Measurement method, measurement device and measurement system applied to motion control system and electronic equipment

Abstract

The embodiment of the invention provides a measurement method, a measurement device, a measurement system and electronic equipment applied to a motion control system. The measurement method comprises: wirelessly connecting a network server (31, 140) of a driver in the motion control system, and starting an automatic optimization option to be tested in the application scenario (S201); acquiring data of an operation state of the motion control system in the application scene (S202); analyzing the application scene and the data of the operation state of the motion control system collected under the automatic optimization option in the application scene to obtain a measurement result optimization parameter of the operation state (S203); and introducing an optimization parameter of the operating state measurement result into the drive (31, 140) through the wireless connection (170), so that the drive (31, 140) performs parameter optimization according to the optimization parameter of the operating state measurement result (S204). The solution not only simplifies the configuration and optimization process of the motion control system, but also improves the configuration and optimization effects of the motion control system.

Description

Technical Field

[0001] The present invention relates to the field of motion control systems, and in particular to a measurement method and a measurement device for enhancing the perception ability of a motion control system. Background Art

[0002] During the debugging of a motion control system, it is necessary to measure the operating conditions of related machinery and equipment in the motion control system, such as vibration, acceleration, angle, noise, etc. According to the operating condition data obtained by the measurement, the response parameters of the motion control driver can be accurately adjusted to optimize the operation of the machinery and equipment.

[0003] In the prior art, due to the limited perception ability and computational analysis ability of the driver and the motor system in the motion control system, professional measurement and analysis equipment is required. In actual operation, these professional measurement and analysis equipment need to use their proprietary analysis software to analyze and obtain the measurement results. These measurement results cannot be directly read through the debugging tool of the driver, but are manually imported into the driver by hand, and then the parameter settings of the driver are completed to optimize the operation performance of the equipment. In addition, in actual on-site operations, the measurement sensors in these professional measurement and analysis equipment need to be connected to related machinery and equipment through cables or other connection devices. The cables or other connection devices not only affect the load of the motion control system, but also limit the movement or moving range of the machinery and equipment. The procurement cost of these professional measurement and analysis equipment is expensive, and the procurement cycle is long. It is impossible to obtain professional measurement and analysis equipment conveniently and quickly, which affects the debugging cycle of the motion control system and ultimately affects the measurement efficiency. Furthermore, these professional measurement and analysis equipment require professional personnel to collect data on-site, and use professional analysis tools for analysis and debugging, resulting in a more complex debugging process. Generally speaking, using these professional measurement and analysis equipment to measure the motion control system not only has a high measurement cost, a complex measurement process, but also a low measurement efficiency.

[0004] Currently, with the improvement of the computing power of drivers and the enhancement of edge computing devices, more and more on-site data collection and analysis can be carried out without installing measuring instruments. Specifically, the edge computing device is connected to local sensors, and high-speed data collection is carried out through these local sensors to obtain the operation information of relevant machinery and equipment. The edge computing device analyzes and processes the obtained operation information of relevant machinery and equipment to obtain response parameters for optimizing the control driver, and then realizes the parameter optimization of relevant machinery and equipment in the motion control system to optimize its performance. Although this solution can optimize the parameters of the motion control system remotely, that is, in the cloud, the local sensors, such as wireless vibration sensors, are relatively expensive. In actual operation, dedicated instruments are also required to complete the collection of operation data. Therefore, its popularity in actual applications is not high. Summary of the Invention

[0005] In view of this, the embodiments of the present invention propose a measurement method, a measurement device, a measurement system and an electronic device for enhancing the perception ability of a motion control system, which simplifies the debugging and optimization process of the motion control system and improves the debugging and optimization efficiency of the motion control system.

[0006] A measurement method applied to a motion control system according to an embodiment of the present invention includes:

[0007] The mobile terminal wirelessly connects to the network server of the driver in the motion control system and starts the automatic optimization option to be tested in an application scenario;

[0008] The mobile terminal collects data on the operating state of the motion control system in the relevant application scenario;

[0009] The mobile terminal analyzes the automatic optimization option to be tested started according to the application scenario and the data on the operating state of the motion control system collected in the application scenario to obtain the optimization parameters of the measurement results of the operating state;

[0010] The mobile terminal imports the optimization parameters of the measurement results of the operating state obtained through the wireless connection into the driver, so that the driver optimizes the parameters according to the optimization parameters of the measurement results of the operating state.

[0011] A measurement device applied to a motion control system according to an embodiment of the present invention includes:

[0012] The communication unit is used to wirelessly connect to the network server of the driver in the motion control system;

[0013] The sensor is used to collect data on the operating state of the motion control system in the relevant application scenario;

[0014] A processor, which is used to start the automated optimization options to be tested according to the application scenario, and analyze the data of the operating state of the motion control system collected in this application scenario to obtain the optimization parameters of the measurement results of the operating state.

[0015] The communication unit is further used to import the optimization parameters of the measurement results of the operating state into the driver, so that the driver optimizes the parameters according to the optimization parameters of the measurement results of the operating state.

[0016] A measurement system applied to a motion control system according to an embodiment of the present invention. The measurement system mainly includes a mobile terminal and a driver, where:

[0017] The mobile terminal is used to wirelessly connect to the network server of the driver in the motion control system and start the automatic optimization options to be tested in an application scenario; it is used to collect the data of the operating state of the motion control system in the relevant application scenario; it is used to analyze the data of the operating state to obtain the optimization parameters of the measurement results of the operating state; it is used to import the optimization parameters of the measurement results of the operating state into the driver through wireless connection;

[0018] The driver is used to optimize the parameters according to the optimization parameters of the measurement results of the operating state imported by the mobile terminal.

[0019] It can be seen from the above solution that, due to the method of combining the control system measurement, measurement result analysis, automatic optimization algorithm and driver debugging with the measurement device (such as a mobile terminal) in the embodiment of the present invention, a series of operations from the collection of the operating state data of the motion control system, data analysis, parameter calculation, to wireless communication with the driver and debugging of the driver parameters are completed at one time in the measurement device, and the load of the driver and the motion control system has the ability of full closed-loop perception and parameter adjustment. In this way, not only the debugging and optimization process of the motion control system is simplified, but also the debugging and optimization efficiency of the motion control system is improved. Description of the Drawings

[0020] The following will further illustrate the above characteristics, technical features, advantages and their implementation manners of the present invention in a clear and understandable manner through the description of the preferred embodiments and in combination with the drawings, where:

[0021] Figure 1 is a schematic diagram of an exemplary application scenario in which the various methods described herein can be implemented in an embodiment of the present invention;

[0022] Figure 2 is a flowchart of an embodiment of the measurement method of the present invention;

[0023] Figure 3 is a schematic structural diagram of an embodiment of the measurement device of the present invention;

[0024] Figure 4 is a schematic flowchart of another embodiment of the measurement method of the present invention;

[0025] Figure 5 is a schematic flowchart of another embodiment of the measurement method of the present invention;

[0026] Figure 6 is a schematic structural diagram of another embodiment of the measurement method of the present invention;

[0027] Figure 7 is a schematic flowchart of another embodiment of the measurement method of the present invention;

[0028] Figure 8 is a structural block diagram of an exemplary electronic device capable of implementing the embodiments of the present invention.

[0029] Among them, the reference numerals are as follows:

[0030] 110: fixing device 120: transmission device 130: moving device

[0031] 140: driver 141: wireless debugging adapter 150: motor

[0032] 151: encoder 160: mobile terminal 170: wireless connection

[0033] 30: mobile terminal 31: driver 301: sensor

[0034] 302: browser 303 and 312: processor 304 and 311: communication unit

[0035] 60: data acquisition type 601: device movement event 602: device acceleration

[0036] 603: device rotation rate 60: device orientation event 605: media audio

[0037] 606: media video 800: electronic device 801: computing unit

[0038] 802: read-only memory 803: random access memory 804: bus

[0039] 805: input / output (I / O) interface 806: input unit 807: output unit

[0040] 808: storage unit 809: communication unit

[0041] S201: The mobile terminal 160 connects to the network server of the driver 140 in the motion control system through the wireless connection 170 and starts the automatic optimization option to be tested in an application scenario

[0042] S202: The mobile terminal 160 collects data on the operating state of the motion control system in relevant application scenarios.

[0043] S203: The mobile terminal 160 analyzes the data on the operating state to obtain optimized parameters for the measurement results of the operating state.

[0044] S204: The mobile terminal 160 imports the optimized parameters of the measurement results of the operating state into the driver 140 through the wireless connection 170, so that the driver 140 optimizes the parameters according to the optimized parameters of the measurement results of the operating state.

[0045] S401: Start the measurement system of the motion control system.

[0046] S402: Establish communication for the measurement system.

[0047] S403: The mobile terminal 160 is fixed on the mobile device 130 and starts the automatic optimization option to be tested according to the application scenario.

[0048] S404: The driver 140 starts the automation option to be tested.

[0049] S405: The mobile terminal 160 continuously records the operating data of the motion control system according to the load.

[0050] S406: The mobile terminal 160 analyzes the load data and obtains the analysis result, i.e., the optimized operating parameters, through calculation.

[0051] S501: The mobile terminal 30 authorizes access to the mobile terminal sensor 301 according to different browsers 302.

[0052] S502: After the motion control system starts running according to the operating logic, the mobile terminal 30 starts the running signal, and the sensor 301 starts to collect data.

[0053] S503: After the running signal is started, the mobile terminal 30 enables the recording function of the mobile terminal to collect events.

[0054] S504: After the relevant event is triggered, the mobile terminal 30 records the event data and the timestamp.

[0055] S505: The mobile terminal 30 executes to pause or end the collection of the operating data of the motion control system.

[0056] S701: The mobile terminal 30 classifies the continuously collected data according to the application scenario to obtain the data type.

[0057] S702: The mobile terminal 30 performs data analysis according to the data type.

[0058] S703: The mobile terminal 30 analyzes the relationship between the collected data and the operating parameters

[0059] S704: The mobile terminal 30 records the analysis result of the data and imports the optimized parameters of the operating state measurement result into the driver 31 through wireless connection Detailed implementation manners

[0060] To make the objectives, technical solutions and advantages of the present invention clearer, the following examples are given to further elaborate on the present invention in detail

[0061] The embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as limited to the embodiments set forth herein. On the contrary, these embodiments are provided to more thoroughly and completely understand the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not used to limit the protection scope of the present disclosure

[0062] It should be understood that the steps recited in the method embodiments of the present disclosure can be executed in different orders and / or executed in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this regard

[0063] As used herein, the term "including" and its variants are open-ended, that is, "including but not limited to". The term "based on" is "at least partially based on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments". The relevant definitions of other terms will be given in the following description. It should be noted that the concepts such as "first" and "second" mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order of functions executed by these devices, modules or units or the interdependent relationship

[0064] It should be noted that the modifications of "one" and "multiple" mentioned in the present disclosure are illustrative rather than restrictive. Those skilled in the art should understand that unless otherwise clearly specified in the context, it should be understood as "one or more". The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes and are not used to limit the scope of these messages or information

[0065] Figure 1 A schematic diagram showing an example application scenario in which the various methods described herein can be implemented according to an exemplary embodiment of the present disclosure. Specifically Figure 1Shows a schematic structural diagram of a motion control system provided by an embodiment of the present invention. The motion control system includes a driver 140, a motor 150, and a mobile terminal 160. The load of the motion control system includes a fixing device 110, a transmission device 120, and a moving device 130. As Figure 1 shown, the mobile terminal 160 is fixed to the moving device 130, the moving device 130 is carried on the transmission device 120, and the moving device 130 and the mobile terminal 160 move along with the operation of the transmission device 120.

[0066] Among them, optionally, the motor 150 may include a motor decoder 151, and the electronic decoder 151 is connected to the driver 140. When the motor 150 works, the motor decoder 151 can provide accurate motor rotor position information and speed information for the driver 140, thereby improving the accuracy of data acquisition.

[0067] Among them, the driver 140 includes an adapter, such as a wireless debugging adapter 141, which can communicate with other electronic devices through its wireless debugging interface. For example, the driver 140 can run a web server function by cooperating with the wireless debugging interface, and can be accessed by the mobile terminal 160 through the Wi-Fi connection 170.

[0068] Among them, the mobile terminal 160 can be a general mobile device, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart watch, etc. The mobile terminal 160 integrates a microelectromechanical system (MEMS), supports browsers above HyperText Markup Language HTML5, and can connect to the web server through Wi-Fi.

[0069] Among them, since the mobile terminal 160 integrates the relevant functions of the microelectromechanical system, such as integrating the functions of professional measuring instruments for measuring vibration, noise, acceleration, etc., the mobile terminal 160 starts the test automatic optimization option and continuously collects data on the operating state as the mobile device 130 moves. The collected operating state data is analyzed to obtain the operating state measurement result, and then parameter calculation is performed on the operating state measurement result according to the automatic optimization algorithm to obtain the optimized parameters. The optimized parameters are imported into the driver 140 by accessing the web server of the driver 140 through a wireless connection. Finally, the driver 140 performs parameter optimization operations according to the imported measurement result optimized parameters. The mobile terminal 160 starts the corresponding test automatic optimization option for different application scenarios, obtains the measurement result, and completes the optimization operation of the driver parameters according to the automatic optimization algorithm, thereby realizing the optimization debugging and troubleshooting of the motion control system. Further, the driver 140 is connected to the mobile terminal 160 through wireless communication to obtain the measurement result optimized parameters for a series of parameter operations to debug the driver 140. In this way, the load conditions of the driver 140 and the motion control system have the full closed-loop perception and parameter adjustment capabilities.

[0070] Figure 2 is a working schematic diagram of the measurement method according to an embodiment of the present invention. Combining Figure 1 , the working process specifically includes:

[0071] Step S201, the mobile terminal 160 connects to the network server of the driver 140 in the motion control system through the wireless connection 170 and starts the automatic optimization option to be tested in an application scenario.

[0072] Among them, the driver 140 runs the web server function through the wireless debugging interface and connects to the wireless debugging adapter 141. The mobile terminal 160 connects to the network server of the driver 140 through the wireless connection 170, and the mobile terminal 160 is fixed to the load of the motion control system. As Figure 1 shown, the mobile terminal 160 is reliably fixed to the mobile device 130, and the corresponding automated optimization option is started for different application scenarios. Among them, the automated optimization option can be, optionally, a third-party application or an application built into the mobile terminal 160. Further, the automated optimization option can be manually selected by the user or automatically generated according to the application scenario.

[0073] Step S202, the mobile terminal 160 collects data on the operating state of the motion control system in the relevant application scenario.

[0074] Specifically, the mobile terminal 160 opens the corresponding web page of the network server of the driver 140 and securely fixes to the load of the motion control system. After the fixation, the mobile terminal 160 follows the synchronous movement of the load, and then collects relevant parameters of the load movement, such as speed, acceleration, rotation rate, sound frequency, etc. The mobile terminal 160 activates corresponding automated optimization options for different application scenarios. Among them, the automated optimization options, optionally, can be third-party applications or applications built into the mobile terminal 160. Further, the automated optimization options can be manually selected by the user or automatically generated according to the application scenario.

[0075] Among them, optionally, the data to be collected under different application scenarios includes at least one of the following: DeviceMotionEvent, DeviceAcceleration, DeviceRotationRate, DeviceOrientationEvent, MediaAudio, MediaVideo, etc.

[0076] Further, the mobile terminal 160 authorizes the browser to access the mobile terminal sensors according to different browsers, then records the collected sensor data, and stamps the data with a timestamp.

[0077] Step S203, the mobile terminal 160 analyzes the data of the operating state to obtain the optimization parameters of the measurement result of the operating state.

[0078] Specifically, the mobile terminal 160 classifies the collected data according to the application scenario to obtain the data type. Among them, the obtained data type, optionally, can be noise data, acceleration data, rotation data, etc. Then the mobile terminal 160 analyzes the data according to the obtained data type. Among them, the analysis method, optionally, can be time series analysis, frequency domain analysis, attribution analysis, etc. The mobile terminal 160 associates the analysis result with the operating parameters of the motion control system, records the analysis result, and obtains the optimization parameters of the measurement result.

[0079] Step S204, the mobile terminal 160 imports the optimization parameters of the operating state measurement result into the driver 140 through the wireless connection 170, so that the driver 140 optimizes the parameters according to the optimization parameters of the operating state measurement result.

[0080] Specifically, if the mobile terminal 160 optimizes parameters based on measurement results indicating an unsatisfactory operating state, the mobile terminal 160 correlates the cause of the problem with the parameters of the driver 140 and imports the obtained parameters into the driver 140 through the web server of the driver 140. Optionally, the driver 140 can record the imported parameters to improve the problems occurring during the next optimization cycle; or

[0081] If the mobile terminal 160 optimizes parameters based on measurement results indicating a satisfactory operating state, the mobile terminal 160 imports the optimized parameters into the driver 140 through the web server, where the measurement result optimized parameters are used to indicate the termination of measurement.

[0082] Figure 3 It is a schematic structural diagram for debugging measurement result optimized parameters between the mobile terminal and the driver in an embodiment of the present invention. Among them, the mobile terminal 30 integrates a microelectromechanical system (MEMS), supports browsers of HyperText Markup Language (HTML) 5 and above, and is capable of connecting to a web server through Wi-Fi. Specifically, the mobile terminal 30 includes:

[0083] A sensor 301, which integrates the related functions of a microelectromechanical system and includes extremely sensitive digital measurement means, capable of recording information such as acceleration, angle, and magnetic field. Modern smart phones also come standard with functions for collecting sound and video. The mobile terminal 30 collects operating state data while moving with the mobile device, and this collection of operating data is continuous during the operation of the mobile terminal 30. According to the application scenario and analysis requirements, the sensor 301 collects at least one of the following data:

[0084] DeviceMotionEvent

[0085] DeviceAcceleration

[0086] DeviceRotationRate

[0087] DeviceOrientationEvent

[0088] MediaAudio

[0089] MediaVideo

[0090] Browser 302, which supports Hypertext Markup Language (HTML) 5 and above, preferably the latest version of the browser. All of the above versions of the browser support JavaScript scripts. The JavaScript script in this browser 302 can record the data collected by sensor 301 in the memory of browser 302 and stamp a timestamp according to the clock of mobile terminal 30.

[0091] Among them, mobile terminal 30 enables browser 302 to access the built-in web server of driver 31 via Wi-Fi, so that mobile terminal 30 can obtain all functions after opening a web page without installing any programs.

[0092] Processor 303 is used to analyze the collected operating status data to obtain an operating status measurement result, and then perform parameter calculation on the operating status measurement result according to an automatic optimization algorithm to obtain optimized parameters.

[0093] Among them, this processor 303 has strong computing power, samples, analyzes, and calculates the obtained operating data of the mechanical equipment, and stores the analysis result in the memory of mobile terminal 30.

[0094] Communication unit 304 is used to send the obtained optimized parameters to driver 31 via a wireless connection, such as Wi-Fi, for parameter optimization operations.

[0095] This driver 31 is connected to the motor and is used to control the movement of the motor. This driver 31 mainly includes a communication module 311, such as a wireless debugging adapter, which is used to communicate with mobile terminal 30 via Wi-Fi. Specifically, mobile terminal 30 connects to the wireless debugging adapter of driver 31 via Wi-Fi, and this wireless debugging adapter cooperates with the wireless debugging interface to connect and access the web server function of running driver 31.

[0096] This driver 31 also includes a processor 312, which is used to optimize the received measurement result optimization parameters. Driver 31 completes the parameter optimization operation on the measurement result optimization parameters imported by mobile terminal 30 through an automatic optimization function, thereby realizing debugging optimization and troubleshooting in this motion control system.

[0097] Optionally, if driver 31 is connected to a motor encoder, as Figure 1 shown, then driver 31 can simultaneously read accurate motor rotor position information and speed information, thereby improving the accuracy of data collection.

[0098] Figure 4 This is a schematic flowchart of the method applied to the measurement of a motion control system in an embodiment of the present invention. In combination with Figure 1, which specifically includes the following steps:

[0099] Step S401, start the measurement system of the motion control system, which is also the start preparation stage of the measurement system.

[0100] Specifically, assemble and connect the motion control system with each mechanical equipment of the load. After ensuring the safe operation of each equipment, start the driver 140, that is, complete the preliminary debugging of the equipment and the system, ensure the normal operation of the basic functions, and complete the preparation stage of the measurement system.

[0101] Step S402, establish the communication of the measurement system.

[0102] Specifically, start the web server function of the driver 140 and connect to the wireless debugging adapter 141; the mobile terminal 160 connects to the web server and opens the corresponding web page.

[0103] Step S403, fix the mobile terminal 160 on the mobile device 130 and start the automatic optimization option to be tested according to the application scenario.

[0104] Step S404, the driver 140 starts the automation option to be tested;

[0105] Among the above steps S402, S403, and S404, the order between the steps can be flexibly adjusted, that is, the order between steps S402, S403, and S404 can be flexibly adjusted and configured according to the actual operation needs.

[0106] Step S405, the mobile terminal 160 continuously records the operation data of the motion control system according to the load.

[0107] Specifically, the motor 150 starts to start, the conveyor device 120 starts to operate according to the set operation logic, and the mobile terminal 160 continuously records the operation load data as it moves with the mobile device 130. After obtaining enough data for testing, it sends a message to instruct the driver 140 to pause the operation.

[0108] Step S406, the mobile terminal 160 analyzes the load data and obtains the analysis result through calculation, that is, the optimized operation parameters.

[0109] Specifically, if the result analyzed by the mobile terminal 160 reaches the optimization goal, it sends a message to instruct the driver 140 to terminate the operation; if the result analyzed by the mobile terminal 160 does not reach the optimization goal, it sends a message to instruct the driver 140 to restart the operation. If the optimization times are not exceeded, repeat step S404.

[0110] Further, if optimization is required by adjusting the machinery, the operation of the tentative driver 140 is suspended, and the machinery is adjusted.

[0111] As Figure 1 and Figure 4 shown, the embodiment of the present invention combines the control system measurement, measurement result analysis, automatic optimization algorithm, and driver debugging with the mobile terminal to complete a series of operations from the acquisition of the operation state data of the motion control system, data analysis, parameter calculation, to wireless communication with the driver and debugging of the driver parameters at one time, and endows the driver and the motion control system with the ability of full closed-loop perception and parameter adjustment. In this way, not only the debugging and optimization process of the motion control system is simplified, but also the debugging and optimization effect of the motion control system is improved.

[0112] Figure 5 It is a schematic flowchart of the method for collecting motion control system data in an embodiment of the present invention. Combining Figure 3 and Figure 4 , the specific steps are as follows:

[0113] Step S501, the mobile terminal 30 authorizes the access permission to the mobile terminal sensor 301 according to different browsers 302.

[0114] Specifically, in the operation data of the motion control system recorded by the mobile terminal 30, according to different application scenarios, the types of data to be measured are different, and thus the terminal mobile sensors 301 to be enabled are different. Further, since different browsers 302 are used by different mobile terminals 30, the mobile terminal 30 needs to open the access permission to the mobile terminal sensor 301 for different browsers 302.

[0115] Step S502, after the motion control system starts running according to the operation logic, the mobile terminal 30 starts the running signal, and the sensor 301 starts to collect data.

[0116] Specifically, according to the application scenario and analysis requirements, the sensor 301 collects at least one of the following data:

[0117] DeviceMotionEvent

[0118] DeviceAcceleration

[0119] DeviceRotationRate

[0120] DeviceOrientationEvent

[0121] Media Audio

[0122] Media Video

[0123] In step S503, after the running signal is started, the mobile terminal 30 enables the recording function of the mobile terminal to collect events.

[0124] In step S504, after the relevant event is triggered, the mobile terminal 30 records the event data and the timestamp.

[0125] Among them, the browser 302 supports texts of HyperText Markup Language HTML5 and above HTML5. Preferably, the latest version of the browser is used. All the above versions of the browser support through JavaScript scripts. Specifically, the JavaScript script in the browser 302 can record the data collected by the sensor 301 in the memory of the browser 302 and stamp the timestamp according to the clock of the mobile terminal 30.

[0126] In step S505, the mobile terminal 30 executes to pause or end the acquisition of the operation data of the motion control system.

[0127] Specifically, if the mobile terminal 30 obtains sufficient data in continuous data acquisition, as described in step S405, the mobile terminal 30 sends information to pause the operation of the driver 31; or

[0128] If the mobile terminal 30 does not obtain sufficient data in continuous data acquisition and the driver 31 does not receive the command to temporarily run, the collected data can be temporarily stored in the memory object of the browser 302 for the next data analysis.

[0129] Figure 6 The structural schematic diagram of the data to be collected by the mobile terminal sensor 301 according to the embodiment of the present invention is described in combination with Figure 3 and Figure 5 together. Among them, the data 60 to be collected by the sensor 301 includes at least one of the following:

[0130] Device movement event 601, device acceleration 602, device rotation rate 603, device positioning event 604, media audio 605, and media video 606.

[0131] Among them, the type of data collected by the sensor 301 needs to be selected according to different application scenarios and analysis requirements.

[0132] Such as Figure 7 shown, it is the schematic diagram of the method flow for data analysis of the motion control system in an embodiment of the present invention. In combination with the above Figure 3 and Figure 4The schematic diagram of the method process includes the following steps:

[0133] Step S701: The mobile terminal 30 classifies the continuously collected data according to the application scenario to obtain the data type.

[0134] Specifically, the obtained data type includes at least one of the following:

[0135] Noise data;

[0136] Acceleration data; or

[0137] Rotation data.

[0138] Step S702: The mobile terminal 30 performs data analysis according to the data type.

[0139] Specifically, the method of performing data analysis further includes:

[0140] The mobile terminal 30 performs time-series analysis on the continuously collected operation status data according to the data type;

[0141] The mobile terminal 30 performs frequency-domain analysis on the continuously collected operation status data according to the data type; or

[0142] The mobile terminal 30 performs attribution analysis on the continuously collected operation status data according to the data type.

[0143] Step S703: The mobile terminal 30 analyzes the relationship between the collected data and the operation parameters.

[0144] Specifically, after analyzing the collected data, if the mobile terminal 30 obtains an optimized goal according to the continuously collected data, the mobile terminal 30 sends a message to stop the operation of the driver 31; or

[0145] If the mobile terminal 30 does not obtain an optimized goal according to the continuously collected data, the mobile terminal 30 sends a message to restart the operation of the driver 31.

[0146] Step S704: The mobile terminal 30 records the data analysis result and imports the optimized parameters of the operation status measurement result into the driver 31 through a wireless connection.

[0147] Specifically, if the mobile terminal 30 does not obtain the optimized parameters of the satisfactory operation status measurement result, the mobile terminal 30 associates the cause of the problem with the driver 31 parameters and imports the parameters into the driver 31 through the web server of the driver 31, so as to improve these problems in the next optimization cycle; or

[0148] If the mobile terminal 30 obtains the measurement result optimization parameter for a satisfactory operating state, the mobile terminal 30 imports the optimized parameter into the driver 31 through the web server of the driver 31, where the measurement result optimization parameter is used to indicate the termination of measurement.

[0149] In the embodiments of the present invention, through the above-mentioned operation cycle of startup, acquisition, analysis, and optimization, the load of the driver and the motion control system together form a closed loop, and the performance of the entire system can be continuously optimized with very little human operation. Since the communication uses wireless transmission, it will not interfere with the movement of moving parts.

[0150] The exemplary embodiment of the present disclosure also provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor. The memory stores a computer program that can be executed by the at least one processor, and when the computer program is executed by the at least one processor, it is used to cause the electronic device to execute the method according to the embodiment of the present disclosure.

[0151] The exemplary embodiment of the present disclosure also provides a non-transitory computer-readable storage medium storing a computer program, where when the computer program is executed by a processor of a computer, it is used to cause the computer to execute the method according to the embodiment of the present disclosure.

[0152] The exemplary embodiment of the present disclosure also provides a computer program product, including a computer program, where when the computer program is executed by a processor of a computer, it is used to cause the computer to execute the method according to the embodiment of the present disclosure.

[0153] Reference Figure 8 , the structural block diagram of the electronic device 800 that can be used as the server or client of the present disclosure will now be described. It is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are only examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0154] As Figure 8As shown, the electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 802 or the computer program loaded from the storage unit 808 into the random access memory (RAM) 803. In the RAM 803, various programs and data required for the operation of the device 800 can also be stored. The computing unit 801, the ROM 802, and the RAM 803 are connected to each other through a bus 804. The input / output (I / O) interface 805 is also connected to the bus 804.

[0155] A plurality of components in the electronic device 800 are connected to the I / O interface 805, including: an input unit 806, an output unit 807, a storage unit 808, and a communication unit 809. The input unit 806 can be any type of device capable of inputting information into the electronic device 800. The input unit 806 can receive input digital or character information, and generate key signal inputs related to the user settings and / or function controls of the electronic device. The output unit 807 can be any type of device capable of presenting information, and can include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 804 can include, but is not limited to, a magnetic disk, an optical disk. The communication unit 809 allows the electronic device 800 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a BluetoothTM device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0156] The computing unit 801 can be various general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 executes the various methods and processes described above. For example, in some embodiments, the methods S201 - S204, S401 - S406, S501 - S505, and S701 - S704 can be implemented as computer software programs that are tangibly contained in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 800 via the ROM 802 and / or the communication unit 809. In some embodiments, the computing unit 801 can be configured to execute the methods S201 - S204, S401 - S406, S501 - S505, and S701 - S704 in any other suitable manner (e.g., by means of firmware).

[0157] The program code for implementing the methods of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when the program codes are executed by the processor or controller, the functions / operations specified in the flowcharts and / or block diagrams are implemented. The program code can be executed entirely on the machine, partially on the machine, as an independent software package partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0158] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, 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 disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0159] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device that provides machine instructions and / or data to a programmable processor (e.g., a magnetic disk, an optical disk, a memory, a programmable logic device (PLD)), including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal that provides machine instructions and / or data to a programmable processor.

[0160] For purposes of providing an interaction with a user, the systems and techniques described herein can be implemented on a computer 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 a trackball) by which the user can provide input to the computer. Other kinds of devices can also be used to provide for interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic, speech, or tactile input).

[0161] The systems and techniques described herein can be implemented in a computing system that includes back-end 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 front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can 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), and the Internet.

[0162] A computer system can include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other.

[0163] An embodiment of the present invention provides a measurement method, a measurement device, a measurement system, and an electronic device applied to a motion control system. The measurement method includes: a mobile terminal wirelessly connects to a network server of a driver in the motion control system and activates an automatic optimization option to be tested in an application scenario; the mobile terminal collects data on the operating state of the motion control system in the application scenario; the mobile terminal analyzes the data on the operating state to obtain optimization parameters for the measurement result of the operating state; the mobile terminal wirelessly connects to import the optimization parameters of the measurement result of the operating state into the driver, so that the driver optimizes parameters according to the optimization parameters of the measurement result of the operating state. By combining control system measurement, measurement result analysis, automatic optimization algorithm, and driver debugging with a mobile terminal, this method completes a series of operations from operating state data collection, data analysis, parameter calculation, to wireless communication with the driver and debugging of driver parameters at one time, and gives the driver and the motion control system the ability of full closed-loop perception and parameter adjustment.

[0164] The above has detailedly demonstrated and described the present invention through the accompanying drawings and preferred embodiments. However, the present invention is not limited to these disclosed embodiments, and other solutions derived by those skilled in the art are also within the protection scope of the present invention.

Claims

1. A measurement method applied to a motion control system, comprising: The mobile terminal wirelessly connects to the network server of the driver in the motion control system and starts the automation option to be tested in an application scenario; The mobile terminal collects data on the operating state of the motion control system in the application scenario; The mobile terminal analyzes the data on the operating state of the motion control system in the application scenario according to the automation optimization option to be tested started in the application scenario, and obtains the optimization parameters of the measurement result of the operating state; The mobile terminal imports the optimization parameters of the measurement result of the operating state into the driver through the wireless connection, so that the driver optimizes the parameters according to the optimization parameters of the measurement result of the operating state.

2. The measuring method according to claim 1, wherein, The mobile terminal collects data on the operating state of the motion control system in the application scenario, specifically including: The mobile terminal opens the corresponding web page of the network server of the driver; The mobile terminal is fixed on the load of the motion control system, and the mobile terminal starts to select the automatic optimization option to be tested in the application scenario; The mobile terminal continuously records the operating data of the motion control system according to the load; According to the acquisition amount of the operating data and the preset number of optimizations, the mobile terminal suspends or ends the acquisition of the operating data of the motion control system.

3. The measuring method according to claim 2, wherein, The data to be collected in the application scenario includes at least one of the following: DeviceMotionEvent DeviceAcceleration DeviceRotationRate DeviceOrientationEvent MediaAudio MediaVideo.

4. The measurement method according to any one of claims 2 to 3, wherein, The mobile terminal continuously records the operating data of the motion control system according to the load, and further includes; After the mobile terminal authorizes the access right to the mobile terminal sensor according to different browsers; The mobile terminal records the data in the sensor and stamps a timestamp on the data.

5. The measuring method according to any one of claims 1 to 4, wherein, The mobile terminal analyzes the data on the operating state to obtain the optimization parameters of the measurement result of the operating state, specifically including: The mobile terminal classifies the collected data according to the application scenario to obtain the data type; The mobile terminal performs data analysis according to the data type to obtain an analysis result; The mobile terminal associates the analysis result with the operating parameters of the motion control system, records the analysis result, and obtains the optimization parameters of the measurement result.

6. The measuring method according to claim 5, wherein, The obtained data type includes at least one of the following: Noise data; Acceleration data; or Rotation data.

7. The measuring method according to claim 5 or 6, wherein, The mobile terminal performs data analysis according to the data type to obtain an analysis result. Further, the data analysis includes: The mobile terminal performs time series analysis on the continuously collected operating state data according to the data type; The mobile terminal performs frequency domain analysis on the continuously collected operating state data according to the data type; or The mobile terminal performs attribution analysis on the continuously collected operation status data according to the data type.

8. The measuring method according to any one of claims 1 to 7, wherein, The measurement method further includes: After the mobile terminal detects and receives the signal that the motion control system starts to run according to the operation logic; The mobile terminal triggers the recording function of the acquisition event; The mobile terminal performs data acquisition according to the acquisition event.

9. The measurement method according to any one of claims 1 to 8, wherein, The mobile terminal executes the suspension or termination of the acquisition of the operation data of the motion control system, specifically including; When the mobile terminal obtains sufficient data in the continuous data acquisition, the mobile terminal sends information to suspend the operation of the driver; Or When the mobile terminal obtains the optimized purpose according to the continuously collected data, the mobile terminal sends information to stop the operation of the driver; Or When the mobile terminal does not obtain the optimized purpose according to the continuously collected data, the mobile terminal sends information to restart the operation of the driver.

10. The measuring method according to any one of claims 1 to 9, wherein The mobile terminal imports the optimized parameters of the measurement result of the operation state into the driver through the wireless connection, so that the driver performs parameter optimization testing according to the optimized parameters of the measurement result of the operation state, specifically including: If the mobile terminal does not obtain the optimized parameters of the satisfactory measurement result of the operation state, the mobile terminal associates the cause of the problem with the driver parameters and imports the parameters into the driver through the web server; or If the mobile terminal obtains the optimized parameters of the satisfactory measurement result of the operation state, the mobile terminal imports the optimized parameters into the driver through the web server, where the optimized parameters are used to indicate the termination of the measurement.

11. The measurement method according to any one of claims 1 to 10, wherein, The mobile terminal is a general integrated microelectromechanical system (MEMS), supports browsers of HyperText Markup Language HTML5 and above, and can connect to the web server through Wi-Fi.

12. A measuring device applied to a motion control system, wherein, The measurement device includes: A communication unit for wirelessly connecting to the network server of the driver in the motion control system at the end; A sensor for collecting data on the operation state of the motion control system in the application scenario; A processor for starting the automated optimization option to be tested according to the application scenario, and analyzing the data on the operation state of the motion control system in the collected application scenario to obtain optimized parameters of the measurement result of the operation state; The communication unit is further used to import the optimized parameters of the measurement result of the operation state into the driver, so that the driver performs parameter optimization according to the optimized parameters of the measurement result of the operation state.

13. The measurement device according to claim 12, wherein, The measurement device further uses the communication unit to open the corresponding web page of the network server of the driver; The measurement device is fixed on the load of the motion control system, and the processor is used to start and select the automatic optimization option to be tested in the application scenario; The processor is used to continuously record the operation data of the motion control system according to the load. According to the acquisition amount of the operation data and the preset number of optimization times, the sensor is used to pause or end the acquisition of the operation data of the motion control system.

14. The measuring device according to any one of claims 12 to 13, wherein, The data to be collected by the sensor in different application scenarios includes at least one of the following: DeviceMotionEvent DeviceAcceleration DeviceRotationRate DeviceOrientationEvent MediaAudio MediaVideo.

15. The measuring device according to claim 12, wherein, The measuring device further includes: A browser, which is used to record the data collected by the sensor and stamp a timestamp on the data.

16. The measuring device according to claim 12, wherein, The processor is used to analyze the data of the operating state of the mobile terminal to obtain the optimization parameters of the measurement result of the operating state, specifically including: The processor is used to classify the collected data according to the application scenario to obtain the data type; The processor is used to perform data analysis according to the data type to obtain the analysis result; The processor is used to associate the analysis result with the operating parameters of the motion control system, record the analysis result, and obtain the optimization parameters of the measurement result.

17. The measuring device according to claim 12, wherein, The obtained data types include one of the following: Noise data; Acceleration data; or Rotation data.

18. The measuring device according to claim 16 or 17, wherein, The processor is used to perform data analysis according to the data type to obtain the analysis result, specifically including: The processor is used to perform time series analysis on the continuously collected operating state data according to the data type; The processor is used to perform frequency domain analysis on the continuously collected operating state data according to the data type; or The processor is used to perform attribution analysis on the continuously collected operating state data according to the data type.

19. The measuring device according to any one of claims 12 to 18, wherein, The sensor further includes: After the sensor is used to detect and receive the signal that the motion control system starts to run according to the operation logic; The sensor is used to trigger the recording function of the acquisition event; The sensor is used to collect data according to the acquisition event.

20. The measurement device according to any one of claims 12 to 19, wherein, The measuring device further includes: The measuring device is used to connect to the network server of the driver in the motion control system wirelessly; When the measuring device has obtained sufficient data in continuous data acquisition, the measuring device is used to send information to pause the operation of the driver; or When the measuring device obtains the optimization purpose according to the continuously collected data, the measuring device is used to send information to stop the operation of the driver; or When the measuring device does not obtain the optimization purpose according to the continuously collected data, the measuring device is used to send information to restart the operation of the driver.

21. The measuring device according to any one of claims 12 to 20, wherein, The measuring device further includes: If the measuring device does not obtain the optimization parameters of the measurement result of the satisfactory operating state, the measuring device will associate the cause of the problem with the driver parameters and import the parameters into the driver through the web server; or If the measurement device obtains measurement result optimization parameters for a satisfactory operating state, the measurement device imports the optimized parameters into the driver through the web server, where the measurement result optimization parameters are used to indicate the termination of measurement.

22. A measurement system applied to a motion control system, the measurement system mainly includes: A mobile terminal, used to connect to the network server of the driver in the motion control system through wireless connection and start an automatic optimization option to be tested in an application scenario; Used to collect data on the operating state of the motion control system in the application scenario; used to analyze the data on the operating state to obtain measurement result optimization parameters for the operating state; used to import the optimization parameters of the measurement results of the operating state into the driver through the wireless connection; A driver, used to optimize parameters according to the optimization parameters of the measurement results of the operating state imported by the mobile terminal.

23. The measurement system according to claim 22, wherein, The mobile terminal is used to collect data on the operating state of the motion control system in the application scenario, specifically including: The mobile terminal opens the corresponding web page of the network server of the driver; The mobile terminal is fixed on the load of the motion control system, and the mobile terminal starts to select the automatic optimization option to be tested in the application scenario; The mobile terminal continuously records the operating data of the motion control system according to the load; According to the acquisition amount of the operating data and the preset number of optimizations, the mobile terminal suspends or ends the acquisition of the operating data of the motion control system.

24. The measurement system according to any one of claims 22 to 23, wherein, The data to be collected in the application scenario includes at least one of the following: DeviceMotionEvent DeviceAcceleration DeviceRotationRate DeviceOrientationEvent MediaAudio MediaVideo.

25. The measurement system according to claim 22, wherein, The mobile terminal is used to record the data collected by the sensor and stamp the data with a timestamp, specifically including: After the mobile terminal authorizes access to the sensors of the mobile terminal according to different browsers; The mobile terminal records the data in the sensor and stamps the data with a timestamp.

26. The measurement system according to claim 22, wherein, The mobile terminal is used to analyze the data on the operating state to obtain measurement result optimization parameters for the operating state, specifically including: The mobile terminal classifies the collected data according to the application scenario to obtain the data type; The mobile terminal performs data analysis according to the data type to obtain an analysis result; The mobile terminal associates the analysis result with the operating parameters of the motion control system, records the analysis result, and obtains measurement result optimization parameters.

27. The measurement system according to claim 26, wherein, The obtained data types include one of the following: Noise data; Acceleration data; or Rotation data.

28. The measurement system according to claim 26 or 27, wherein, The mobile terminal is used to perform data analysis according to the data type to obtain an analysis result. Further, the data analysis includes: The mobile terminal performs time series analysis on the continuously collected operating state data according to the data type; The mobile terminal performs frequency-domain analysis on the continuously collected operation status data according to the data type; or The mobile terminal performs attribution analysis on the continuously collected operation status data according to the data type.

29. The measurement system according to any one of claims 22 to 28, wherein, The measurement system further includes: After the mobile terminal detects and receives the signal that the motion control system starts to operate according to the operation logic; The mobile terminal triggers the recording function of the acquisition event; The mobile terminal performs data acquisition according to the acquisition event.

30. The measurement system according to any one of claims 22 to 29, wherein, The mobile terminal is used to wirelessly connect to the network server of the driver in the motion control system, and is used to import the optimization parameters of the operation status measurement result into the driver through the wireless connection, so that the driver optimizes the parameters according to the optimization parameters of the operation status measurement result. Specifically, it includes: The mobile terminal wirelessly connects to the network server of the driver in the motion control system; When the mobile terminal obtains sufficient data in continuous data acquisition, the mobile terminal sends information to pause the operation of the driver; or When the mobile terminal obtains the purpose of optimization according to the continuously collected data, the mobile terminal sends information to stop the operation of the driver; or When the mobile terminal does not obtain the purpose of optimization according to the continuously collected data, the mobile terminal sends information to restart the operation of the driver.

31. The measurement system according to any one of claims 22 to 30, wherein, The mobile terminal is used to import the optimization parameters of the operation status measurement result into the driver through the wireless connection, so that the driver optimizes the parameters according to the optimization parameters of the operation status measurement result. It further includes: If the mobile terminal does not obtain the optimized parameters for the measurement result of the satisfactory operation status, the mobile terminal associates the cause of the problem with the driver parameters and imports the parameters into the driver through the web server; or If the mobile terminal obtains the optimized parameters for the measurement result of the satisfactory operation status, the mobile terminal imports the optimized parameters into the driver through the web server, where the optimized parameters are used to indicate the termination of the measurement.

32. An electronic device, including: A processor; And A memory storing a program, Wherein, the program includes instructions, and when the instructions are executed by the processor, the processor executes the method according to any one of claims 1-11.

33. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to make the computer execute the method according to any one of claims 1-11.

34. A computer program product comprising a computer program, wherein, When the computer program is executed by the processor, it implements the method according to any one of claims 1-11.

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