A recorder and robot

Abstract

The application discloses a recorder and a robot, and relates to the technical field of robots, wherein the recorder comprises a circuit board, a network interface of an Ethernet bus is arranged on the circuit board; a memory is arranged on the circuit board, the memory is connected to the Ethernet bus through the network interface, the Ethernet bus is connected with at least one joint motor of the robot, and the memory is used for storing operation control data of the at least one joint motor of the robot. Compared with the related art, the recorder in the application can continuously operate and record various operation control data of the robot, provides rich data support for operation state monitoring and fault diagnosis of the robot, and solves the problem that when the robot encounters sudden conditions such as running away, abnormal power-off or abnormal power board, there is a lack of logs for fault analysis. The operation control data of the robot can be completely stored, the efficiency and accuracy of fault diagnosis are greatly improved, and the stable operation of the robot is ensured.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a recorder and a robot. Background Technology

[0002] With the development of robotics technology, robots have been widely used in many fields such as industrial production, logistics and transportation, and medical care. During operation, robots generate a large amount of motion control data, which can be used for fault diagnosis, performance optimization, and real-time monitoring of operational status.

[0003] Currently, robot data packet capture tools in related technologies can only be used for temporary storage of captured data frames, and cannot effectively store robot motion control data. Summary of the Invention

[0004] In view of this, this application provides a recorder and a robot.

[0005] In a first aspect, this application provides a recorder, comprising:

[0006] A circuit board, wherein the circuit board is provided with a network interface for an Ethernet bus;

[0007] A memory is disposed on the circuit board and connected to the Ethernet bus via the network interface. The Ethernet bus is connected to at least one joint motor of the robot, and the memory is used to store the motion control data of at least one joint motor of the robot.

[0008] Optionally, the motion control data includes one or more of the following: speed data, torque data, acceleration data, current data, temperature data, energy consumption data, and position data of the joint motor.

[0009] Optionally, the Ethernet bus is also connected to the robot's main controller, and the memory is also used to store the main controller's first serial port log file.

[0010] Optionally, the first serial port log file includes the robot's operating status when a malfunction occurs.

[0011] Optionally, the Ethernet bus is also connected to the robot's power management controller, and the memory is also used to store the power management controller's second serial port log file.

[0012] Optionally, the second serial port log file includes the power status of the robot when a power outage occurs.

[0013] Optionally, the Ethernet bus is also connected to the robot's sensors, and the memory is also used to store sensor data from the sensors.

[0014] Optionally, the recorder further includes:

[0015] An early warning device is mounted on the circuit board and connected to the memory. The early warning device is used to monitor the storage space status of the memory.

[0016] Optionally, the warning device has light-emitting diodes capable of emitting different colors, each color corresponding to a different state of the storage space.

[0017] Secondly, this application provides a robot including the recorder described in the first aspect.

[0018] By employing the above technical solution, this application provides a recorder and robot. Compared with existing technologies, the recorder of this application includes a circuit board with an Ethernet bus network interface; and a memory mounted on the circuit board, connected to the Ethernet bus via the network interface. The Ethernet bus is connected to at least one joint motor of the robot, and the memory is used to store the motion control data of at least one joint motor of the robot. Compared with related technologies, the recorder of this application can operate continuously and record various motion control data of the robot, providing rich data support for robot operation status monitoring and fault diagnosis. It solves the problem of lacking logs for fault analysis when the robot encounters sudden situations such as runaway, abnormal power failure, or power board malfunction. Ensuring that all robot motion control data is completely stored greatly improves the efficiency and accuracy of fault diagnosis, and also provides a solid guarantee for the stable operation of the robot.

[0019] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this application more obvious and understandable, the following are specific embodiments of this application. Attached Figure Description

[0020] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0021] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1A schematic diagram of the structure of a recorder provided in an embodiment of this application is shown;

[0023] Figure 2 This illustration shows a structural diagram of an example provided in an embodiment of this application;

[0024] Figure 3 A flowchart illustrating an example provided in an embodiment of this application is shown;

[0025] Figure 4 A flowchart illustrating an example provided in an embodiment of this application is shown;

[0026] Figure 5 A flowchart illustrating an example provided in an embodiment of this application is shown;

[0027] Figure 6 A flowchart illustrating an example provided in an embodiment of this application is shown. Detailed Implementation

[0028] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0029] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0030] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0031] A robot data recorder (black box) is an important device installed on a robot to record its motion data, status information, and the causes of malfunctions or accidents. Similar to a black box on an airplane, it provides valuable data support in the event of an accident, helping engineers and analysts understand the cause of the incident, optimize robot design, and improve the robot's safety and reliability.

[0032] With the continuous improvement of sensor technology, data processing algorithms, and microcomputer performance, robot motion data recording black boxes can collect more comprehensive and accurate data, and possess stronger real-time data processing capabilities. This allows the black box to more effectively record and analyze the robot's motion state, performance parameters, and potential problems. The storage capacity and data transmission speed of the black box are also constantly improving. Currently, black boxes typically use high-speed storage devices such as Secure Digital (SD) cards or Solid State Drives (SSDs) to ensure long-term, large-capacity data storage. Simultaneously, the development of wireless transmission technology enables black boxes to transmit data to the cloud or remote servers in real time, facilitating remote monitoring and analysis.

[0033] Driven by industrial automation and intelligent manufacturing, the demand for robot motion data recording black boxes is constantly increasing. Industrial enterprises need to use black boxes to monitor the operating status of robots, optimize production processes, and prevent equipment failures, thereby improving production efficiency and product quality.

[0034] With the widespread application of service robots, such as medical robots, educational robots, and cleaning robots, the black box has become an indispensable part of these robots. It helps service robots better adapt to complex environments, improve user experience, and ensure user safety. In the event of an accident or malfunction, the data recorded by the black box becomes crucial evidence for accident investigation and analysis. By replaying and analyzing the data from the black box, the cause of the accident can be identified, robot design can be optimized, and robot safety and reliability can be improved. The black box can also record the robot's performance parameters and operating status, providing engineers with a basis for performance evaluation and optimization. By comparing and analyzing data from different time periods or under different operating conditions, robot performance bottlenecks can be identified and targeted optimizations can be made.

[0035] With the development of IoT technology, robots will achieve closer connections with other devices and systems. The future robot motion data recording black box will be more intelligent and autonomous. It will be able to automatically identify and analyze robot status, predict potential problems, and provide early warnings, thereby reducing failure rates and maintenance costs. The black box will be able to receive data from multiple sources and fuse them to provide more comprehensive and accurate information support. Future black boxes will rely more heavily on cloud storage and analysis technologies. By uploading data to cloud servers for storage and analysis, functions such as remote monitoring, real-time analysis, and data sharing can be achieved, improving data processing efficiency and accuracy.

[0036] In conclusion, the robot motion data recording black box shows a positive development trend in terms of technology, market, application scenarios, and future trends. With continuous technological advancements and market expansion, the black box will play an increasingly important role in the robotics field.

[0037] To address the technical problem that robot data capture tools in related technologies can only be used for temporary storage of captured data frames and cannot effectively store robot motion control data, this application will be described in detail below with reference to the accompanying drawings and embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other.

[0038] The following is combined with Figure 1 This application describes a recorder according to some embodiments.

[0039] This application provides a recorder, comprising: a circuit board 11, the circuit board 11 having a network interface of an Ethernet bus; and a memory 12, the memory 12 being disposed on the circuit board and connected to the Ethernet bus via the network interface. The Ethernet bus is connected to at least one joint motor of a robot, and the memory 12 is used to store motion control data of at least one joint motor of the robot.

[0040] Optionally, the motion control data may include one or more of the following: speed data, torque data, acceleration data, current data, temperature data, energy consumption data, and position data of the joint motor.

[0041] For example, the memory in this embodiment can be used to efficiently store the robot's motion control data. The main controller is responsible for real-time monitoring and control of the robot's operating status to ensure safe and efficient operation. The recorder can capture and save one or more combinations of key information, including but not limited to robot speed data, torque data, acceleration data, current data, temperature data, energy consumption data, and position data. Detailed motion control data not only provides important basis for real-time robot control but also provides reliable data support for subsequent performance analysis, fault diagnosis, and system optimization, thereby ensuring the stability and reliability of the robot system and improving robot working efficiency.

[0042] In some examples, the recorder enables non-volatile data storage, ensuring data integrity even in the event of power outages or other unforeseen circumstances. Simultaneously, real-time data capture and cyclic recording provide crucial information for fault analysis. Furthermore, the high capacity and flexibility of the memory meet the needs of robot systems of varying complexity, supporting efficient data management and backup. This design also enhances robot performance and maintenance efficiency, reducing downtime and maintenance costs through high-precision recovery and predictive maintenance capabilities. Simultaneously, it strengthens system integration and security, supporting multiple protocols and data encryption protection, further improving the robot's overall performance and reliability.

[0043] Optionally, the memory communicates with multiple motors used to drive different joints of the robot via an Ethernet bus.

[0044] For example, such as Figure 2 As shown, the robot recorder connects to an Ethernet (EtherCAT) bus for control automation technology to collect and store real-time motion control data between the master control device and each slave device. This allows the recorder to monitor and capture the data stream transmitted between the master control device and each device on the EtherCAT bus, ensuring comprehensive recording of robot motion control commands and feedback information, thus realizing the acquisition of robot motion control data.

[0045] In some examples, the memory can acquire motion control data generated by each motor in real time via an Ethernet bus, such as position, speed, and energy consumption, and store this critical data for subsequent analysis. Simultaneously, through the Ethernet bus connection, the main controller can more flexibly adjust the individual joint motors, achieving precise motion control. This approach not only improves the speed and reliability of data transmission but also supports the effective implementation of a distributed control architecture, enhancing the robot's overall performance and adaptability. Furthermore, more motors or sensors can be added to the Ethernet bus as needed, further enriching the robot's functionality and improving its operational efficiency.

[0046] Compared to existing technologies, the recorder in this embodiment includes a circuit board with an Ethernet bus network interface and a memory mounted on the circuit board. The memory is connected to the Ethernet bus via the network interface, and the Ethernet bus is connected to at least one joint motor of the robot. The memory stores the motion control data of at least one joint motor of the robot. The recorder in this embodiment can operate continuously and record various motion control data of the robot, providing rich data support for robot operation status monitoring and fault diagnosis. It solves the problem of lacking logs for fault analysis when the robot encounters sudden situations such as runaway, abnormal power outage, or power board malfunction. Through a built-in efficient data recording mechanism, it ensures that all robot motion control data is completely stored, greatly improving the efficiency and accuracy of fault diagnosis, and also providing a solid guarantee for the stable operation of the robot.

[0047] Optionally, the Ethernet bus is also connected to the robot's main controller, and the memory is also used to store the main controller's first serial port log file.

[0048] For example, the log file transmitted through the first serial interface contains various important information generated by the main controller during the monitoring and adjustment of the robot's operating status, such as position data, speed data, temperature data, energy consumption data, status signals, and timestamps. Therefore, storing the main controller's log file in the recorder's memory not only helps improve the robot's maintenance efficiency and system stability but also provides solid data support for further improving robot performance.

[0049] Optionally, the memory is connected to the power management controller via a second serial interface, and the memory is also used to store the power management controller's second serial port log file.

[0050] For example, the log file transmitted via the second serial interface contains detailed information about power management generated by the power management controller during the robot system's power operation, including voltage, current, battery status, and energy consumption. Therefore, storing the power management controller's log file in the recorder's memory not only helps improve robot maintenance efficiency and system stability but also provides solid data support for further enhancing robot performance.

[0051] Optionally, the first serial port log file includes the robot's operating status when a malfunction occurs.

[0052] Optionally, the second serial port log file includes the robot's power status during a power outage.

[0053] In some examples, considering the massive amount of operational control data and the fact that data during routine operations typically does not need to be recorded, the operational data logger in this embodiment can only begin collecting and recording operational data for a preset time period prior to the current time point when a fault or power outage event is detected. This effectively reduces unnecessary storage usage and concentrates resources on recording critical information. This method not only saves storage space but also ensures that crucial diagnostic data can be obtained in abnormal situations, providing accurate evidence for subsequent fault analysis, while simultaneously improving the overall efficiency and responsiveness of the system.

[0054] Optionally, the memory uses a circular recording method to store the first serial port log file and the second serial port log file.

[0055] In some examples, serial port log information is received separately from the main controller and the power controller. By acquiring and storing the log information from the main controller and the power controller via serial port connection, the system's operating status can be tracked and faults diagnosed. This enables the synchronous collection of robot motion control data and key component log information, providing detailed basic information for subsequent data analysis, system optimization, and troubleshooting.

[0056] In some examples, there can be multiple memories. For instance, a first memory is deployed in a first region, while a second memory is located in a second region, and each memory can consist of multiple memories of the same type. During operation, when the data storage capacity of any memory reaches its limit, data is transferred to the next memory in a pre-set order for continued storage. This design not only improves the flexibility and reliability of data storage but also ensures the efficient operation of the entire storage system.

[0057] Optionally, the recorder may also include: an early warning device, which is mounted on a circuit board and connected to a memory, and is used to monitor the storage space status of the memory.

[0058] Optionally, the warning device has LEDs that can emit different colors, with each color corresponding to a different storage space status.

[0059] For example, a green LED might indicate sufficient storage space, a yellow LED suggests storage is running out, and a red LED warns of the need for immediate action to free up or expand storage. These warning systems not only improve the efficiency and responsiveness of storage management but also effectively prevent data loss or other potential problems caused by insufficient storage, simplifying maintenance and enhancing the user experience.

[0060] Optionally, the Ethernet bus also connects to the robot's sensors, and the memory is used to store sensor data.

[0061] In some examples, there can be one or more sensors, specifically including sensors for monitoring position, speed, temperature, energy consumption, status signals, and environmental conditions. Sensors provide a continuous and detailed stream of operational status information to the memory, ensuring that all critical data is accurately recorded. This not only supports real-time monitoring and analysis of the robot's operation but also provides a reliable data foundation for subsequent performance evaluation, fault diagnosis, and system optimization. Furthermore, the ability to communicate directly with sensors enhances the system's response speed and accuracy, making robot operation safer and more efficient, while also improving the overall system's stability and ease of maintenance.

[0062] In some examples, the logger receives Ethernet frames from multiple ports (port0, port 1, port 2, port 3, etc.) via a physical layer transceiver. These frames are then processed by the Media Independent Interface (MII_IF) and passed to the Ethernet frame pack / unpack module for unpacking and repacking. The processed Ethernet frames are routed via an AXI switch to the register map and Coordinated Universal Time (UTC) module. UTC adds a precise timestamp to each data frame, while the register map adds metadata such as the packet port number and SFU data. These timestamped and metadata-laden packets are then transmitted to the processing system (PS) via direct memory access (AXIDMA), while also being temporarily stored in a first-in-first-out (FIFO) queue to prevent data loss or overflow. In the PS, the data undergoes further processing, such as compression or encryption, and is temporarily stored in system dynamic random access memory (SYSTEM DDR) and data dynamic random access memory (DATA DDR). Finally, the processed data will be written to persistent storage, forming a complete motion control data record. This series of steps ensures that important information generated during robot operation can be efficiently and accurately captured and stored, thus providing strong support for subsequent analysis and troubleshooting. In particular, it can provide critical log data for diagnosis in the event of emergencies such as runaway, abnormal power outage, or power board malfunction.

[0063] For example, the recorder's message capture function can be implemented through a multi-port network interface, where port_0 and port_1 form one pair, and port_2 and port_3 form another pair. One port in each pair is responsible for receiving data and sending it through the other port; for example, data received by port_0 is sent through port_1, and vice versa; similarly, data received by port_2 is sent through port_3, and vice versa. Data received by each port (port_x) is packetized and metadata such as the port number and timestamp are added for identification and processing. After packetization, the data is routed to the AXIDMA interface via the AXI Switch, with each port only encapsulating the data packets it receives (Receive, RX). Subsequently, the AXIDMA writes this message data to DDR for storage via the AXIHP0 interface. To improve transmission efficiency, the AXIDMA is configured with a 32-bit width, a single burst length of 256, and a clock rate of 125MHz, achieving a data bandwidth of approximately 4Gbps. This bandwidth is greater than the combined peak bandwidth of four Ethernet ports (400Mbps), ensuring efficient data processing and transmission capabilities.

[0064] For example, the recorder's external trigger capture function can capture multiple I / O signals via programmable logic (PL) and generate a message storage request signal to the processing system (PS) after signal debouncing. The software detects this request by periodically polling a flag. Once an external trigger signal is received and the current direct memory access (DMA) operation is complete, the PL will continue writing data to DDR after modifying the DDR storage address. When the PS detects that the flag has been set, it reads the recorded address from the register and traces backwards based on that address to obtain the data stream of the corresponding width. The data written to DDR is unprocessed raw message data, which needs to be unpacked and reassembled by the software according to the pcap format. All data is stored in DDR in a header + data + foot format, using little-endian data storage.

[0065] For example, the logger's file storage function can be activated upon receiving a trigger signal flag on the processing system (PS) side. Data is retrieved from the DDR for unpacking and analysis, and then reassembled according to the PCAP format. Depending on the type of trigger signal, this reassembled data is saved as files with different filenames, each with a timestamp to ensure uniqueness and traceability. Finally, it is stored in the file system and permanently stored in the eMMC storage device. Furthermore, the serial port log files are managed using a circular recording method, ensuring that the latest log is always stored in the log file with the smallest number, facilitating the management and retrieval of the latest operational information. In this way, the system can not only effectively store data captured by external triggers but also maintain a current and orderly log record, facilitating subsequent troubleshooting and data analysis.

[0066] For example, the recorder's file deletion mechanism may include an established early warning system to monitor the status of the eMMC storage space. When the storage space reaches a preset warning value, the system sends an early warning signal through the GPIO interface, indicated by LEDs of different colors: green for sufficient storage space; yellow for reaching the first warning value; and red for reaching the second warning value. If the storage space is full and no more acquisition files can be stored, the system will perform a file deletion operation to free up space to the safe range of the second warning value. When performing file deletion, the system uses timestamps as the basis and deletes acquisition files one by one according to the earliest-in, first-out (FIFO) strategy, ensuring that the latest data is retained, while effectively managing limited storage resources and avoiding data loss due to insufficient storage.

[0067] For example, the log file extraction function of the recorder allows users to connect to the system via a client computer and securely extract log files using the SFTP protocol in Secure Shell (SSH). Once the log file is successfully extracted, the EtherCAT log file is automatically cleared to free up storage space, while the serial port log file remains unchanged, ensuring that system logging and storage can continue without losing any important serial communication information. This process not only simplifies log file management but also guarantees data security and integrity.

[0068] For example, in the Real-Time Clock (RTC) module, the software obtains the current time from the RTC during the initialization phase and writes it in seconds into the registers of the Field-Programmable Gate Array (FPGA). This process is performed only once. The FPGA uses this initially written RTC time as a base time and then increments it thereafter to generate hardware timestamps for packet capture. This ensures that all captured packets receive an accurate and continuous timestamp, thereby improving the accuracy of data processing and analysis.

[0069] For example, the serial log receiving function can be implemented using dual serial ports. The serial port on the PL side receives log information from the power supply motherboard, while the serial port on the PS side receives log information from the main control board. Once a log message is received, the system adds a timestamp to it to ensure accurate time recording for each log entry. Subsequently, these timestamped log messages are stored using a circular file recording method, meaning that the latest log will overwrite the oldest log, thus effectively utilizing storage space and maintaining the manageability of log files. In this way, the system can continuously monitor and record important log information from different main control boards, providing support for subsequent troubleshooting and system maintenance.

[0070] For example, such as Figure 3 As shown, after the system is powered on, the recorder begins to collect EtherCAT data. If no power failure signal is detected, the data is continuously stored in the DDR and acquisition continues; once a power failure signal is detected, the system can trace the data in the DDR and generate PCAP files. After a period of time, the recorder will automatically download these PCAP files, ensuring that critical EtherCAT data can be completely recorded and saved even in the event of a power failure, facilitating subsequent analysis and troubleshooting.

[0071] For example, such as Figure 4 As shown, after the system powers on, the logger begins collecting serial port log information. Upon receiving a log message, it adds a timestamp to it and then writes the timestamped log to the current looping log file. It then checks the storage space; if it's not full, it stores the log normally; if it's full, it deletes the oldest record file to free up space. By using looping file recording and dynamic storage space management, the continuity and integrity of the serial port logs are ensured.

[0072] For example, such as Figure 5As shown, each time an operational control data file is generated, the system runs a space management script to check whether the stored data has reached a preset threshold, and triggers corresponding prompts or cleanup operations based on different storage capacity statuses. The entire process, through an early warning mechanism and dynamic data file management, ensures the effective storage and timely processing of operational control data, avoiding data loss due to insufficient storage space.

[0073] For example, such as Figure 6 As shown, a file transfer connection can be established via PC to the recorder. If the connection is successful, the operation control data file is copied and the storage area is cleared. Then, the serial port log file is copied, and the operation is completed. If the connection fails, the connection is retried to ensure that the operation control data can be safely and efficiently extracted from the recorder, while avoiding accidental operation of important serial port log files, thus ensuring data integrity and system stability.

[0074] Compared to existing technologies, the recorder in this embodiment aims to solve the problem of lacking analyzable logs in situations such as robot overshooting, abnormal power outages, and power board malfunctions, thereby providing strong data support to improve the ability to detect and resolve problems. The recorder communicates with the main controller, power management controller, and various sensors to collect and store key motion control data in real time, including position, speed, temperature, energy consumption, and status signals, as well as system log files. This allows the recorder to automatically record relevant data when faults or anomalies occur, ensuring that important diagnostic information is retained even in extreme situations such as power outages. This not only improves the efficiency and accuracy of response to sudden problems but also provides a reliable data foundation for subsequent in-depth analysis of fault causes and optimization of system performance, significantly enhancing the robot's stability and maintenance convenience.

[0075] Based on the aforementioned recorder, this embodiment also provides a robot, which includes the aforementioned recorder. The robot in this embodiment can be an industrial robot, service robot, medical robot, educational robot, agricultural robot, etc., and is not specifically limited thereto.

[0076] Optionally, the aforementioned physical devices may also include a user interface, a network interface, a camera, radio frequency (RF) circuitry, sensors, audio circuitry, a Wi-Fi module, etc. The user interface may include a display screen, input units such as a keyboard, etc., and optional user interfaces may also include USB interfaces, card reader interfaces, etc. The network interface may optionally include standard wired interfaces, wireless interfaces (such as Wi-Fi interfaces), etc.

[0077] Those skilled in the art will understand that the physical device structure provided in this embodiment does not constitute a limitation on the physical device, and may include more or fewer components, or combine certain components, or have different component arrangements.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that this application can be implemented using software plus necessary general-purpose hardware platforms, or it can be implemented through hardware. By applying the solution of this embodiment, compared with the prior art, the recorder in this embodiment can run continuously and record various motion control data of the robot, providing rich data support for robot operation status monitoring and fault diagnosis. This solves the problem of lacking logs for fault analysis when the robot encounters sudden situations such as runaway, abnormal power outage, or power board malfunction. Through the built-in efficient data recording mechanism, it is ensured that the robot's motion control data can be completely stored, greatly improving the efficiency and accuracy of fault diagnosis, and also providing a solid guarantee for the stable operation of the robot.

[0079] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0080] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments described herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A recorder, characterized in that, include: A circuit board, wherein the circuit board is provided with a network interface for an Ethernet bus; A memory is disposed on the circuit board and connected to the Ethernet bus via the network interface. The Ethernet bus is connected to at least one joint motor of the robot, and the memory is used to store the motion control data of at least one joint motor of the robot.

2. The recorder according to claim 1, characterized in that, The motion control data includes one or more of the following: speed data, torque data, acceleration data, current data, temperature data, energy consumption data, and position data of the joint motor.

3. The recorder according to claim 1, characterized in that, The Ethernet bus is also connected to the robot's main controller, and the memory is also used to store the main controller's first serial port log file.

4. The recorder according to claim 3, characterized in that, The first serial port log file includes the robot's operating status when a malfunction occurs.

5. The recorder according to claim 1, characterized in that, The Ethernet bus is also connected to the robot's power management controller, and the memory is also used to store the power management controller's second serial port log file.

6. The recorder according to claim 5, characterized in that, The second serial port log file includes the power status of the robot when a power outage occurs.

7. The recorder according to claim 1, characterized in that, The Ethernet bus is also connected to the robot's sensors, and the memory is also used to store sensor data from the sensors.

8. The recorder according to claim 1, characterized in that, The recorder also includes: An early warning device is mounted on the circuit board and connected to the memory. The early warning device is used to monitor the storage space status of the memory.

9. The recorder according to claim 8, characterized in that, The warning device has light-emitting diodes that can emit different colors, each color corresponding to a different state of the storage space.

10. A robot, characterized in that, Includes the recorder according to any one of claims 1-9.

Images