Brake brake detection method, device, equipment, medium and product

Abstract

The invention provides a brake detection method, device and equipment, a medium and a product, and relates to the technical field of robots. The method is applied to the robot and comprises the steps that in the running process of the robot, the instantaneous current of each joint motor brake of the robot is detected; inputting the instantaneous current into a current anomaly detection model to obtain a detection result output by the current anomaly detection model; the detection result comprises whether a brake of the robot has a fault or not; and under the condition that the detection result is that the brake has the fault, determining a fault joint according to the detection result, and outputting the fault joint on a detection interface. According to the technical scheme, the fault detection accuracy of the brake can be improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of robotics, and particularly relates to a method, device, equipment, medium and product for detecting a brake. Background Art

[0002] With the wide application of industrial robots in the field of intelligent manufacturing technology, their use in different automated application scenarios is also increasing. The brake is a component of the servo motor and also a key component in the robot, used to control the operation and stop of the robot body. The traditional method for detecting the brake is that when the brake opens abnormally, the robot body will not move after receiving the operation instruction, and when the brake closes abnormally, the robot body will still slide after receiving the stop instruction.

[0003] However, in the traditional brake fault detection method, a fixed threshold is used. When the brake is not completely faulty, it cannot be detected in time, and the detection accuracy is low. Summary of the Invention

[0004] Embodiments of the present invention provide a method, device, equipment, medium and product for detecting a brake, which can solve the problem of low accuracy in detecting brake faults.

[0005] In a first aspect, the present application provides a method for detecting a brake, which is applied to a robot. The method includes:

[0006] During the operation of the robot, detecting the instantaneous current of the brake of each joint motor of the robot;

[0007] Inputting the instantaneous current into a current anomaly detection model to obtain a detection result output by the current anomaly detection model; the detection result includes whether there is a fault in the brake of the robot;

[0008] In the case where the detection result is that there is a fault in the brake, determining the faulty joint according to the detection result and outputting it on the detection interface.

[0009] Optionally, before detecting the instantaneous current of the brake of each joint motor of the robot during the operation of the robot, the method further includes:

[0010] Responding to the operation information input on the detection interface to control the operation of the robot; or,

[0011] Receiving the operation information input through the teach pendant of the robot to control the operation of the robot.

[0012] Optionally, the operation information includes multiple joint positions, as well as the corresponding operation speed, acceleration, and end load of the joint positions. Controlling the robot to operate in response to the operation information input on the detection interface includes:

[0013] According to the multiple joint positions input on the detection interface, as well as the corresponding operation speed, acceleration, and end load of the joint positions, calculate the current operation current of the joints of the robot;

[0014] Transmit the current operation current to the servo driver of the robot, so that the servo driver controls the motor of the robot to determine the current output torque according to the current operation current, and controls the operation of the robot according to the current output torque.

[0015] Optionally, during the operation of the robot, detecting the instantaneous current of the brake of each joint motor of the robot includes:

[0016] Detect the instantaneous current of the brake of the joint motor through a preset current detection module at each joint; the current detection module is used to detect the current flowing through the brake electromagnetic coil in the brake of the joint motor.

[0017] Optionally, after determining the faulty joint according to the detection result and outputting it on the detection interface when the detection result is that there is a fault in the brake, the method further includes:

[0018] When the detection result is that there is a fault in the brake, determine the position pulse difference and speed pulse difference between the current moment and the previous moment of the faulty joint;

[0019] According to the position pulse difference and speed pulse difference, determine whether the motor of the faulty joint is abnormally braked;

[0020] When the motor of the faulty joint is abnormally braked, send a motor locking instruction to the servo driver.

[0021] Optionally, after inputting the instantaneous current into the current anomaly detection model and obtaining the detection result output by the current anomaly detection model, the method further includes:

[0022] When the detection result is that there is a fault in the brake, obtain the operation duration of the robot;

[0023] Generate an operation current waveform diagram according to the instantaneous current during the operation duration, and the operation current waveform diagram includes the instantaneous current corresponding to each joint motor brake at different moments;

[0024] Display the operating current waveform diagram on the detection interface.

[0025] Optionally, the method further includes:

[0026] Obtain the historical operating information of the robot and the corresponding historical current values of the historical operating information;

[0027] Input the historical operating information into a preset neural network model to obtain an output sample current value;

[0028] Update the parameters of the neural network model according to a preset loss function, the sample current value, and the historical current value;

[0029] In the case where the loss value of the loss function is less than or equal to a preset loss threshold, use the neural network model corresponding to the loss value as the current anomaly detection model.

[0030] Optionally, the method further includes:

[0031] During the operation of the robot, adjust the operating information to obtain an instantaneous current data set corresponding to different operating information;

[0032] Input the instantaneous current data set into the current anomaly detection model to obtain the service life of the brake of the robot output by the current anomaly detection model.

[0033] In a second aspect, the present application provides a detection device for a brake, which is applied to a robot. The device includes:

[0034] A current detection module, configured to detect the instantaneous current of the brake of each joint motor of the robot during the operation of the robot;

[0035] A model application module, configured to input the instantaneous current into a current anomaly detection model to obtain a detection result output by the current anomaly detection model; the detection result includes whether there is a fault in the brake of the robot;

[0036] A result output module, configured to, in the case where the detection result is that there is a fault in the brake, determine the faulty joint according to the detection result and output it on the detection interface.

[0037] In a third aspect, the present application provides an electronic device, including: a processor, a memory, and a computer program stored on the memory and executable on the processor. When the processor executes the program, the above-mentioned detection method for the brake is implemented.

[0038] Fourthly, the present application provides a readable storage medium. When the instructions in the readable storage medium are executed by a processor of an electronic device, the electronic device can execute the above-mentioned detection method of the brake.

[0039] Fifthly, an embodiment of the present application provides a computer program product, including a computer program, which realizes the above-mentioned detection method of the brake when executed by a processor.

[0040] In the embodiment of the present application, during the operation of the robot, the instantaneous current of the brake of each joint motor of the robot is detected; the instantaneous current is input into the current anomaly detection model, and the detection result output by the current anomaly detection model is obtained; the detection result includes whether there is a fault in the brake of the robot; in the case that the detection result is that there is a fault in the brake, the faulty joint is determined according to the detection result and output on the detection interface. Through the above technical solution, firstly, the instantaneous current of the brake of each joint motor of the robot is detected in real time. Secondly, a current dynamic threshold detection model based on machine learning is introduced to judge whether there is a fault in the brake of the robot. Finally, in the case that there is a fault in the brake, the faulty joint is output on the detection interface, which can improve the accuracy of the brake fault detection when the brake has not completely failed, and without the need to rely on any external device, and can perform full-automatic detection without manual intervention and in a non-stop state, which is more convenient and fast and reduces the detection cost. Description of the Drawings

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required to be used in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0042] Figure 1 It is a step flow chart of a detection method of a brake provided by an embodiment of the present application;

[0043] Figure 2 It is a specific step flow chart of a detection method of a brake provided by an embodiment of the present application;

[0044] Figure 3 It is a schematic diagram of a detection interface provided by an embodiment of the present application;

[0045] Figure 4 It is a step flow chart of another detection method of a brake provided by an embodiment of the present application;

[0046] Figure 5It is a structural block diagram of a detection system for a brake provided by an embodiment of the present application;

[0047] Figure 6 It is a structural diagram of a detection device for a brake provided by an embodiment of the present application;

[0048] Figure 7 It is a structural diagram of an electronic device provided by an embodiment of the present application;

[0049] Figure 8 It is a structural diagram of another electronic device provided by an embodiment of the present application. Detailed implementation manners

[0050] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0051] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and the number of objects is not limited. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally indicates an "or" relationship between the associated objects before and after.

[0052] In the description of the present disclosure, unless otherwise specified, "a plurality" means two or more, and other quantifiers are similar; "at least one (item)", "one (item) or more (items)" or similar expressions refer to any combination of these items (items), including any combination of single item (item) or plural items (items). For example, at least one (item) a can represent any number of a; for another example, one (item) or more (items) of a, b, and c can represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, c can be single or multiple; "and / or" is an association relationship describing associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Among them, A and B can be singular or plural. The character " / " indicates an "or" relationship between the associated objects before and after.

[0053] In the embodiments of the present disclosure, although operations or steps are described in a specific order in the drawings, it should not be understood that these operations or steps are required to be performed in the specific order shown or in a serial order, or that all the shown operations or steps are required to obtain the desired result. In the embodiments of the present disclosure, these operations or steps can be performed serially; they can also be performed in parallel; or a part of these operations or steps can be performed.

[0054] With the wide application of industrial robots in the field of intelligent manufacturing technology, their use in different automated application scenarios is also increasing.

[0055] Industrial robots mainly consist of core components such as a robot body structure, servo motors, reducers, servo drivers, motion controllers, and handheld teaching pendants. The servo motors, reducers, and robot body structural components together form the robot body, and the servo motors and reducers are installed in the robot body structural components. The motion controller performs trajectory planning and sends control commands to the servo driver. After receiving the operation command, the servo driver controls the motion of the servo motor, and the servo motor drives the robot body to move through the reducer.

[0056] The brake is a component of the servo motor and also a key component in the robot. It is used to control the operation and stop of the robot body, and its normal operation directly affects the safety and motion accuracy of the robot. However, most traditional brake fault detection methods rely on manual inspection or regular maintenance. This method not only consumes time and effort but also easily misses faults, leading to potential safety hazards.

[0057] The traditional brake detection method is that when the brake opens abnormally, the robot body will not move after receiving the operation command. When the brake closes abnormally, the robot body will still slide after receiving the stop command. However, if the brake is in a fault condition of not being fully opened / closed, it cannot be judged simply by observing whether the robot body moves according to the received operation / stop command. For example, when the robot receives the operation command and the brake is not fully opened, the robot body can still run at this time, and the friction between the brake pads and the brake surface of the brake will increase significantly. In this case, the brake is already in a fault state, but the servo driver fails to detect it according to the conventional overcurrent / overload methods (because the operating current may not exceed the overcurrent / overload threshold of the servo driver), and considering factors such as the friction of the robot body structure, the problem of the brake cannot be intuitively and timely discovered, while the robot has been in the running state. At this time, it will lead to the aggravation of the brake fault, and ultimately cause the complete damage of the brake, resulting in safety accidents such as the out-of-control collision of the robot body.

[0058] However, the traditional brake failure detection methods have the following deficiencies:

[0059] 1. In the traditional brake failure detection method, a fixed threshold is adopted. When the brake does not completely fail, it cannot be detected in time, resulting in low detection accuracy;

[0060] 2. Traditional brake failure detection requires the assistance of external devices or manual disassembly and inspection in the shutdown state, increasing costs and being time-consuming and laborious.

[0061] To solve the above technical problems, the present application provides a detection method, device, equipment, medium and product for a brake. First, the instantaneous current of the brake of each joint motor of the robot is detected in real time. Secondly, a current dynamic threshold detection model based on machine learning is introduced to determine whether there is a failure in the brake of the robot. Finally, in the case of a brake failure, the faulty joint is output on the detection interface, which can improve the accuracy of brake failure detection when the brake does not completely fail, and does not require any external device, and can perform full-automatic detection without manual intervention and in a non-shutdown state, which is more convenient and fast and reduces the detection cost.

[0062] The following details the detection method for the brake provided by the embodiments of the present application.

[0063] Figure 1 is a step flowchart of a detection method for a brake provided by an embodiment of the present application. This detection method for a brake is applied to a robot, as Figure 1 shown, and the method may include:

[0064] Step 101: During the operation of the robot, detect the instantaneous current of the brake of each joint motor of the robot.

[0065] In the embodiments of the present application, the robot is a multi-joint robot.

[0066] It can be understood that a multi-joint robot is a robot with multiple rotatable joints and can perform complex movements and operations in three-dimensional space. For example, the robot has 6 joints, and the 6 joints are connected together through driving devices such as motors and speed reducers, enabling the robot's arm or end effector to reach different positions and postures, and can achieve complex actions similar to a human arm. In the embodiments of the present application, the type of the robot manipulator can be Cartesian coordinate type, cylindrical coordinate type, polar coordinate type, joint type, etc., and the embodiments of the present application do not make specific limitations.

[0067] In the embodiments of the present application, the instantaneous current may be the current flowing through the brake electromagnetic coil in the brake of the joint motor of the robot.

[0068] Exemplarily, the motor brake includes components such as a brake disc, a brake caliper, brake pads, a brake spring, and an electromagnetic coil. Among them, the brake disc is installed on the rotating shaft of the motor and rotates together with the motor shaft. The brake caliper is installed on a fixed bracket and is located on both sides of the brake disc. The brake caliper is used to achieve braking by clamping the brake disc. The brake caliper usually includes structures such as pistons and brake pad mounting grooves. The brake pads are installed in the brake caliper and are in close contact with the surface of the brake disc. The brake spring plays a role in providing braking force in the brake. When the brake is in the braking state, the brake spring is in a compressed state, and it pushes the brake caliper to clamp the brake disc through its elastic force, causing the motor shaft to stop rotating. The stiffness and pre-tightening force of the spring determine the magnitude of the braking force. The electromagnetic coil is used to control the release and braking states of the brake. When the electromagnetic coil is energized, a magnetic field is generated, attracting the iron core or armature, overcoming the elastic force of the brake spring, and causing the brake caliper to release the brake disc, allowing the motor shaft to rotate freely; when the electromagnetic coil is de-energized, the magnetic field disappears, the brake spring returns to its original state, and it pushes the brake caliper to clamp the brake disc to achieve braking.

[0069] In the embodiment of the present application, the number of joints of the robot is the same as the number of brake brakes.

[0070] It can be understood that each joint of the multi-joint robot has independent braking control to ensure that when the robot stops moving or an abnormal situation occurs, the joints can be quickly and accurately locked to prevent the robot from accidentally moving or falling due to gravity or external forces. For example, in a common 6-joint industrial robot, a brake brake is installed at the driving motor of each joint, a total of 6, so as to achieve precise braking control of each joint.

[0071] In some embodiments, each joint motor brake of the robot is provided with a current detection module, and the current detection module is used to detect the current flowing through the brake electromagnetic coil.

[0072] Step 102: Input the instantaneous current into the current anomaly detection model to obtain the detection result output by the current anomaly detection model.

[0073] In the embodiment of the present application, the detection result includes whether there is a fault in the brake brake of the robot.

[0074] In some embodiments, the current anomaly detection model can set a threshold range of normal current; when the input instantaneous current exceeds this threshold range, the output detection result is that there is a fault in the brake brake of the robot; when the input instantaneous current meets this threshold range, the output detection result is that there is no fault in the brake brake of the robot.

[0075] For example, set the threshold of the normal current to be greater than or equal to 1.0 ampere (A) and less than or equal to 5.0 A. If the instantaneous current value is 6.0 A, the detection result output by the current anomaly detection model is that there is a fault in the brake of the robot.

[0076] In some embodiments, the type of fault in the brake can be an electromagnetic coil fault. For example, when the electromagnetic coil cannot be powered on, the brake will always be in the braking state and the motor cannot rotate; if the electromagnetic coil is always powered on, the brake cannot achieve the braking function and the motor will lose braking protection.

[0077] Step 103, in the case where the detection result is that there is a fault in the brake, determine the faulty joint according to the detection result and output it on the detection interface.

[0078] In the embodiments of the present application, there is a corresponding relationship between the joint and the brake, and the faulty joint can be the joint corresponding to the faulty brake.

[0079] Optionally, each joint is assigned a device identifier. Step 104 may include: determining the faulty brake according to the detection result, and according to the corresponding relationship between the joint and the brake, determining the faulty joint and outputting the identifier of the faulty joint.

[0080] In some embodiments, the detection result further includes an operating current waveform diagram.

[0081] In summary, for the detection method of the brake in the embodiments of the present application, first, the instantaneous current of the brake of each joint motor of the robot is detected in real time. Secondly, a current dynamic threshold detection model based on machine learning is introduced to determine whether there is a fault in the brake of the robot. Finally, in the case where there is a fault in the brake, the faulty joint is output on the detection interface, which can improve the accuracy of the brake fault detection when the brake has not completely failed, and without the need to rely on any external device, and can perform full-automatic detection without manual intervention and in a non-stop state, which is more convenient and fast and reduces the detection cost.

[0082] Figure 2 is a specific step flowchart of a detection method for a brake provided by an embodiment of the present application. This detection method for the brake is applied to a robot, such as Figure 2 shown, and the method may include:

[0083] Step 201, in response to the operating information input on the detection interface, control the robot to run.

[0084] In the embodiments of the present application, the operating information includes multiple joint positions, as well as the operating speed, acceleration, and end load corresponding to the joint position.

[0085] In some embodiments, the operation information may also be received by input through the teach pendant of the robot.

[0086] Exemplarily, referring to Figure 3 , the detection interface may be a self-check mode interface. If operation information such as position and speed is set on the left side of the interface, then when the self-check program module is called during the automatic operation of the robot, the robot will be operated according to the speed and path set by the user, and the failure detection of the brake will be performed on the process of the robot moving from the set speed to the set position.

[0087] Optionally, Figure 3 the interface in supports the running current test of 6 joints. It is possible to select to test 6 joints simultaneously, or select the joints to be tested according to requirements. In the figure, the A-axis and B-axis are selected for testing. Therefore, the A-axis and B-axis are shown with "√" for highlighting.

[0088] Optionally, step 201 includes:

[0089] Sub-step 2011: Calculate the current running current of the robot at the joint position according to the multiple joint positions input on the detection interface, and the running speed, acceleration and end load corresponding to the joint position;

[0090] Sub-step 2012: Transmit the current running current to the servo drive of the robot, so that the servo drive controls the motor of the robot to determine the current output torque according to the current running current, and controls the operation of the robot according to the current output torque.

[0091] In some embodiments, sub-step 2011 may include: inputting the multiple joint positions, and the running speed and acceleration corresponding to the joint position into the robot dynamics model to obtain the initial joint torque of each joint; calculating the additional torque of each joint according to the magnitude, direction and acting point of the end load, and the geometric structure of the robot; determining the target torque of each joint according to the initial joint torque and the additional torque; calculating the current running current of the robot according to the corresponding relationship between the running current and the torque.

[0092] For example, methods such as using the Lagrangian equation or Newton-Euler equation are used to establish the dynamics model of the multi-joint robot; the additional torque borne by each joint is calculated by statically analyzing the magnitude, direction and acting point of the end load, and the geometric structure of the robot; the vector sum of the initial joint torque and the additional torque is used as the target torque of each joint; the current running current of the robot is calculated using the torque-running current characteristic curve of the motor.

[0093] In some embodiments, each joint motor brake can communicate with the central processing unit (CPU) of the robot via a Controller Area Network (CAN) bus. For example, a CAN bus communication module is integrated inside the brake, and it is connected to the central processing unit via the CAN bus. Each brake is assigned a unique address on the bus. The central processing unit can communicate with a specific brake by sending an instruction frame with the target address. The central processing unit can send a "release" or "brake" instruction to the brake of a certain joint, and at the same time receive the status information returned by the brake to determine whether the braking is successful and whether the braking pressure is normal, etc.

[0094] In some embodiments, after sub-step 2011, the above method may further include: determining the motor rotation angles and speeds of each joint according to the operation information input on the detection interface, and controlling the position and posture of the end effector of the robot manipulator. For example, each joint has a corresponding encoder, which is used to feedback the actual position information of the joint. According to the operation information input on the detection interface, each joint of the robot is controlled through the encoder.

[0095] Exemplarily, in sub-step 2012, the servo drive can determine the basic torque according to the proportional relationship between the operating current and the output torque; compensate and correct the basic torque using a compensation coefficient to obtain the current output torque. The servo drive compares the calculated output torque with the torque instruction sent by the controller, and adjusts the current of the motor through a proportional integral derivative control algorithm (PID) so that the torque output by the motor tracks the commanded torque. In this way, the servo drive will detect the change in current and then adjust the output torque to keep the joint stable or respond to external forces in a predetermined manner.

[0096] Step 202: Detect the instantaneous current of the joint motor brake through a preset current detection module at each joint.

[0097] In the embodiments of the present application, the current detection module is used to detect the current flowing through the brake electromagnetic coil in the joint motor brake.

[0098] In some embodiments, the current detection module can be a current sensor.

[0099] Exemplarily, the current detection module can be a Hall effect current sensor, a Rogowski coil current sensor, etc.

[0100] In other embodiments, the current detection module can be a current detection circuit.

[0101] Exemplarily, the current detection circuit includes a Hall effect current sensor, a signal conditioning circuit, an analog-to-digital conversion circuit, and a microcontroller. When current passes through the motor winding, the Hall effect current sensor detects the magnetic field generated by the current and outputs an analog voltage signal proportional to the current. This voltage signal is amplified and filtered by an operational amplifier in the signal conditioning circuit to obtain a stable analog voltage signal. The analog-to-digital conversion circuit converts the processed analog voltage signal into a digital signal. The microcontroller reads the digital quantity converted by the analog-to-digital conversion circuit and converts it into the actual current value according to a pre-calibrated relationship.

[0102] Step 203: Input the instantaneous current into the current anomaly detection model to obtain the detection result output by the current anomaly detection model.

[0103] The method of this step has been described in the previous step 102 and will not be elaborated here.

[0104] In some embodiments, after step 202, the above-mentioned detection method for the brake can further include: when the instantaneous current is greater than a preset current threshold and gradually increases over time, it is determined that the brake has severe wear or a fault.

[0105] It should be noted that when the brake is working normally, since the braking torque required to be maintained by the brake is basically constant, the instantaneous current of the brake is within a relatively stable range. Although the current of the brake will change significantly at the moment when the robot motor starts or brakes, however, the instantaneous current will only rise briefly to overcome the friction and inertia of the brake so that the joint can rotate smoothly or generate sufficient braking torque to stop the joint movement, rather than gradually increasing over time.

[0106] In some embodiments, the above-mentioned detection method for the brake further includes:

[0107] Sub-step S1: Obtain the historical operation information of the robot and the corresponding historical current values.

[0108] Among them, the historical operation information includes the different operating speeds, different accelerations, and different end loads corresponding to each joint position of the robot within the historical time period, and the historical current values include the historical current values corresponding to each joint position of the robot under different operating speeds, different accelerations, and different end loads within the historical time period.

[0109] Sub-step S2: Input the historical operation information into a preset neural network model to obtain the output sample current values.

[0110] Sub-step S3: Update the parameters of the neural network model according to a preset loss function, the sample current value, and the historical current value.

[0111] Sub-step S4: When the loss value of the loss function is less than or equal to a preset loss threshold, use the neural network model corresponding to the loss value as the current anomaly detection model.

[0112] Among them, the preset neural network model includes preset parameters. The sample current value is obtained by inputting the first piece of the historical operation information into the preset neural network model when the preset neural network model uses the preset parameters, and then getting the first sample current value output by the neural network model.

[0113] In this embodiment, the loss value of the loss function can be calculated according to the first sample current value output by the neural network model and the historical current value corresponding to the first piece of the historical operation information through the preset loss function. When the loss value is greater than the preset loss threshold, update the parameters of the neural network model, continue to input the next adjacent piece of the historical operation information into the preset neural network model, and obtain the corresponding sample current value output by the neural network model. Then, recalculate the loss value of the loss function according to the corresponding sample current value output by the neural network model and the historical current value corresponding to the historical operation information until the loss value of the loss function is less than or equal to the preset loss threshold. In this case, the loss value less than or equal to the preset loss threshold can be used as the target loss value, and the neural network model including the target loss value can be used as the current anomaly detection model.

[0114] Step 204: When the detection result is that there is a fault in the brake, determine the faulty joint according to the detection result and output it on the detection interface.

[0115] The method of this step has been described in the foregoing step 103 and will not be elaborated here.

[0116] In some embodiments, step 204 may include: when the detection result is that there is a fault in the brake, determine the faulty brake according to the detection result; use the joint corresponding to the faulty brake as the faulty joint and display it in the first display area of the detection interface.

[0117] Exemplarily, see Figure 3 , when the faulty joint is the A-axis, the indicator light corresponding to the A-axis lights up, or the indicator light corresponding to the faulty joint is red, and the indicator lights corresponding to other normally operating joints are green.

[0118] Step 205: When the detection result is that there is a fault in the brake, determine the position pulse difference and speed pulse difference of the faulty joint between the current moment and the previous moment.

[0119] Exemplarily, the sampling periods of the position pulse and the speed pulse are 0.5 seconds (s), and the position pulse and the speed pulse are sampled periodically; the differences between the position pulses and the speed pulses between the current moment and the previous moment are calculated periodically.

[0120] Step 206: Determine whether the motor of the faulty joint has abnormal braking according to the difference between the position pulses and the difference between the speed pulses.

[0121] Optionally, when the difference between the position pulses is within the first preset range and the difference between the speed pulses is within the second preset range, it is determined that the motor of the faulty joint is normal; otherwise, it is determined that the motor of the faulty joint has abnormal braking. The first preset range and the second preset range are obtained by collecting the changes in position, speed, and current differences when the motors of different axes have abnormal braking under different working conditions of the robot, and storing the data after digital-to-analog and pulse conversion.

[0122] Step 207: When the motor of the faulty joint has abnormal braking, send a motor locking command to the servo driver.

[0123] It should be noted that there are mainly the following two situations for whether the motor has abnormal braking: 1. The motor brake is not opened after the servo driver is enabled, and the motor is blocked or the motor drags the brake pads during operation, resulting in abnormal operation of the robot and damage to the servo motor at the same time. 2. The motor brake is opened when the servo driver is not enabled, and the motor rotates, causing the robot to have an arm-drop condition, resulting in damage to the robot and even triggering a safety accident. By locking the motor in time when the motor has abnormal braking, the safety of the multi-joint robot during operation can be effectively improved.

[0124] Step 208: When the detection result is that the brake has a fault, obtain the running duration of the robot; and generate a running current waveform diagram according to the instantaneous current within the running duration.

[0125] The running current waveform diagram includes the instantaneous current corresponding to each joint motor brake at different times.

[0126] Exemplarily, see Figure 3 , the running current waveform diagram is a waveform diagram with time as the abscissa and the instantaneous current value as the ordinate.

[0127] Step 209: Display the running current waveform diagram on the detection interface.

[0128] In some embodiments, when the brake has a fault, the running current waveform diagram can also display a mark of "X" to remind the user.

[0129] In some embodiments, after step 209, the above-mentioned detection method of the brake can further include: exporting the instantaneous current and the operating current waveform diagram during the operating duration for detailed analysis. For example, the current waveform data can be exported as an xls format document for easy recording and analysis. Click Figure 3 the export button in

[0130] to export the instantaneous current document during the operating duration.

[0131] In some other embodiments, after step 209, the above-mentioned detection method of the brake can further include:

[0132] Sub-step 210: During the operation of the robot, adjust the operation information to obtain an instantaneous current data set corresponding to different operation information;

[0133] Sub-step 211: Input the instantaneous current data set into the current anomaly detection model to obtain the service life of the brake output by the current anomaly detection model.

[0134] Exemplarily, sub-step 210 to sub-step 211 may include: generating a curve graph of the change in the operating current of the brake according to the operating current data measured by the brake in different periods; judging the wear speed of the brake according to the curve graph of the change in the operating current, or predicting the service life of the brake according to the curve graph of its operating current change.

[0134] In summary, the detection method of the brake in the embodiments of the present application introduces a current dynamic threshold detection model based on machine learning, which can detect when the brake does not completely fail, improving the accuracy of brake failure detection; without the need to rely on any external device, it can perform fully automatic detection without manual intervention and in a non-stop state, which is more convenient and fast, reducing costs and saving time and effort.

[0135] Figure 4 is a step flow chart of another detection method of the brake provided by the embodiments of the present application. As Figure 4 shown, the method may include:

[0136] Step 301: Test the current value of the brake of the multi-joint robot under all working conditions.

[0137] Step 302: Establish a current dynamic threshold database.

[0138] In the embodiments of the present application, before the robot leaves the factory, full working condition tests with different speeds, different loads, and different trajectories are carried out to establish a current dynamic threshold database.

[0139] Step 303: Create a current dynamic threshold model.

[0140] In the embodiments of the present application, a set of current dynamic threshold detection models is trained using machine learning methods.

[0141] Step 304: Deploy the current dynamic threshold model in the multi-joint robot controller.

[0142] Step 305: Power on the robot system.

[0143] Step 306: The user writes a robot operation program.

[0144] In the embodiments of the present application, when the user uses the robot, according to the actual usage requirements, the user independently writes a robot operation program, and at any position and at any time in the robot operation program, a self-check program module can be added according to the user's needs.

[0145] Exemplarily, for example, if the user wants the robot to carry an item from point A to point B, different trajectory running modes can be selected from point A to point B (such as moving in a straight line, moving in an arc, moving in a wavy curve, moving in an arc + straight line), and different trajectory running modes require the user to use different robot motion commands (such as linear motion MovL, circular motion MovC, etc.) to write different robot operation programs, then the current data of the robot running from point P0 to point P1 will be detected.

[0146] Step 307: The user independently selects the moment to call the self-check program module in the operation program.

[0147] In the embodiments of the present application, at any position and at any time in the robot operation program, a self-check program module can be added according to the user's needs.

[0148] Step 308: The robot moves according to the requirements.

[0149] In the embodiments of the present application, after the robot program with the added self-check program module is set up, the robot will move according to the user's requirements.

[0150] Step 309: When running to the self-check program module, detect the instantaneous current of the brake.

[0151] In the embodiments of the present application, during the actual operation of the robot, a self-check program including the current dynamic threshold detection model is started, so that the user can perform fully automatic brake failure detection without any restrictions during use, view the fault information through the self-check mode interface, and can also export the fault data waveform for detailed analysis.

[0152] Step 310: Send the instantaneous current to the current dynamic threshold model for judgment.

[0153] In the embodiment of the present application, during the operation of the robot, when it runs to the self-check program module, the running current of the brake is obtained and sent to the current dynamic threshold model for analysis to determine whether there is a fault in the brake at this time.

[0154] Step 311, the self-check program module sends the judgment result to the self-check mode interface.

[0155] Figure 5 It is a block diagram of a detection system for a brake provided by an embodiment of the present application. Refer to Figure 5 , the self-check program is started in the robot motion controller. Through the current detection module of the driver, the running current of the brake is obtained, and then the obtained running current is sent to the current dynamic threshold model for judgment to determine whether there is a fault in the brake, and the detection result is transmitted to the self-check mode interface for display through the self-check program.

[0156] To sum up, in the brake detection method in the embodiment of the present application, the current dynamic threshold detection model based on machine learning is introduced, which can detect when the brake does not completely fail, improving the accuracy of brake fault detection; without relying on any external devices, it can perform full-automatic detection under non-stop state without manual intervention, which is more convenient and fast, reducing costs and saving time and effort.

[0157] Figure 6 It is a structural diagram of a detection device for a brake provided by an embodiment of the present application. The brake detection device 500 is applied to a robot. The brake detection device 500 may include:

[0158] A current detection module 501, configured to detect the instantaneous current of the brake of each joint motor of the robot during the operation of the robot;

[0159] A model application module 502, configured to input the instantaneous current into the current anomaly detection model to obtain the detection result output by the current anomaly detection model; the detection result includes whether there is a fault in the brake of the robot;

[0160] A result output module 503, configured to determine the faulty joint according to the detection result and output it on the detection interface when the detection result is that there is a fault in the brake.

[0161] Optionally, the brake detection device 500 further includes:

[0162] A first control module, configured to control the operation of the robot in response to the operation information input on the detection interface; or,

[0163] The second control module is used to receive the operation information input through the teach pendant of the robot and control the operation of the robot.

[0164] Optionally, the operation information includes multiple joint positions, as well as the running speed, acceleration, and end load corresponding to the joint positions. The first control module includes:

[0165] The current calculation sub-module is used to calculate the current running current of the robot at the joint position according to the multiple joint positions input on the detection interface, as well as the running speed, acceleration, and end load corresponding to the joint position.

[0166] The transmission sub-module is used to transmit the current running current to the servo driver of the robot, so that the servo driver controls the motor of the robot to determine the current output torque according to the current running current and control the operation of the robot according to the current output torque.

[0167] Optionally, the current detection module 501 includes:

[0168] The detection sub-module is used to detect the instantaneous current of the brake of the joint motor through the preset current detection module at each joint; the current detection module is used to detect the current flowing through the brake electromagnetic coil in the brake of the joint motor.

[0169] Optionally, the detection device 500 of the brake further includes:

[0170] The first determination module is used to determine the position pulse difference and speed pulse difference between the current moment and the previous moment of the faulty joint when the detection result is that there is a fault in the brake.

[0171] The second determination module is used to determine whether the motor of the faulty joint is abnormally braked according to the position pulse difference and speed pulse difference.

[0172] The first occurrence module is used to send a motor locking instruction to the servo driver when the motor of the faulty joint is abnormally braked.

[0173] Optionally, the detection device 500 of the brake further includes:

[0174] The first acquisition module is used to acquire the running duration of the robot when the detection result is that there is a fault in the brake.

[0175] The generation module is used to generate a running current waveform diagram according to the instantaneous current during the running duration. The running current waveform diagram includes the instantaneous current corresponding to each brake of the joint motor at different times.

[0176] The display module is used to display the running current waveform diagram on the detection interface.

[0177] Optionally, the detection device 500 of the brake further includes:

[0178] A first acquisition module, configured to acquire the historical operation information of the robot and the corresponding historical current value of the historical operation information;

[0179] A sample output module, configured to input the historical operation information into a preset neural network model to obtain an output sample current value;

[0180] An update module, configured to update the parameters of the neural network model according to a preset loss function, the sample current value, and the historical current value;

[0181] A model determination module, configured to use the neural network model corresponding to the loss value as the current anomaly detection model when the loss value of the loss function is less than or equal to a preset loss threshold.

[0182] Optionally, the detection device 500 of the brake further includes:

[0183] An adjustment module, configured to adjust the operation information during the operation of the robot to obtain an instantaneous current data set corresponding to different operation information;

[0184] A prediction module, configured to input the instantaneous current data set into the current anomaly detection model to obtain the service life of the brake output by the current anomaly detection model.

[0185] For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple. For related parts, please refer to the partial description of the method embodiment.

[0186] This application also provides an electronic device. Refer to Figure 7 , the electronic device 700 may include one or more of the following components: a processing component 702, a memory 704, a power component 706, a multimedia component 708, an audio component 710, an input / output (I / O) interface 712, a sensor component 714, and a communication component 716.

[0187] The processing component 702 generally controls the overall operation of the electronic device 700, such as operations associated with display, telephone call, data communication, camera operation, and recording operation. The processing component 702 may include one or more processors 720 to execute instructions to complete all or part of the steps of the above method. In addition, the processing component 702 may include one or more modules to facilitate the interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate the interaction between the multimedia component 708 and the processing component 702.

[0188] The memory 704 is used to store various types of data to support the operation of the electronic device 700. Examples of such data include instructions for any application or method operating on the electronic device 700, contact data, phone book data, messages, pictures, multimedia, and the like. The memory 704 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, a magnetic disk, or an optical disk.

[0189] The power supply component 706 provides power to various components of the electronic device 700. The power supply component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 700.

[0190] The multimedia component 708 includes an interface that provides an output interface between the electronic device 700 and the user. In some embodiments, the interface may include a liquid crystal display (LCD) and a touch panel (TP). If the interface includes a touch panel, the interface can be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors can sense not only the boundaries of touch or swipe actions but also detect the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 708 includes a front camera and / or a rear camera. When the electronic device 700 is in an operating mode, such as a shooting mode or a multimedia mode, the front camera and / or the rear camera can receive external multimedia data. Each of the front camera and the rear camera can be a fixed optical lens system or have a focal length and optical zoom capabilities.

[0191] The audio component 710 is used to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC) that is used to receive external audio signals when the electronic device 700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals can be further stored in the memory 704 or transmitted via the communication component 716. In some embodiments, the audio component 710 further includes a speaker for outputting audio signals.

[0192] The input / output (I / O) interface 712 provides an interface between the processing component 702 and a peripheral interface module, which can be a keyboard, a click wheel, buttons, etc. These buttons can include, but are not limited to: a home button, a volume button, a power-on button, and a lock button.

[0193] The sensor assembly 714 includes one or more sensors for providing an assessment of various aspects of the state of the electronic device 700. For example, the sensor assembly 714 can detect the on / off state of the electronic device 700, the relative positioning of components, such as the display and keypad of the electronic device 700. The sensor assembly 714 can also detect a change in the position of the electronic device 700 or a component of the electronic device 700, the presence or absence of user contact with the electronic device 700, the orientation or acceleration / deceleration of the electronic device 700, and a change in the temperature of the electronic device 700. The sensor assembly 714 can include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 can also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 can also include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0194] The communication component 716 is configured to facilitate communication between the electronic device 700 and other devices in a wired or wireless manner. The electronic device 700 can access a wireless network based on communication standards, such as WiFi, a carrier network (such as 2G, 3G, 4G, or 5G), or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0195] In an exemplary embodiment, the electronic device 700 can be implemented by one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components for implementing a method for detecting a braking device provided in the embodiments of the present application.

[0196] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, and the above instructions can be executed by a processor 720 of the electronic device 700 to complete the above method. For example, the non-transitory storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0197] Figure 8 It should be noted that in the original text, "7G" in "such as 2G, 3G, 7G or 7G" is likely a misrepresentation. I translated it as "4G, or 5G" according to common sense. If this is not what you intended, please correct the original text and I will provide a more accurate translation.It is a block diagram of an electronic device 800 according to another embodiment of the present invention. For example, the electronic device 800 may be provided as a server. Referring to Figure 8 , the electronic device 800 includes a processing component 822, which further includes one or more processors, and memory resources represented by a memory 832 for storing instructions executable by the processing component 822, such as application programs. The application programs stored in the memory 832 may include one or more modules each corresponding to a set of instructions. In addition, the processing component 822 is configured to execute instructions to perform a detection method for a braking brake provided in an embodiment of the present application.

[0198] The electronic device 800 may further include a power supply component 826 configured to perform power management of the electronic device 800, a wired or wireless network interface 850 configured to connect the electronic device 800 to a network, and an input / output (I / O) interface 858. The electronic device 800 may operate based on an operating system stored in the memory 832, such as Windows Server TM, Mac OS XTM, Unix TM, Linux TM, Free BSDTM or the like.

[0199] In an embodiment of the present application, the memory 832 can be used to store software programs and various data. The memory 832 mainly includes a first storage area for storing programs or instructions and a second storage area for storing data. Among them, the first storage area can store an operating system, applications or instructions required for at least one function (such as a sound playback function, an image playback function, etc.). In addition, the memory 832 can include a volatile memory or a non-volatile memory, or the memory 832 can include both a volatile memory and a non-volatile memory. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory can be a random access memory (RAM), a static random access memory (SRAM), a dynamic random access memory (DRAM), a synchronous dynamic random access memory (SDRAM), a double data rate synchronous dynamic random access memory (DDR SDRAM), an enhanced synchronous dynamic random access memory (ESDRAM), a synch link dynamic random access memory (SLDRAM), and a direct rambus random access memory (DRRAM). The memory 832 in the embodiment of the present application includes, but is not limited to, these and any other suitable types of memories.

[0200] The processor can include one or more processing units; optionally, the processor integrates an application processor and a modem processor. Among them, the application processor mainly processes operations related to the operating system, user interface, and applications, etc., and the modem processor mainly processes wireless communication signals, such as a baseband processor. It can be understood that the above-mentioned modem processor may not be integrated into the processor.

[0201] The present application also provides a readable storage medium. When the instructions in the readable storage medium are executed by the processor of the electronic device, the electronic device can execute the detection method of the brake brake in the foregoing embodiment.

[0202] The embodiments of the present application also provide a computer program product. The program product is stored in a storage medium and is executed by at least one processor to implement each process of the detection method embodiment of the brake brake as described above, and can achieve the same technical effects. To avoid repetition, it will not be elaborated here.

[0203] It should be noted that all kinds of information and data obtained in the embodiments of the present application are obtained under the authorization of the information / data holder. All actions of obtaining signals, information or data in the present application are carried out on the premise of complying with the corresponding data protection regulations and policies of the country where it is located and obtaining the authorization given by the corresponding device owner.

[0204] The algorithms and displays provided herein are not inherently related to any particular computer, virtual system, or other device. Various general-purpose systems can also be used in conjunction with the teachings provided herein. The structure required to construct such a system will be apparent from the above description. In addition, the present application is not directed to any particular programming language. It should be understood that the content of the present application described herein can be implemented using various programming languages, and the description of the specific language above is to disclose the best mode of the present application.

[0205] In the specification provided herein, a large number of specific details are set forth. However, it can be understood that the embodiments of the present application can be practiced without these specific details. In some instances, well-known methods, structures, and technologies have not been shown in detail so as not to obscure the understanding of this specification.

[0206] Similarly, it should be understood that, in order to streamline the present application and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present application, the various features of the present application are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting the intention that the claimed subject matter of the present application requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate embodiment of the present application.

[0207] Those skilled in the art can understand that the modules in the devices in the embodiments can be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments can be combined into one module or unit or component, and in addition, they can be divided into multiple sub-modules or sub-units or sub-components. Except that at least some of such features and / or processes or units are mutually exclusive, any combination can be adopted to combine all the features disclosed in this specification (including the accompanying claims, abstract and drawings) and all the processes or units of any method or device so disclosed. Unless otherwise explicitly stated, each feature disclosed in this specification (including the accompanying claims, abstract and drawings) can be replaced by an alternative feature that provides the same, equivalent or similar purpose.

[0208] Each component embodiment of the present application can be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) can be used in practice to implement some or all of the functions of some or all of the components in the sorting device according to the present application. The present application can also be implemented as a device or device program for executing part or all of the methods described herein. Such a program for implementing the present application can be stored on a computer-readable medium, or can be in the form of one or more signals. Such signals can be downloaded from an Internet website, or provided on a carrier signal, or provided in any other form.

[0209] It should be noted that the above embodiments illustrate the present application rather than limit the present application, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application can be implemented by means of hardware including several different elements and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices can be embodied by the same hardware item. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

[0210] The user information involved in the present application (including but not limited to the user's device information, user personal information, etc.), relevant data, etc. are all information authorized by the user or authorized by all parties.

[0211] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0212] The foregoing are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included within the protection scope of the present application. As described above, these are only the specific implementation manners of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed by the present application, and all such changes or replacements should be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. A detection method for a brake, characterized in that, Applied to a robot, the method includes: During the operation of the robot, detecting the instantaneous current of the brake of each joint motor of the robot; Inputting the instantaneous current into a current anomaly detection model to obtain a detection result output by the current anomaly detection model; the detection result includes whether there is a fault in the brake of the robot; When the detection result indicates that there is a fault in the brake, determining the faulty joint according to the detection result and outputting it on the detection interface.

2. The method according to claim 1, characterized in that, Before detecting the instantaneous current of the brake of each joint motor of the robot during the operation of the robot, the method further includes: Responding to the operation information input on the detection interface to control the operation of the robot; or, Receiving the operation information input through the teach pendant of the robot to control the operation of the robot.

3. The method according to claim 2, wherein The operation information includes multiple joint positions, as well as the running speed, acceleration, and end load corresponding to the joint positions. Responding to the operation information input on the detection interface to control the operation of the robot includes: Calculating the current running current of the joint position of the robot according to the multiple joint positions input on the detection interface, as well as the running speed, acceleration, and end load corresponding to the joint positions; Transmitting the current running current to the servo driver of the robot, so that the servo driver controls the motor of the robot to determine the current output torque according to the current running current, and controls the operation of the robot according to the current output torque.

4. The method according to claim 1, wherein During the operation of the robot, detecting the instantaneous current of the brake of each joint motor of the robot includes: Detecting the instantaneous current of the brake of the joint motor through a preset current detection module at each joint; the current detection module is used to detect the current flowing through the brake electromagnetic coil in the brake of the joint motor.

5. The method according to claim 1, characterized in that After determining the faulty joint according to the detection result and outputting it on the detection interface when the detection result indicates that there is a fault in the brake, the method further includes: When the detection result indicates that there is a fault in the brake, determining the position pulse difference and speed pulse difference of the faulty joint between the current moment and the previous moment; Determining whether the motor of the faulty joint is abnormally braked according to the position pulse difference and speed pulse difference; When the motor of the faulty joint is abnormally braked, sending a motor locking instruction to the servo driver.

6. The method according to claim 1, wherein After inputting the instantaneous current into the current anomaly detection model to obtain the detection result output by the current anomaly detection model, the method further includes: When the detection result indicates that there is a fault in the brake, obtaining the running duration of the robot; Generating a running current waveform diagram according to the instantaneous current during the running duration, and the running current waveform diagram includes the instantaneous current corresponding to the brake of each joint motor at different times; Displaying the running current waveform diagram on the detection interface.

7. The method according to claim 1, characterized in that, The method further includes: Obtain the historical operation information of the robot and the corresponding historical current value of the historical operation information; Input the historical operation information into a preset neural network model to obtain the output sample current value; Update the parameters of the neural network model according to a preset loss function, the sample current value, and the historical current value; When the loss value of the loss function is less than or equal to a preset loss threshold, use the neural network model corresponding to the loss value as the current anomaly detection model.

8. The method according to claim 1, characterized in that The method further includes: During the operation of the robot, adjust the operation information to obtain an instantaneous current data set corresponding to different operation information; Input the instantaneous current data set into the current anomaly detection model to obtain the service life of the brake of the brake obtained by the output of the current anomaly detection model.

9. A detection device for a brake, characterized in that, Applied to a robot, the device includes: A current detection module for detecting the instantaneous current of the brake of each joint motor of the robot during the operation of the robot; A model application module for inputting the instantaneous current into the current anomaly detection model to obtain the detection result output by the current anomaly detection model; the detection result includes whether there is a fault in the brake of the robot; A result output module for, when the detection result is that there is a fault in the brake, determining the faulty joint according to the detection result and outputting it on the detection interface.

10. An electronic device, characterized in that, Including: A processor, a memory, and a computer program stored on the memory and executable on the processor, characterized in that when the processor executes the program, it implements the detection method of the brake as described in any one of claims 1 to 8.

11. A readable storage medium, characterized in that, When the instructions or transactions in the storage medium are executed by the processor of the electronic device, the electronic device can execute the detection method of the brake as described in any one of claims 1 to 8.

12. A computer program product, characterized in that, Including a computer program, which implements the method as described in any one of claims 1 to 8 when executed by a processor.

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