Precision detection system, method and device, storage medium and program product

Abstract

The embodiment of the invention provides a precision detection system, method and device, a storage medium and a program product. According to the system, by arranging a communication module, execution state data which is obtained by a controller for controlling to-be-detected equipment and fed back by detection modules such as a sensor in the to-be-detected equipment for detecting the action execution condition of the to-be-detected equipment is obtained from the controller; the execution state data and synchronous data of sensing data collected by an external sensor are analyzed to obtain precision detection results of action execution precision and the like of the to-be-detected equipment, so that the operation state reflected by the externally collected sensing data can be comprehensively considered during precision detection; according to the method and the device, the two states are correspondingly and synchronously analyzed to obtain a more accurate precision detection result, so that the precision misjudgment is avoided, and the precision detection accuracy and the detection efficiency are improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of equipment detection technology, and in particular to an accuracy detection system, method, equipment, storage medium, and program product. Background Art

[0002] Accuracy testing of equipment is a key step in ensuring its functionality, safety, and reliability. In related technologies, sensors can be used to collect sensor data from the actions performed by the equipment under test, and the accuracy of the equipment can be determined by analyzing this sensor data.

[0003] However, during the implementation of this application, the inventors discovered at least the following problems with the related art: existing precision measurement methods simply collect operating data of the measured object or mechanism, which cannot be accurately aligned or synchronized with the actual operating status, and some of the collected operating data contains invalid data. In high-precision scenarios, when analyzing the mechanism's movements, data is easily misaligned with the actual operating status, resulting in inaccurate and inefficient analysis, affecting the accuracy and efficiency of precision testing. Summary of the Invention

[0004] The embodiments of the present application provide a precision detection system, method, device, storage medium and program product to improve the accuracy and efficiency of precision detection.

[0005] In a first aspect, an embodiment of the present application provides an accuracy detection system, comprising: a communication module, a data acquisition module, a data synchronization module, and a data analysis module;

[0006] The communication module is connected to the data synchronization module and is used to receive the execution status data sent by the controller of the device to be detected and send the execution status data to the data synchronization module; the execution status data is used to represent the execution status of the action detected by the device to be detected;

[0007] The data acquisition module is connected to the data synchronization module and is used to collect sensor data during the execution of the action of the device to be detected and send the sensor data to the data synchronization module;

[0008] The data synchronization module is used to synchronize the execution status data and the sensor data according to time, obtain the synchronized data, and send the synchronized data to the data analysis module;

[0009] The data analysis module is used to parse the synchronization data and obtain the action execution accuracy of the device to be detected.

[0010] In one possible design, the data acquisition module includes an analog measurement unit and an analog-to-digital conversion unit;

[0011] The analog measurement unit is connected to the analog-to-digital conversion unit and is used to collect analog data during the operation of the device to be detected and send the analog data to the analog-to-digital conversion unit;

[0012] The analog-to-digital conversion unit is connected to the data synchronization module and is used to perform analog-to-digital conversion on the analog data, obtain the sensing data, and send the sensing data to the data synchronization module.

[0013] In one possible design, the system further includes: a storage module;

[0014] The communication module and the data acquisition module are connected to the data synchronization module through the storage module; the data synchronization module is connected to the data analysis module through the storage module;

[0015] A communication module, configured to receive execution status data sent by the controller of the device to be detected, and store the execution status data in the storage module;

[0016] A data acquisition module is used to collect sensor data during the execution of the action of the device to be detected and store the sensor data in the storage module;

[0017] A data synchronization module is used to obtain execution status data and sensor data from the storage module, synchronize the execution status data and sensor data according to time, obtain synchronization data, and store the synchronization data in the storage module;

[0018] The data analysis module is used to obtain the synchronization data from the storage module, analyze the synchronization data, and obtain the action execution accuracy of the device to be detected.

[0019] In one possible design, the system further includes: a data display module;

[0020] The data display module is connected to the data synchronization module and is used to display the synchronized data.

[0021] In one possible design, the system further includes: a report output module;

[0022] The report output module is connected to the data analysis module and is used to output the corresponding detection data report based on the preset format according to the action execution accuracy of the device to be detected.

[0023] In a possible design, the data acquisition module has multiple acquisition channels.

[0024] In a possible design, the acquisition frequency of the data acquisition module is adjustable.

[0025] In a possible design, the communication mode of the communication module includes at least one of the following: process field network communication, open platform communication unified architecture communication, and transmission control protocol communication.

[0026] In a second aspect, an embodiment of the present application provides an accuracy detection method, comprising:

[0027] Acquire sensor data and execution status data; sensor data is collected during the process of the device to be detected performing an action under the control of the controller; execution status data is used to represent the execution status of the action detected by the device to be detected;

[0028] Synchronize the sensor data and execution status data according to time to obtain synchronized data;

[0029] Analyze the synchronization data to obtain the action execution accuracy of the device to be tested.

[0030] In one possible design, the execution status data includes multiple status values ​​corresponding to the first timestamps; the sensor data includes multiple sensor data frames corresponding to multiple time periods; and synchronizing the sensor data and the execution status data according to time to obtain synchronized data includes:

[0031] For each first timestamp in the execution status data,

[0032] Within the time period, interpolating the first timestamp within the time period to obtain a second timestamp close to the first timestamp;

[0033] querying a first sensing data frame corresponding to a second timestamp within the time period;

[0034] The synchronization data is determined according to the state values ​​corresponding to the plurality of first timestamps and the first sensing data frames corresponding to the plurality of second timestamps corresponding to the plurality of time periods.

[0035] In one possible design, parsing the synchronization data to obtain the accuracy of the action executed by the device to be detected includes:

[0036] For each first timestamp in the plurality of time periods, determining an error value corresponding to the first timestamp according to a difference between a first sensing data frame corresponding to the corresponding second timestamp and a state value corresponding to the first timestamp;

[0037] The accuracy of the action executed by the device to be detected is determined according to the error values ​​respectively corresponding to the plurality of first timestamps.

[0038] In a possible design, after parsing the synchronization data to obtain the accuracy of the action executed by the device to be detected, the method further includes:

[0039] For each state value among the plurality of state values, determining a second sensing data frame equal to the state value from a plurality of first sensing data frames corresponding to the state value, and determining a delay error corresponding to the state value based on a difference between a second timestamp corresponding to the second sensing data frame and a first timestamp corresponding to the state value;

[0040] The action rhythm of the device to be detected is corrected according to the delay errors respectively corresponding to the multiple state values.

[0041] In a third aspect, an embodiment of the present application provides an accuracy detection device, comprising:

[0042] The acquisition module is used to acquire sensor data and execution status data; the sensor data is collected when the device to be detected performs an action under the control of the controller; the execution status data is used to represent the execution status of the action detected by the device to be detected;

[0043] A synchronization module is used to synchronize the sensor data and the execution status data according to time to obtain synchronized data;

[0044] The parsing module is used to parse the synchronization data and obtain the action execution accuracy of the device to be detected.

[0045] In a fourth aspect, an embodiment of the present application provides an accuracy detection system, comprising: at least one processor and a memory;

[0046] Memory stores computer-executable instructions;

[0047] At least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor executes the method of the second aspect and various possible designs of the second aspect as described above.

[0048] In a fifth aspect, an embodiment of the present application provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the method of the second aspect and various possible designs of the second aspect are implemented.

[0049] In a sixth aspect, an embodiment of the present application provides a computer program product, including a computer program. When the computer program is executed by a processor, it implements the method of the second aspect and various possible designs of the second aspect.

[0050] The precision detection system, method, device, storage medium and program product provided in this embodiment are provided. The system sets a communication module to obtain the execution status data fed back by the detection module such as the internal sensor of the device to be detected obtained by the controller controlling the device to be detected, and then parses the execution status data and the synchronous data of the sensor data collected by the external sensor to obtain the precision detection results such as the action execution accuracy of the device to be detected. It can fully consider the operating status reflected by the externally collected sensor data and the internally detected operating status of the actual application of the device to be detected for further control by the controller during the precision detection. By making the two states correspond and synchronize them, a more accurate precision detection result is obtained through analysis, avoiding precision misjudgment when the two states do not correspond, thereby improving the accuracy and efficiency of precision detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0052] Figure 1 A schematic diagram of an application scenario of the accuracy detection method provided in an embodiment of the present application;

[0053] Figure 2 Schematic diagram of the structure of the accuracy detection system provided in the embodiment of the present application Figure 1 ;

[0054] Figure 3 Schematic diagram of the structure of the accuracy detection system provided in the embodiment of the present application Figure 2 ;

[0055] Figure 4 Schematic diagram of the structure of the accuracy detection system provided in the embodiment of the present application Figure 3 ;

[0056] Figure 5 Schematic diagram of the structure of the accuracy detection system provided in the embodiment of the present application Figure 4 ;

[0057] Figure 6 A flowchart of the accuracy detection method provided in an embodiment of the present application;

[0058] Figure 7 A schematic diagram of the structure of the accuracy detection system provided in an embodiment of the present application;

[0059] Figure 8 A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present application.

[0060] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0061] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] It should be noted that the precision detection system, method, equipment, storage medium and program product provided in this application can be used in the field of equipment detection, and can also be used in any field other than the field of equipment detection. The application field of the precision detection system, method, equipment, storage medium and program product provided in this application is not limited.

[0063] Testing the accuracy of a device's actions is a key component in ensuring its functionality, safety, and reliability, and is particularly crucial in areas such as industrial automation, medical equipment, and precision manufacturing. Accuracy testing not only enables devices to adapt to complex tasks and dynamic environments, but also prevents safety risks and accidents, and supports algorithm optimization and intelligent upgrades.

[0064] In related technologies, laser sensors, image sensors, and other sensors can be used to collect data on the actions of the device being tested, thereby determining the execution accuracy of the device. However, the above-mentioned accuracy detection method simply collects the operating data of the object or mechanism being tested. The collected operating data cannot be accurately matched and synchronized with the actual operating status. In high-precision scenarios, when analyzing the action of the mechanism, it is easy for the data to be misaligned with the actual operating status and cannot be matched, resulting in inaccurate and low-efficiency analysis, affecting the accuracy and efficiency of the precision detection.

[0065] In response to the above technical problems, the inventors of the present application have found that one of the main reasons for the low accuracy of the precision detection of the above method is that the existing precision measurement method does not have the information interaction function with the underlying control devices such as programmable logic controllers (PLCs), and the detected data value cannot accurately correspond to the actual operating conditions considered in the controller of the device to be detected, thereby making the precision detection of the detection mechanism inaccurate. Therefore, the inventors have further found that a communication module can be set to obtain the execution status data of the reaction device to be detected action execution status obtained by the controller from the controller that controls the device to be detected, and then the execution status data can be synchronized and analyzed with the sensor data collected by the sensor to obtain more accurate precision detection results, and improve efficiency and intelligence level. Based on this, the embodiments of the present application provide a precision detection system, method, equipment, storage medium and program product.

[0066] Figure 1 Schematic diagram of the application scenario of the accuracy detection method provided in the embodiment of this application. Figure 1 As shown, the accuracy detection system 101 is connected to a controller 103, which is in turn connected to the device to be detected 102. The controller 103 is used to control the device to be detected; the device to be detected 102 is used to perform actions under the control of the controller 103. The accuracy detection system 101 is used to receive execution status data sent by the controller 103 that indicates the execution status of the action of the device to be detected 102, and is also used to collect sensor data from the device to be detected 102 during the execution of the action. The controller 103 can be a programmable logic controller (PLC).

[0067] During implementation, the device to be tested 102 performs an action under the control of the controller 103. During the action execution process, the accuracy detection system 101 obtains execution status data from the controller 103. The accuracy detection system 101 also uses sensors to collect sensor data regarding the execution of the action by the device to be tested 102. After obtaining the sensor data and execution status data representing the execution of the action detected by the device to be tested 103 itself, the accuracy detection system 101 synchronizes the sensor data and execution status data based on time to obtain synchronized data. The synchronized data is then analyzed to determine the execution accuracy of the action of the device to be tested. The precision detection method and system provided in this embodiment obtains the execution status data fed back by the detection modules such as the internal sensors of the device to be detected obtained by the controller for controlling the device to be detected to detect the execution status of the action of the device to be detected, and then parses the execution status data and the synchronous data of the sensor data collected by the external sensor to obtain the precision detection results such as the action execution accuracy of the device to be detected. This method and system can fully consider the operating status reflected by the externally collected sensor data and the internally detected operating status of the actual application of the device to be detected for further control by the controller during precision detection. By making the two states correspond and synchronize them, more accurate precision detection results can be obtained through analysis, avoiding precision misjudgment when the two states do not correspond, thereby improving the accuracy and efficiency of precision detection.

[0068] It should be noted that Figure 1 The scenario diagram shown is only an example. The accuracy detection method and scenario described in the embodiment of the present application are intended to more clearly illustrate the technical solution of the embodiment of the present application, and do not constitute a limitation on the technical solution provided by the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of the system and the emergence of new business scenarios, the technical solution provided by the embodiment of the present application is also applicable to similar technical problems.

[0069] The following specific embodiments are used to describe the technical solution of the present application in detail. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0070] Figure 2 Schematic diagram of the structure of the accuracy detection system provided in the embodiment of the present application Figure 1 .like Figure 2As shown, the system 101 includes: a communication module 201, a data acquisition module 202, a data synchronization module 203 and a data analysis module 204; the communication module 201 is connected to the data synchronization module 203, and is used to receive the execution status data sent by the controller of the device to be detected, and send the execution status data to the data synchronization module 203; the execution status data is used to characterize the execution status of the device to be detected's own action detected; the data acquisition module 202 is connected to the data synchronization module 203, and is used to collect the sensor data during the execution of the action of the device to be detected, and send the sensor data to the data synchronization module 203; the data synchronization module 203 is used to synchronize the execution status data and the sensor data according to time, obtain synchronization data, and send the synchronization data to the data analysis module 204; the data analysis module 204 is used to parse the synchronization data to obtain the action execution accuracy of the device to be detected.

[0071] Among them, the execution status data can be determined based on the internal detection data fed back to the controller by the internal sensor of the device to be detected during the execution of the action. For example, assuming that the device to be detected is a robotic arm, the robotic arm moves from the starting position to the target position under the control of the controller. During this process, the distance sensor included in the robotic arm, such as an encoder, detects the moving distance of the robotic arm, and after determining that the robotic arm has moved to the target position, it feeds back a state value (which may include the current position of the robotic arm) and a corresponding timestamp to the controller to indicate that the robotic arm has obtained the target position at the moment corresponding to the timestamp and completed the moving task. That is, the controller determines the execution status data based on the interaction data between the controller and the device to be detected and sends it to the accuracy detection system.

[0072] Specifically, after acquiring the execution status data and sensor data, the two are synchronized to obtain synchronized data, and the synchronized data is analyzed to obtain the accuracy test results. Accurate synchronization can achieve synchronized analysis, thereby improving the accuracy of precision analysis and evaluation. During the analysis process, redundant data can also be automatically removed (for example, when the acquisition frequency of the data acquisition module 202 is higher than the frequency of the execution of the action of the device to be detected, assuming an action of 1s and data acquisition of 1ms, then 999ms of useless data will be generated, which is redundant data), thereby improving data processing efficiency and accuracy.

[0073] The precision detection system provided in this embodiment, by setting a communication module 201, obtains from the controller that controls the device to be detected the execution status data fed back by the detection module such as the internal sensor of the device to be detected for detecting the execution status of the action of the device to be detected, and then parses the execution status data and the synchronous data of the sensor data collected by the external sensor to obtain the precision detection results such as the action execution accuracy of the device to be detected. It can fully consider the operating status reflected by the externally collected sensor data and the internally detected operating status of the actual application of the device to be detected for further control by the controller during the precision detection. By making the two states correspond and synchronize them, a more accurate precision detection result is obtained through analysis, avoiding precision misjudgment when the two states do not correspond, thereby improving the accuracy and efficiency of precision detection.

[0074] In some embodiments, as Figure 3 As shown, based on the above embodiment, for example, Figure 2 Based on the accuracy detection system shown, system 101 includes: a communication module 201, a data acquisition module 202, a data synchronization module 203, a data analysis module 204, and a storage module 205. The communication module 201 and the data acquisition module 202 are connected to the data synchronization module 203 via the storage module 205; the data synchronization module 203 is connected to the data analysis module 204 via the storage module 205. The communication module 201 is used to receive execution status data sent by the controller of the device to be detected and store the execution status data in the storage module 205. The data acquisition module 202 is used to collect sensor data during the execution of the action of the device to be detected and store the sensor data in the storage module 205. The data synchronization module 203 is used to obtain the execution status data and sensor data from the storage module 205, synchronize the execution status data and sensor data according to time, obtain synchronized data, and store the synchronized data in the storage module 205. The data analysis module 204 is used to obtain the synchronized data from the storage module 205, analyze the synchronized data, and obtain the action execution accuracy of the device to be detected. The accuracy detection system provided in this embodiment can store the original data of the sensing data and the execution status data and the generated synchronization data in the storage module 205 by setting the storage module 205, and save the backup to facilitate review.

[0075] During the specific implementation process, the data acquisition module 202 collects sensor data of the process of the device to be detected performing an action based on a preset acquisition frequency, and stores the collected sensor data in the storage module 205. The communication module 201 stores the execution status data obtained from the controller in the storage module 205. The data synchronization module 203 obtains the sensor data and execution status data from the storage module 205, and synchronizes the sensor data and execution status data according to time to obtain synchronization data, and then stores the obtained synchronization data in the storage module 205. The data analysis module 204 can obtain synchronization data from the storage module 205, and then parses the synchronization data to obtain the action execution accuracy of the device to be detected.

[0076] In some embodiments, as Figure 4 As shown, the data acquisition module 202 may include an analog measurement unit 2021 and an analog-to-digital conversion unit 2022; the analog measurement unit 2021 is connected to the analog-to-digital conversion unit 2022 and is used to collect analog data during the execution of the device to be detected and send the analog data to the analog-to-digital conversion unit 2022; the analog-to-digital conversion unit 2022 is connected to the data synchronization module 203 and is used to perform analog-to-digital conversion on the analog data to obtain sensor data, and send the sensor data to the data synchronization module 203. The accuracy detection system provided in this embodiment, by providing the analog measurement unit 2021 and the analog-to-digital conversion unit 2022, can measure the data collected by the sensor to obtain analog data, and perform analog-to-digital conversion on the analog data to obtain digital data, thereby facilitating subsequent processing of the digital data and improving processing efficiency.

[0077] During the specific implementation, the device to be tested performs an action under the control of the controller. During the execution of the action, the accuracy detection system obtains execution status data from the controller. The accuracy detection system also collects analog data on the execution status of the device to be tested through the analog measurement unit 2021, converts the analog data into digital data, and then stores the digital data so that the data synchronization data can synchronize the digital data with the execution status data in time.

[0078] In some embodiments, as Figure 4 As shown, system 101 may further include a data display module 206 ; data display module 206 is connected to data synchronization module 203 and is configured to display synchronized data. The accuracy detection system provided in this embodiment, by providing data display module 206 , can display synchronized data in real time in the form of charts, etc., facilitating observation and analysis of synchronized data by personnel.

[0079] In a specific implementation, after the data synchronization module 203 generates synchronized data, the data display module 206 presents the synchronized data in real time. This can be displayed in the form of tables and images. For example, if the sensor data includes data from two sensors, two tables can be set up to display the data of the corresponding sensors in the synchronized data. In addition, a graph can be displayed to display the synchronized data of the two sensors in a corresponding manner, facilitating comparison and analysis.

[0080] In some embodiments, as Figure 4 As shown, system 101 may further include a report output module 207. Report output module 207 is connected to data analysis module 204 and is configured to output a corresponding test data report in a preset format based on the accuracy of the action execution of the device to be tested. The accuracy testing system provided in this embodiment, by providing report output module 207, can automatically output a report of the parsed accuracy test results in a specific format, thereby improving processing efficiency and intelligence.

[0081] Specifically, after the data analysis module 204 parses the synchronization data to obtain the action execution accuracy of the device to be detected, a report can be automatically generated based on the action execution accuracy, and the data can be output in formats such as xlsx and csv, and a report in formats such as pdf can be generated.

[0082] In some embodiments, the data acquisition module 202 has multiple acquisition channels. The system provided in this embodiment, by supporting multiple acquisition channels, can simultaneously acquire sensor data from multiple channels and synchronize the sensor data from the multiple channels with the execution status data to obtain synchronized data, thereby improving data processing efficiency.

[0083] For example, assume that while the device to be detected is performing an action, three laser ranging sensors are simultaneously collecting sensor data from different directions. This data can be collected separately through three acquisition channels and synchronized with the execution status data. The resulting synchronized data contains sensor data frames from all three acquisition channels and the corresponding status values ​​at each timestamp.

[0084] In some embodiments, the acquisition frequency of the data acquisition module 202 is adjustable. The accuracy detection system provided in this embodiment supports multiple acquisition frequencies and can be applied to different application scenarios, thereby improving flexibility and scope of application.

[0085] In some embodiments, the communication mode of the communication module 201 includes at least one of the following: Process Field Network (PN), Open Platform Communications Unified Architecture (OPC UA), and Transmission Control Protocol (TCP). The precision detection system provided in this embodiment can improve flexibility and applicability by supporting multiple communication modes, and is suitable for precision analysis in multiple devices to be detected and complex scenarios.

[0086] For ease of understanding, the following Figure 5 The structure and working process of the accuracy detection system provided in this embodiment are illustrated by way of example.

[0087] like Figure 5 As shown, the accuracy detection system 101 includes a data acquisition module 202, a data channel 502 and a terminal device 503. The data acquisition module 202 and the data channel 502 are both connected to the terminal device 503. The data channel 502 is also connected to the PLC.

[0088] During the specific implementation process, data is exchanged between the PLC and the robotic arm, and the robotic arm performs actions under the control of the PLC. During the robotic arm's execution, the data acquisition module 202 collects data from the device to be detected (e.g., the robotic arm) during the execution of the action through sensors, amplifies the data through an amplifier, and then sends it to the analog measurement unit. The analog measurement unit measures the amplified data to obtain analog data. After sending the analog data to the analog-to-digital conversion unit, analog-to-digital conversion is performed to obtain digital sensor data, which is then sent to the terminal device 503. At the same time, the data channel 502 obtains data from the input / output (IO) port of the PLC, processes the data through the coil, and sends the processed data to the analog measurement unit and the analog-to-digital conversion unit to obtain digital execution status data, which is then sent to the terminal device 503. The terminal device 503 is used to synchronize and analyze the sensor data and execution status data to obtain the motion execution accuracy of the robotic arm. Specifically, the sensor data and execution status data can be quickly screened and synchronized through an automated program to achieve automatic data processing, analysis, and rapid automatic output of reports, thereby improving analysis and evaluation efficiency.

[0089] It should be noted that Figure 5 For example only, except Figure 5In addition to outputting the execution status data through the IO port, the execution status data can also be transmitted through communication channels such as PN, OPC UA, and TCP.

[0090] Figure 6 This is a flow chart of the accuracy detection method provided in the embodiment of the present application. Figure 6 As shown, the method includes:

[0091] 601. Acquire sensor data and execution status data. The sensor data is collected when the device to be detected performs an action under the control of the controller. The execution status data is used to represent the execution status of the action detected by the device to be detected.

[0092] The execution subject of this embodiment may be a terminal system such as a computer, a tablet computer, or a server.

[0093] Specifically, the execution status data can be determined based on the internal detection data fed back to the controller by the internal sensor of the device to be detected during the execution of the action. For example, assuming that the device to be detected is a robotic arm, the robotic arm moves from the starting position to the target position under the control of the controller. During this process, the robotic arm includes a distance sensor, such as an encoder, which detects the moving distance of the robotic arm and, after determining that the robotic arm has moved to the target position, feeds back a state value (which may include the current position of the robotic arm) and a corresponding timestamp to the controller to indicate that the robotic arm has obtained the target position at the moment corresponding to the timestamp and completed the moving task. That is, the controller determines the execution status data based on the interaction data between the controller and the device to be detected and sends it to the accuracy detection system.

[0094] In this embodiment, considering that the amount of data from a single detection may be relatively large, in order to improve processing efficiency, reduce device hardware requirements, increase flexibility, and expand the scope of application, the sensor data and execution status data can be processed in segments. Specifically, the segmented processing may include segmented storage, and then synchronization and analysis based on the segmented data.

[0095] For example, if the total detection time is 30 minutes, the detection can be segmented into 5-minute intervals, so that 6 segment data can be obtained. In this way, computing resources can be effectively utilized and hardware requirements can be reduced.

[0096] 602. Synchronize the sensing data and the execution status data according to time to obtain synchronized data.

[0097] Specifically, after obtaining the sensor data and execution status data, the sensor data and execution status data can be stored in a preset storage space, the two data can be obtained from the storage space for synchronization, and the synchronized data can also be stored in the preset storage space for subsequent review and analysis.

[0098] In some embodiments, considering that the sampling frequency of the sensor data is greater than the sampling frequency of the execution status data, the sensor data can be filtered based on the execution status data. Specifically, the sensor data can be filtered based on the timestamp of the execution status data. The execution status data includes status values ​​corresponding to multiple first timestamps; the sensor data includes multiple sensor data frames corresponding to multiple time periods; synchronizing the sensor data and the execution status data by time to obtain synchronization data can include: for each first timestamp in the execution status data, within the time period, interpolating the first timestamp within the time period to obtain a second timestamp close to the first timestamp; querying the first sensor data frame corresponding to the second timestamp within the time period; determining the synchronization data based on the status values ​​corresponding to the multiple first timestamps and the first sensor data frames corresponding to the multiple second timestamps corresponding to the multiple time periods. The accuracy detection method provided in this embodiment can improve processing efficiency and accuracy by filtering sensor data with a larger amount of data based on the timestamp of the execution status data with a smaller amount of data, and then completing synchronization.

[0099] Specifically, the execution status data is usually the movement of the device to be detected based on the motion control instructions of the controller. After completing the task of the instruction, the controller can obtain the execution status data of the reaction action execution status, and the sensor data is collected based on a preset frequency, and the collection frequency is higher than the generation frequency of the execution status data. Therefore, the sensor data can be screened based on each first timestamp of the execution status data. Considering that the accuracy analysis can be performed from multiple angles, in addition to errors in position and distance, there can also be delay errors. Therefore, for each first timestamp, the corresponding multiple first sensor data frames adjacent to the first timestamp can be retained to perform multi-dimensional accuracy analysis, and the detection device can also be optimized in different dimensions based on different error values. For example, the accuracy of the action of the device to be detected can be improved based on the errors of state values ​​such as position and distance, and the action rhythm of the device to be detected can be corrected based on the delay error of the state value to improve efficiency.

[0100] 603. Analyze the synchronization data to obtain the action execution accuracy of the device to be detected.

[0101] Specifically, after obtaining synchronized data, it can be directly sent to the data analysis module for analysis. Alternatively, the synchronized data can be stored in a preset storage space, from which the data analysis module can retrieve and analyze the synchronized data. During the analysis process, redundant data can be removed and a report automatically generated for output. Furthermore, synchronized data can be displayed in real-time as charts, improving processing efficiency and intelligence.

[0102] In some embodiments, in order to improve the accuracy, the synchronization data is parsed to obtain the accuracy of the action performed by the device to be detected, which may include: for each first timestamp in the multiple time periods, according to the difference between the first sensor data frame corresponding to the corresponding second timestamp and the state value corresponding to the first timestamp, determining the error value corresponding to the first timestamp; according to the error values ​​corresponding to the multiple first timestamps, determining the accuracy of the action performed by the device to be detected. The accuracy detection method provided in this embodiment can achieve efficient detection and reliability improvement of the accuracy of device actions through precise timestamp matching and dynamic error analysis. Specifically, based on the analysis of synchronization data, by matching the corresponding sensor data frames (third timestamps) of the multiple first timestamps one by one, the interference caused by the timing deviation can be eliminated, ensuring the strict alignment of the state value and the sensor data; further, by generating a real-time error sequence through difference calculation, it is possible to dynamically capture subtle deviations in the execution process of the device (such as robot arm joint positioning errors or motor speed fluctuations). Through multi-timestamp comparison and statistical error aggregation, this method can not only identify instantaneous anomalies of single actions, but also analyze long-term accuracy attenuation trends, providing data support for equipment calibration, control algorithm optimization and predictive maintenance, and ultimately achieving the combined benefits of high-precision motion control, reduced failure rate and improved production yield.

[0103] For example, taking the movement of a robotic arm as an example, assuming the robotic arm's motion task is to move 1 meter from its current position, the execution state data includes a state value corresponding to the first timestamp of 1 meter. For this first timestamp, the sensor data includes first sensor data frames corresponding to multiple second timestamps adjacent to the first timestamp, including those at 0.91 meters, 0.95 meters, 0.98 meters, 1.0 meters, and 10.2 meters. Furthermore, a third timestamp identical to the first timestamp is determined from the multiple second timestamps, and the first sensor data frame corresponding to the third timestamp is obtained. For example, 0.98 meters, the calculation error is 0.02 meters.

[0104] In some embodiments, in order to improve efficiency, the synchronization data is parsed to obtain the accuracy of the action performed by the device to be detected, which may include: for each state value in the multiple state values, determining a second sensor data frame equal to the state value from the multiple first sensor data frames corresponding to the state value, and determining the delay error corresponding to the state value according to the difference between the second timestamp corresponding to the second sensor data frame and the first timestamp corresponding to the state value; and correcting the action rhythm of the device to be detected according to the delay errors corresponding to the multiple state values. The accuracy detection method provided in this embodiment can achieve dynamic evaluation and performance optimization of the device action accuracy through precise matching of state values ​​and sensor data and quantitative analysis of delay errors. Specifically, timestamp consistency screening (second sensor data frame matching) is performed for the sensor data frame associated with each state value, which can eliminate the timing misalignment problem caused by communication delay or sampling asynchrony; the delay error is calculated based on the timestamp difference, which can accurately quantify the lag time from the issuance of the instruction to the actual response of the device (such as servo motor control delay or robotic arm joint response deviation). Through statistical aggregation of multi-state value delay errors, this method can not only identify instantaneous abnormal fluctuations (such as signal transmission interruption or actuator jamming), but also evaluate the overall response stability of the system, thereby providing a basis for real-time control parameter adjustment, communication protocol optimization and equipment health status monitoring, and ultimately achieving the comprehensive goals of improving action synchronization, locating the root causes of errors and enhancing equipment execution efficiency.

[0105] For example, taking the reciprocating motion of a cylinder as an example, the cylinder moves back and forth between two endpoint positions. Then the execution state data includes a state value corresponding to the first timestamp (for example, the 10th second) as an endpoint position of 1 meter. For this first timestamp, the sensor data includes first sensor data frames corresponding to multiple second timestamps adjacent to the first timestamp, and the multiple first sensor data frames include 0.91 meters, 0.95 meters, 0.98 meters, 1.0 meters, 10.2 meters, etc. Then, a second sensor data frame equal to 1 meter is determined from the multiple first sensor data frames, and then a second timestamp corresponding to the second sensor data frame is obtained, for example, the 9th second, and the calculation error is 1 second.

[0106] The accuracy detection method provided in this embodiment obtains the execution status data fed back by the detection modules such as the internal sensors of the device to be detected obtained by the controller for controlling the device to be detected to detect the execution status of the action of the device to be detected, and then parses the execution status data and the synchronization data of the sensor data collected by the external sensor to obtain the accuracy detection results such as the action execution accuracy of the device to be detected. This method can fully consider the operating status reflected by the externally collected sensor data and the internally detected operating status of the actual application of the device to be detected for further control by the controller during the accuracy detection. By making the two states correspond and synchronize them, a more accurate accuracy detection result can be obtained through analysis, avoiding accuracy misjudgment when the two states do not correspond, thereby improving the accuracy and efficiency of the accuracy detection.

[0107] Figure 7 This is a schematic diagram of the structure of the precision detection device provided in the embodiment of the present application. Figure 7 As shown, the accuracy detection device 70 includes: an acquisition module 701 , a synchronization module 702 and a parsing module 703 .

[0108] Acquisition module 701 is used to acquire sensor data and execution status data; the sensor data is collected during the process of the device to be detected performing an action under the control of the controller; the execution status data is used to represent the execution status of the action detected by the device to be detected;

[0109] Synchronization module 702, used to synchronize the sensing data and the execution status data according to time to obtain synchronized data;

[0110] The parsing module 703 is used to parse the synchronization data to obtain the action execution accuracy of the device to be detected.

[0111] The precision detection device provided in the embodiment of the present application obtains the execution status data fed back by the detection modules such as the internal sensors of the device to be detected obtained by the controller for controlling the device to be detected to detect the execution status of the action of the device to be detected, and then parses the execution status data and the synchronization data of the sensor data collected by the external sensor to obtain the precision detection results such as the action execution accuracy of the device to be detected. It can fully consider the operating status reflected by the externally collected sensor data and the internally detected operating status of the actual application of the device to be detected for further control by the controller during the precision detection. By making the two states correspond and synchronize them, a more accurate precision detection result is obtained through analysis, avoiding precision misjudgment when the two states do not correspond, thereby improving the accuracy and efficiency of precision detection.

[0112] In some embodiments, the execution state data includes state values ​​corresponding to a plurality of first timestamps; the sensor data includes a plurality of sensor data frames corresponding to a plurality of time periods; the synchronization module 702 is specifically configured to: for each first timestamp in the execution state data, interpolate the first timestamp within the time period to obtain a second timestamp close to the first timestamp; and query the first sensor data frame corresponding to the second timestamp within the time period;

[0113] The synchronization data is determined according to the state values ​​corresponding to the plurality of first timestamps and the first sensing data frames corresponding to the plurality of second timestamps corresponding to the plurality of time periods.

[0114] In some embodiments, the analysis module 703 is specifically used to: for each first timestamp in the multiple time periods, determine the error value corresponding to the first timestamp according to the difference between the first sensor data frame corresponding to the corresponding second timestamp and the state value corresponding to the first timestamp; determine the accuracy of the action performed by the device to be detected according to the error values ​​respectively corresponding to the multiple first timestamps.

[0115] In some embodiments, the parsing module 703 is specifically used to: parse the synchronization data to obtain the accuracy of the action performed by the device to be detected, including: for each state value among the multiple state values, determining a second sensor data frame equal to the state value from the multiple first sensor data frames corresponding to the state value, and determining the delay error corresponding to the state value according to the difference between the second timestamp corresponding to the second sensor data frame and the first timestamp corresponding to the state value; and correcting the action rhythm of the device to be detected according to the delay errors corresponding to the multiple state values.

[0116] The accuracy detection system provided in the embodiment of the present application can be used to execute the above-mentioned method embodiment. Its implementation principle and technical effects are similar, and will not be repeated here in this embodiment.

[0117] Figure 8 This is a hardware structure diagram of the electronic device provided in this application. Figure 8 As shown, the electronic device 80 provided in this embodiment includes: at least one processor 801 and a memory 802. Optionally, the electronic device 80 further includes a communication component 803. The processor 801, the memory 802 and the communication component 803 are connected via a bus 804.

[0118] During the specific implementation process, at least one processor 801 executes the computer-executable instructions stored in the memory 802, so that the at least one processor 801 performs the above method.

[0119] The specific implementation process of the processor 801 can be found in the above method embodiment. Its implementation principle and technical effects are similar and will not be repeated here in this embodiment.

[0120] In the above embodiments, it should be understood that the processor may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), etc. A general-purpose processor may be a microprocessor or any conventional processor. The steps of the method disclosed in the present invention may be directly executed by a hardware processor or by a combination of hardware and software modules in the processor.

[0121] The memory may include a high-speed memory (Random Access Memory, RAM), and may also include a non-volatile memory (NVM), such as at least one disk memory.

[0122] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. Buses can be classified as address buses, data buses, and control buses. For ease of illustration, the buses in the drawings of this application are not limited to just one bus or just one type of bus.

[0123] The present application also provides a computer program product, including a computer program, which implements the above method when executed by a processor.

[0124] The present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When a processor executes the computer-executable instructions, the above method is implemented.

[0125] The above-mentioned readable storage medium can be implemented by any type of volatile or non-volatile memory 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, magnetic disk or optical disk. The readable storage medium can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0126] An exemplary readable storage medium is coupled to a processor so that the processor can read information from the readable storage medium and write information to the readable storage medium. Of course, the readable storage medium can also be an integral part of the processor. The processor and the readable storage medium can be located in an application specific integrated circuit (ASIC). Of course, the processor and the readable storage medium can also exist in a device as discrete components.

[0127] The division of units is merely a logical functional division; actual implementations may employ alternative divisions, such as combining or integrating multiple units or components into another system, or omitting or disabling certain features. Furthermore, any direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection between devices or units, either through an interface, electrical, mechanical, or other means.

[0128] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0129] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0130] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, and other media that can store program code.

[0131] Those skilled in the art will appreciate that all or part of the steps in the above-described method embodiments can be implemented using hardware associated with program instructions. The aforementioned program can be stored in a computer-readable storage medium. When executed, the program performs the steps of the above-described method embodiments. The aforementioned storage medium includes various media capable of storing program code, such as ROM, RAM, magnetic disks, or optical disks.

[0132] Finally, it should be noted that those skilled in the art will readily identify other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not disclosed herein. The present invention is not limited to the precise structure described above and illustrated in the accompanying drawings, and various modifications and variations may be made without departing from the scope thereof. The scope of the present invention is limited solely by the appended claims.

Claims

1. A precision detection system, characterized in that: include: Communication module, data acquisition module, data synchronization module and data analysis module; The communication module is connected to the data synchronization module and is used to receive execution status data sent by the controller of the device to be detected and send the execution status data to the data synchronization module; the execution status data is used to represent the execution status of the self-action detected by the device to be detected; The data acquisition module is connected to the data synchronization module and is used to collect sensor data during the execution of the action of the device to be detected and send the sensor data to the data synchronization module; The data synchronization module is used to synchronize the execution status data and the sensor data in time, obtain synchronized data, and send the synchronized data to the data analysis module; The data analysis module is used to analyze the synchronization data to obtain the action execution accuracy of the device to be detected.

2. The system according to claim 1, wherein: The data acquisition module includes an analog measurement unit and an analog-to-digital conversion unit; The analog quantity measuring unit is connected to the analog-to-digital conversion unit and is used to collect analog quantity data during the operation of the device to be detected and send the analog quantity data to the analog-to-digital conversion unit; The analog-to-digital conversion unit is connected to the data synchronization module, and is used to perform analog-to-digital conversion on the analog data to obtain the sensing data, and send the sensing data to the data synchronization module.

3. The system according to claim 1, wherein: Also includes: Storage module; The communication module and the data acquisition module are connected to the data synchronization module through the storage module; the data synchronization module is connected to the data analysis module through the storage module; The communication module is configured to receive execution status data sent by the controller of the device to be detected, and store the execution status data in the storage module; The data acquisition module is used to collect sensor data during the execution of the action by the device to be detected, and store the sensor data in the storage module; The data synchronization module is configured to obtain the execution status data and the sensor data from the storage module, synchronize the execution status data and the sensor data according to time, obtain synchronization data, and store the synchronization data in the storage module; The data analysis module is used to obtain the synchronization data from the storage module, analyze the synchronization data, and obtain the action execution accuracy of the device to be detected.

4. The system according to claim 1, wherein: Also includes: Data display module; The data display module is connected to the data synchronization module and is used to display the synchronized data.

5. The system according to claim 1, wherein: Also includes: Report output module; The report output module is connected to the data analysis module and is used to output a corresponding detection data report based on a preset format according to the action execution accuracy of the device to be detected.

6. The system according to any one of claims 1 to 5, characterized in that: The data acquisition module has multiple acquisition channels.

7. The system according to any one of claims 1 to 5, characterized in that: The acquisition frequency of the data acquisition module is adjustable.

8. The system according to any one of claims 1 to 5, characterized in that: The communication mode of the communication module includes at least one of the following: process field network communication, open platform communication unified architecture communication, and transmission control protocol communication.

9. A precision detection method, characterized in that: include: Acquire sensor data and execution status data; The sensor data is collected during the process of the device to be detected performing an action under the control of the controller; The execution status data is used to represent the execution status of the self-action detected by the device to be detected; Synchronizing the sensing data and the execution status data according to time to obtain synchronized data; The synchronization data is parsed to obtain the action execution accuracy of the device to be detected.

10. The method according to claim 9, characterized in that The execution state data includes state values ​​corresponding to a plurality of first timestamps; the sensor data includes a plurality of sensor data frames corresponding to a plurality of time periods; The step of synchronizing the sensing data and the execution status data according to time to obtain synchronized data includes: For each first timestamp in the execution status data, Within the time period, interpolating the first timestamp within the time period to obtain a second timestamp close to the first timestamp; querying a first sensing data frame corresponding to a second timestamp within the time period; The synchronization data is determined according to the state values ​​corresponding to the plurality of first timestamps and the first sensing data frames corresponding to the plurality of second timestamps corresponding to the plurality of time periods.

11. The method according to claim 10, characterized in that The parsing of the synchronization data to obtain the accuracy of the action executed by the device to be detected includes: For each first timestamp in the plurality of time periods, determining an error value corresponding to the first timestamp according to a difference between a first sensing data frame corresponding to the corresponding third timestamp and a state value corresponding to the first timestamp; The accuracy of the action executed by the device to be detected is determined according to the error values ​​respectively corresponding to the plurality of first timestamps.

12. The method according to claim 11, characterized in that After parsing the synchronization data to obtain the accuracy of the action executed by the device to be detected, the method further includes: For each state value among the plurality of state values, determining a second sensing data frame equal to the state value from a plurality of first sensing data frames corresponding to the state value, and determining a delay error corresponding to the state value based on a difference between a second timestamp corresponding to the second sensing data frame and a first timestamp corresponding to the state value; The action rhythm of the device to be detected is corrected according to the delay errors respectively corresponding to the multiple state values.

13. An electronic device, characterized in that: include: at least one processor and memory; The memory stores computer-executable instructions; The at least one processor executes the computer-executable instructions stored in the memory, so that the at least one processor performs the accuracy detection method according to any one of claims 9 to 12.

14. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer-executable instructions. When the processor executes the computer-executable instructions, the accuracy detection method according to any one of claims 9 to 12 is implemented.

15. A computer program product comprising a computer program, characterized in that When the computer program is executed by a processor, the accuracy detection method according to any one of claims 9 to 12 is implemented.

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