotation amount is the minimum rotation amount corresponding to the resolution information, and the periodic rotation amount is the rotation amount corresponding to one rotation of the commutator.

[0072] Specifically, the unit rotation amount can be understood as the minimum rotation change of the DC brush motor, which can be determined according to the resolution information. For example, the resolution information of the DC brush motor is 1000 pulses per revolution, and the unit rotation amount can be represented by the value 1. Optionally, the unit rotation amount can correspond to the unit rotation angle. When the resolution information is A, the unit rotation angle can be 360° / A, that is, the above-mentioned unit rotation amount 1 can correspond to the unit rotation angle 360° / A. Optionally, the unit rotation amount can correspond to the unit movement distance b of the robot. Accordingly, one rotation of the commutator can correspond to the movement distance of the robot A*b. The periodic rotation amount can be understood as the rotation amount corresponding to one complete rotation of the commutator, which can be determined according to the resolution information of the DC brush motor. For example, the resolution information of the DC brush motor is that the DC brush motor generates A pulses per revolution, and the periodic rotation amount is A. The first rotation amount is the sum of the unit rotation amount and the periodic rotation amount. For example, if the unit rotation amount is 1 and the periodic rotation amount is A, then the first rotation amount is A+1.

[0073] Optionally, the method also includes: acquiring a third position and a fourth position, controlling the robot to run along the detection direction so that the robot moves from the third position to the fourth position; wherein the third position is the initial zero position; the fourth position is the farthest moving position of the robot along the detection direction during the wear detection of the commutator; in the process of moving from the third position to the fourth position, if no obstacle is detected, determining the detection direction as the target detection direction; in the process of moving from the third position to the fourth position, if an obstacle is detected, redetermining the detection direction.

[0074] Specifically, the third position can be understood as the starting position of the robot to start detection, which can be determined according to a preset coordinate system. For example, a reference point can be set, and a coordinate system can be established with the reference point as the origin. The starting position of the robot to start detection in the coordinate system is the third position. The detection direction can be understood as the direction in which the robot moves, which can be set according to needs and is not limited here. The fourth position can be understood as the farthest moving position of the robot along the detection direction during the wear detection process of the commutator, which can be calculated according to the third position, the detection direction and the number of detection points. Exemplarily, in the process of wear detection of the commutator, the robot moves in the same direction without return, and its farthest moving position is the position where the commutator rotates M times in the running direction. The rotation amount M here can be determined according to the number of detection points and the rotation amount of each detection point during the detection process. The rotation amount of the DC brush motor is determined according to the number of detection points. For example, the number of detection points is N, and the rotation amount of the DC brush motor is M times, where M≥N. The robot starts to move from the third position along the detection direction, and the position of the robot after the DC brush motor runs M times is calculated, which is the fourth position. During the movement of the robot from the third position to the fourth position, by judging whether the robot detects an obstacle and then determining the target detection direction, it is beneficial to improve the efficiency of commutator wear detection.

[0075] In some embodiments, in order to reduce the moving distance of the robot, during the wear detection of the commutator, the robot moves back in the same direction, that is, after performing wear detection in the direction of any detection point, it moves back in the opposite direction of the direction, and then performs wear detection of the next detection point. Accordingly, the movement range of the robot during the wear detection of multiple detection points is reduced, and the requirements for the scene of the wear detection process are reduced. For example, the number of detection points is N, the rotation amount of the DC brush motor is 2 circles, where N>2, the robot starts to move from the third position along the detection direction, calculates the movement distance 2*A*b of the robot corresponding to the DC brush motor running for 2 circles, and calculates the position where the robot moves 2*A*b from the third position along the detection direction, which is the fourth position.

[0076] In some embodiments, when an obstacle is detected during the movement from the third position to the fourth position, the detection direction is re-determined. For example, the opposite direction of the detection direction is selected as the new detection direction, the new fourth position is calculated based on the new detection direction, and the robot is controlled to run along the new detection direction so that the robot moves from the third position to the new fourth position. During the movement of the robot from the third position to the new fourth position, it is determined whether the robot detects an obstacle. If no obstacle is detected, the new detection direction is determined as the target detection direction. For another example, a direction is randomly selected as the new detection direction, the new fourth position is calculated based on the new detection direction, and the robot is controlled to run along the new detection direction so that the robot moves from the third position to the new fourth position. During the movement of the robot from the third position to the new fourth position, it is determined whether the robot detects an obstacle. If no obstacle is detected, the new detection direction is determined as the target detection direction.

[0077] When the robot moves to the second position, the commutator rotates the first rotation amount, reducing the adjustment of the commutator's detection points. The detection point corresponding to the second position can be directly used as the next detection point, realizing sequential detection of the detection points to improve the efficiency of commutator wear detection.

[0078] Optionally, the method further includes: when the robot moves to the second position, performing wear detection on the next detection point corresponding to the next detection point of the commutator.

[0079] During the commutator wear detection process, in order to reduce the robot's moving range and prevent the robot from detecting obstacles during movement, the DC brushed motor can be controlled to run in the opposite direction of the target detection direction.

[0080] Optionally, a wear detection is performed on the next detection point, including: determining the fifth position based on the second position, the opposite direction of the target detection direction and the second rotation amount of the commutator, controlling the operation of the DC brush motor to move the robot from the second position to the fifth position; the second rotation amount is a periodic rotation amount; taking the fifth position as the first position corresponding to the next detection point, and determining the second position corresponding to the next detection point, and performing a wear detection on the next detection point based on the first position and the second position corresponding to the next detection point.

[0081] Specifically, the second rotation amount can be understood as the periodic rotation amount of the commutator, that is, the rotation amount corresponding to one rotation of the commutator, which can be determined according to the first rotation amount. For example, the first rotation amount is the sum of the unit rotation amount and the periodic rotation amount, and the second rotation amount can be the periodic rotation amount. The fifth position can be understood as a position determined based on the second position, the opposite direction of the target detection direction and the second rotation amount of the commutator, which is used to determine the first position and the second position corresponding to the next detection point. The fifth position can be determined according to the second position, the opposite direction of the target detection direction and the second rotation amount of the commutator. For example, based on the second position, the DC brush motor is controlled to run in the opposite direction of the target detection direction, the commutator rotates the second rotation amount, and the position reached by the robot is the fifth position. The second position corresponding to the next detection point can be determined according to the first position corresponding to the next detection point, the target detection direction corresponding to the DC brush motor and the first rotation amount of the commutator, wherein the fifth position is used as the first position corresponding to the next detection point, and the DC brush motor of the robot is controlled to run so that the robot moves from the first position corresponding to the next detection point to the second position corresponding to the next detection point, thereby realizing wear detection of the next detection point.

[0082] For example, see Figure 7 , Figure 7 : is a schematic diagram of a commutator rotation provided by an embodiment of the present invention. Wherein, L1 represents the first rotation amount, and L2 represents the second rotation amount. For the first detection point, the commutator rotates the first rotation amount, the robot moves to the second position, and the commutator rotates the second rotation amount, and the robot moves to the fifth position. For the second detection point, the fifth position is used as the first position of the second detection point, the commutator rotates the first rotation amount, and the robot moves to the second position corresponding to the second detection point, and so on, until all detection points complete wear detection. In some embodiments, when the robot moves to the second position, the next detection point corresponding to the commutator is detected for wear, and the second position is used as the first position of the next detection point. The second position of the next detection point is determined based on the second position, the target detection direction corresponding to the DC brush motor and the first rotation amount of the commutator, and the DC brush motor is controlled so that the robot runs from the first position of the next detection point to the second position of the next detection point, and the next detection point is detected for wear.

[0083] S230, obtaining a set type of operating parameters during the operation of the DC brush motor, and determining a wear detection result corresponding to a detection point based on the set type of operating parameters, and the wear detection results corresponding to a plurality of detection points respectively form a wear detection result of the commutator.

[0084] For example, see Figure 8 , Figure 8It is a flow chart of a method for detecting wear of a commutator of a brushed DC motor provided by an embodiment of the present invention. Among them, zero-seeking and resetting means setting a reference point, establishing a coordinate system with the reference point as the origin, the starting position PosStart means the third position of the robot, PosEnd1 means the fourth position of the robot, b means the unit movement distance of the robot corresponding to the unit rotation, 2*A*b means the movement distance of the robot corresponding to two rotations of the commutator, whether the movement touches the soft limit means whether the robot detects an obstacle during the movement from the third position to the fourth position, Dir=-1 means the opposite direction of the detection direction, Dir=+1 means the detection direction, the number of completed detection movements Sum means the number of completed detection points, A means the resolution information and the total number of detection points, and the current Position PosCur1 indicates the first position of the robot, PosEnd2 indicates the second position of the robot, A+1 indicates the first rotation amount of the commutator, (A+1)*b indicates the moving distance of the robot corresponding to the first rotation amount of the commutator, the current position PosCur2 indicates the first position of the robot at the next detection point, PosEnd3 indicates the fifth position of the robot, feedback PWM indicates the operating parameters of the set type during the operation of the DC brush motor, whether the feedback PWM exceeds the 90% threshold indicates whether the operating parameters of the set type during the operation of the DC brush motor are greater than or equal to the preset threshold, and A*b indicates the moving distance of the robot corresponding to one rotation of the commutator. Through zero reset, read the starting position PosStart, control the robot to move from the starting position PosStart to PosEnd1 along the detection direction, and determine whether an obstacle is detected during the movement from the starting position PosStart to PosEnd1. In the process of moving from the starting position PosStart to PosEnd1, if no obstacle is detected, the detection direction is determined as the target detection direction; in the process of moving from the starting position PosStart to PosEnd1, if an obstacle is detected, the opposite direction of the detection direction is determined as the target detection direction. Set the number of completed detection motions Sum to determine whether all detections are completed. If all detections are not completed, read the current position PosCur1, control the DC brushed motor to run, so that the robot runs from the current position PosCur1 to PosEnd2, obtain the feedback PWM corresponding to PosEnd2, and determine whether the feedback PWM exceeds the 90% threshold. If the feedback PWM does not exceed the 90% threshold, update the current position and the number of completed detection motions to determine whether all detections are completed. If all detections are not completed, start the next round of detection.If any feedback PWM exceeds the 90% threshold, it indicates that the commutator is worn, and the output prompt is "The motor cannot continue to work normally, and replacement is recommended." After all tests are completed, all feedback PWMs do not exceed the 90% threshold, indicating that the commutator is not worn, and the output prompt is "The motor can work normally and can continue to be used."

[0085] The technical solution of this embodiment achieves accurate determination of multiple detection points of the commutator by acquiring resolution information of the DC brush motor and determining multiple detection points of the commutator based on the resolution information; for each detection point, the first position and the second position of the robot are acquired, the second position is determined based on the first position, the target detection direction corresponding to the DC brush motor and the first rotation amount of the commutator, and the DC brush motor of the robot is controlled to operate so that the robot moves from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle, thereby achieving accurate determination of the second position; by acquiring the operating parameters of the set type during the operation of the DC brush motor, the wear detection results corresponding to the detection points are determined based on the operating parameters of the set type, and the wear detection results corresponding to the multiple detection points respectively form the wear detection results of the commutator, thereby achieving wear detection of the commutator, and realizing wear detection of the commutator without disassembling the DC brush motor, thereby improving the efficiency of wear detection of the motor commutator.

[0086] Embodiment 3

[0087] Fig. 9 Schematic diagram of the structure of a motor commutator wear detection device provided by the third embodiment of the present invention. Fig. 9 As shown, the device comprises:

[0088] A detection point determination module 310 is used to obtain resolution information of the DC brushed motor and determine multiple detection points of the commutator based on the resolution information;

[0089] The DC brush motor operation control module 320 is used to obtain the first position and the second position of the robot for each detection point, and control the operation of the DC brush motor of the robot to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one circle;

[0090] The wear detection result forming module 330 is used to obtain the set type of operating parameters during the operation of the DC brush motor, determine the wear detection results corresponding to the detection points based on the set type of operating parameters, and the wear detection results corresponding to multiple detection points respectively form the wear detection results of the commutator.

[0091] Based on the above embodiment, optionally, the second position is determined based on the first position, the target detection direction corresponding to the DC brush motor and the first rotation amount of the commutator.

[0092] Optionally, the device also includes a target detection direction determination module, which is used to: obtain a third position and a fourth position, control the robot to run along the detection direction, so that the robot moves from the third position to the fourth position; wherein the third position is the initial zero position; the fourth position is the farthest moving position of the robot along the detection direction during the wear detection of the commutator; during the movement from the third position to the fourth position, if no obstacle is detected, the detection direction is determined as the target detection direction; during the movement from the third position to the fourth position, if an obstacle is detected, the detection direction is re-determined.

[0093] Optionally, the first rotation amount of the commutator is the sum of a unit rotation amount and a periodic rotation amount, wherein the unit rotation amount is the minimum rotation amount corresponding to the resolution information, and the periodic rotation amount is the rotation amount corresponding to one rotation of the commutator.

[0094] Optionally, the brushed DC motor operation control module 320 is further used to: when the robot moves to the second position, perform wear detection on the next detection point corresponding to the next detection point of the commutator.

[0095] Optionally, the DC brush motor operation control module 320 is also used to: determine the fifth position based on the second position, the opposite direction of the target detection direction and the second rotation amount of the commutator, and control the operation of the DC brush motor to move the robot from the second position to the fifth position; the second rotation amount is the periodic rotation amount; use the fifth position as the first position corresponding to the next detection point, and determine the second position corresponding to the next detection point, and perform wear detection on the next detection point based on the first position and the second position corresponding to the next detection point.

[0096] Optionally, the operating parameters of the set type include voltage information.

[0097] Optionally, the wear detection result forming module 330 is also used to: when the voltage information is greater than or equal to a set threshold, determine that the commutator is worn at the detection point; when the voltage information is less than the set threshold, determine that the commutator is not worn at the detection point.

[0098] Optionally, the device also includes a wear prompt information generation module, which is used to: determine the total number of detection points; when the detection of any detection point is completed, update the number of completed detection points, and when the number of completed detection points reaches the total number of detection points, complete the wear detection of the commutator; and when the wear detection result of any detection point is that wear exists, generate wear prompt information for the commutator.

[0099] The motor commutator wear detection device provided in the embodiment of the present invention can execute the motor commutator wear detection method provided in any embodiment of the present invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0100] Embodiment 4

[0101] Fig.10 : is a structural schematic diagram of an electronic device provided in Embodiment 4 of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices (such as helmets, glasses, watches, etc.) and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present invention described and / or required herein.

[0102] like Fig.10 As shown, the electronic device 10 includes at least one processor 11, and a memory connected to the at least one processor 11 in communication, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the random access memory (RAM) 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the read-only memory (ROM) 12, and the random access memory (RAM) 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0103] A number of components in the electronic device 10 are connected to an input / output (I / O) interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, speakers, etc., a storage unit 18, such as a disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0104] The processor 11 may be a variety of general and / or dedicated processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as a wear detection method for a motor commutator.

[0105] In some embodiments, the wear detection method for the motor commutator may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 10 via a read-only memory (ROM) 12 and / or a communication unit 19. When the computer program is loaded into a random access memory (RAM) 13 and executed by the processor 11, one or more steps of the wear detection method for the motor commutator described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the wear detection method for the motor commutator in any other appropriate manner (e.g., by means of firmware).

[0106] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0107] The computer program for implementing the wear detection method of the motor commutator of the present invention can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general-purpose computer, a special-purpose computer or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or the block diagram are implemented. The computer program can be executed completely on the machine, partially on the machine, partially on the machine as an independent software package and partially on a remote machine, or completely on a remote machine or server.

[0108] Embodiment 5

[0109] Embodiment 5 of the present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to cause a processor to execute a method for detecting wear of a motor commutator, wherein a DC brush motor is configured in the robot, and the DC brush motor includes a commutator; the method comprises:

[0110] Obtain resolution information of the brushed DC motor, and determine multiple detection points of the commutator based on the resolution information; for each detection point, obtain the first position and the second position of the robot, and control the operation of the brushed DC motor of the robot to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the brushed DC motor runs for at least one circle; obtain the operating parameters of the set type during the operation of the brushed DC motor, determine the wear detection result corresponding to the detection point based on the operating parameters of the set type, and the wear detection results corresponding to the multiple detection points respectively form the wear detection result of the commutator.

[0111] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, device, or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0112] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0113] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0114] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0115] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0116] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for detecting wear of a motor commutator, characterized in that: The robot is provided with a DC brush motor, wherein the DC brush motor includes a commutator; The method comprises: Acquire resolution information of the brushed DC motor, and determine a plurality of detection points of the commutator based on the resolution information; For each of the detection points, the first position and the second position of the robot are obtained, and the DC brush motor of the robot is controlled to operate so that the robot moves from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the DC brush motor runs for at least one cycle; The operating parameters of a set type during the operation of the DC brushed motor are obtained, and the wear detection results corresponding to the detection points are determined based on the operating parameters of the set type. The wear detection results corresponding to the plurality of detection points respectively form the wear detection results of the commutator.

2. The method for detecting wear of a motor commutator according to claim 1, characterized in that: The second position is determined based on the first position, a target detection direction corresponding to the DC brush motor, and a first rotation amount of the commutator.

3. The method for detecting wear of a motor commutator according to claim 2, characterized in that: The method further comprises: Acquire the third position and the fourth position, and control the robot to run along the detection direction so that the robot moves from the third position to the fourth position; wherein the third position is the initial zero position; and the fourth position is the farthest moving position of the robot along the detection direction during the wear detection process of the commutator; In the process of moving from the third position to the fourth position, if no obstacle is detected, determining the detection direction as the target detection direction; When an obstacle is detected during the movement from the third position to the fourth position, the detection direction is re-determined.

4. The method for detecting wear of a motor commutator according to claim 2, characterized in that: The first rotation amount of the commutator is the sum of the unit rotation amount and the periodic rotation amount, wherein the unit rotation amount is the minimum rotation amount corresponding to the resolution information, and the periodic rotation amount is the rotation amount corresponding to one rotation of the commutator; The method further comprises: When the robot moves to the second position, a wear detection is performed on the next detection point corresponding to the commutator.

5. The method for detecting wear of a motor commutator according to claim 4, characterized in that: The performing wear detection on the next detection point comprises: Determine a fifth position based on the second position, the opposite direction of the target detection direction and the second rotation amount of the commutator, and control the operation of the DC brush motor to move the robot from the second position to the fifth position; the second rotation amount is the periodic rotation amount; The fifth position is used as the first position corresponding to the next detection point, and the second position corresponding to the next detection point is determined, and wear detection is performed on the next detection point based on the first position and the second position corresponding to the next detection point.

6. The method for detecting wear of a motor commutator according to claim 1, characterized in that: The operating parameters of the set type include voltage information; Determining the wear detection result corresponding to the detection point based on the operating parameter of the set type includes: When the voltage information is greater than or equal to a set threshold, determining that the commutator is worn at the detection point; When the voltage information is less than a set threshold, it is determined that the commutator has no wear at the detection point.

7. The method for detecting wear of a motor commutator according to claim 1, characterized in that: The method further comprises: Determining the total number of detection points; When the detection of any of the detection points is completed, the number of the completed detection points is updated, and when the number of the completed detection points reaches the total number of the detection points, the wear detection of the commutator is completed; And when the wear detection result of any of the detection points indicates that wear exists, wear prompt information of the commutator is generated.

8. A wear detection device for a commutator of a DC brushed motor, characterized in that: The robot is provided with a DC brush motor, wherein the DC brush motor includes a commutator; The device comprises: A detection point determination module, used to obtain resolution information of the DC brushed motor, and determine a plurality of detection points of the commutator based on the resolution information; A brushed DC motor operation control module, for obtaining the first position and the second position of the robot for each of the detection points, and controlling the operation of the brushed DC motor of the robot so as to move the robot from the first position to the second position; wherein the first position is the starting position of the robot for the detection point, and the second position is the target position reached by the robot after the commutator in the brushed DC motor runs for at least one cycle; A wear detection result forming module is used to obtain the operating parameters of a set type during the operation of the DC brush motor, determine the wear detection results corresponding to the detection points based on the operating parameters of the set type, and the wear detection results corresponding to multiple detection points respectively form the wear detection results of the commutator.

9. An electronic device, characterized in that: The electronic device comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the wear detection method for the motor commutator according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the wear detection method for a motor commutator according to any one of claims 1 to 7 when executed.

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