Equipment control method and device, computer equipment, storage medium and product
By acquiring the actual operating data of the joint motors of the robot equipment, performing anomaly detection and level judgment, and implementing corresponding equipment control strategies, the problem of anomaly judgment of the robot equipment was solved, and the stable operation and continuity of the equipment were achieved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-31
- Publication Date
- 2026-03-10
AI Technical Summary
In practical applications, robot equipment may malfunction and trigger abnormal judgments, affecting normal operation.
By acquiring the actual operating data of the joint motor, data anomaly detection is performed to determine the level of data anomaly, and equipment control is implemented according to the level, including protection strategies such as equipment log recording, anomaly alarms, limiting motor operating speed, or cutting off motor drive power.
This effectively reduced the false alarm rate of equipment malfunctions, ensuring the continuous and stable operation of the equipment and the continuity of work.
Smart Images
Figure CN121622137A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robot control technology, and in particular to a device control method, apparatus, computer equipment, storage medium and product. Background Technology
[0002] With the rapid development of minimally invasive surgical robot (such as surgical robots) technology, robotic devices have been widely used in many fields due to their advantages such as precise operation, vibration filtering, and clear vision.
[0003] However, in practical applications, robot equipment may malfunction and trigger abnormal judgments, which seriously affects the normal operation of the robot equipment. Summary of the Invention
[0004] Therefore, it is necessary to provide a device control method, apparatus, computer equipment, storage medium, and product that can reduce the probability of erroneous triggering of abnormalities in robot equipment in response to the above-mentioned technical problems.
[0005] Firstly, this application provides a device control method. The method includes:
[0006] Obtain actual operating data of at least one joint motor contained in the device under test;
[0007] Data anomaly detection is performed on each of the actual operating data to obtain the data anomaly level corresponding to each of the actual operating data.
[0008] Based on the level of data anomaly, the device to be tested is controlled.
[0009] In one embodiment, the step of performing data anomaly detection on each of the actual operating data to obtain the data anomaly level corresponding to each of the actual operating data includes:
[0010] For each joint motor, determine the target operating data corresponding to that joint motor;
[0011] Based on the data difference between the target operating data and the actual operating data of the joint motor, the data anomaly level corresponding to the actual operating data is determined.
[0012] In one embodiment, determining the data anomaly level corresponding to the actual operating data based on the data difference between the target operating data and the actual operating data of the joint motor includes:
[0013] Determine the data difference between the target operating data and the actual operating data of the joint motor;
[0014] If the duration of the data discrepancy exceeds a preset duration threshold, the data anomaly level corresponding to the actual operating data is determined based on the data discrepancy.
[0015] In one embodiment, determining the data anomaly level corresponding to the actual operating data based on the data difference includes:
[0016] If the data difference is greater than or equal to a first threshold and less than a second threshold, the data anomaly level corresponding to the actual operating data is determined to be a warning level.
[0017] If the data difference is greater than or equal to the second threshold and the data difference is less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the critical level.
[0018] If the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be emergency level;
[0019] Wherein, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
[0020] In one embodiment, the step of controlling the device under test based on the data anomaly level includes:
[0021] Based on the data anomaly level, determine the device protection strategy for the device under test;
[0022] According to the device protection strategy, the device under test is controlled.
[0023] In one embodiment, determining the device protection strategy for the device under test based on the data anomaly level includes:
[0024] If the data anomaly level is warning level, the device protection strategy for the device under test is determined to be to record device logs and issue an anomaly alarm.
[0025] When the data anomaly level is critical, the device protection strategy for the device under test is determined to be limiting the motor operating speed or output torque.
[0026] If the data anomaly level is emergency, the device protection strategy for the device under test is determined to be to cut off the motor drive power and activate the mechanical brake.
[0027] Secondly, this application also provides a device control apparatus. The apparatus includes:
[0028] The acquisition module is used to acquire the actual operating data of at least one joint motor contained in the device under test;
[0029] The detection module is used to detect data anomalies in each of the actual operating data and obtain the data anomaly level corresponding to each of the actual operating data.
[0030] The control module is used to control the device under test according to the data anomaly level.
[0031] Thirdly, this application also provides a computer device. The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:
[0032] Obtain actual operating data of at least one joint motor contained in the device under test;
[0033] Data anomaly detection is performed on each of the actual operating data to obtain the data anomaly level corresponding to each of the actual operating data.
[0034] Based on the level of data anomaly, the device to be tested is controlled.
[0035] Fourthly, this application also provides a computer-readable storage medium. The computer-readable storage medium stores a computer program thereon, which, when executed by a processor, performs the following steps:
[0036] Obtain actual operating data of at least one joint motor contained in the device under test;
[0037] Data anomaly detection is performed on each of the actual operating data to obtain the data anomaly level corresponding to each of the actual operating data.
[0038] Based on the level of data anomaly, the device to be tested is controlled.
[0039] Fifthly, this application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, performs the following steps:
[0040] Obtain actual operating data of at least one joint motor contained in the device under test;
[0041] Data anomaly detection is performed on each of the actual operating data to obtain the data anomaly level corresponding to each of the actual operating data.
[0042] Based on the level of data anomaly, the device to be tested is controlled.
[0043] The aforementioned equipment control method, apparatus, computer equipment, storage medium, and product acquire actual operating data of at least one joint motor contained in the device under test; perform data anomaly detection on each actual operating data to obtain the corresponding data anomaly level; and achieve equipment control based on the data anomaly level. As can be seen from the above, in the process of equipment control, this application pre-acquires actual operating data of at least one joint motor contained in the device under test to determine the current actual operating status of the device under test. Then, by performing data anomaly detection on each actual operating data, it determines whether an abnormal situation has occurred in the device under test, and uses the data anomaly level to characterize the current abnormal state of the device under test. Furthermore, based on the data anomaly level, it performs equipment control on the device under test, ensuring that equipment control can be performed according to the actual situation of the device under test, effectively reducing the false alarm rate of the device under test, and achieving comprehensive joint motor status detection from multiple dimensions of the device under test based on actual operating data, ensuring the continuous and stable operation of the device under test and improving the working continuity of the device under test. Attached Figure Description
[0044] Figure 1 An application environment diagram of a device control method provided in an embodiment of this application;
[0045] Figure 2 A flowchart illustrating the first device control method provided in this application embodiment;
[0046] Figure 3 A flowchart illustrating the second device control method provided in this application embodiment;
[0047] Figure 4 A flowchart illustrating the third device control method provided in this application embodiment;
[0048] Figure 5 A flowchart illustrating the fourth device control method provided in this application embodiment;
[0049] Figure 6 This is a schematic diagram of the structure of a first type of equipment control system provided in an embodiment of this application;
[0050] Figure 7 A structural block diagram of a device control apparatus provided in an embodiment of this application;
[0051] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation
[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0053] The device control method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, the device under test 102 communicates with the computer device 104 via a network. A data storage system can store the data that the computer device 104 needs to process. The data storage system can be integrated into the computer device 104. By acquiring the actual operating data of at least one joint motor contained in the device under test; and performing data anomaly detection on each actual operating data to obtain the corresponding data anomaly level; and realizing device control based on the data anomaly level, the device under test can be controlled. The device under test 102 may include at least one robotic arm, and each robotic arm includes at least one joint motor.
[0054] In one embodiment, such as Figure 2 As shown, a device control method is provided, which is applied to... Figure 1 Taking computer device 104 as an example, the following steps are included:
[0055] S201, Obtain actual operating data of at least one joint motor contained in the device under test.
[0056] It should be noted that when it is necessary to obtain the actual operating data of at least one joint motor contained in the device under test, the operating data of at least one joint motor contained in the device under test can be collected, and then the actual operating data of at least one joint motor contained in the device under test can be obtained.
[0057] In one embodiment of this application, various types of sensors can be pre-configured at each joint motor to acquire actual operating data of at least one joint motor in the device under test; wherein, the sensors may include, but are not limited to, encoders, Hall sensors, torque sensors, etc.; therefore, by reading the sensor acquisition parameters of various types of sensors, the actual operating data of at least one joint motor in the device under test can be acquired.
[0058] The actual operating data can include operating data such as actual position, actual speed, actual torque, and actual current.
[0059] S202, perform data anomaly detection on each actual operating data to obtain the data anomaly level corresponding to each actual operating data.
[0060] It should be noted that by performing data anomaly detection on each actual operating data, the operating status of the device under test can be determined based on the actual operating data. Furthermore, the operating status of the device under test can be characterized by the data anomaly level corresponding to each actual operating data.
[0061] In one embodiment of this application, when it is necessary to detect data anomalies in each actual operating data, the actual operating data corresponding to each joint motor can be compared with the target operating data corresponding to that joint motor, thereby obtaining the data anomaly level corresponding to each actual operating data.
[0062] The target operating data is used to characterize the operating data that the joint motor should trigger after receiving the control command; while the actual operating data is used to characterize the operating data that the joint motor actually achieves after receiving the control command.
[0063] To further explain, the data anomaly levels can include: warning level, critical level, and emergency level; among them, the emergency level indicates the most serious anomaly of the joint motor, and the warning level indicates the least serious anomaly of the joint motor.
[0064] S203, based on the level of data anomaly, implement equipment control for the device to be tested.
[0065] It should be noted that the device protection policies corresponding to the data anomaly registrations can be preset. Then, after obtaining the data anomaly level, the device protection policy corresponding to the data anomaly level can be determined, and the device to be tested can be controlled according to the device protection policy.
[0066] In one embodiment of this application, when it is necessary to control the device under test according to the data anomaly level, the following may be included: determining a device protection strategy for the device under test according to the data anomaly level; and controlling the device under test according to the device protection strategy.
[0067] The aforementioned equipment control method acquires the actual operating data of at least one joint motor in the equipment under test; performs data anomaly detection on each actual operating data to obtain the corresponding data anomaly level; and then controls the equipment under test based on the data anomaly level. As can be seen from the above, this application, during the equipment control process, pre-acquires the actual operating data of at least one joint motor in the equipment under test to determine the current actual operating status of the equipment. Furthermore, by performing data anomaly detection on each actual operating data, it determines whether the equipment under test has encountered an anomaly, and uses the data anomaly level to characterize the current abnormal state of the equipment. Then, based on the data anomaly level, it controls the equipment under test, ensuring that equipment control is performed according to the actual situation of the equipment under test, effectively reducing the false alarm rate of the equipment under test, and achieving comprehensive joint motor status detection from multiple dimensions of the equipment under test based on actual operating data, ensuring the continuous and stable operation of the equipment under test and improving the working continuity of the equipment.
[0068] In one embodiment, such as Figure 3 As shown, when it is necessary to perform data anomaly detection on each actual operating data and obtain the corresponding data anomaly level for each actual operating data, the following can be included:
[0069] S301, for each joint motor, determine the target operating data corresponding to the joint motor.
[0070] In one embodiment of this application, when it is necessary to determine the target operating data corresponding to the joint motor, the control command corresponding to the joint motor can be parsed to obtain the target operating data corresponding to the joint motor.
[0071] S302, based on the data difference between the target operating data and the actual operating data of the joint motor, determine the data anomaly level corresponding to the actual operating data.
[0072] It should be noted that, in order to effectively filter out transient interference, a debouncing mechanism can be set to ensure that the step of determining the data anomaly level corresponding to the actual running data is triggered only when the data difference continues to exceed the threshold for a certain period of time (such as 10ms or 10 command cycles).
[0073] Therefore, when it is necessary to determine the data anomaly level corresponding to the actual operating data based on the data difference between the target operating data and the actual operating data of the joint motor, the following can be included: determining the data difference between the target operating data and the actual operating data of the joint motor; and determining the data anomaly level corresponding to the actual operating data based on the data difference when the duration of the data difference exceeds a preset duration threshold.
[0074] To further clarify, when it is necessary to determine the data anomaly level corresponding to the actual operating data based on data differences, the following may be included: if the data difference is greater than or equal to the first threshold and less than the second threshold, the data anomaly level corresponding to the actual operating data is determined to be the warning level; if the data difference is greater than or equal to the second threshold and less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the critical level; if the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the emergency level.
[0075] Among them, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
[0076] To ensure accurate determination of the data anomaly level corresponding to the actual operating data, the first, second, and third thresholds need to be dynamically adjusted adaptively. Specifically, the first, second, and third thresholds can be adjusted adaptively according to the working mode of the device under test (e.g., high-precision stitching, rapid positioning).
[0077] The aforementioned equipment control method, by determining the target operating data corresponding to the joint motor, establishes a data anomaly level based on the data difference between the target operating data and the actual operating data of the joint motor. This ensures that subsequent equipment control is performed according to the data anomaly level, guaranteeing the smooth progress of subsequent processes.
[0078] In one embodiment, such as Figure 4 As shown, when it is necessary to control the equipment to be tested based on the level of data anomaly, the following may be included:
[0079] S401, Determine the device protection strategy for the device under test based on the level of data anomaly.
[0080] It should be noted that the mapping relationship between candidate levels and candidate protection strategies can be predetermined. Then, based on this mapping relationship, a device protection strategy for the device under test can be determined. The mapping relationship records at least one candidate level and the corresponding candidate protection strategy for each candidate level.
[0081] In one embodiment, when it is necessary to determine the device protection strategy for the device under test, the data anomaly level can be matched with each candidate level for similarity. Then, a reference level that is the same as the data anomaly level can be selected from the candidate levels. Then, the candidate protection strategy corresponding to the reference level in the mapping relationship can be used as the device protection strategy for the device under test.
[0082] In one embodiment of this application, when it is necessary to determine the device protection strategy for the device under test based on the data anomaly level, the following may be included: when the data anomaly level is warning level, the device protection strategy for the device under test is to record device logs and issue an anomaly alarm; when the data anomaly level is critical level, the device protection strategy for the device under test is to limit the motor running speed or output torque; when the data anomaly level is emergency level, the device protection strategy for the device under test is to cut off the motor drive power and activate the mechanical brake.
[0083] S402, according to the equipment protection strategy, perform equipment control on the equipment to be tested.
[0084] It should be noted that when controlling the equipment under test to ensure its safe operation, a dual hardware-software protection architecture can be used to implement the equipment control process. Specifically, the hardware protection layer is based on programmable logic chips such as FPGAs, achieving ultra-fast microsecond-level response, independent of the software system, and ensuring the highest level of security. The software protection layer is based on a real-time operating system (RTOS), enabling millisecond-level complex logic judgments and intelligent decision-making.
[0085] To further explain, after controlling the device under test according to the equipment protection strategy, the system automatically records events and guides the device under test through a safe calibration and recovery process.
[0086] The above-mentioned equipment control method controls the equipment under test according to the level of data anomaly, ensuring that the equipment control can be carried out according to the actual situation of the equipment under test, effectively reducing the false alarm rate of the equipment under test, and realizing comprehensive status detection of the joint motor from multiple dimensions of the equipment under test based on actual operating data, ensuring the continuous and stable operation of the equipment under test and improving the work continuity of the equipment under test.
[0087] In one embodiment, such as Figure 5 As shown, when it is necessary to control the equipment under test, the following may be included: acquiring the actual operating data of at least one joint motor contained in the equipment under test;
[0088] S501 determines the target operating data for each joint motor.
[0089] S502, determine the data difference between the target operating data and the actual operating data of the joint motor.
[0090] S503, if the duration of the data difference exceeds a preset duration threshold, and if the data difference is greater than or equal to the first threshold and less than the second threshold, the data anomaly level corresponding to the actual operating data is determined to be a warning level; if the data difference is greater than or equal to the second threshold and less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be a critical level; if the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be an emergency level.
[0091] S504: When the data anomaly level is warning level, the device protection strategy for the device under test is to record the device log and issue an anomaly alarm; when the data anomaly level is critical level, the device protection strategy for the device under test is to limit the motor running speed or output torque; when the data anomaly level is emergency level, the device protection strategy for the device under test is to cut off the motor drive power and activate the mechanical brake.
[0092] S505, based on the equipment protection strategy, performs equipment control on the equipment to be tested.
[0093] In one embodiment of this application, a device control method can be executed through a device control system, wherein the device control system includes a command monitoring module, a multi-source feedback monitoring module, a safety decision module, a hierarchical execution protection module, a safety state machine management module, and a hardware-software dual protection architecture.
[0094] Specifically, such as Figure 6As shown, the command monitoring module collects and sends target operating data to each joint motor in real time; the multi-source feedback monitoring module collects multi-dimensional actual operating data of the motor in real time through encoders, Hall sensors, torque sensors, etc.; the safety decision module includes a multi-dimensional threshold comparison unit, a time window filtering unit, and an adaptive threshold adjustment unit; among them, the multi-dimensional threshold comparison unit determines the data anomaly level corresponding to the actual operating data based on the data difference between the target operating data and the actual operating data of the joint motor; the time window filtering unit judges whether the duration of the data difference exceeds the preset duration threshold; the adaptive threshold adjustment unit dynamically adjusts each threshold level according to different modes (such as high-precision stitching, rapid positioning) to achieve intelligent adaptation. The graded execution protection module is used to determine the equipment protection strategy for the device under test based on the data anomaly level. The safety state machine management module manages the safety status of the system (normal, warning, speed reduction, fault, emergency stop) and defines rigorous state transition logic. The hardware-software dual protection architecture includes a hardware protection layer and a software protection layer. The hardware protection layer is based on programmable logic chips such as FPGAs, which enables ultra-fast response at the microsecond level, independent of the software system, and ensures the highest level of security. The software protection layer is based on a real-time operating system (RTOS), which enables complex logic judgment and intelligent decision-making at the millisecond level.
[0095] The aforementioned equipment control method acquires the actual operating data of at least one joint motor in the equipment under test; performs data anomaly detection on each actual operating data to obtain the corresponding data anomaly level; and then controls the equipment under test based on the data anomaly level. As can be seen from the above, this application, during the equipment control process, pre-acquires the actual operating data of at least one joint motor in the equipment under test to determine the current actual operating status of the equipment. Furthermore, by performing data anomaly detection on each actual operating data, it determines whether the equipment under test has encountered an anomaly, and uses the data anomaly level to characterize the current abnormal state of the equipment. Then, based on the data anomaly level, it controls the equipment under test, ensuring that equipment control is performed according to the actual situation of the equipment under test, effectively reducing the false alarm rate of the equipment under test, and achieving comprehensive joint motor status detection from multiple dimensions of the equipment under test based on actual operating data, ensuring the continuous and stable operation of the equipment under test and improving the working continuity of the equipment.
[0096] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.
[0097] Based on the same inventive concept, this application also provides a device control apparatus for implementing the device control method described above. The solution provided by this apparatus is similar to the implementation scheme described in the above method; therefore, the specific limitations in one or more device control apparatus embodiments provided below can be found in the limitations of the device control method described above, and will not be repeated here.
[0098] In one embodiment, such as Figure 7 As shown, a device control apparatus is provided, comprising: an acquisition module 10, a detection module 20, and a control module 30, wherein:
[0099] The acquisition module 10 is used to acquire the actual operating data of at least one joint motor contained in the device under test.
[0100] The detection module 20 is used to detect data anomalies in each actual operating data and obtain the corresponding data anomaly level for each actual operating data.
[0101] The control module 30 is used to control the equipment to be tested according to the level of data anomaly.
[0102] In one embodiment, for each joint motor, the target operating data corresponding to the joint motor is determined;
[0103] Based on the data difference between the target operating data and the actual operating data of the joint motor, the data anomaly level corresponding to the actual operating data is determined.
[0104] In one embodiment, the data difference between the target operating data and the actual operating data of the joint motor is determined;
[0105] If the duration of data discrepancies exceeds a preset duration threshold, the data anomaly level corresponding to the actual operating data is determined based on the data discrepancies.
[0106] In one embodiment, if the data difference is greater than or equal to a first threshold and the data difference is less than a second threshold, the data anomaly level corresponding to the actual running data is determined to be a warning level.
[0107] If the data difference is greater than or equal to the second threshold and less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the critical level.
[0108] If the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the emergency level;
[0109] Among them, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
[0110] In one embodiment, a device protection strategy for the device under test is determined based on the level of data anomaly.
[0111] Based on the equipment protection strategy, the equipment to be tested is controlled.
[0112] In one embodiment, when the data anomaly level is warning level, the device protection strategy for the device under test is determined to be to record device logs and issue an anomaly alarm.
[0113] When the data anomaly level is critical, the device protection strategy for the device under test is determined to be to limit the motor speed or output torque.
[0114] In cases where the data anomaly level is emergency, the equipment protection strategy for the device under test is determined to be to cut off the motor drive power and activate the mechanical brake.
[0115] The aforementioned equipment control device acquires the actual operating data of at least one joint motor in the device under test; performs data anomaly detection on each actual operating data to obtain the corresponding data anomaly level; and then controls the device under test based on the data anomaly level. As can be seen from the above, this application, during the equipment control process, pre-acquires the actual operating data of at least one joint motor in the device under test to determine the current actual operating status of the device. Furthermore, by performing data anomaly detection on each actual operating data, it determines whether the device under test has encountered an anomaly, and uses the data anomaly level to characterize the current abnormal state of the device. Then, based on the data anomaly level, it controls the device under test, ensuring that equipment control is performed according to the actual situation of the device under test, effectively reducing the false alarm rate of the device under test, and achieving comprehensive joint motor status detection from multiple dimensions of the device under test based on actual operating data, ensuring the continuous and stable operation of the device under test and improving the working continuity of the device.
[0116] Each module in the aforementioned equipment control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of the computer device in hardware form or independent of it, or stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to each module.
[0117] In one embodiment, a computer device is provided, which may be a terminal or a computer device built into a robot device, and its internal structure diagram may be as follows. Figure 8As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements a device control method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.
[0118] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.
[0119] In one embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:
[0120] Obtain actual operating data of at least one joint motor contained in the device under test;
[0121] Perform data anomaly detection on each actual operational data point to obtain the corresponding data anomaly level for each actual operational data point;
[0122] Based on the level of data anomaly, equipment control is implemented for the equipment to be tested.
[0123] In one embodiment, the processor, when executing a computer program, also performs the following steps:
[0124] For each joint motor, determine the corresponding target operating data for the joint motor;
[0125] Based on the data difference between the target operating data and the actual operating data of the joint motor, the data anomaly level corresponding to the actual operating data is determined.
[0126] In one embodiment, the processor, when executing a computer program, also performs the following steps:
[0127] Determine the data discrepancy between the target operating data and the actual operating data of the joint motor;
[0128] If the duration of data discrepancies exceeds a preset duration threshold, the data anomaly level corresponding to the actual operating data is determined based on the data discrepancies.
[0129] In one embodiment, the processor, when executing a computer program, also performs the following steps:
[0130] If the data difference is greater than or equal to the first threshold and less than the second threshold, the data anomaly level corresponding to the actual running data is determined to be the warning level.
[0131] If the data difference is greater than or equal to the second threshold and less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the critical level.
[0132] If the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the emergency level;
[0133] Among them, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
[0134] In one embodiment, the processor, when executing a computer program, also performs the following steps:
[0135] Based on the level of data anomaly, determine the equipment protection strategy for the device under test;
[0136] Based on the equipment protection strategy, the equipment to be tested is controlled.
[0137] In one embodiment, the processor, when executing a computer program, also performs the following steps:
[0138] When the data anomaly level is warning level, the device protection strategy for the device under test is to record device logs and issue anomaly alarms.
[0139] When the data anomaly level is critical, the device protection strategy for the device under test is determined to be to limit the motor speed or output torque.
[0140] In cases where the data anomaly level is emergency, the equipment protection strategy for the device under test is determined to be to cut off the motor drive power and activate the mechanical brake.
[0141] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:
[0142] Obtain actual operating data of at least one joint motor contained in the device under test;
[0143] Perform data anomaly detection on each actual operational data point to obtain the corresponding data anomaly level for each actual operational data point;
[0144] Based on the level of data anomaly, equipment control is implemented for the equipment to be tested.
[0145] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0146] For each joint motor, determine the corresponding target operating data for the joint motor;
[0147] Based on the data difference between the target operating data and the actual operating data of the joint motor, the data anomaly level corresponding to the actual operating data is determined.
[0148] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0149] Determine the data discrepancy between the target operating data and the actual operating data of the joint motor;
[0150] If the duration of data discrepancies exceeds a preset duration threshold, the data anomaly level corresponding to the actual operating data is determined based on the data discrepancies.
[0151] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0152] If the data difference is greater than or equal to the first threshold and less than the second threshold, the data anomaly level corresponding to the actual running data is determined to be the warning level.
[0153] If the data difference is greater than or equal to the second threshold and less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the critical level.
[0154] If the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the emergency level;
[0155] Among them, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
[0156] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0157] Based on the level of data anomaly, determine the equipment protection strategy for the device under test;
[0158] Based on the equipment protection strategy, the equipment to be tested is controlled.
[0159] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0160] When the data anomaly level is warning level, the device protection strategy for the device under test is to record device logs and issue anomaly alarms.
[0161] When the data anomaly level is critical, the device protection strategy for the device under test is determined to be to limit the motor speed or output torque.
[0162] In cases where the data anomaly level is emergency, the equipment protection strategy for the device under test is determined to be to cut off the motor drive power and activate the mechanical brake.
[0163] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:
[0164] Obtain actual operating data of at least one joint motor contained in the device under test;
[0165] Perform data anomaly detection on each actual operational data point to obtain the corresponding data anomaly level for each actual operational data point;
[0166] Based on the level of data anomaly, equipment control is implemented for the equipment to be tested.
[0167] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0168] For each joint motor, determine the corresponding target operating data for the joint motor;
[0169] Based on the data difference between the target operating data and the actual operating data of the joint motor, the data anomaly level corresponding to the actual operating data is determined.
[0170] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0171] Determine the data discrepancy between the target operating data and the actual operating data of the joint motor;
[0172] If the duration of data discrepancies exceeds a preset duration threshold, the data anomaly level corresponding to the actual operating data is determined based on the data discrepancies.
[0173] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0174] If the data difference is greater than or equal to the first threshold and less than the second threshold, the data anomaly level corresponding to the actual running data is determined to be the warning level.
[0175] If the data difference is greater than or equal to the second threshold and less than the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the critical level.
[0176] If the data difference is greater than or equal to the third threshold, the data anomaly level corresponding to the actual operating data is determined to be the emergency level;
[0177] Among them, the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
[0178] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0179] Based on the level of data anomaly, determine the equipment protection strategy for the device under test;
[0180] Based on the equipment protection strategy, the equipment to be tested is controlled.
[0181] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:
[0182] When the data anomaly level is warning level, the device protection strategy for the device under test is to record device logs and issue anomaly alarms.
[0183] When the data anomaly level is critical, the device protection strategy for the device under test is determined to be to limit the motor speed or output torque.
[0184] In cases where the data anomaly level is emergency, the equipment protection strategy for the device under test is determined to be to cut off the motor drive power and activate the mechanical brake.
[0185] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of related data must comply with the relevant laws, regulations and standards of the relevant countries and regions.
[0186] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.
[0187] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.
[0188] The above embodiments are merely illustrative of several implementation methods of this application, and their descriptions are relatively specific and detailed. However, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.
Claims
1. A device control method characterized by, The method comprises: acquiring actual operation data of at least one joint motor included in a to-be-detected device; performing data anomaly detection on each of the actual operation data to obtain a data anomaly level corresponding to each of the actual operation data; controlling the to-be-detected device according to the data anomaly level.
2. The method of claim 1, wherein, The data anomaly detection on each of the actual operation data to obtain a data anomaly level corresponding to each of the actual operation data comprises: for each joint motor, determining target operation data corresponding to the joint motor; determining a data anomaly level corresponding to the actual operation data of the joint motor according to a data difference between the target operation data and the actual operation data of the joint motor.
3. The method of claim 2, wherein, The determination of a data anomaly level corresponding to the actual operation data of the joint motor according to a data difference between the target operation data and the actual operation data of the joint motor comprises: determining the data difference between the target operation data and the actual operation data of the joint motor; in a case where a duration of the data difference exceeds a preset duration threshold, determining a data anomaly level corresponding to the actual operation data according to the data difference.
4. The method of claim 3, wherein, The determination of a data anomaly level corresponding to the actual operation data according to the data difference comprises: in a case where the data difference is greater than or equal to a first threshold and less than a second threshold, determining a data anomaly level corresponding to the actual operation data as a warning level; in a case where the data difference is greater than or equal to the second threshold and less than a third threshold, determining a data anomaly level corresponding to the actual operation data as a critical level; in a case where the data difference is greater than or equal to the third threshold, determining a data anomaly level corresponding to the actual operation data as an emergency level; wherein the first threshold is less than the second threshold, and the second threshold is less than the third threshold.
5. The method of claim 1, wherein, The control of the to-be-detected device according to the data anomaly level comprises: determining a device protection strategy for the to-be-detected device according to the data anomaly level; controlling the to-be-detected device according to the device protection strategy.
6. The method of claim 5, wherein, The determination of a device protection strategy for the to-be-detected device according to the data anomaly level comprises: in a case where the data anomaly level is a warning level, determining a device protection strategy for the to-be-detected device as performing device log recording and performing anomaly warning; in a case where the data anomaly level is a critical level, determining a device protection strategy for the to-be-detected device as limiting motor operation speed or output torque; in a case where the data anomaly level is an emergency level, determining a device protection strategy for the to-be-detected device as cutting off motor driving power and starting a mechanical brake.
7. An apparatus control device characterized by comprising: The device comprises: an acquisition module, configured to acquire actual operation data of at least one joint motor included in a to-be-detected device; a detection module, configured to perform data anomaly detection on each of the actual operation data to obtain a data anomaly level corresponding to each of the actual operation data; a control module, configured to control the to-be-detected device according to the data anomaly level. 8.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-7. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.
9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.
10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 6.